Automatic cutting system and method for wind power blade flash

Abstract

The invention discloses a wind power blade flash automatic cutting system and a system thereof.The wind power blade flash automatic cutting system comprises an AGV which is provided with a Mecanum wheel set so that the AGV can achieve X / Y direction translation and in-situ steering; the mechanical arm is fixedly mounted on the AGV; an end effector of the mechanical arm comprises a water jet cutter head; the visual camera is mounted on the mechanical arm; the plurality of distance sensors are respectively mounted on the mechanical arm and the AGV; the upper computer is in communication connection with the AGV, the mechanical arm, the visual camera and the distance sensor through an industrial Ethernet protocol and is used for uniformly dispatching instructions, coordinating actions of all the units and achieving real-time data interaction; and the terminal is in communication connection with the upper computer through a wired or wireless network to realize data interaction. The method has the advantages of high efficiency, environmental protection and small damage to the blade body.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine blade production, and in particular relates to an automatic cutting system and method for wind turbine blade flash. Background Art

[0002] As global demand for renewable energy grows, wind power generation has become one of the important ways to achieve carbon neutrality. Wind turbine blades are key components in wind power systems and are typically made of composite materials such as glass fiber reinforced plastic (GFRP) or carbon fiber reinforced plastic (CFRP) to meet their requirements for light weight, high strength, and durability. However, during the manufacturing process of the blades, some excess material, called flash, often forms at the interface between the mold and the material. These flashes not only affect the aerodynamic performance of the blades, but may also threaten the structural integrity and fatigue life of the blades. Therefore, how to effectively remove blade flash has become a major technical challenge in the manufacture of wind power equipment.

[0003] Flash removal is traditionally done by mechanical cutting or grinding. However, with the increase in the size of composite blades and the complexity of the manufacturing process, traditional methods have become inefficient and prone to dust pollution.

[0004] In addition, the blade body material is relatively fragile, and traditional cutting processes may cause material damage, further increasing manufacturing costs and quality control difficulties.

[0005] Chinese patent literature discloses "A wind turbine blade flash cutting device" (publication number CN119408024A, publication date February 11, 2025); the cutting mechanism of this technology is prone to interfere with the blade body; Chinese patent literature discloses "Wind turbine blade flash cutting device and control method" (publication number CN118650792A, publication date September 17, 2024), which has high cost and complex structure. At the same time, this technology uses a cutting blade for cutting, which generates a large amount of dust during the cutting process. Due to the limitation of the cutting blade radius and the volume of the cutting mechanism, it is impossible to achieve cutting of specific parts.

[0006] The aforementioned cutting techniques primarily utilize angle grinders or saw blades, which generate significant dust during the process and, due to limitations in the blade radius and volume of the cutting mechanism, cannot achieve specific cuts. Therefore, finding an efficient, environmentally friendly, and minimally damaging cutting technique for the blade itself has become a pressing challenge in wind turbine blade manufacturing. Summary of the Invention

[0007] The purpose of the present invention is to address the deficiencies of the prior art and provide a wind turbine blade flash automatic cutting system and method that is efficient, environmentally friendly, and causes little damage to the blade body.

[0008] The technical objectives of the present invention are achieved through the following technical solutions: An automatic cutting system for wind turbine blade flash, comprising: AGV, the AGV is equipped with a Mecanum wheel set, which enables the AGV to achieve X / Y translation and in-situ steering; A robotic arm, the robotic arm is fixedly mounted on the AGV; the end effector of the robotic arm includes a water jet head; A visual camera is installed on the robotic arm; A plurality of distance sensors are respectively installed on the robot arm and the AGV; The host computer is connected to the AGV, robotic arm, visual camera, and distance sensor through the industrial Ethernet protocol to unify scheduling instructions, coordinate the actions of each unit, and realize real-time data interaction; The terminal is connected to the host computer via a wired or wireless network to achieve data exchange.

[0009] A cutting method based on the above-mentioned wind turbine blade flash automatic cutting system comprises the following steps: Step 1: Mark the surface of the blade flash edge. Use a visual camera to take a picture of the blade flash edge. The host computer processes the image and generates a cutting guide line consisting of multiple guide points. Step 2: Select the cutting position through the host computer, adjust the robot arm TCP point to the cutting starting point of the cutting guide line and a specified distance away from the blade flash height; adjust the AGV position and make the water jet head close to the cutting guide line along the X-axis direction; Step 3: When starting cutting, the robot arm starts to move a specified distance along the positive direction of the Y axis; Step 4: The starting and ending points of the blade flash within the specified distance are collected, and the Z-axis height of the blade flash within the specified distance is simultaneously collected using a distance sensor on the robotic arm; the flash slope is calculated based on the Z-axis height difference and the movement along the Y axis; the robotic arm is rotated along the X axis by a corresponding angle to match the flash inclination; Step 5: The robot arm TCP follows the cutting guide line and drives the water jet head to move along the cutting guide line; Step 6: The water jet head moves along the cutting guide line, reaches the specified distance, and then turns off the water jet; Step 7: The water jet head rises along the positive direction of the Z axis by a specified distance, and moves along the negative direction of the X axis; Step 8: Turn on the water jet and move the water jet head along the positive direction of the X axis to complete the flash cutting; Step 9: Turn off the water jet and raise the water jet head to a specified height along the positive Z axis. Step 10: The AGV moves forward along the Y-axis, and the visual camera continuously takes pictures to generate guidance points and adjust the AGV's lateral distance; Step 11: Repeat steps 3 to 10 to start cutting the next section of the blade flash.

[0010] Preferably, in step 1, when the host computer generates the guide points, the guide points are subjected to jump point processing to eliminate abnormal points; at the same time, the end position of the cutting guide line is determined and the number of zero points is confirmed.

[0011] Preferably, the step of generating a guide point by the host computer includes: Step 101: performing color binarization processing on the image; Step 102: edge trend detection; Step 103: Extract the points on the upper and lower sides of the edge; Step 104: If the X coordinate values ​​of the points on the upper edge and the lower edge are the same, determine whether the difference between the Y coordinate values ​​of the points on the upper edge and the lower edge is approximately equal to the line width; If it is equal to the line width, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point; If they are not equal, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point. This point needs to be processed as a jump point. Step 105: Determine the end of the cutting guide line.

[0012] Preferably, the step of jump point processing in step 104 includes: Step 1041: Number the jump points and non-jump points, and indicate the positional relationship between the jump points and non-jump points. The positions of the jump points can be divided into three categories: the leftmost, the rightmost, and the middle. Step 1042: The leftmost jump point processing; Traverse the non-jump points in the guide point array to the right, find the two nearest points, and use the two nearest points to the right of the jump point to interpolate the leftmost point; Processing of the rightmost jump point; Traverse the non-jump points in the guide point array to the left, find the two nearest points, and use the two nearest points to the left of the jump point to interpolate the rightmost point; Processing of the jump point in the middle; traversal to the left or right is possible; Step 1043: Complete jump point processing; Integrate the jump point and non-jump point data and convert the guide point array represented as pixels into millimeters.

[0013] Preferably, the step of determining the end of the cutting guide wire in step 105 includes: Step 1051: Since there is no cutting guide line mark at the end of the cutting guide line, no point with X coordinate value and Y coordinate value is generated, and it is considered as zero point; Step 1052: Based on the ratio of the number of zero points in the guide point array to the guide point array, the end of the cutting guide line can be determined according to the set ratio.

[0014] Preferably, the specific steps of step 5 include: Step 501: The host computer sends the guide points to the robot arm, and the robot arm TCP moves according to the guide points, so that the water jet head moves along the cutting guide line; Step 502: Every time the water jet head moves a distance of the field of view, the visual camera takes a picture and adjusts the actual distance between the water jet head and the flash to the set distance. The host computer processes the cutting guide line and continuously generates guide points.

[0015] Preferably, the step of adjusting the distance of the water jet heads in step 502 includes: Step 5021: The host computer reads the height of the distance sensor on the robotic arm; Step 5022: The host computer calculates the actual distance from the water jet head to the blade flash edge; Step 5023: Determine whether height correction is required based on the set distance from the water jet head to the blade flash edge and the actual distance from the water jet head to the blade flash edge; if correction is required, proceed to step 5024; if correction is not required, jump to step 5025; Step 5024: The host computer sends the correction value to the robotic arm, so that the water jet head moves along the Z axis to maintain the set distance from the water edge; Step 5025: End height correction.

[0016] Preferably, the specific steps of step 10 include: Step 1001: The visual camera takes a picture, and the host computer processes the cutting guide line image to generate guide points; Step 1002: Determine whether the AGV lateral distance is appropriate. If not, proceed to step 1003; if appropriate, jump to step 1004. Step 1003: Use the PID algorithm to output the speed and correct the position; Step 1004: Adjustment completed.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This automated wind turbine blade flash cutting system, based on an omnidirectional mobile AGV platform and multi-sensor integration, integrates precise robotic arm positioning with waterjet cutting capabilities. It uses Industrial Ethernet to achieve millisecond-level coordinated control of all equipment. While ensuring millimeter-level cutting accuracy, it significantly improves efficiency and completely eliminates dust pollution (pure water cutting). Constant distance control and visual guidance ensure zero contact between the water jet and the blade, achieving efficient, environmentally friendly, and non-destructive flash removal. This technical approach offers the advantages of high efficiency, environmental friendliness, and minimal damage to the blade itself.

[0018] 2. The present invention's automated wind turbine blade flash cutting method features a fully automated process (guide point generation → cutting → reset cycle; AGV omnidirectional movement + robotic arm continuous operation, uninterrupted cutting). This effectively improves work efficiency. Pure water jet technology eliminates dust and toxic gases. Non-contact cutting eliminates physical risks. Vision and distance sensor dual closed-loop control ensures the water jet-blade spacing error is ≤±0.3mm. Jump point processing + end-point zero-point homing minimizes path deviation. Based on multi-sensor collaborative control and real-time closed-loop error correction, precise visual guide point generation, constant water jet cutting, and AGV dynamic posture adjustment enable efficient and pollution-free removal of wind turbine blade flash. While ensuring millimeter-level cutting accuracy, damage to the blade itself is completely avoided, significantly improving overall efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an architectural diagram of an automated wind turbine blade flash cutting system according to an embodiment of the present invention; Figure 2 This is a flow chart of a method for automatically cutting flash edges of wind turbine blades according to an embodiment of the present invention; Figure 3 yes Figure 2 The jump point processing in step 104 and step 105 of step 1 are shown in the flowchart; Figure 4 yes Figure 2 Flowchart of step 5 in step 5; Figure 5 yes Figure 2 Flowchart for step 10 in the step. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0023] like Figure 1 The figure shows an automated wind turbine blade flash cutting system, comprising an automated guided vehicle (AGV), a robotic arm, a water jet head, a vision camera, multiple distance sensors, a host computer, and a terminal. The AGV is equipped with Mecanum wheels, enabling X / Y translation and in-situ steering. The robotic arm is fixedly mounted on the AGV. The robotic arm's end effector includes a water jet head. The vision camera is mounted on the robotic arm. Distance sensors are mounted on the robotic arm and the AGV, respectively. The host computer communicates with the AGV, robotic arm, vision camera, and distance sensor via the Industrial Ethernet protocol, enabling unified dispatching instructions, coordinating the actions of each unit, and enabling real-time data exchange. The terminal communicates with the host computer via a wired or wireless network for data exchange. Based on an omnidirectional mobile AGV platform and multi-sensor fusion, it integrates the precise positioning of the robotic arm with the water jet cutting capabilities. Millisecond-level coordinated control of all devices is achieved via Industrial Ethernet. While ensuring millimeter-level cutting accuracy, it significantly improves efficiency and completely eliminates dust pollution (pure water cutting). Constant distance control and vision guidance ensure zero contact between the water jet and the blade, achieving efficient, environmentally friendly, and non-destructive flash removal. This technical measure has the advantages of high efficiency, environmental protection and little damage to the blade body.

[0024] In specific implementations, the robotic arm is a six-axis arm that can move within the workspace. It is bolted to the AGV. The arm's end effector includes a water jet head, which is bolted to the end effector. The water jet generates a high-pressure water jet accompanied by water jet sand to perform cutting. The software is a host computer. The AGV communicates with the host computer via the MODBUS TCP / MODBUS RTU protocol, the vision camera communicates with the host computer via the free TCP / IP protocol, the distance sensor communicates with the host computer via the TCP / IP protocol, and the host computer communicates with the robotic arm via the Ethernet KRL UDP / IP protocol. The distance sensors are installed on the robotic arm and the AGV. The distance sensor on the AGV detects the horizontal distance between the AGV and the wind turbine blades, while the distance sensor on the robotic arm detects the vertical distance between the water jet head and the wind turbine blades. The terminal can be a mobile terminal, such as a tablet, which is connected to the host computer via a wireless network.

[0025] like Figures 2 to 5 As shown, a cutting method based on a wind turbine blade flash automatic cutting system includes the following steps: Step 1: Mark the surface of the blade flash edge. After taking a picture of the blade flash edge with a visual camera, the host computer processes the image and generates a cutting guide line consisting of multiple guide points.

[0026] In actual use, manual marking is performed on the surface of the blade flash edge, the marked image is captured using a visual camera, and a digital cutting path consisting of multiple guide points is generated through image processing on the host computer, providing an accurate trajectory basis for subsequent water jet automatic cutting.

[0027] In step 1, the host computer generates guide points, performs point skipping processing, and removes outliers. Simultaneously, the end position of the cutting guide line is determined and the number of zero points is confirmed. This technical measure effectively reduces interference from factors such as lighting variations and uneven line thickness, significantly improving the quality and reliability of the final cutting guide line. Zero point confirmation prevents misjudgment of the guide line end point due to image noise, ensuring that each section of the flash is cut completely and without omission.

[0028] The steps of generating the guide point by the host computer include: Step 101: performing color binarization processing on the image; Step 102: edge trend detection; Color binarization and edge trend detection on the image can clearly extract the edge information of the blade flash, which provides accurate basic data for subsequent guide point generation and improves the accuracy of guide point generation.

[0029] Step 103: Extract the points on the upper and lower sides of the edge; Step 104: If the X coordinate values ​​of the points on the upper edge and the lower edge are the same, determine whether the difference between the Y coordinate values ​​of the points on the upper edge and the lower edge is approximately equal to the line width; If it is equal to the line width, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point; If they are not equal, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point, and the point needs to be processed as a jump point.

[0030] By extracting points on the upper and lower sides of an edge and determining whether the difference in the Y coordinates of the points on the upper and lower edges is equal to the line width, we can accurately determine which points are non-jump points and which require jump point processing. This line width determination method further improves the accuracy of the guide points and reduces interference from outliers.

[0031] Step 105: Determine the end of the cutting guide line.

[0032] like Figure 3 As shown, in a specific implementation, the step of jump point processing in step 104 includes: Step 1041: Number the jump points and non-jump points, and indicate the positional relationship between the jump points and non-jump points. The positions of the jump points can be divided into three categories: the leftmost, the rightmost, and the middle. Step 1042: The leftmost jump point processing; Traverse the non-jump points in the guide point array to the right, find the two nearest points, and use the two nearest points to the right of the jump point to interpolate the leftmost point; Processing of the rightmost jump point; Traverse the non-jump points in the guide point array to the left, find the two nearest points, and use the two nearest points to the left of the jump point to interpolate the rightmost point; Processing of the jump point in the middle; traversal to the left or right is possible; Step 1043: Complete jump point processing; Integrate the jump point and non-jump point data and convert the guide point array represented as pixels into millimeters.

[0033] Different interpolation methods are used for jump points at different locations (leftmost, rightmost, and center) to accurately complete jump points. This diverse processing approach improves the flexibility and accuracy of jump point processing and ensures the integrity of the guide points. After jump point processing, the jump point and non-jump point data are integrated, allowing the guide point array to fully represent the cutting guide line. This provides accurate path information for the robot arm's motion control, eliminates path abrupt changes caused by jump points, prevents robot arm jitter or empty cuts, and improves cutting accuracy and stability.

[0034] like Figure 3 As shown, the step of determining the end of the cutting guide line in step 105 includes: Step 1051: Since there is no cutting guide line mark at the end of the cutting guide line, no point with X coordinate value and Y coordinate value is generated, and it is considered as zero point; Step 1052: Based on the ratio of the number of zero points in the guide point array to the guide point array, the end of the cutting guide line can be determined according to the set ratio.

[0035] By determining the end position of the cutting guide line and confirming the number of zero points, the end of the cutting guide line can be accurately identified. A zero point ratio threshold is used to filter out occasional noise points. The end position is determined only when there are no valid points in a large continuous range, thus preventing misjudgment. The end position is forced to zero (0,0), providing an absolute coordinate system origin for AGV movement and the next cutting segment, eliminating coordinate accumulation errors. This helps the system adjust the cutting strategy in a timely manner during the cutting process, avoiding incomplete or over-cutting caused by incorrect end point judgment.

[0036] Step 2: Select the cutting position through the host computer, adjust the robot arm TCP point to the cutting starting point of the cutting guide line and a specified distance away from the blade flash height; adjust the AGV position and make the water jet head close to the cutting guide line along the X-axis direction; In actual use, the cutting starting point is selected by the host computer, the water jet head (TCP point of the robotic arm) is accurately positioned to a safe height above the starting point of the cutting guide line, and the AGV is synchronously adjusted to make the water jet head approach the guide line in the X-axis direction to achieve cutting starting posture calibration.

[0037] Step 3: When starting cutting, the robot arm starts to move a specified distance along the positive direction of the Y axis; In actual use, the robotic arm advances a preset distance along the length direction of the blade (positive direction of the Y axis) to create a data collection interval for subsequent flash slope detection. At the same time, it serves as the starting feed for the current cutting segment during segmented cutting.

[0038] Step 4: The starting and ending points of the blade flash within the specified distance are collected, and the Z-axis height of the blade flash within the specified distance is simultaneously collected using a distance sensor on the robotic arm; the flash slope is calculated based on the Z-axis height difference and the movement along the Y axis; the robotic arm is rotated along the X axis by a corresponding angle to match the flash inclination; In actual use, based on the feed interval in step 3, the Z-axis height difference of the burr is collected through the distance sensor, the actual slope is calculated in combination with the Y-axis displacement, and the rotation angle of the robot arm around the X-axis is adjusted in real time to keep the water jet head posture perpendicular to the inclined surface of the burr.

[0039] Step 5: The robot arm TCP follows the cutting guide line and drives the water jet head to move along the cutting guide line; In actual use, the robot arm TCP is the control point of the end effector of the robot arm. In this embodiment, the water jet head is installed on the end effector, and the robot arm TCP represents the actual position point where the water jet head performs a cutting operation.

[0040] like Figure 5 As shown, in the specific implementation, the specific steps of step 5 include: Step 501: The host computer sends the guide points to the robot arm, and the robot arm TCP moves according to the guide points, so that the water jet head moves along the cutting guide line; Step 502: Every time the water jet head moves a distance of the field of view, the visual camera takes a picture and adjusts the actual distance between the water jet head and the flash to the set distance. The host computer processes the cutting guide line and continuously generates guide points.

[0041] Through real-time visual feedback and dynamic correction mechanisms, the guide point is continuously updated during the cutting process and the water jet height is controlled in a closed loop, eliminating the cumulative errors caused by blade deformation and AGV drift, and ensuring millimeter-level cutting trajectory accuracy.

[0042] like Figure 5 As shown, the step of adjusting the distance of the water jet head in step 502 includes: Step 5021: The host computer reads the height of the distance sensor on the robotic arm; Step 5022: The host computer calculates the actual distance from the water jet head to the blade flash edge; Step 5023: Determine whether height correction is required based on the set distance from the water jet head to the blade flash edge and the actual distance from the water jet head to the blade flash edge; if correction is required, proceed to step 5024; if correction is not required, jump to step 5025; Step 5024: The host computer sends the correction value to the robotic arm, so that the water jet head moves along the Z axis to maintain the set distance from the water edge; Step 5025: End height correction.

[0043] Through visual ranging and real-time closed-loop control, the Z-axis height of the water jet head is dynamically adjusted to ensure a constant distance between the water jet and the flash surface during the cutting process, eliminate cutting pressure fluctuations caused by the undulations of the blade surface, and ensure the consistency of incision quality.

[0044] Step 6: The water jet head moves along the cutting guide line, reaches the specified distance, and then turns off the water jet; In actual use, the water jet is stopped accurately after the current cutting section is completed to avoid over-cutting.

[0045] Step 7: The water jet head rises along the positive direction of the Z axis by a specified distance, and moves along the negative direction of the X axis; In actual use, the Z-axis rises to safely lift the knife to avoid collision, lift the water jet head off the workpiece and move it horizontally to the starting position of the next cutting section; the X-axis negative movement is to locate the new starting point in preparation for reverse cutting.

[0046] Step 8: Turn on the water jet and move the water jet head along the positive direction of the X axis to complete the flash cutting; In actual use, turn on the water jet and move the water jet head in the opposite direction of step 7 to cut off the burrs produced by cutting in step 6.

[0047] Step 9: Turn off the water jet and raise the water jet head to a specified height along the positive Z axis. In actual use, the Z-axis lift ensures that the water jet head is safely away from the workpiece area. After the cutting is completed, the water jet is completely turned off and the water jet head is lifted to a safe height to end the current cutting operation.

[0048] Step 10: The AGV moves forward along the Y-axis, and the visual camera continuously takes pictures to generate guidance points and adjust the AGV's lateral distance.

[0049] In actual use, the AGV moves along the length direction of the blade (positive direction of the Y axis), while using a visual camera to scan the edge of the blade in real time to generate cutting path guide points, and dynamically adjust the lateral distance between the AGV and the blade (X axis direction) to accurately position the next section of cutting.

[0050] like Figure 5 As shown, in the specific implementation, the specific steps of step 10 include: Step 1001: The visual camera takes a picture, and the host computer processes the cutting guide line image to generate guide points; Step 1002: Determine whether the AGV lateral distance is appropriate. If not, proceed to step 1003; if appropriate, jump to step 1004. Step 1003: Use the PID algorithm to output the speed and correct the position; Step 1004: Adjustment completed.

[0051] By generating guidance points in real time through vision and dynamically correcting the AGV's lateral position with PID, posture drift is continuously suppressed during long-distance segmented cutting, ensuring the straightness and continuity of multi-segment flash cutting trajectories.

[0052] Step 11: Repeat steps 3 to 10 to start cutting the next section of the blade flash.

[0053] This method automates the entire process (guide point generation → cutting → reset cycle; AGV omnidirectional movement + robotic arm continuous operation, cutting without interruption), effectively improving work efficiency. Pure water jet technology eliminates dust and toxic gases. Non-contact cutting, physically isolating risks; dual closed-loop control using vision + distance sensors ensures the distance error between the water jet and the blade is ≤±0.3mm. Jump point processing + end zero point return suppresses path deviation; based on multi-sensor collaborative control and real-time closed-loop correction, through precise generation of visual guide points, constant distance cutting of the water jet and dynamic posture adjustment of the AGV, efficient and pollution-free removal of wind turbine blade flash is achieved, while ensuring millimeter-level cutting accuracy while completely avoiding damage to the blade body, effectively improving overall efficiency.

[0054] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An automatic cutting system for wind turbine blade flash, characterized in that: include: AGV, the AGV is equipped with a Mecanum wheel set, which enables the AGV to achieve X / Y translation and in-situ steering; A robotic arm, the robotic arm is fixedly mounted on the AGV; the end effector of the robotic arm includes a water jet head; The end effector of the robotic arm includes a water jet head; A visual camera is installed on the robotic arm; A plurality of distance sensors are respectively installed on the robot arm and the AGV; The host computer is connected to the AGV, robotic arm, visual camera, and distance sensor through the industrial Ethernet protocol to unify scheduling instructions, coordinate the actions of each unit, and realize real-time data interaction; The terminal is connected to the host computer via a wired or wireless network to achieve data exchange.

2. A cutting method based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The following steps are involved: Step 1: Mark the surface of the blade flash edge. Use a visual camera to take a picture of the blade flash edge. The host computer processes the image and generates a cutting guide line consisting of multiple guide points. Step 2: Select the cutting position through the host computer, adjust the robot arm TCP point to the cutting starting point of the cutting guide line and a specified distance away from the blade flash height; adjust the AGV position and make the water jet head close to the cutting guide line along the X-axis direction; Step 3: When starting cutting, the robot arm starts to move a specified distance along the positive direction of the Y axis; Step 4: The starting and ending points of the blade flash within the specified distance are collected, and the Z-axis height of the blade flash within the specified distance is simultaneously collected using a distance sensor on the robotic arm; the flash slope is calculated based on the Z-axis height difference and the movement along the Y axis; the robotic arm is rotated along the X axis by a corresponding angle to match the flash inclination; Step 5: The robot arm TCP follows the cutting guide line and drives the water jet head to move along the cutting guide line; Step 6: The water jet head moves along the cutting guide line, reaches the specified distance, and then turns off the water jet; Step 7: The water jet head rises along the positive direction of the Z axis by a specified distance, and moves along the negative direction of the X axis; Step 8: Turn on the water jet and move the water jet head along the positive direction of the X axis to complete the flash cutting; Step 9: Turn off the water jet and raise the water jet head to a specified height along the positive Z axis. Step 10: The AGV moves forward along the Y-axis, and the visual camera continuously takes pictures to generate guidance points and adjust the AGV's lateral distance; Step 11: Repeat steps 3 to 10 to start cutting the next section of the blade flash.

3. The cutting method according to claim 2 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: In step 1, when the host computer generates the guide points, it performs jump point processing on the guide points and eliminates abnormal points; at the same time, it determines the end position of the cutting guide line and confirms the number of zero points.

4. The cutting method according to claim 3 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The step of generating a guide point by the host computer includes: Step 101: performing color binarization processing on the image; Step 102: edge trend detection; Step 103: Extract the points on the upper and lower sides of the edge; Step 104: If the X coordinate values ​​of the points on the upper edge and the lower edge are the same, determine whether the difference between the Y coordinate values ​​of the points on the upper edge and the lower edge is approximately equal to the line width; If it is equal to the line width, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point; If they are not equal, the average of the X coordinate value of the point at the upper edge and the lower edge and the Y coordinate value of the point at the upper edge and the lower edge is stored in the guide point array as a non-jump point. This point needs to be processed as a jump point. Step 105: Determine the end of the cutting guide line.

5. The cutting method according to claim 4 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The steps of the jump point processing in step 104 include: Step 1041: Number the jump points and non-jump points, and indicate the positional relationship between the jump points and non-jump points. The positions of the jump points can be divided into three categories: the leftmost, the rightmost, and the middle. Step 1042: The leftmost jump point processing; Traverse the non-jump points in the guide point array to the right, find the two nearest points, and use the two nearest points to the right of the jump point to interpolate the leftmost point; Processing of the rightmost jump point; Traverse the non-jump points in the guide point array to the left, find the two nearest points, and use the two nearest points to the left of the jump point to interpolate the rightmost point; Processing of the jump point in the middle; traversal to the left or right is possible; Step 1043: Complete jump point processing; Integrate the jump point and non-jump point data and convert the guide point array represented as pixels into millimeters.

6. The cutting method according to claim 4 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The step of determining the end of the cutting guide line in step 105 includes: Step 1051: Since there is no cutting guide line mark at the end of the cutting guide line, no point with X coordinate value and Y coordinate value is generated, and it is considered as zero point; Step 1052: Based on the ratio of the number of zero points in the guide point array to the guide point array, the end of the cutting guide line can be determined according to the set ratio.

7. The cutting method according to claim 2 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The specific steps of step 5 include: Step 501: The host computer sends the guide points to the robot arm, and the robot arm TCP moves according to the guide points, so that the water jet head moves along the cutting guide line; Step 502: Every time the water jet head moves a distance of the field of view, the visual camera takes a picture and adjusts the actual distance between the water jet head and the flash to the set distance. The host computer processes the cutting guide line and continuously generates guide points.

8. The cutting method according to claim 7 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The step of adjusting the distance of the water jet head in step 502 includes: Step 5021: The host computer reads the height of the distance sensor on the robotic arm; Step 5022: The host computer calculates the actual distance from the water jet head to the blade flash edge; Step 5023: Determine whether height correction is required based on the set distance from the water jet head to the blade flash edge and the actual distance from the water jet head to the blade flash edge; if correction is required, proceed to step 5024; if correction is not required, jump to step 5025; Step 5024: The host computer sends the correction value to the robotic arm, so that the water jet head moves along the Z axis to maintain the set distance from the water edge; Step 5025: End height correction.

9. The cutting method according to claim 2 based on the wind turbine blade flash automatic cutting system according to claim 1, characterized in that: The specific steps of step 10 include: Step 1001: The visual camera takes a picture, and the host computer processes the cutting guide line image to generate guide points; Step 1002: Determine whether the AGV lateral distance is appropriate. If not, proceed to step 1003; if appropriate, jump to step 1004. Step 1003: Use the PID algorithm to output the speed and correct the position; Step 1004: Adjustment completed.

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