Autonomous Surface Grinding of Wind Turbine Blades
摘要
Discarded wind turbine blades generate a considerable amount of waste that could be reduced by remanufacturing. Manual remanufacturing is too costly, which is why research is being conducted into automation techniques. The main problem is the individuality of work pieces due to damages. This work presents a workflow that includes damage analysis based on scans of the blade, subsequent path planning, control engineering with an AI controller for grinding and automatic review of the grinding process. Current problems are the inaccuracy of the robot used for scanning and the colour sensitivity of the used laser scanner. Our next steps besides solving the mentioned problems are to train a supervised machine learning algorithm with damage examples and to implement a specific and multi-step path planning algorithm.