Novel self-adaptive tank wall corrosion detection moving device

Abstract

The utility model discloses a novel self-adaptive tank wall corrosion detection moving device which comprises a magnetic suction type moving assembly and a self-adaptive detection assembly, the self-adaptive detection assembly is connected with the magnetic suction type moving assembly, and the magnetic suction type moving assembly comprises a shell and a magnetic suction crawler belt assembly; the left end and the right end of the shell are each provided with a magnetic attraction crawler belt assembly. The magnetic attraction crawler belt assembly comprises a driving wheel and a driven wheel, a self-adjusting supporting wheel set is arranged between the driving wheel and the driven wheel, and crawler belt strips with magnetic attraction crawler belt blocks are meshed outside the driving wheel, the driven wheel and the self-adjusting supporting wheel set. According to the utility model, a magnetic attraction type crawler belt scheme is adopted, so that the device can efficiently move on the wall surface, has better obstacle passing capacity under the condition of ensuring the detection performance, improves the detection efficiency, and ensures the safety performance of the tank body.

Description

Technical Field

[0001] The utility model relates to the technical field of corrosion detection, in particular to a new type of adaptive mobile device for detecting the corrosion of tank walls. Background Art

[0002] Currently, when detecting the corrosion of tank walls in a tank farm, the commonly adopted manual measurement method has multiple defects. First, the manual measurement data shows instability, which mainly stems from the subjective factors of the operators and the inconsistencies in the measurement process. Second, the manual detection is slow and inefficient, which limits the effective guarantee of the safe operation of the tank body. Due to these problems, there are certain safety hazards when carrying out the maintenance and repair work of the tank farm. In terms of using inspection robots, although human errors can be reduced, the existing inspection robots have poor ability to adapt to special obstacles on the tank wall. Especially when crossing obstacles, the fuselage is prone to deviation, which in turn affects the detection accuracy. In addition, since the tank wall is perpendicular to the ground, traditional positioning technologies such as GPS cannot accurately give the coordinates of the corrosion points, and manual data statistics is still required, which greatly increases the workload, making it difficult to widely promote and use these technologies.

[0003] Publication (Announcement) No.: CN116263429A discloses an adaptive wall-climbing magnetic particle inspection robot, which realizes the adsorption on the tank wall through the adsorption wheels in the driving module, realizes the adsorption movement of the robot on the wall surface of ferromagnetic materials, automatically tracks along the weld seam, and realizes the magnetic particle inspection and video feedback of the weld seam.

[0004] This prior art uses wheel-shaped magnets with a small adsorption area and low adsorption force, and there is a risk of detachment during use.

[0005] Publication (Announcement) No.: CN210269654U discloses a new type of non-destructive testing device, which can freely move on metal storage tanks and metal reaction kettles through electromagnets to complete the detection, has high flexibility, uses the surface of the track pads made of rubber to protect the surface of the detected object, combines infrared detection and ultrasonic detection to make the detection results more accurate, has high accuracy, and uses multiple detection probes to make the detection results more reliable.

[0006] When this prior art encounters obstacles and there is a height difference between the front and rear wheels of the track, a suspension problem will occur, reducing the contact area and adsorption force, and generating a risk of detachment.

[0007] Publication (Announcement) Number: CN205786241U, which discloses a circumferential magnetic flux leakage detection device for the inner surface corrosion of buried storage tanks at gas stations. It operates inside the buried storage tanks at gas stations with the same thickness and material as the calibration plate. The magnetic sensor group obtains the magnetic flux leakage detection signal, which is transmitted to the computer of the external processing terminal through the transmission joint and data cable for signal processing and analysis to identify the magnetic flux leakage signal of corrosion defects. The equivalent of the corrosion defect of the storage tank to be inspected is obtained through the detection calibration curve of the magnetic sensor.

[0008] This prior art improves the fit between the magnet and the tank wall by presetting the curvature. The single machine has a small scope of use and does not have the ability to cross obstacles.

[0009] In summary, the technical solutions, the technical problems to be solved, and the beneficial effects of the above disclosed technologies are all different from those of the present utility model. For more technical features, technical problems to be solved, and beneficial effects of the present utility model, there is no technical inspiration in the above disclosed technical documents. Summary of the Utility Model

[0010] Aiming at the above defects existing in the prior art, the purpose of the present utility model is to provide a new type of adaptive mobile device for detecting tank wall corrosion.

[0011] In order to achieve the above purpose, the present utility model adopts the following technical solutions:

[0012] A new type of adaptive mobile device for detecting tank wall corrosion includes a magnetic adsorption type mobile assembly and an adaptive detection assembly. The adaptive detection assembly is connected to the magnetic adsorption type mobile assembly. The magnetic adsorption type mobile assembly includes a housing and a magnetic adsorption track assembly. The magnetic adsorption track assemblies are arranged at both the left end and the right end of the housing. The magnetic adsorption track assembly includes a driving wheel and a driven wheel. An auto-adjusting support wheel group is arranged between the driving wheel and the driven wheel. A track strip with magnetic adsorption track blocks is externally engaged with the driving wheel, the driven wheel, and the auto-adjusting support wheel group.

[0013] Furthermore, the adaptive detection assembly includes a fixing plate, a telescopic assembly, a detection probe, and a control component.

[0014] Specifically, the front end of the fixing plate is fixedly connected to the housing.

[0015] Specifically, at least one telescopic assembly is arranged at the rear end of the fixing plate. The telescopic assembly is perpendicular and passes through the fixing plate.

[0016] Specifically, the lower ends of all telescopic assemblies are connected to the detection probe.

[0017] Specifically, the control component is arranged on the fixing plate to control the telescopic assembly.

[0018] Further, the telescopic assembly includes a servo motor, a lead screw, and a telescopic device;

[0019] Specifically, the telescopic device is an 8-shaped rod group, and the connecting rods in the telescopic device are all rotatably connected to form an upper movable shaft, a cross movable shaft, and a lower movable shaft;

[0020] Specifically, the fixed plate is fixedly connected to the upper movable shaft of the telescopic device;

[0021] Specifically, the lead screw passes through the upper movable shaft, the lead screw is threadedly connected to the cross movable shaft, the lead screw is rotatably connected to the lower movable shaft of the telescopic device, and the lead screw passes through the fixed plate;

[0022] Specifically, the output shaft of the servo motor is fixedly connected to the lead screw, and the housing of the servo motor is connected to the fixed plate through a fixed guide rod, and the servo motor can slide up and down along the fixed guide rod;

[0023] Specifically, the detection probe is fixedly connected to the lower movable shaft of the telescopic device.

[0024] Further, the control assembly includes a control module and a distance measuring sensor;

[0025] Specifically, the control module is fixedly connected to the fixed plate, and the control module is connected to the servo motor;

[0026] Specifically, the distance measuring sensor is fixedly connected to the lower end face of the fixed plate, the distance measuring sensor is located in front of the detection probe, and the distance measuring sensor is connected to the control module.

[0027] Further, the track bar is not tensioned.

[0028] Further, the self-adjusting support wheel group includes an adaptive adjustment connecting plate, an upper support wheel, and at least one lower support wheel;

[0029] Specifically, the adaptive adjustment connecting plate is fixedly connected to the housing;

[0030] Specifically, the adaptive adjustment connecting plate is provided with an upper support wheel rotating groove and a sliding groove. The upper support wheel rotating groove is located in the upper half of the adaptive adjustment connecting plate, and the sliding groove is located in the lower half of the adaptive adjustment connecting plate;

[0031] Specifically, the number of the sliding grooves is the same as that of the lower support wheels. The sliding grooves are provided with adjusting springs and connecting bearings, and the adjusting springs always press the connecting bearings downward;

[0032] Specifically, the upper support wheel is rotatably connected to the upper support wheel rotating groove through an upper support wheel rotating shaft, and the lower support wheel is connected to the connecting bearing through a lower support wheel rotating shaft;

[0033] Specifically, the crawler bar engages with the upper support wheel, and the lower support wheel is pressed downward by an adjusting spring and always keeps close contact with the crawler bar.

[0034] Furthermore, the magnetic adsorption crawler assembly includes magnetic adsorption crawler blocks, crawler bars, drive wheels, driven wheels, and self-adjusting support wheel groups;

[0035] Specifically, drive wheel shafts and driven wheel shafts penetrate outwards from the inside of the housing. The drive wheel is connected to the drive wheel shaft, and the driven wheel is connected to the driven wheel shaft;

[0036] Specifically, a drive motor is arranged inside the housing to provide power for the drive wheel shaft;

[0037] Specifically, a plurality of magnetic adsorption crawler blocks are provided and are uniformly fixed on the outer surface of the crawler bar without interference during movement.

[0038] Furthermore, three lower support wheels are provided.

[0039] Furthermore, a gyroscope and an odometer are also provided. The gyroscope is fixedly connected to the fixed plate, and the odometer is fixedly connected to the driven wheel shaft;

[0040] Specifically, the drive motor, the gyroscope, and the odometer are all connected to the control module.

[0041] Furthermore, the control module is a programmable controller.

[0042] The utility model has the following beneficial effects compared with the prior art:

[0043] The utility model can replace manual detection, and at the same time can timely check the distance between the detection probe and the wall surface, ensuring the detection accuracy. At the same time, the magnetic adsorption crawler scheme is adopted, which can move efficiently on the wall surface and has good obstacle passing ability while ensuring the detection performance, improving the detection efficiency and ensuring the safety performance of the tank body. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic structural diagram of a novel adaptive tank wall corrosion detection mobile device of the utility model;

[0045] Figure 2 is a schematic structural diagram of the adaptive adjustment connecting plate of the utility model;

[0046] Figure 3 is a working process block diagram of the utility model.

[0047] In the figure: 1. Servo motor; 2. Fixed plate; 3. Control module; 4. Detection probe; 5. Telescopic device; 6. Lead screw; 7. Distance measuring sensor; 8. Magnetic adsorption crawler block; 9. Crawler strip; 10. Driving wheel; 11. Driving wheel rotating shaft;

[0048] 1201. First lower support wheel; 1301. First lower support wheel rotating shaft; 1202. Second lower support wheel; 1302. Second lower support wheel rotating shaft; 1203. Third lower support wheel; 1303. Third lower support wheel rotating shaft;

[0049] 14. Driven wheel; 15. Driven wheel rotating shaft; 16. Housing; 17. Upper support wheel; 18. Upper support wheel rotating shaft;

[0050] 19. Adaptive adjustment connecting plate; 1901. First connecting bearing; 1902. First adjustment spring; 1903. First sliding groove; 1904. Second connecting bearing; 1905. Second adjustment spring; 1906. Second sliding groove; 1907. Third connecting bearing; 1908. Third adjustment spring; 1909. Third sliding groove; 1910. Upper support wheel rotating groove;

[0051] 20. Gyroscope; 21. Odometer; 22. Fixed guide rod. Detailed implementation mode

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] Embodiment 1:

[0054] Please refer to Figures 1 to 2 , a novel adaptive tank wall corrosion detection mobile device provided by the present invention includes a magnetic adsorption mobile assembly and an adaptive detection assembly, and the adaptive detection assembly is arranged at the rear end of the magnetic adsorption mobile assembly.

[0055] Furthermore, the adaptive detection assembly includes a fixed plate 2, a telescopic assembly, a detection probe 4, and a control assembly. The front end of the fixed plate is fixedly connected to the magnetic adsorption mobile assembly. At least one telescopic assembly is arranged at the rear end of the fixed plate 2. The telescopic assembly is perpendicular and passes through the fixed plate 2. The lower ends of all telescopic assemblies are connected to the detection probe 4. The control assembly is arranged on the fixed plate to control the telescopic assembly.

[0056] Specifically, the telescopic assembly includes a servo motor 1, a lead screw 6, and a telescopic device 5. The telescopic device 5 is an 8-shaped rod group. The connecting rods within the telescopic device 5 are all rotatably connected to form an upper movable shaft, a cross movable shaft, and a lower movable shaft. The fixed plate 2 is fixedly connected to the upper movable shaft of the telescopic device 5, such as by welding; the lead screw 6 passes through the upper movable shaft, and the lead screw 6 is threadedly connected to all the cross movable shafts. The lead screw 6 is rotatably connected to the lower movable shaft of the telescopic device 5. The lead screw 6 passes through the fixed plate 2. The output shaft of the servo motor 1 is fixedly connected to the lead screw 6, such as by welding. The housing of the servo motor 1 is connected to the fixed plate 2 through a fixed guide rod 22, and the servo motor 1 can slide up and down along the fixed guide rod 22. The detection probe 4 is fixedly connected to the lower movable shaft of the telescopic device 5, such as by gluing.

[0057] Among them, both ends of the upper movable shaft are fixed to the fixed plate, the middle is passed through by the lead screw 6, and the remaining part is rotatably connected to the connecting rod;

[0058] Among them, the middle of the cross movable shaft is passed through by the lead screw 6 in a threaded fit manner, and both ends are rotatably connected to the connecting rod;

[0059] Among them, the middle of the lower movable shaft is rotatably connected to the lead screw 6, both ends are fixedly connected to the detection probe 4, and the remaining part is rotatably connected to the connecting rod;

[0060] Among them, the fixed plate 2 functions to limit the radial movement of the lead screw 6, enabling the entire telescopic device 5 to maintain a vertical state. When the lead screw 6 rotates, with the lower movable shaft as the base point of the lead screw 6, the cross movable shaft moves upward or downward, causing the telescopic device 5 to extend or contract. The lead screw 6 and the servo motor 1 move upward or downward, and under the limit of the fixed guide rod 22, the housing of the servo motor 1 does not rotate, and the servo motor 1 slides up and down along the fixed guide rod 22.

[0061] Specifically, the control assembly includes a control module 3 and a distance measuring sensor 7. The control module 3 is fixedly connected to the fixed plate 2, such as by gluing, and the control module 3 is connected to the servo motor 1; the distance measuring sensor 7 is fixedly connected to the lower end face of the fixed plate, such as by gluing. The distance measuring sensor 7 is located in front of the detection probe 4, and the distance measuring sensor 7 is connected to the control module 3.

[0062] Furthermore, the magnetic adsorption moving assembly includes a housing 16 and a magnetic adsorption track assembly. The magnetic adsorption track assemblies are provided at both the left end and the right end of the housing 16, and the fixed plate 2 is connected to the housing 16 by welding.

[0063] Specifically, the magnetic adsorption crawler assembly includes magnetic adsorption crawler blocks 8, crawler strips 9, drive wheels 10, driven wheels 14, and a self-adjusting support wheel set. A drive wheel rotating shaft 11 and a driven wheel rotating shaft 15 penetrate outwards from the inside of the housing 16. The drive wheel 10 is connected to the drive wheel rotating shaft 11, the driven wheel 14 is connected to the driven wheel rotating shaft 15, the crawler strip 9 meshes with the drive wheel 10 and the driven wheel 14, the crawler strip 9 is not tensioned, and a drive motor is arranged inside the housing 16 to provide power for the drive wheel rotating shaft 11; a plurality of magnetic adsorption crawler blocks 8 are provided and are evenly fixed on the outer surface of the crawler strip 9 without interference during movement, and the magnetic adsorption crawler blocks 8 are connected to the crawler strip 9 by bonding.

[0064] Specifically, the self-adjusting support wheel set includes an adaptive adjustment connecting plate 19, an upper support wheel 17, and at least one lower support wheel. The adaptive adjustment connecting plate 19 is fixedly connected to the housing 16, such as by welding. The adaptive adjustment connecting plate 19 is provided with an upper support wheel rotating groove 1910 and a sliding groove. The number of sliding grooves is the same as that of the lower support wheels. An adjusting spring and a connecting bearing are arranged in the sliding groove. The upper support wheel rotating groove 1910 is located in the upper half of the adaptive adjustment connecting plate 19, and the sliding groove is located in the lower half of the adaptive adjustment connecting plate 19. The adjusting spring always presses the connecting bearing downwards; the upper support wheel 17 is rotatably connected to the upper support wheel rotating groove 1910 through an upper support wheel rotating shaft 18, and the lower support wheel is connected to the connecting bearing through a lower support wheel rotating shaft; the crawler strip 9 meshes with the upper support wheel 17, and the lower support wheel is pressed down by the adjusting spring and always keeps close contact with the crawler strip 9. When there is a height difference between the drive wheel 10 and the driven wheel 14, the crawler strip 9 is pressed down and still keeps close contact with the tank wall. At the same time, the lower support wheel can also make the crawler strip 9 tend to conform to the curvature of the tank wall.

[0065] Further, a gyroscope 20 and an odometer 21 are also provided. The gyroscope 20 is fixedly connected to the fixing plate 2, such as by bonding. The odometer 21 is fixedly connected to the driven wheel rotating shaft 15, such as by bonding. The drive motor, the gyroscope 20, and the odometer 21 are all connected to the control module 3, so that the control module 3 can adjust according to the attitude of the device.

[0066] It should be noted that the detection probe 4, the distance measuring sensor 7, the gyroscope 20, and the odometer 21 are all prior arts and can be purchased from the market. The control module 3 can be a programmable controller such as a single-chip microcomputer.

[0067] Embodiment 2:

[0068] Based on Embodiment 1, in this embodiment, three lower support wheels are provided, namely the first lower support wheel 1201, the second lower support wheel 1202, and the third lower support wheel 1203. Three sliding grooves are also provided, namely the first sliding groove 1903, the second sliding groove 1906, and the third sliding groove 1909.

[0069] The first sliding groove 1903 is provided with a first adjusting spring 1902 and a first connecting bearing 1901. The first lower support wheel 1201 is connected to the first connecting bearing 1901 through a first lower support wheel rotating shaft 1301. The first connecting bearing 1901 is connected to the first adjusting spring 1902 by welding. The first adjusting spring 1902 is connected to the first sliding groove 1903 by welding. The first connecting bearing 1901 is connected to the first sliding groove 1903 by clearance fit.

[0070] The second sliding groove 1906 is provided with a second adjusting spring 1905 and a second connecting bearing 1904. The second lower support wheel 1202 is connected to the second connecting bearing 1904 through a second lower support wheel rotating shaft 1302. The second connecting bearing 1904 is connected to the second adjusting spring 1905 by welding. The second adjusting spring 1905 is connected to the second sliding groove 1906 by welding. The second connecting bearing 1904 is connected to the second sliding groove 1906 by clearance fit.

[0071] The third sliding groove 1909 is provided with a third adjusting spring 1908 and a third connecting bearing 1907. The third lower support wheel 1203 is connected to the third connecting bearing 1907 through a third lower support wheel rotating shaft 1303. The third connecting bearing 1907 is connected to the third adjusting spring 1908 by welding. The third adjusting spring 1908 is connected to the third sliding groove 1909 by welding. The third connecting bearing 1907 is connected to the third sliding groove 1909 by clearance fit.

[0072] Embodiment 3:

[0073] Based on Embodiment 2, a method for using a new type of self - adaptive tank wall corrosion detection mobile device specifically includes the following steps:

[0074] S1. When a new type of self - adaptive tank wall corrosion detection mobile device is working, the driving wheel 10 drives the crawler belt 9 to move. The magnetic adsorption crawler blocks 8 of the crawler belt 9 keep a close fitting relationship with the tank wall surface, so as to ensure that the corrosion detection mobile device can move stably on the tank wall surface.

[0075] S2. When encountering an obstacle ahead, the first lower support wheel 1201, the second lower support wheel 1202, and the third lower support wheel 1203 can form an adaptive obstacle-crossing adjustment system. When the obstacle passes through the three adjustment wheels in sequence, the magnetic adsorption crawler blocks 8 can be ensured to contact the tank wall through the first adjustment spring 1902, the second adjustment spring 1905, and the third adjustment spring 1908;

[0076] S3. During the forward movement, the distance measuring sensor 7 continuously detects the distance between it and the wall surface. When the wall surface has protrusions or depressions resulting in abnormal distances, the relevant information is transmitted to the control module 3. Through the servo motor 1 and the lead screw 6, the telescopic degree of the telescopic device 5 is adjusted, so as to ensure that the distance between the monitoring probe 4 and the wall surface remains within the ideal distance range, thereby ensuring the reliability of the detection accuracy;

[0077] S4. Through the odometer 21, the movement of the robot can be accurately measured. Combining with the gyroscope 3 and using a data fusion algorithm, when the robot detects the corrosion point, the relatively accurate coordinates of the corrosion point can be returned.

[0078] As Figure 3 shown, this set of devices mainly adopts the position adjustment algorithm of the tank wall detection probe and the data fusion positioning algorithm of the tank wall robot to ensure the smooth operation of the robot. The specific description is as follows:

[0079] S401. Position adjustment algorithm of the tank wall detection probe:

[0080] A1. Algorithm description of distance detection and telescopic device adjustment:

[0081] Describe the control algorithm for the servo motor and the lead screw to adjust the telescopic device to maintain the ideal distance between the detection probe and the wall surface. The following formula is used to express the logic of the telescopic device adjustment:

[0082] L new = L current + K p ·(D target - D measured );

[0083] Among them, L new is the new telescopic length, L current is the current telescopic length, D target is the target detection distance, D measured is the current distance measured by the distance measuring sensor, and K p is the proportional control coefficient.

[0084] In order to make the control adjustment effect better, we adopt a more refined neural network control strategy:

[0085] A2. Neural network control algorithm description:

[0086] Design a neural network controller to learn the optimal adjustment strategy for the telescopic device. The neural network can be trained through supervised learning to achieve the best control effect.

[0087] The controller is a feedforward neural network with an input layer (receiving D target and D measured ), at least one hidden layer (for feature extraction and non-linear mapping), and an output layer (generating the telescopic adjustment amount ΔL).

[0088] The output of the neural network can be calculated by the following formula:

[0089] ΔL = NeuralNetwork(D target , D measured );

[0090] L new = L current + ΔL;

[0091] where NeuralNetwork() represents the inference process of the neural network model.

[0092] This algorithm can not only improve the adjustment accuracy of the telescopic device, but also make the control process more intelligent and adaptive. In practical applications, these control strategies need to be customized and adjusted according to the actual system characteristics and requirements. To describe the neural network control algorithm in more detail, we will elaborate on the neural network structure, training process, and how it is applied to the adjustment of the telescopic device.

[0093] A201. Neural Network Structure:

[0094] Input Layer: The input layer receives two inputs, the target detection distance D target and the actual measured distance D measured . These two inputs are the basis for the neural network to make decisions.

[0095] Hidden Layer: The design of the hidden layer is crucial for the performance of the neural network. Generally, the hidden layer can contain multiple levels, and each level contains multiple neurons. These neurons process the input signals through non-linear activation functions (such as ReLU, Sigmoid, or Tanh), allowing the network to capture complex patterns and relationships. For the control of the telescopic device, it may be necessary to determine the optimal number of hidden layers and the number of neurons in each layer through experiments.

[0096] Output Layer: The output layer generates a single output ΔL, which is the adjustment amount of the telescopic device. This output value will be used to adjust the length of the telescopic device to maintain the ideal distance between the detection probe and the wall surface.

[0097] A202. Training Process:

[0098] Data Collection: First, a large amount of data of D target , D measured and ΔL needs to be collected. These data can be obtained by running the telescopic device under different conditions and recording the results.

[0099] Data Preprocessing: Preprocess the collected data, such as normalization, so that the neural network can learn more effectively.

[0100] Network Training: Use the collected data to train the neural network. During the training process, the network adjusts its internal weights to minimize the difference between the output ΔL and the actual required adjustment amount. This is usually achieved through the backpropagation algorithm and gradient descent (or its variants).

[0101] Verification and Testing: Verify the performance of the neural network on an independent test set to ensure that it can also perform well on unseen data.

[0102] A203. Application to the Adjustment of the Telescopic Device:

[0103] Real - time Control: In practical applications, the neural network controller receives real - time D target and D measured as inputs and outputs the adjustment amount ΔL.

[0104] Execute Adjustment: According to the output ΔL of the neural network, the servo motor adjusts the lead screw to change the length L new = L current + ΔL.

[0105] Feedback Loop: After adjustment, the system measures D measured again and compares it with D target . This process forms a closed - loop control system, continuously optimizing the distance between the detection probe and the wall surface.

[0106] By describing in detail the structure of the neural network, the training process, and how to apply it to the adjustment of the telescopic device, we can see that the neural network control algorithm provides an effective method for achieving high - precision and adaptive probe position adjustment. This method can handle complex non - linear problems, and over time, as more data accumulates, its performance will get better and better.

[0107] S402. Data Fusion and Localization Algorithm for the Tank Wall Robot:

[0108] To locate the robot on the cylindrical surface, we can design an algorithm that combines the angular measurement of the gyroscope and the distance measurement of the odometer. The following is the mathematical description of the algorithm design, including some key formulas.

[0109] B1. Angle measurement of the gyroscope:

[0110] The gyroscope can provide information about the rotation of the robot on three axes, namely the pitch angle, yaw angle, and roll angle. Set the initial orientation of the robot to θ 0 , then at any time t, the orientation of the robot can be expressed as:

[0111]

[0112] where ω(t') is the angular velocity measured by the gyroscope at time t'.

[0113] B2. Distance measurement of the odometer:

[0114] The odometer provides the distance the robot has traveled. Set the initial position of the robot to s 0 , then at any time t, the position of the robot can be expressed as:

[0115]

[0116] where v(t') is the speed measured by the odometer at time t'.

[0117] B3. Design of the positioning algorithm:

[0118] For the comprehensive update of position and orientation, considering that the movement of the robot on the cylindrical surface is not just a straight-line movement in one direction, but may move along the curve of the cylindrical surface, we need to take into account the orientation information (yaw angle) of the robot. Let the radius of the cylinder be R, and the position of the robot on the cylindrical surface can be represented by polar coordinates (r, φ), where r = R is a constant and φ is the angular position of the robot relative to the central axis of the cylinder. Considering the influence of orientation, the position update of the robot can be carried out through the following formula:

[0119]

[0120] Here, s(t) - s(t - 1) is the distance measured by the odometer during the time interval [t - 1, t], and cos(θt)) takes into account the influence of the robot's orientation, is the angular change of the robot's movement on the cylindrical surface, taking into account the robot's orientation.

[0121] By incorporating the orientation information (yaw angle) of the robot into the positioning algorithm, we can more accurately estimate the position of the robot on the cylindrical surface. This method not only considers the measurement of the distance the robot moves but also takes into account the change in the robot's orientation, thereby improving the accuracy of positioning.

[0122] In this application, any component itself that is not elaborated and the connection methods of various components in this application belong to the well-known technologies in the technical field. They can be directly applied and will not be elaborated further.

[0123] In this utility model, the term "a plurality of" refers to two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0124] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this utility model and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this utility model.

[0125] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0126] The above are only the preferred embodiments of this utility model and are not used to limit this utility model. For those skilled in the art, this utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this utility model shall be included within the protection scope of this utility model.

Claims

1. A novel adaptive tank wall corrosion detection mobile device, comprising a magnetic suction type mobile assembly and an adaptive detection assembly, wherein the adaptive detection assembly is connected to the magnetic suction type mobile assembly, and is characterized in that: The magnetic attraction type moving assembly comprises a housing and a magnetic attraction track assembly; The left and right ends of the shell are both provided with magnetic track assemblies; The magnetic track assembly comprises a driving wheel and a driven wheel, a self-adjusting support wheel set is arranged between the driving wheel and the driven wheel, and a track strip with a magnetic track block is meshed externally on the driving wheel, the driven wheel and the self-adjusting support wheel set; The adaptive detection assembly includes a fixing plate, a telescopic component, a detection probe, and a control component; The front end of the fixing plate is fixedly connected to the housing; At least one telescopic component is disposed at the rear end of the fixed plate, and the telescopic component is vertical and passes through the fixed plate; The lower ends of all telescopic components are connected to the detection probe; The control component is arranged on the fixed plate and is used to control the telescopic component; A gyroscope and an odometer are also provided, wherein the gyroscope is fixedly connected to the fixing plate, and the odometer is fixedly connected to the driven wheel shaft; The drive motor, gyroscope and odometer are all connected to the control component.

2. According to claim 1, a novel adaptive tank wall corrosion detection mobile device is characterized in that: The telescopic assembly includes a servo motor, a lead screw, and a telescopic device; The telescopic device is an 8-shaped rod group, and the connecting rods in the telescopic device are all rotatably connected to form an upper movable axis, a cross movable axis, and a lower movable axis; The fixed plate is fixedly connected to the upper movable shaft of the telescopic device; The lead screw passes through the upper movable shaft, the lead screw is connected to the cross movable shaft by threads, the lead screw is rotatably connected to the lower movable shaft of the telescopic device, and the lead screw passes through the fixed plate; The output shaft of the servo motor is fixedly connected to the lead screw, the housing of the servo motor is connected to the fixed plate through a fixed guide rod, and the servo motor can slide up and down along the fixed guide rod; The detection probe is fixedly connected to the lower movable shaft of the telescopic device.

3. A novel adaptive tank wall corrosion detection mobile device according to claim 2, characterized in that: The control component includes a control module and a distance measuring sensor; The control module is fixedly connected to the fixing plate, and the control module is connected to the servo motor; The distance measuring sensor is fixedly connected to the lower end surface of the fixing plate, the distance measuring sensor is located in front of the detection probe, and the distance measuring sensor is connected to the control module.

4. A novel adaptive tank wall corrosion detection mobile device according to claim 3, characterized in that: The track strip is not tensioned.

5. A novel adaptive tank wall corrosion detection mobile device according to claim 4, characterized in that: The self-adjusting support wheel set comprises an adaptive adjustment connecting plate, an upper support wheel, and at least one lower support wheel; The self-adaptive adjustment connecting plate is fixedly connected to the housing; The self-adjusting connecting plate is provided with an upper supporting rotating groove and a sliding groove, wherein the upper supporting rotating groove is located in the upper part of the self-adjusting connecting plate, and the sliding groove is located in the lower part of the self-adjusting connecting plate; The number of the slide grooves is the same as that of the lower support wheels, and the slide grooves are provided with adjustment springs and connecting bearings, and the adjustment springs make the connecting bearings always press downward; The upper support wheel is rotatably connected to the upper support wheel rotating groove via the upper support wheel rotating shaft, and the lower support wheel is connected to the connecting bearing via the lower support wheel rotating shaft; The track strip is meshed with the upper supporting wheel, and the lower supporting wheel is pressed down by the adjusting spring and is always in close contact with the track strip.

6. A novel adaptive tank wall corrosion detection mobile device according to claim 5, characterized in that: The magnetic track assembly includes a magnetic track block, a track strip, a driving wheel, a driven wheel, and a self-adjusting supporting wheel set; A driving wheel shaft and a driven wheel shaft extend outward from the interior of the housing, the driving wheel is connected to the driving wheel shaft, and the driven wheel is connected to the driven wheel shaft; A driving motor is disposed inside the housing to provide power to the driving wheel shaft; The magnetic track blocks are arranged in plurality and are evenly fixed on the outer surface of the track strip so as not to interfere with each other during movement.

7. The novel adaptive tank wall corrosion detection mobile device according to claim 5 is characterized in that: The lower supporting wheels are provided with three.

8. The novel adaptive tank wall corrosion detection mobile device according to claim 6 is characterized in that: The driving motor, gyroscope and odometer are all connected to the control module.

9. A novel adaptive tank wall corrosion detection mobile device according to any one of claims 3 to 8, characterized in that: The control module is a programmable controller.

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