A Method for Extracting Flash Point Cloud Feature on the Surface of Wind Turbine Blade Based on Difference of Normal Vector

The surface automatic processing of large wind turbine blades has always been an industry problem. The RGBD camera can be used to scan the blade surface to obtain a 3D point cloud of complex curved surfaces. However, the point cloud contains a lot of invalid information and is unorganized data, which makes it difficult to segment the point cloud of the blade. In this paper, we propose a method based on difference of normal vector to extract the blade flash feature of wind turbine blade. Firstly, the point cloud obtained by the RGBD camera is filtered to obtain a pure wind turbine blade point cloud. Then, the difference of normal vector of the wind turbine blade point cloud is calculated to separate the flash feature from the blade surface. Finally, a pure flash point cloud is segmented by clustering, which provides guidance data for automatic grinding of flash. Through experiments, it is proved that this method can accurately segment the blade flash feature on huge wind turbine blade without a large amount of data for model training. And the separation effect is not affected by the scanning angle, sampling noise, etc. It has strong robustness.