Automatic cleaning method and system for a profiled connecting shaft

Abstract

This invention provides an automatic cleaning method and system for irregularly shaped curved surface connecting shafts, belonging to the field of automated cleaning technology. The invention defines a standard cleaning pose, template image, and standard cleaning trajectory for the connecting shaft. During actual cleaning, the connecting shaft is rotated and RGB images are acquired in real time. Coarse positioning of the pose is achieved by matching the image with the template image. Subsequently, real-time point clouds are acquired, and point cloud registration technology is used to accurately calculate the spatial transformation relationship between the current pose and the standard pose. Finally, based on the hand-eye calibration matrix, this transformation relationship is used to adaptively correct the preset standard trajectory. Through kinematic calculation and trajectory smoothing optimization, a robotic arm cleaning trajectory suitable for the connecting shaft in the current random pose is generated. This invention combines visual guidance with trajectory adaptation technology, significantly improving the coverage, efficiency, and safety of automated cleaning, and is particularly suitable for cleaning connecting shafts in high-risk, high-viscosity scenarios such as universal joints in large transmission machinery.

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