Wind load equivalent calculation method for rotary obstacle crossing mode of inspection robot

A technology of inspection robot and calculation method, applied in the field of effective calculation, to achieve the effect of facilitating numerical simulation and programming

Active Publication Date: 2019-09-10
NORTHEASTERN UNIV
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Problems solved by technology

However, there is no equivalent calculation method for wind loads that

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  • Wind load equivalent calculation method for rotary obstacle crossing mode of inspection robot
  • Wind load equivalent calculation method for rotary obstacle crossing mode of inspection robot
  • Wind load equivalent calculation method for rotary obstacle crossing mode of inspection robot

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[0061] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0062] This embodiment provides an equivalent wind load calculation method for the inspection robot rotating obstacle mode, wherein the inspection robot used is the transmission line inspection robot in the patent application CN109193452A, specifically including the following steps:

[0063] A1. Establish the wind load model of the inspection robot, specifically, such as figure 1 As shown, the wind load on the inspection robot is divided into transverse wind load Fx , Wind load F along the transmission line direction y and lift F z .

[0064] A2. According to the double-parameter Weibull distribution, a random wind speed model is established to obtain the time history of wind speed.

[0065] A21. The two-parameter Weibull distribution is a unimodal positivel...

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Abstract

The invention belongs to the technical field of wind load calculation, and particularly relates to a wind load equivalent calculation method for a rotary obstacle crossing mode of an inspection robot.The method comprises the following steps: A1, establishing a wind load model of the inspection robot, and dividing the wind load of the inspection robot into a transverse wind load Fx, a wind load Fyalong the direction of a power transmission line and a lift force Fz; A2, establishing a random wind speed model according to the dual-parameter Weibull distribution to obtain a wind speed time history; and A3, aiming at different obstacle crossing stages of the inspection robot, establishing a wind load equivalent fitting model under the corresponding obstacle crossing stage by combining the wind load model and the random wind speed model of the inspection robot, and obtaining a wind load equivalent calculation method. The method provided by the invention is different from an existing wind load equivalent method, the motion process of the inspection robot is considered, and a wind load equivalent calculation method more conforming to reality is established.

Description

technical field [0001] The invention belongs to the technical field of wind load calculation, and in particular relates to an equivalent wind load calculation method for a patrolling robot in a rotating obstacle-crossing mode. Background technique [0002] The transmission line inspection robot is a current research hotspot. When the inspection robot replaces the manual inspection work of the transmission line, it needs to cross or avoid various obstacles such as towers, anti-vibration hammers, suspension clamps and drainage jumpers, and withstand The influence of external excitation such as wind load. [0003] Under the action of wind load, the inspection robot will swing in the lateral direction and the direction of the transmission line. When the swing angle and swing frequency reach a certain level, the camera used to take the inspection image will be blurred, resulting in invalid photos and leading to inspection operations. Failure, in severe cases, will derail the wal...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 李小彭陈延炜陈仁桢杨英男张猛郭娜
Owner NORTHEASTERN UNIV
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