An algorithm automatically generating 2-D truss path model is proposed to solve the difficulty in the traditional path model generation and path planning method for complex truss structures. Image processing algorithms(such as image dilate

area filtering

erode and thinning)and feature points extraction are chosen for processing the input image to get the set of feature points of truss images

then the adjacency matrix is obtained by evaluating the connection of feature points

the feature points set and the adjacency matrix are combined to reconstruct the path model(of 2-D trusses). The specific implementation process of the algorithm is described by taking the generation of transmission tower path model as an example

then Floyd algorithm is employed to complete the path planning of robot. It is necessary to input the CAD drawings of the truss structures

then the path model can be automatically generated and the global path planning of robot is completed by the proposed algorithm.