风机叶片巡检机器人快速检测路径规划算法
Rapid Inspection Path Planning Algorithm for Wind Turbine Blade Inspection Robot
李博 1单光坤 1马铁强 1杨玉鹏1
作者信息
- 1. 沈阳工业大学机械工程学院,辽宁 沈阳 110870
- 折叠
摘要
提出一种基于风力机叶片仿真分析的巡检机器人快速检测方法,通过对风机叶片进行静强度仿真分析得到其应力云图,基于云图模型进行环境建模,针对传统A*算法提出改进,进行了权重值改进、拐角优化以及路径平滑处理,并针对不同情况分别进行仿真分析对比实验.实验结果表明,所设计方案可以改进算法搜索效率,在完成既定目标的前提下缩短了路径长度,减少了搜索时间,可以实现风机叶片巡检机器人快速检测任务.
Abstract
A fast inspection robot inspection method based on wind turbine blade simulation analysis is proposed,the stress cloud map is obtained by static strength simulation analysis of wind turbine blade,the environment modelling is carried out based on the cloud model,the traditional A*algorithm is proposed to be improved,and weight value improvement,corner optimization,and path smoothing are carried out,and the comparison experiments are carried out respectively for the simulation analysis of different cases,and the results of the experiment show that the designed scheme can improve the search efficiency of the algorithm.The design scheme can improve the algorithm search efficiency,shorten the path length and reduce the search time under the premise of completing the established goal,and can achieve the rapid detection task of wind turbine blade inspection robot.
关键词
风机叶片/巡检机器人/A*算法/静强度仿真/路径规划Key words
blade/inspection robot/A*algorithm/static strength simulation/path planning引用本文复制引用
基金项目
国家自然科学基金面上项目(52007124)
出版年
2024
NETL
NSTL
万方数据