Research on the Algorithm of Measurement Path Planning for Inner Wall of Air-Intake Pipe Based on Spraying Robot System

Abstract

To solve the problems with spraying over the inner wall of air-intake pipe, this paper introduces an algorithm of measurement path planning based on the spraying robot system and the laser displacement sensor technology. Scanning measurement path planning is the premise and basis of model construction and spray. Traditional methods, such as arc length extrapolation and polynomial are applicable only for the measurement of a plane curve with finite maximum curvature. Drawing references from existing method, this paper focuses on the pre-scanning measurement method for different types of cross-section curves. Algorithm simulation and model reconstruction show that this study solves the problem of collision avoidance for scanning measurement of the inner wall of air-intake pipe.