Automatic obstacle avoidance detection robot for storage tank bottom plate and defect detection system

Abstract

The invention provides an automatic obstacle avoidance detection robot for a storage tank bottom plate and a defect detection system, and relates to the field of nondestructive detection. The automatic obstacle avoidance detection robot for the storage tank bottom plate comprises a moving seat, two rolling wheels are rotationally connected to the two sides of the moving seat correspondingly, crawler belts are arranged outside the front rolling wheel and the rear rolling wheel correspondingly, a laser radar is fixedly connected to the front portion of the top of the moving seat, and a containing groove is formed in the bottom of the front end of the moving seat; a corrosion detector is fixedly connected into the containing groove, a dismounting assembly is arranged at the rear end of the moving seat, a first electric sliding rail is arranged on the rear side of the dismounting assembly, and first limiting blocks are fixedly connected to the two ends of the first electric sliding rail. Through cooperation of the first electric sliding rail, the second electric sliding rail, the third electric sliding rail, the steering engine, the rotating frame and the dismounting assembly, the magnetic memory sensor can be controlled and adjusted in an all-around mode, and therefore the stability and precision in the storage tank bottom plate detection process are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive testing, and in particular to an automatic obstacle avoidance detection robot and a defect detection system for a tank bottom plate. Background Art

[0002] At present, my country's petroleum industry is developing rapidly. As an important storage equipment in the petroleum industry, atmospheric pressure storage tanks play an important role in storing petroleum and its derivatives. As an important part of atmospheric pressure storage tanks, the tank bottom plate bears the important functions of bearing the weight of the medium and maintaining the stability of the tank structure. However, the tank bottom plate is often affected by factors such as pressure, fatigue, and stress concentration during long-term use, resulting in defects in the bottom plate, such as cracks, weld nodules, and deformation. If these defects are not discovered and handled in time, they may cause the tank bottom plate to rupture or leak, causing serious accidents and posing a major threat to personal safety and the environment.

[0003] The inspection of the bottom plate of atmospheric pressure storage tanks mainly relies on manual visual inspection or the use of traditional non-destructive testing methods, such as ultrasonic testing, liquid penetration testing, etc. However, these methods have some limitations. For example, manual visual inspection requires a lot of manpower and time, and is affected by human subjective factors; traditional non-destructive testing methods have high technical requirements for operators and cannot achieve comprehensive, fast and accurate inspection of the bottom plate of the tank; in addition, common traditional inspections are labor-intensive, for example, a 50,000 cubic meter storage tank magnetic leakage inspection takes 3-5 days, so companies are in urgent need of fast and automated inspection methods to improve efficiency. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an automatic obstacle avoidance detection robot and defect detection system for the tank bottom plate, which solves the problem that manual visual inspection requires a lot of manpower and time and is affected by human subjective factors; traditional non-destructive testing methods have high technical requirements on operators and cannot achieve comprehensive, fast and accurate detection of the tank bottom plate.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic obstacle avoidance detection robot for a tank bottom plate, comprising a moving seat, two rollers are rotatably connected to both sides of the moving seat, tracks are arranged on the outside of the front and rear rollers, a laser radar is fixedly connected to the front of the top of the moving seat, a placement groove is provided at the bottom of the front end of the moving seat, a corrosion detector is fixedly connected to the placement groove, a disassembly component is provided at the rear end of the moving seat, a first electric slide rail is provided at the rear side of the disassembly component, first limit blocks are fixedly connected to both ends of the first electric slide rail, and a first electric slide rail is slidably connected to the outside of the first electric slide rail. A slide seat, a second electric slide rail is fixedly connected to the outer side of the first slide seat, a second slide seat is slidably connected to the outer side of the second electric slide rail, a third electric slide rail is fixedly connected to the bottom of the second slide seat, a third slide seat is slidably connected to the outer side of the third electric slide rail, a steering gear is fixedly connected to the bottom of the third slide seat, a rotating frame is fixedly connected to the output end of the steering gear, a magnetic memory sensor is fixedly connected to the outer side of the rotating frame, a posture sensor is arranged on the right side of the magnetic memory sensor, and the posture sensor is fixedly connected to the rotating frame, a limiting component is arranged in the middle position of the top of the moving seat, and a stress concentration magnetic detector is arranged in the limiting component.

[0006] Preferably, the disassembly assembly includes a mounting seat, which is fixedly connected to the rear end of the movable seat, and both sides of the mounting seat are provided with evenly distributed threaded holes, and a disassembly plate is provided on the outer side of the mounting seat, and both sides of the disassembly plate are penetrated and provided with evenly distributed through holes, and screws are penetrated and provided in the through holes, and the rear side of the disassembly plate is fixedly connected to the first electric slide rail.

[0007] Preferably, the limiting assembly includes a fixed block, the bottom of the fixed block is fixedly connected to the movable seat, the top of the fixed block is fixedly connected to a fixed column, a mounting groove is opened on the rear side of the fixed column, a bidirectional threaded rod passes through and is rotatably connected to the mounting groove, and both sides of the outer ring of the bidirectional threaded rod are threadedly connected to the limiting plate.

[0008] Preferably, a camera is arranged in front of the laser radar, and the bottom of the camera is fixedly connected to the movable base.

[0009] Preferably, the crawler track is externally fixedly connected with evenly distributed anti-skid protrusions.

[0010] Preferably, both ends of the third electric slide rail are fixedly connected with second limit blocks.

[0011] Preferably, both sides of the mounting seat are fixedly connected with stabilizing frames, and the ends of the stabilizing frames are fixedly connected to the top of the moving seat.

[0012] Preferably, a knob is fixedly connected to the right end of the bidirectional threaded rod, and the knob is arranged on the outside of the fixing column.

[0013] Working principle: When in use, place the robot on the bottom plate of the indoor storage tank, and drive the rollers through the motor inside the mobile seat 1, and drive the crawler to operate through the rollers. The crawler-type chassis has strong obstacle-crossing ability and is not easy to slip. It is very suitable for use in situations where there is a lot of oily sludge on the bottom plate of the storage tank. The robot can achieve the obstacle avoidance function through the cooperation of laser radar and camera, and the corrosion rate and degree of corrosion on the surface of the bottom plate can be detected through the corrosion detector during the movement of the mobile seat. The magnetic memory sensor of the TSC-2M-8 stress concentration magnetic detector is equipped with an encoder to achieve precise positioning of defects. The first electric slide rail, the second electric slide rail and the third electric slide rail can drive the magnetic memory sensor to move in straight lines and curves in three-dimensional space, and the servo and the rotating frame can drive the magnetic memory sensor to achieve its horizontal rotation, usually 180 degrees. It controls the rotation angle and direction of the servo through the PWM signal of the single-chip microcomputer, thereby realizing the rotation of the magnetic memory sensor, and uses the MPU-6050 six-axis attitude sensor to detect the angle and direction of the magnetic memory sensor, such as pitch angle, roll angle and yaw angle. It can collect the attitude information of the SG90 servo gimbal in real time, thereby realizing the automatic balance and stable control of the robot during movement, and the disassembly plate can be disassembled through screws, which is convenient for disassembly and height adjustment. The two-way threaded rod is driven to rotate by turning the knob, and the two-way threaded rod drives the two limit plates to move relative to each other, thereby limiting the two sides of the stress concentration magnetic detector, and the stabilizing frame is used to facilitate the installation and disassembly of the stress concentration magnetic detector.

[0014] The present invention provides an automatic obstacle avoidance detection robot and defect detection system for a tank bottom plate. The invention has the following beneficial effects:

[0015] 1. The present invention can drive the magnetic memory sensor to move in a straight line and curve in a three-dimensional space through the cooperation of the first electric slide rail, the second electric slide rail, the third electric slide rail, the steering gear, the rotating frame and the disassembly assembly, and can drive the magnetic memory sensor to realize its rotation in the horizontal direction through the steering gear and the rotating frame, and perform all-round control and adjustment on the magnetic memory sensor, thereby ensuring the stability and accuracy during the inspection process of the tank bottom plate.

[0016] 2. The present invention cooperates with each other through the magnetic memory sensor, stress concentration magnetic detector, limit assembly, laser radar and camera. The magnetic memory sensor of the TSC-2M-8 stress concentration magnetic detector is used to realize the precise positioning of defects. The limit assembly can also limit the two sides of the stress concentration magnetic detector. The stabilizing frame is used to facilitate the installation and disassembly of the stress concentration magnetic detector. The corrosion detector detects the corrosion rate and degree of the bottom plate surface. The laser radar and camera can drive the mobile seat to avoid obstacles, which can avoid the high labor intensity and low efficiency of traditional detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front perspective schematic diagram of the present invention;

[0018] Figure 2 It is a rear perspective schematic diagram of the present invention;

[0019] Figure 3 An exploded view of the disassembly assembly structure of the present invention;

[0020] Figure 4 This is a diagram of the defect detection system of the present invention.

[0021] Among them, 1. moving seat; 2. roller; 3. crawler; 4. anti-skid protrusion; 5. laser radar; 6. camera; 7. placement slot; 8. corrosion detector; 9. mounting seat; 10. threaded hole; 11. stabilizing frame; 12. disassembly plate; 13. through hole; 14. screw; 15. first electric slide rail; 16. first limit block; 17. first slide seat; 18. second electric slide rail; 19. second slide seat; 20. third electric slide rail; 21. second limit block; 22. third slide seat; 23. servo; 24. rotating frame; 25. magnetic memory sensor; 26. attitude sensor; 27. fixed block; 28. fixed column; 29. ​​mounting slot; 30. bidirectional threaded rod; 31. limit plate; 32. knob; 33. stress concentration magnetic detector. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example:

[0024] like Figure 1-3As shown, an embodiment of the present invention provides an automatic obstacle avoidance detection robot for a tank bottom plate, including a moving seat 1, two rollers 2 are rotatably connected to both sides of the moving seat 1, tracks 3 are arranged outside the front and rear rollers 2, a laser radar 5 is fixedly connected to the front of the top of the moving seat 1, a placement groove 7 is provided at the bottom of the front end of the moving seat 1, a corrosion detector 8 is fixedly connected in the placement groove 7, a disassembly component is arranged at the rear end of the moving seat 1, a first electric slide rail 15 is arranged at the rear side of the disassembly component, first limit blocks 16 are fixedly connected to both ends of the first electric slide rail 15, a first slide seat 17 is slidably connected to the outside of the first electric slide rail 15, and the first slide seat 17 is fixed outside A second electric slide rail 18 is connected, the second electric slide rail 18 is externally slidably connected to a second slide seat 19, the second slide seat 19 is fixedly connected to a third electric slide rail 20 at the bottom, the third electric slide rail 20 is externally slidably connected to a third slide seat 22, the third slide seat 22 is fixedly connected to a steering gear 23 at the bottom, the steering gear 23 is fixedly connected to a rotating frame 24 at the output end, the rotating frame 24 is externally fixedly connected to a magnetic memory sensor 25, a posture sensor 26 is arranged on the right side of the magnetic memory sensor 25, and the posture sensor 26 is fixedly connected to the rotating frame 24, a limit assembly is arranged in the middle of the top of the moving seat 1, and a stress concentration magnetic detector 33 is arranged in the limit assembly.

[0025] The first slide 17, the second slide 19 and the third slide 22 work in coordination with each other to drive the magnetic memory sensor 25 to perform flexible and accurate positioning. Through accurate positioning and control, high-efficiency and high-precision detection of the tank bottom plate is achieved.

[0026] The disassembly assembly includes a mounting seat 9, which is fixedly connected to the rear end of the movable seat 1. Evenly distributed threaded holes 10 are provided on both sides of the mounting seat 9. A disassembly plate 12 is provided on the outer side of the mounting seat 9. Evenly distributed through holes 13 are penetrated and opened on both sides of the disassembly plate 12. Screws 14 are penetrated and provided in the through holes 13. The rear side of the disassembly plate 12 is fixedly connected to the first electric slide rail 15.

[0027] The disassembly assembly can facilitate the disassembly and installation of the disassembly plate 12 and the mobile seat 1, and the height of the disassembly plate 12 can be adjusted to improve stability and facilitate connection. When in use, the mobile seat 1 can be quickly docked. After the test is completed, the disassembly plate 12 can also be quickly detached from the robot, which is convenient for testing other uses of the robot.

[0028] The limiting assembly includes a fixed block 27, the bottom of which is fixedly connected to the moving seat 1, and the top of the fixed block 27 is fixedly connected to a fixed column 28. The rear side of the fixed column 28 is provided with a mounting groove 29, and a bidirectional threaded rod 30 passes through and is rotatably connected in the mounting groove 29. The outer ring of the bidirectional threaded rod 30 is threadedly connected to a limiting plate 31 on both sides.

[0029] The two limiting plates 31 can be driven to move relative to each other through the limiting assembly, so that the two sides of the stress concentration magnetic detector 33 can be limited and fixed, making it convenient to quickly disassemble and install it.

[0030] A camera 6 is arranged in front of the laser radar 5 , and the bottom of the camera 6 is fixedly connected to the moving base 1 .

[0031] The laser radar 5 cooperates with the camera 6 to conveniently drive the mobile base 1 to avoid obstacles in time.

[0032] The crawler track 3 is externally fixedly connected with uniformly distributed anti-skid protrusions 4 .

[0033] The anti-skid protrusions 4 distributed on the surface of the crawler track 3 prevent the tank from being affected in movement due to the long-term storage of crude oil and other substances inside.

[0034] Second limiting blocks 21 are fixedly connected to both ends of the third electric slide rail 20 .

[0035] The second limit block 21 serves to limit the third slide seat 22.

[0036] Both sides of the mounting seat 9 are fixedly connected with stabilizing frames 11 , and the ends of the stabilizing frames 11 are fixedly connected to the top of the moving seat 1 .

[0037] The stabilizing frame 11 can improve the stability of the mounting seat 9 at the rear end of the moving seat 1 .

[0038] A knob 32 is fixedly connected to the right end of the bidirectional threaded rod 30 , and the knob 32 is arranged outside the fixing column 28 .

[0039] The bidirectional threaded rod 30 can be driven to rotate by turning the knob 32 .

[0040] A tank bottom plate automatic obstacle avoidance detection robot defect detection system comprises a monitoring PC terminal, a motion control module, a defect detection module and a sensor module. The defect detection module comprises a corrosion detector 8, a stress concentration magnetic detector 33, a photoelectric encoder, a sensor, a signal processing unit and a data acquisition and analysis unit. The corrosion degree and defect position of the bottom plate can be accurately located through the defect detection module. The motion control module comprises a DC motor, an odometer, an electric slide rail and a steering gear. The motion control module can control the motion state of a moving seat 1, and can also drive a magnetic memory sensor 25 to adjust various azimuths. The magnetic memory sensor 25 can be adjusted in angle in cooperation with the steering gear 23. The sensor module comprises a laser radar 5, a camera 6 and a posture sensor 26. The moving seat 1 can have an automatic obstacle avoidance function through the sensor module, and the posture sensor 26 can detect the angle and direction of the magnetic memory sensor, such as the pitch angle, the roll angle and the yaw angle. Thereby, automatic balance and stable control of the robot can be realized during the movement. The stress concentration magnetic detector 33 and the corrosion detector 8 are connected to the monitoring PC through the communication protocol. The photoelectric encoder and the sensor are connected to the signal processing unit. The signal processing unit is connected to the data acquisition and analysis unit. The data acquisition and analysis unit is connected to the monitoring PC. The stress concentration magnetic detector 33 is connected to the magnetic memory sensor 25. The stress concentration magnetic detector 33 and the magnetic memory sensor 25 detect the defects on the surface of the bottom plate through photoelectric encoding and sensors. The detected data is analyzed by the signal processing unit and the data acquisition and analysis unit, and finally the data is displayed on the monitoring PC. The DC motor is used to drive the operation of the roller, the odometer is used to measure the mileage of the moving seat, the electric slide rail is used to drive the servo to adjust the position, the laser radar is connected to the camera, and the attitude sensor is used to detect the angle and direction of the magnetic memory sensor.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle avoidance detection robot for a tank bottom plate, comprising a moving base (1), characterized in that: Two rollers (2) are rotatably connected to both sides of the moving seat (1), and tracks (3) are arranged outside the front and rear rollers (2). A laser radar (5) is fixedly connected to the front of the top of the moving seat (1). A placement groove (7) is provided at the bottom of the front end of the moving seat (1), and a corrosion detector (8) is fixedly connected in the placement groove (7). A disassembly component is arranged at the rear end of the moving seat (1), and a first electric slide rail (15) is arranged at the rear side of the disassembly component. Both ends of the first electric slide rail (15) are fixedly connected to first limit blocks (16). The first electric slide rail (15) is slidably connected to a first slide seat (17) outside, and a second electric slide rail (18) is fixedly connected to the outside of the first slide seat (17). The electric slide rail (18) is externally slidably connected to a second slide seat (19), the second slide seat (19) is fixedly connected to a third electric slide rail (20) at its bottom, the third electric slide rail (20) is externally slidably connected to a third slide seat (22), the third slide seat (22) is fixedly connected to a steering gear (23) at its bottom, the steering gear (23) is fixedly connected to a rotating frame (24) at its output end, the rotating frame (24) is externally fixedly connected to a magnetic memory sensor (25), a posture sensor (26) is arranged on the right side of the magnetic memory sensor (25), and the posture sensor (26) is fixedly connected to the rotating frame (24), a limit assembly is arranged at the middle position of the top of the moving seat (1), and a stress concentration magnetic detector (33) is arranged in the limit assembly.

2. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 1 is characterized in that: The disassembly assembly comprises a mounting seat (9), the mounting seat (9) being fixedly connected to the rear end of the movable seat (1), both sides of the mounting seat (9) being provided with evenly distributed threaded holes (10), a disassembly plate (12) being arranged on the outer side of the mounting seat (9), both sides of the disassembly plate (12) being penetrated and provided with evenly distributed through holes (13), screws (14) being penetrated and arranged in the through holes (13), and the rear side of the disassembly plate (12) being fixedly connected to the first electric slide rail (15).

3. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 1 is characterized in that: The limiting assembly comprises a fixed block (27), the bottom of the fixed block (27) is fixedly connected to the movable seat (1), the top of the fixed block (27) is fixedly connected to a fixed column (28), a mounting groove (29) is provided on the rear side of the fixed column (28), a bidirectional threaded rod (30) passes through and is rotatably connected to the mounting groove (29), and both sides of the outer ring of the bidirectional threaded rod (30) are threadedly connected to the limiting plate (31).

4. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 1 is characterized in that: A camera (6) is arranged in front of the laser radar (5), and the bottom of the camera (6) is fixedly connected to the movable seat (1).

5. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 1 is characterized in that: The crawler (3) is externally fixedly connected with evenly distributed anti-skid protrusions (4).

6. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 1, characterized in that: Both ends of the third electric slide rail (20) are fixedly connected with second limit blocks (21).

7. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 2 is characterized in that: Both sides of the mounting seat (9) are fixedly connected with stabilizing frames (11), and the ends of the stabilizing frames (11) are fixedly connected to the top of the moving seat (1).

8. The automatic obstacle avoidance detection robot for a tank bottom plate according to claim 3 is characterized in that: A knob (32) is fixedly connected to the right end of the bidirectional threaded rod (30), and the knob (32) is arranged outside the fixing column (28).

9. The automatic obstacle avoidance detection robot defect detection system for a tank bottom plate according to claim 3 is characterized in that: The defect detection system includes a monitoring PC, a motion control module, a defect detection module and a sensor module. The defect detection module includes a corrosion detector, a stress concentration magnetic detector, a photoelectric encoder, a sensor, a signal processing unit and a data acquisition and analysis unit. The motion control module includes a DC motor, an odometer, an electric slide rail and a servo. The sensor module includes a laser radar, a camera and a posture sensor. The stress concentration magnetic detector is connected to the magnetic memory sensor, and the stress concentration magnetic detector and the corrosion detector are both connected to the monitoring PC through a communication protocol. The photoelectric encoder and the sensor are connected to the signal processing unit, and the signal processing unit is connected to the data acquisition and analysis unit, and the data acquisition and analysis unit is connected to the monitoring PC. The DC motor is used to drive the operation of the roller, the odometer is used to measure the mileage of the moving seat, the electric slide rail is used to drive the servo to adjust the position, the laser radar is connected to the camera, and the posture sensor is used to detect the angle and direction of the magnetic memory sensor.

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