Oil tank interior cleaning device with narrow inlet

Abstract

The invention relates to the technical field of oil tank cleaning, and discloses an oil tank interior cleaning device with a narrow inlet. The cleaning assembly is arranged on the vehicle body, the cleaning assembly comprises a first-stage cleaning part, a second-stage cleaning part and a third-stage cleaning part, and the vehicle body is used for cleaning oil stains in the oil tank through the first-stage cleaning part, the second-stage cleaning part and the third-stage cleaning part which are arranged in sequence; the acquisition module is arranged on the vehicle body, and the acquisition module is used for acquiring environment information in the oil tank; and the control module is used for generating a planned path based on the environment information and controlling the vehicle body to walk in the oil tank based on the planned path. Cleaning of oil stains in the small space of the oil tank is achieved, the cleaning effect and the cleaning efficiency are improved, workers are prevented from entering the oil tank for operation, and the operation risk suffered by the workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of oil tank cleaning, in particular to an oil tank internal cleaning device with a narrow inlet. Background Art

[0002] The cleaning of the spare diesel engine oil pan belongs to a confined space. The oil pan is connected to the engine body. Usually, the oil pan is cleaned by personnel entering the oil pan through the crankcase inspection hole (about 300*300) on the engine body for cleaning. Since the entrance is too small, it usually requires very thin personnel to enter, the cleaning efficiency is low, the cleaning effect is not ideal, and the operating personnel are exposed to greater operating risks.

[0003] Therefore, there is an urgent need for a fuel tank internal cleaning device with a narrow inlet to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a device for cleaning the inside of an oil tank with a narrow inlet, so as to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following solution: The present invention provides a device for cleaning the inside of an oil tank with a narrow inlet, comprising:

[0006] a vehicle body, disposed within the fuel tank;

[0007] A cleaning component is arranged on the vehicle body, and the cleaning component includes a primary cleaning component, a secondary cleaning component and a tertiary cleaning component. The vehicle body sequentially cleans the oil stains in the oil tank through the primary cleaning component, the secondary cleaning component and the tertiary cleaning component;

[0008] An acquisition module, arranged on the vehicle body, and used for acquiring environmental information in the fuel tank;

[0009] The control module is used to generate a planned path based on the environmental information, and to control the vehicle body to move in the fuel tank based on the planned path.

[0010] According to a device for cleaning the inside of an oil tank with a narrow entrance provided by the present invention, the primary cleaning component includes a bucket installed at the front end of the vehicle body, and the bucket is used to clean the oil stains at the bottom end of the oil tank.

[0011] According to a device for cleaning the inside of an oil tank with a narrow entrance provided by the present invention, the secondary cleaning component includes a mechanical arm installed on the vehicle body, and cleaning heads are provided at the end of the mechanical arm and the bottom of the vehicle body. The cleaning head on the mechanical arm is used to clean the oil stains on the side wall of the oil tank, and the cleaning head at the bottom of the vehicle body is used to clean the oil stains remaining at the bottom of the oil tank.

[0012] According to a device for cleaning the inside of an oil tank with a narrow entrance provided by the present invention, the three-stage cleaning component includes a roller installed at the front end of the vehicle body, the roller is used to place dough, and the roller drives the dough to rotate to clean the residual oil stains on the inner wall of the oil tank.

[0013] According to a fuel tank internal cleaning device with a narrow entrance provided by the present invention, the acquisition module includes a laser radar and a camera arranged on the vehicle body.

[0014] According to the device for cleaning the inside of an oil tank with a narrow entrance provided by the present invention, a lighting lamp is arranged at the front end of the vehicle body.

[0015] According to the device for cleaning the inside of an oil tank with a narrow entrance provided by the present invention, the moving wheels on the vehicle body are equipped with tracks.

[0016] According to the device for cleaning the inside of an oil tank with a narrow inlet provided by the present invention, the crawler is a magnetic crawler.

[0017] According to a fuel tank internal cleaning device with a narrow inlet provided by the present invention, a sewage suction hose is installed on the top of the vehicle body through a connecting head.

[0018] According to the present invention, a device for cleaning the inside of an oil tank with a narrow entrance further includes a data processing module for generating point cloud data according to the environmental information and for generating map information according to the point cloud data.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] The present invention provides a fuel tank internal cleaning device with a narrow entrance. The operator manually places the device body in the fuel tank, first constructs the map data in the fuel tank through the set acquisition module, and transmits it to the vehicle body and designs the walking path through the algorithm. The vehicle body walks along the path, and the first-level cleaning parts, second-level cleaning parts and third-level cleaning parts are set in sequence to achieve the cleaning of the inner wall of the fuel tank. The application realizes the cleaning of oil stains in the small space of the fuel tank, improves the cleaning effect and cleaning efficiency, avoids personnel from entering the fuel tank to work, and reduces the operating risks to personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0022] Figure 1 It is a schematic diagram of the top surface structure of the device of the present invention;

[0023] Figure 2 It is a schematic diagram of the bottom structure of the device of the present invention;

[0024] Figure 3 It is a schematic diagram of the side structure of the device of the present invention;

[0025] Figure 4 It is the working flow chart of the device of the present invention;

[0026] Among them, 1. Vehicle body; 2. Bucket; 3. Robotic arm; 4. Cleaning head; 5. Roller; 6. LiDAR; 7. Camera; 8. Lighting; 9. Moving wheel; 10. Track; 11. Connector; 12. Sewage suction hose. DETAILED DESCRIPTION

[0027] 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.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figure 1-Figure 4 The present invention provides a device for cleaning the inside of an oil tank with a narrow inlet, comprising:

[0030] A vehicle body 1 is arranged in the fuel tank;

[0031] A cleaning component is arranged on the vehicle body 1, and the cleaning component includes a primary cleaning component, a secondary cleaning component and a tertiary cleaning component. The vehicle body 1 sequentially cleans the oil stains in the oil tank through the primary cleaning component, the secondary cleaning component and the tertiary cleaning component;

[0032] An acquisition module is provided on the vehicle body 1 and is used to acquire environmental information in the fuel tank;

[0033] The control module is used to generate a planned path based on environmental information, and to control the vehicle body to move in the fuel tank based on the planned path.

[0034] In one embodiment of the present invention, specifically, an operator manually places the device body in the fuel tank, first constructs the map data in the fuel tank through a set acquisition module, and transmits it to the vehicle body 1 and designs a walking path through an algorithm. The vehicle body 1 walks along the path, and cleans the inner wall of the fuel tank in turn through the set first-level cleaning parts, second-level cleaning parts and third-level cleaning parts, thereby ensuring the cleaning effect and cleaning efficiency.

[0035] As an optional embodiment, the primary cleaning component includes a bucket 2 installed at the front end of the vehicle body 1, and the bucket 2 is used to clean the oil stains at the bottom end of the oil tank.

[0036] In one embodiment of the present invention, the oil stains are shoveled into the bucket 2 by the provided bucket 2, thereby achieving cleaning of the oil stains.

[0037] As an optional embodiment, the secondary cleaning component includes a robotic arm 3 installed on the vehicle body 1, and a cleaning head 4 is provided at the end of the robotic arm 3 and the bottom of the vehicle body 1. The cleaning head 4 on the robotic arm 3 is used to clean the oil stains on the side walls of the fuel tank, and the cleaning head 4 at the bottom of the vehicle body 1 is used to clean the oil stains remaining at the bottom of the fuel tank.

[0038] In one embodiment of the present invention, the cleaning head 4 is provided to clean the oil stains remaining on the side wall and the bottom.

[0039] The specific cleaning head 4 is preferably a rag, and the cleaning head 4 at the bottom can be rotated and lifted.

[0040] As an optional embodiment, the three-stage cleaning component includes a roller 5 installed at the front end of the vehicle body 1, and the roller 5 is used to place dough. The roller 5 drives the dough to rotate to clean the residual oil stains on the inner wall of the oil tank.

[0041] In one embodiment of the present invention, dough is placed in the drum 5 and rotated with the drum 5, so that the oil stains are adsorbed and cleaned by the dough.

[0042] As an optional implementation, the acquisition module includes a laser radar 6 and a camera 7 arranged on the vehicle body 1 .

[0043] In one embodiment of the present invention, a laser radar 6 is set up to obtain environmental information inside the fuel tank to generate a point cloud, and the point cloud data is processed to extract obstacles and structural features. Then, a grid map method is used to convert the point cloud data of the fuel tank into a grid map. Each grid unit represents an area in the fuel tank. Whether there is an obstacle is determined based on the acquired map information, and the camera 7 is set up for observation when the device is operating.

[0044] Specifically, the vehicle body is also provided with a sensor module, including an inertial measurement unit (IMU) for measuring the acceleration and angular velocity of the device. The communication module includes wireless communication: used for data transmission between the device and the ground station, image transmission module: used for image transmission between the device and the ground station, and battery management system (BMS): provides stable power supply to ensure that the device works for a long time.

[0045] As an optional implementation, a lighting lamp 8 is provided at the front end of the vehicle body 1 .

[0046] In one embodiment of the present invention, lighting is performed by means of an illumination lamp 8 .

[0047] As an optional embodiment, tracks 10 are installed on the moving wheels 9 on the vehicle body 1 .

[0048] In one embodiment of the present invention, the crawler tracks 10 are provided to facilitate the movement of the vehicle body 1 in the fuel tank.

[0049] As an optional implementation, the track 10 is a magnetic track.

[0050] In one embodiment of the present invention, the magnetic track can realize the presence or absence of magnetic force by power-on switch, which is more convenient to use during operation. By increasing the magnetic force, the friction between the chassis and the bottom of the oil tank is strengthened to prevent the device from slipping during operation due to grease.

[0051] As an optional implementation, a sewage suction hose 12 is installed on the top of the vehicle body 1 through a connector 11 .

[0052] In one embodiment of the present invention, the oil residue on the top of the oil tank is adsorbed by the provided sewage suction hose 12.

[0053] As an optional implementation, it also includes a data processing module for generating point cloud data based on environmental information and for generating map information based on the point cloud data.

[0054] Specifically, when in use, the device passes through a 300*300 entrance, and the operator manually puts the device into the bottom of the fuel tank. After the device enters the fuel tank, the laser radar 6 installed on the device obtains the environmental information inside the fuel tank to generate a point cloud, processes the point cloud data to extract obstacles and structural features, and then uses the grid map method to convert the point cloud data of the fuel tank into a grid map to form map information. Each grid unit represents an area in the fuel tank. Whether there is an obstacle is determined based on the acquired map information. After the device loads the map information, the starting point and end point of the device are determined, and a reasonable walking path is designed using a traversal path planning algorithm. Since there are no obstacles in the internal space of the fuel tank and the environment is simple, the rapid planning tree (RRT) algorithm is used to plan the path. The RRT algorithm is suitable for path planning in dynamic and complex environments. It can first find a basic path, and then further adjust the path to form a cyclical mode. The target tracking is carried out using a matching model predictive control (MPC). MPC is an optimization control method that can handle constraints and dynamic targets, is suitable for precise cyclical paths, and can adjust the path in real time. Based on the width of the device body and the turning radius as reference distance, the driving path is designed to ensure that the device can cover the maximum area of ​​the bottom of the fuel tank during driving, and walk as close to the inner wall of the side as possible to clean the oil stains near the seams. The vehicle body 1 cleans the oil stains through the provided bucket 2 along the prescribed path. After the first cleaning, most of the oil stains on the bottom will be cleaned, but there will still be some oil stains on the seams and side walls that cannot be cleaned. At this time, the device walks again according to the path designed in the previous step, unfolds the robotic arm 3, and uses the cleaning head 4 at the end of the arm and the cleaning head 4 at the bottom of the body to clean the residual oil stains on the side walls and bottom of the fuel tank respectively. After this step, most of the residual oil stains on the side walls and bottom can be cleaned, but there will still be some small and scattered oil stains that are difficult to clean. In order to clean up the fine and scattered oil stains, the device travels along the designed path, and at the same time replaces the roller 5, puts the kneaded dough into the roller 5, and then uses the roller 5 to take away the residual grease. In order to prevent residual dough, a depth camera is used to detect whether there is residual dough based on the dough detection model. If residual dough is detected, the location information of the dough point is recorded. Through the map information and the current location information of the device, a path is planned for cleaning. Finally, the device carries the adsorbed oil stains and dough out of the oil tank to complete the entire cleaning process.

[0055] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0056] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A device for cleaning the inside of a fuel tank with a narrow inlet, characterized in that: include: A vehicle body (1) is arranged in the fuel tank; A cleaning component is arranged on the vehicle body (1), the cleaning component comprises a primary cleaning component, a secondary cleaning component and a tertiary cleaning component, and the vehicle body (1) cleans the oil stains in the oil tank in sequence through the primary cleaning component, the secondary cleaning component and the tertiary cleaning component; An acquisition module, arranged on the vehicle body (1), the acquisition module being used to acquire environmental information in the fuel tank; The control module is used to generate a planned path based on the environmental information, and to control the vehicle body to move in the fuel tank based on the planned path.

2. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: The primary cleaning component comprises a bucket (2) installed at the front end of the vehicle body (1), and the bucket (2) is used to clean the oil stains at the bottom end of the oil tank.

3. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: The secondary cleaning component comprises a mechanical arm (3) mounted on the vehicle body (1), and cleaning heads (4) are provided at the end of the mechanical arm (3) and the bottom of the vehicle body (1). The cleaning head (4) on the mechanical arm (3) is used to clean the oil stains on the side wall of the oil tank, and the cleaning head (4) at the bottom of the vehicle body (1) is used to clean the oil stains remaining at the bottom of the oil tank.

4. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: The three-stage cleaning component comprises a roller (5) mounted at the front end of the vehicle body (1), wherein dough is placed inside the roller (5), and the roller (5) drives the dough to rotate to clean the residual oil stains on the inner wall of the oil tank.

5. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: The acquisition module comprises a laser radar (6) and a camera (7) arranged on the vehicle body (1).

6. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: The front end of the vehicle body (1) is provided with a lighting lamp (8).

7. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: A crawler track (10) is installed on the moving wheel (9) on the vehicle body (1).

8. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 7, characterized in that: The crawler (10) is a magnetic crawler.

9. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: A sewage suction hose (12) is installed at the top of the vehicle body (1) via a connector (11).

10. The device for cleaning the inside of a fuel tank with a narrow inlet according to claim 1, characterized in that: It also includes a data processing module for generating point cloud data based on the environmental information and for generating map information based on the point cloud data.

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