机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D...机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D435i采集的图像,实现了角钢塔主材螺栓的实时检测、三维定位及重新排序等功能.经实验验证,YOLOv5s-T在基本不降低均值平均精度(mean average precision,mAP)的情况下,推理速度提高约31%;用RGB-D相机测得的三维坐标计算相邻螺栓间距,平均误差小于1 mm.对主材螺栓排序算法进行验证,RGB-D相机正对螺栓组模板时,模板的正确排序率不低于95%,可快速引导6自由度机械臂末端到达螺栓紧固点.展开更多
Most wind turbine blades are assembled piece-by-piece onto the hub of a monopile-type offshore wind turbine using jack-up crane vessels.Despite the stable foundation of the lifting cranes,the mating process exhibits s...Most wind turbine blades are assembled piece-by-piece onto the hub of a monopile-type offshore wind turbine using jack-up crane vessels.Despite the stable foundation of the lifting cranes,the mating process exhibits substantial relative responses amidst blade root and hub.These relative motions are combined effects of wave-induced monopile motions and wind-induced blade root motions,which can cause impact loads at the blade root’s guide pin in the course of alignment procedure.Environmental parameters including the wind-wave misalignments play an important role for the safety of the installation tasks and govern the impact scenarios.The present study investigates the effects of wind-wave misalignments on the blade root mating process on a monopile-type offshore wind turbine.The dynamic responses including the impact velocities between root and hub in selected wind-wave misalignment conditions are investigated using multibody simulations.Furthermore,based on a finite element study,different impact-induced failure modes at the blade root for sideways and head-on impact scenarios,developed due to wind-wave misalignment conditions,are investigated.Finally,based on extreme value analyses of critical responses,safe domain for the mating task under different wind-wave misalignments is compared.The results show that although misaligned wind-wave conditions develop substantial relative motions between root and hub,aligned wind-wave conditions induce largest impact velocities and develop critical failure modes at a relatively low threshold velocity of impact.展开更多
文摘机器人替代人工紧固角钢塔螺栓是解决高空作业安全问题的途径之一.针对角钢塔螺栓紧固机器人的作业需求,提出了一种基于神经网络和RGB-D相机的角钢塔主材螺栓检测与定位系统,将轻量化的YOLOv5s-T网络应用于英特尔®实感™深度摄像头D435i采集的图像,实现了角钢塔主材螺栓的实时检测、三维定位及重新排序等功能.经实验验证,YOLOv5s-T在基本不降低均值平均精度(mean average precision,mAP)的情况下,推理速度提高约31%;用RGB-D相机测得的三维坐标计算相邻螺栓间距,平均误差小于1 mm.对主材螺栓排序算法进行验证,RGB-D相机正对螺栓组模板时,模板的正确排序率不低于95%,可快速引导6自由度机械臂末端到达螺栓紧固点.
基金The study is a part of SFI MOVE projects funded by the Research Council of Norway,NFR project number 237929.
文摘Most wind turbine blades are assembled piece-by-piece onto the hub of a monopile-type offshore wind turbine using jack-up crane vessels.Despite the stable foundation of the lifting cranes,the mating process exhibits substantial relative responses amidst blade root and hub.These relative motions are combined effects of wave-induced monopile motions and wind-induced blade root motions,which can cause impact loads at the blade root’s guide pin in the course of alignment procedure.Environmental parameters including the wind-wave misalignments play an important role for the safety of the installation tasks and govern the impact scenarios.The present study investigates the effects of wind-wave misalignments on the blade root mating process on a monopile-type offshore wind turbine.The dynamic responses including the impact velocities between root and hub in selected wind-wave misalignment conditions are investigated using multibody simulations.Furthermore,based on a finite element study,different impact-induced failure modes at the blade root for sideways and head-on impact scenarios,developed due to wind-wave misalignment conditions,are investigated.Finally,based on extreme value analyses of critical responses,safe domain for the mating task under different wind-wave misalignments is compared.The results show that although misaligned wind-wave conditions develop substantial relative motions between root and hub,aligned wind-wave conditions induce largest impact velocities and develop critical failure modes at a relatively low threshold velocity of impact.
