Autonomous navigation storage tank detection wall-climbing robot and control system

Abstract

The utility model relates to the technical field of robots, in particular to an autonomous navigation storage tank detection wall-climbing robot and a control system, which comprises a shell, four motor fixing supports are arranged at the bottom of the shell, motors are connected to the motor fixing supports, the output ends of the motors are connected with driving wheels, and the driving wheels are connected with the storage tank detection wall-climbing robot. A steering engine is arranged at the lower end of the front side of the shell, the steering engine is connected with a probe wheel with a built-in ultrasonic detector through a clamping piece, a depth camera is arranged on the front side of the shell, a laser radar is arranged on the top of the shell, a magnetic adsorption structure is arranged on the shell, and the sensing and automatic detection capacity of the wall-climbing robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an autonomous navigation tank inspection wall-climbing robot and a control system. Background Art

[0002] Large petrochemical facilities require regular inspection and maintenance to ensure safe and stable operation. Currently, inspections of this specialized equipment rely primarily on manual labor with nondestructive testing equipment, a time-consuming and dangerous process. Wall-climbing robots, capable of performing a variety of high-intensity, high-risk tasks on vertical surfaces, are becoming a popular research focus, replacing manual inspections with wall-climbing robots.

[0003] Since large petrochemical equipment is equipped with ancillary facilities such as pipes, spiral ladders, and reinforcement rings on the surface, the robot's inspection path must avoid the ancillary facilities when inspecting the wall. This process is mostly achieved through remote control by operators on the ground, with a low degree of automation. At the same time, wall slippage will affect the accuracy of positioning.

[0004] Therefore, it is necessary to provide a wall-climbing robot that can realize perception positioning and path planning through the multiple sensors it carries, so as to realize automated inspection of petrochemical storage tanks. Utility Model Content

[0005] The purpose of the utility model is to overcome the difficulty of existing wall-climbing robots in realizing automated detection, provide a wall-climbing robot and a control system for petrochemical storage tank wall detection, and improve the perception and automated detection capabilities of the wall-climbing robot.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] An autonomous navigation tank inspection wall-climbing robot comprises a housing, four motor mounting brackets provided at the bottom of the housing, a motor connected to each of the motor mounting brackets, an output end of the motor connected to a drive wheel, a steering gear provided at the front lower end of the housing, the steering gear connected to a probe wheel with a built-in ultrasonic detector via a clamp, a depth camera provided at the front side of the housing, a laser radar provided at the top of the housing, and a magnetic adsorption structure provided on the housing;

[0008] The magnetic adsorption structure includes two vertical and spaced magnet fixing plates arranged at the lower end of the shell, a magnet is provided between the two magnet fixing plates, and the magnet is fixedly connected to the magnet fixing plate arranged at the upper end, and through holes are provided at the four corners of the magnet fixing plate at the upper end. Four guide rods are provided at the lower end of the shell, and the lower ends of the four guide rods slide through the four through holes respectively and are fixedly connected to the magnets arranged at the lower end. A screw rod is provided through the shell, and the lower end of the screw rod passes through the magnet fixing plate and is threadedly connected to the magnet.

[0009] A control system for an autonomously navigated tank inspection wall-climbing robot, comprising the autonomously navigated tank inspection wall-climbing robot, wherein the control system is communicatively connected to the autonomously navigated tank inspection wall-climbing robot;

[0010] The control system includes a perception layer, an execution layer and a main control layer, wherein;

[0011] The perception layer includes a lidar, a depth camera, a Hall encoder, and an inertial sensor;

[0012] The main control layer is used to collect data from the perception layer and feed the collected data back to the execution layer;

[0013] The execution layer includes a control module and a driving module.

[0014] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0015] 1. This utility model designs an autonomous navigation tank inspection wall-climbing robot and control system. By adjusting the lead screw of the magnetic adsorption structure, the magnet fixing plate moves axially along the guide rod, changing the distance between the magnet and the tank, thereby changing the magnet's adsorption force on the tank, making it easier to adjust the magnetic force of the wall-climbing robot and making the adsorption more stable and reliable.

[0016] 2. This utility model designs an autonomously navigated tank inspection wall-climbing robot and control system. The laser radar carried by the perception layer is used to accurately measure the distance between the robot and wall obstacles. At the same time, combined with the data from the depth camera, a three-dimensional model of the environment around the wall-climbing robot is constructed, which can provide richer information for navigation in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of a tank inspection wall-climbing robot for autonomous navigation according to the present invention.

[0018] Figure 2 This is a top view of a tank inspection wall-climbing robot for autonomous navigation according to the present invention.

[0019] Figure 3 This is a side view of a tank inspection wall-climbing robot for autonomous navigation according to the present invention.

[0020] Figure 4 This is a schematic diagram of the perception layer of a control system for a tank inspection wall-climbing robot for autonomous navigation in the utility model.

[0021] Figure 5 This is a schematic diagram of the execution layer of a control system for a tank inspection wall-climbing robot for autonomous navigation in the utility model.

[0022] Figure 6 This is a schematic diagram of the main control layer of a control system for a tank inspection wall-climbing robot for autonomous navigation in the utility model.

[0023] In the figure, 1-magnet, 2-driving wheel, 3-reduction motor, 4-servo, 5-clamping mechanism, 6-ultrasonic probe wheel, 7-depth camera, 8-lidar, 9-housing, 10-motor fixing support, 11-guide rod, 12-screw, 13-magnet fixing plate, 14-Hall encoder. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] Example:

[0026] Figure 1-6 The present invention shows a preferred embodiment of an autonomous navigation tank inspection wall-climbing robot and control system. In this embodiment, the autonomous navigation tank inspection wall-climbing robot and control system specifically include a shell 9, four motor fixing supports 10 are provided at the bottom of the shell 9, the motor fixing supports 10 are connected to the motor 3, the output end of the motor 3 is connected to the driving wheel 2, a steering gear 4 is provided at the lower end of the front side of the shell 9, and the steering gear 4 is connected to a probe wheel 6 with a built-in ultrasonic detector through a clamping member 5. A depth camera 7 is provided on the front side of the shell 9, a laser radar 8 is provided on the top of the shell 9, and a magnetic adsorption structure is provided on the shell 9;

[0027] The magnetic adsorption structure includes two vertical and spaced magnet fixing plates 13 arranged at the lower end of the shell 9, a magnet 1 is provided between the two magnet fixing plates 13, and the magnet 1 is fixedly connected to the magnet fixing plate 13 arranged at the upper end, and the four corners of the magnet fixing plate 13 at the upper end are provided with through holes, and the lower end of the shell 9 is provided with four guide rods 11, and the lower ends of the four guide rods 11 slide through the four through holes respectively and are fixedly connected to the magnet 1 arranged at the lower end, and the shell 9 is penetrated by a screw rod 12, and the lower end of the screw rod 12 passes through the magnet fixing plate 13 and is threadedly connected to the magnet 1.

[0028] In the present invention, by adjusting the screw rod 12 of the magnetic adsorption structure, the magnet fixing plate 13 is moved axially along the guide rod 11, thereby changing the distance between the magnet 1 and the storage tank, thereby changing the adsorption force of the magnet 1 on the storage tank, making it easier to adjust the magnetic force of the wall-climbing robot and making the adsorption more stable and reliable.

[0029] Figure 1-3 The figure shows an autonomously navigated tank inspection wall-climbing robot. The robot comprises a robot housing 9, which houses a power supply, an ultrasonic board, an industrial computer, and other modules for powering the entire device. The robot also includes a sensing layer, an execution layer, and a main control layer. A motor 3 (specifically, a reduction motor 3) is secured to the bottom of the robot housing 9 via a motor mounting bracket 10. This motor 3 rotates the drive wheel 2, thereby driving the entire wall-climbing robot. A screw 12 is threadedly connected to the center of a magnet 1. Rotating the screw 12 adjusts the gap between the magnet 1 and the wall, thereby adjusting the robot's magnetic attraction. The robot's inspection mechanism includes a servo 4, a clamp 5, and an ultrasonic probe wheel 6. The servo 4 controls the rotation of the clamp 5, raising and lowering the ultrasonic probe wheel 6. When inspection is required, the ultrasonic probe wheel 6 is lowered, pressed against the tank wall, to measure the wall thickness. When inspection is not required, the clamp 5 raises the ultrasonic probe wheel 6.

[0030] Industrial computers are used to realize motion control, autonomous navigation and automated detection of wall-climbing robots.

[0031] A control system for an autonomously navigated tank inspection wall-climbing robot, wherein the control system is communicatively connected to the autonomously navigated tank inspection wall-climbing robot;

[0032] The control system includes a perception layer, an execution layer and a main control layer, wherein;

[0033] The perception layer includes a laser radar 8, a depth camera 7, a Hall encoder 14 and an inertial sensor;

[0034] The main control layer is used to collect data from the perception layer and feed the collected data back to the execution layer;

[0035] The execution layer includes a control module and a driving module.

[0036] like Figure 4-6As shown, the control system for a tank inspection wall-climbing robot consists of a perception layer, an execution layer, and a main control layer. The perception layer uses a laser radar 8 to accurately measure the distance between the robot and wall obstacles. Combined with data from a depth camera 7, it constructs a three-dimensional model of the robot's surroundings, providing richer information for navigation in complex scenarios. Hall effect encoders 14 and inertial sensors record the robot's odometer data and position information. The main control layer processes data from the perception layer and the ultrasonic wave probe wheel 6, executes navigation algorithms, analyzes wall defects, and sends control commands to the execution layer via serial communication, enabling path planning and automated inspection. The robot's onboard depth camera 7 monitors the condition of the tank's inner wall in real time. This video data can be used for remote monitoring or subsequent analysis. The execution layer includes a reduction motor 3 that provides stable torque, enabling the robot to stably adhere to the tank's inner wall and move. It also includes a servo 4 that controls the ultrasonic wave probe wheel 6 to detect wall defects. The data acquisition module collects information about tank wall defects. Through the integration and collaborative work of the execution layer, the autonomous navigation tank wall-climbing robot can achieve efficient and accurate navigation and inspection on the inner wall of the tank, significantly improving the robot's autonomy and the efficiency of tank inspection.

[0037] Although the present invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and implementations may be devised by those skilled in the art that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, the drawings, and the claims, various variations and modifications may be made to the components and / or layout of the subject combination arrangement. In addition to variations and modifications to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. An autonomous navigation tank inspection wall-climbing robot, characterized in that: The invention comprises a shell, wherein four motor fixing supports are provided at the bottom of the shell, the motor fixing supports are connected to a motor, the output end of the motor is connected to a drive wheel, a steering gear is provided at the front lower end of the shell, the steering gear is connected to a probe wheel with a built-in ultrasonic detector through a clamping member, a depth camera is provided on the front side of the shell, a laser radar is provided on the top of the shell, and a magnetic adsorption structure is provided on the shell; The magnetic adsorption structure includes two vertical and spaced magnet fixing plates arranged at the lower end of the shell, a magnet is provided between the two magnet fixing plates, and the magnet is fixedly connected to the magnet fixing plate arranged at the upper end, and through holes are provided at the four corners of the magnet fixing plate at the upper end. Four guide rods are provided at the lower end of the shell, and the lower ends of the four guide rods slide through the four through holes respectively and are fixedly connected to the magnets arranged at the lower end. A screw rod is provided through the shell, and the lower end of the screw rod passes through the magnet fixing plate and is threadedly connected to the magnet.

2. A control system for an autonomous navigation tank inspection wall-climbing robot, characterized by: The autonomous navigation tank inspection wall-climbing robot according to claim 1 is included, wherein the control system is communicatively connected to the autonomous navigation tank inspection wall-climbing robot; The control system includes a perception layer, an execution layer and a main control layer, wherein; The perception layer includes a lidar, a depth camera, a Hall encoder, and an inertial sensor; The main control layer is used to collect data from the perception layer and feed the collected data back to the execution layer; The execution layer includes a control module and a driving module.

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