The method of grid map construction of visual characteristics on rocket tank surface and robot automatic cleaning path planning

Abstract

Abstract According to the actual engineering needs, this paper proposed a method of grid map construction of visual characteristics on rocket tank surface and robot automatic cleaning path planning. Through the image processing algorithm, the flange obstacle features and smudge features of the rocket tank surface are extracted, and the cleaning grid map of the rocket tank surface is constructed with this features. Aiming at the circumferential cleaning requirements of rocket tanks, a global path planning method based on artificial potential field loop traversal is proposed to achieve traversal coverage cleaning of stain points. It is verified by simulation experiments that the path planning method proposed in this paper meets the actual needs and is of great significance for realizing the cleaning automation of rocket storage tanks.