A robot path planning method for defect inspection of runner blades in mixed-flow turbines

Abstract

This invention provides a robot path planning method for defect inspection of mixed-flow turbine runner blades, comprising the following steps: S1, conducting a feasibility analysis of robot defect inspection of the blades and determining the effective detection area; S2, extracting a three-dimensional mesh model of the blade surface from the effective detection area, and establishing a bidirectional mapping between the three-dimensional space and the two-dimensional UV parameter space by projecting the three-dimensional mesh model onto the two-dimensional UV parameter space; S3, generating a boundary offset path and a robot bow-shaped scanning path in the two-dimensional UV parameter space; S4, processing the boundary offset path and the robot bow-shaped scanning path based on the bidirectional mapping to generate a path back projection and a three-dimensional detection trajectory. This invention, through precise surface parameterization, an efficient path generation algorithm, and a precise three-dimensional mapping strategy, aims to improve the inspection efficiency and quality of mixed-flow turbine runner blades, providing technical support for the safe and stable operation of hydropower stations.

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