Visual Sensor Layout Optimization of a Robotic Mobile Adhesive Removal System for Wind Turbine Blade Based on Simulation.

In the manufacturing process of wind turbine blades, residual adhesive may overflow after the mold closing of the blades. The overflowing residual adhesive may cause damage to the inside of the wind turbine blades when the blades are in motion during operation. To address this, an adhesive removal robot capable of identifying and removing residual adhesive was designed. The robot is equipped with a vision system that enables adhesive recognition and guides the adhesive removal mechanism. Given the lack of precedents and the complexity of the robot's functions, it was necessary to streamline the development process and optimize the design scheme of the vision system to reduce costs and shorten development cycles. Therefore, a simulation environment using Gazebo was constructed to evaluate different design schemes for safety and effectiveness, and finally the optimization of the sensor layout scheme was realized.