Storage tank bottom plate imaging robot

Abstract

The utility model provides a storage tank base plate imaging robot, imaging robot includes: shell, wheel, walking drive motor, steering drive motor and camera, the shell is cylindrical, the lower part is provided with the wheel, walking drive motor is used for controlling the wheel to advance and retreat, the steering drive motor is used for controlling the wheel to steer, and the camera is connected with the shell. The camera is used for collecting images of the storage tank bottom plate. The storage tank bottom plate image acquisition device can replace the existing manual detection mode, realizes storage tank bottom plate image acquisition, is favorable for improving the detection efficiency, reducing the labor intensity, avoiding missing detection and re-detection, improving the detection accuracy, and makes preparations for full-period mechanization of storage tank inspection and detection.

Description

Technical Field

[0001] This utility model relates to the field of storage tank inspection technology, and more specifically, to a storage tank bottom plate imaging robot. Background Technology

[0002] Storage tanks are used to store refined chemical substances such as acids, alkalis, alcohols, gases, and liquids. During the magnetic flux leakage (MF) testing of the tank bottom plate, the initial measurement of tank bottom plate parameters is done manually upon entering the tank. Manual measurement of tank bottom plate parameters introduces dimensional deviations, affecting the accuracy of the inspection ratio and thus the quality of the test report.

[0003] Manual measurement inside storage tanks is a confined space operation, posing significant challenges and risks. Furthermore, measuring parameters of large storage tank bottom plates is time-consuming, increasing the inspection and testing cycle and reducing work efficiency. Currently, there is no device in the existing technology that can solve these problems.

[0004] Therefore, in view of the problems in the prior art, this utility model provides a tank bottom plate imaging robot. Utility Model Content

[0005] To address the problems of the prior art, this utility model provides a tank bottom imaging robot. The imaging robot includes a shell, wheels, a walking drive motor, a steering drive motor, and a camera. The shell is cylindrical, with the wheels located at the bottom. The walking drive motor controls the forward and backward movement of the wheels, the steering drive motor controls the steering of the wheels, and the camera captures images of the tank bottom.

[0006] According to one embodiment of the present invention, the imaging robot includes four wheels, all of which are omnidirectional wheels, wherein the two front wheels and the two rear wheels are connected by a fixing plate.

[0007] According to one embodiment of the present invention, a walking drive motor is configured at each wheel.

[0008] According to one embodiment of the present invention, a steering drive motor is configured between the two front wheels and between the two rear wheels.

[0009] According to one embodiment of the present invention, the imaging robot includes a rangefinder disposed at the front end, rear end, left end and right end of the housing, for real-time detection of the distance between the imaging robot and the tank wall.

[0010] According to one embodiment of the present invention, the imaging robot includes a proximity switch disposed at the front end, rear end, left end and right end of the housing, for detecting whether the imaging robot has reached the end of the tank bottom plate.

[0011] According to one embodiment of the present invention, the imaging robot includes a sensor and a supplementary light, wherein the sensor is used to detect the brightness level inside the storage tank, and the supplementary light is used to provide supplementary lighting for the camera.

[0012] According to one embodiment of the present invention, the imaging robot includes an LED light disposed on the top of the housing, which is used to display the operating status of the imaging robot by means of different colored lights.

[0013] According to one embodiment of the present invention, the imaging robot includes a control box disposed on the fixed plate. The control box is equipped with a microcontroller and a programmable logic device. The microcontroller is used to store a predetermined route and control the camera to acquire images at predetermined points. The programmable logic device communicates with the microcontroller and is used to control the walking drive motor and the steering drive motor.

[0014] According to one embodiment of the present invention, the imaging robot includes a battery disposed on the fixed plate for providing electrical power to the imaging robot.

[0015] The tank bottom plate imaging robot provided by this utility model has the following advantages: it can replace the existing manual inspection method, realize the image acquisition of the tank bottom plate, improve inspection efficiency, reduce labor intensity, avoid missed inspections and duplicate inspections, improve inspection accuracy, and prepare for the mechanization of the entire cycle of tank inspection and testing.

[0016] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used in conjunction with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This shows a top view of a tank bottom imaging robot according to an embodiment of the present invention;

[0019] Figure 2 This shows a side view schematic diagram of a tank bottom imaging robot according to another embodiment of the present invention;

[0020] Figure 3A schematic diagram of the steering mechanism of a tank bottom imaging robot according to another embodiment of the present invention is shown. Detailed Implementation

[0021] The following detailed description of the embodiments of this utility model, in conjunction with the accompanying drawings, will provide a thorough understanding of how this utility model uses technical means to solve technical problems and achieve technical effects, enabling its implementation. It should be noted that, provided there is no conflict, the various embodiments and features within them can be combined with each other, and all resulting technical solutions are within the protection scope of this utility model.

[0022] Furthermore, numerous specific details are set forth in the following description for purposes of explanation, in order to provide a thorough understanding of the embodiments of this utility model. However, it will be apparent to those skilled in the art that this utility model may be practiced without the specific details herein or the particular methods described.

[0023] Figure 1 The diagram shows a top view of an imaging robot for a storage tank bottom plate according to an embodiment of the present invention.

[0024] A tank bottom imaging robot includes: a shell 1, wheels 2, a walking drive motor 3, a steering drive motor 4, and a camera 5. The shell 1 is cylindrical and has wheels 2 at the bottom. The walking drive motor 3 is used to control the forward and backward movement of the wheels 2, the steering drive motor 4 is used to control the steering of the wheels 2, and the camera 5 is used to capture images of the tank bottom.

[0025] Specifically, the imaging robot's motion system consists of a steering drive motor 4, a walking drive motor 3, and four wheels 2. The steering drive motor 4 and the walking drive motor 3 enable the imaging robot to walk and turn, allowing it to traverse the entire bottom plane of the tank. The camera 5 is mounted on a fixed plate 6 and serves to capture images on-site. When the imaging robot reaches a designated position, it stops and performs an axial exposure at that point, capturing an image of the bottom corresponding to the camera 5 and saving it to the data storage area.

[0026] In one embodiment, such as Figure 1 as well as Figure 2 As shown, the imaging robot has four wheels 2, all of which are omnidirectional wheels. The two front wheels and the two rear wheels are connected by a fixing plate 6.

[0027] In one embodiment, such as Figure 2As shown, each wheel 2 is equipped with a walking drive motor 3. Specifically, each of the four wheels 2 is equipped with a separate set of DC geared motors of the same specifications as walking drive motors 3. At the same time, each wheel 2 can rotate 90° around its vertical axis, and the walking drive motor 3 can rotate in both directions with adjustable speed. Furthermore, to increase the stability of the imaging robot during the detection process, wider wheels 2 should be used.

[0028] In one embodiment, such as Figure 2 As shown, a steering drive motor 4 is configured between the two front wheels and between the two rear wheels. Specifically, the two sets of steering mechanisms can drive the two sets of wheels 2 to turn respectively. At the same time, the angle turned by the two wheels 2 in each set should be the same. Therefore, each set of steering mechanisms can be equipped with a stepper motor as the steering drive motor 4. Furthermore, when the imaging robot needs to change its route or turn, only one set of steering mechanisms needs to start turning at a certain angle; when the imaging robot needs to turn around, both sets of steering mechanisms start turning 90° simultaneously.

[0029] like Figure 3 As shown, for example, the steering mechanism is disposed between the wheels 2. The steering drive motor 4 is used to drive the steering mechanism to achieve steering, and the travel drive motor 3 is used to drive the wheels 2 to rotate. The steering mechanism of this utility model is disposed between the wheels 2. Taking the steering mechanism located between the front wheels 2 as an example, it includes a crossbar 23, a first steering knuckle 21 and a second steering knuckle 22 for controlling the direction of rotation. For example, the first steering knuckle 21 and the second steering knuckle 22 control left rotation and right rotation respectively. The first steering knuckle 21 and the second steering knuckle 22 are respectively pivotally connected to the two ends of the crossbar 23 by pins. The wheels 2 located on the left and right sides of the front end are respectively disposed on the first steering knuckle 21 and the second steering knuckle 22. The crossbar 23 is fixedly connected to the fixed plate 6, and a rotating arm 24 is pivotally connected to one end of the second steering knuckle 22. The output shaft of the travel drive motor 3 is fixedly connected to a rocker arm 25, and the free end of the rocker arm 25 is pivotally connected to the free end of the rotating arm 24. When steering is required, the controller outputs a steering command to the steering drive motor 4. The steering drive motor 4 drives the rotating arm 24 to rotate via the rocker arm 25, thereby driving the first steering knuckle 21 and the second steering knuckle 22 to steer. In this embodiment, the rotating arm 24 is rotatably mounted on one end of the second steering knuckle 22. Further, a connecting rod 26 is provided between the other ends of the first steering knuckle 21 and the second steering knuckle 22, with both ends of the connecting rod 26 pivotally connected to the first steering knuckle 21 and the second steering knuckle 22, respectively. By pivotally connecting the other ends of the first steering knuckle 21 and the second steering knuckle 22 via the connecting rod 26, it is possible to ensure that the first steering knuckle 21 and the second steering knuckle 22 steer simultaneously, and the steering is smoother.

[0030] This invention utilizes an imaging robot motion system composed of a steering drive motor 4, a walking drive motor 3, and four wheels 2, combined with a camera 5, to achieve omnidirectional coverage of images of the tank bottom plate.

[0031] like Figure 1 As shown, the imaging robot includes: rangefinders 9, which are installed at the front, rear, left, and right ends of the housing 1, for real-time detection of the distance between the imaging robot and the tank wall. In one embodiment, the rangefinder 9 is an infrared detector or a laser rangefinder. Further, when the rangefinder 9 is an infrared detector, it uses its installed LED tubes to emit infrared light onto the object. When the light is obstructed, it is quickly reflected back to the imaging robot's sensing device. Information processing is performed on the returned infrared signal to detect the object and analyze and identify the target object in front. Further, when the rangefinder 9 is a laser rangefinder, it measures the distance by emitting a laser. When the imaging robot moves inside the tank, the four rangefinders 9 emit signals in all directions, and a preset algorithm calculates the robot's current X and Y coordinates, thus achieving horizontal positioning of the tank bottom.

[0032] like Figure 2 As shown, the imaging robot includes: a proximity switch 8 ( Figure 1 (Not shown in the diagram) The proximity switch 8 is located at the front, rear, left, and right ends of the housing 1 and is used to detect whether the imaging robot has reached the end of the tank bottom plate. It should be noted that as long as the proximity switch 8 can detect whether the imaging robot has reached the end of the tank bottom plate, the proximity switch 8 can be located at any position on the housing 1, and this utility model does not impose any restrictions on this.

[0033] In one embodiment, such as Figure 1 As shown, the imaging robot includes a sensor 11 and a supplementary light (not shown). The sensor 11 is used to detect the brightness inside the tank, and the supplementary light is used to provide illumination for the camera 5. Furthermore, four sensors 11 are installed on the bottom of the imaging robot. When the ambient light is low, turning on the supplementary light can improve the clarity of the image captured by the camera 5.

[0034] Furthermore, sensor 11 assists rangefinder 9 in accurately identifying the location of the weld seam at the bottom of the tank. Sensor 11 records its elevation position during robot operation, helping to adjust the position of camera 5. Simultaneously, when the ambient light is low, the controller sends a signal to activate the supplementary lighting, improving the clarity of the image captured by camera 5.

[0035] In one embodiment, the imaging robot includes an LED light (not shown) disposed on the top of the housing 1, used to display the operating status of the imaging robot through different colored lights. Further, the LED light mounted on the top of the imaging robot housing 1 can display the operating status of the imaging robot, including but not limited to power-on self-test status, remaining battery power, camera status, rangefinder status, etc.

[0036] In one embodiment, such as Figure 2 As shown, the imaging robot includes a control box 7 mounted on a fixed plate 6. The control box 7 contains a microcontroller and a programmable logic device. The microcontroller is used to store a predetermined route and control the camera 5 to acquire images at predetermined points. The programmable logic device communicates with the microcontroller and is used to control the walking drive motor 3 and the steering drive motor 4.

[0037] Furthermore, following a predetermined route, the imaging robot stops at a fixed point within a set distance and time. The microcontroller controls camera 5 to capture images of the tank bottom and stores them. Additionally, the microcontroller can be used in conjunction with a rangefinder 9 to determine the distance to the tank wall. Upon encountering the tank wall, the microcontroller controls the imaging robot to turn around and change its route.

[0038] In one embodiment, the programmable logic device (PLD) can also be applied to the turning process of the imaging robot. During the turning process, when the imaging robot travels to a certain end of the long axis of the bottom plate of the tank being inspected, the proximity switch 8 sends a signal to the PLD, which then controls the walking drive motor 3 to stop rotating. Simultaneously, the front and rear steering drive motors 4 are activated, driving both sets of wheels to turn 90°. Then, the walking drive motor 3 is activated, driving the imaging robot to travel a certain distance along the short axis of the bottom plate. During this travel along the short axis, the rangefinder 9 measures the position of the imaging robot and compares this measurement with a preset value stored in the microcontroller, controlling the imaging robot to move to the preset position. Afterward, the PLD controls the front and rear steering drive motors 4 to turn both sets of wheels back to the initial direction, activates the walking drive motor 3, and the imaging robot continues its inspection along the planned route.

[0039] like Figure 1 As shown, the imaging robot includes a battery 10, which is mounted on a fixed plate 6 to provide power to the imaging robot and ensure its normal operation. Furthermore, the battery 10 provides power for the operation of the imaging robot, ensuring the normal operation of all components. Since it operates in a confined space, the battery 10 must meet explosion-proof requirements.

[0040] Furthermore, the imaging robot as a whole meets explosion-proof standards and can operate in confined spaces (such as storage tanks).

[0041] It should be noted that the camera 5, control box 7, and battery 10 are all mounted on the fixed plate 6, and their relative positions can be adjusted according to the actual situation. This utility model does not impose any restrictions on this.

[0042] In summary, the tank bottom plate imaging robot provided by this utility model has the following advantages: it can replace the existing manual inspection method, realize the image acquisition of the tank bottom plate, improve inspection efficiency, reduce labor intensity, avoid missed inspections and duplicate inspections, improve inspection accuracy, and prepare for the mechanization of the entire inspection and testing cycle of tanks.

[0043] It should be understood that the embodiments disclosed herein are not limited to the specific structures, processing steps, or materials disclosed herein, but should be extended to equivalent substitutions of these features as understood by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0044] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0046] Certain terms are used throughout this application to refer to specific system components. As those skilled in the art will recognize, the same components may often be referred to by different names, and therefore this application is not intended to distinguish those components that differ only in name and not in function. In this application, the terms “comprise,” “include,” and “have” are used in an open-ended manner and should therefore be interpreted as meaning “including, but not limited to…”. Furthermore, the terms “substantially,” “materially,” or “approximately” as used herein refer to industry-accepted tolerances for the corresponding terms. The term “coupling,” as may be used herein, includes direct coupling and indirect coupling via additional components, elements, circuits, or modules, wherein, for indirect coupling, the intermediate component, element, circuit, or module does not alter the information of the signal but may adjust its current level, voltage level, and / or power level. Inferred coupling (e.g., one element is inferredly coupled to another element) includes direct and indirect coupling between two elements in the same manner as “coupling.”

[0047] The phrase "an embodiment" or "an embodiment" used in this specification means that a specific feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this utility model. Therefore, the phrase "an embodiment" or "an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0048] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

[0049] Although the embodiments disclosed in this utility model are as described above, the content described is merely for the purpose of facilitating understanding of this utility model and is not intended to limit this utility model. Any person skilled in the art to which this utility model pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this utility model, but the patent protection scope of this utility model shall still be determined by the scope defined in the appended claims.

Claims

1. A tank bottom imaging robot, characterized in that, The imaging robot includes a shell, wheels, a walking drive motor, a steering drive motor, and a camera. The shell is cylindrical and has wheels at the bottom. The walking drive motor controls the forward and backward movement of the wheels, the steering drive motor controls the steering of the wheels, and the camera captures images of the tank bottom.

2. The tank bottom imaging robot as described in claim 1, characterized in that, The imaging robot includes four wheels, all of which are omnidirectional wheels, with the two front wheels and the two rear wheels connected by a fixed plate.

3. The tank bottom imaging robot as described in claim 2, characterized in that, One of the aforementioned drive motors is installed at each wheel.

4. The tank bottom imaging robot as described in claim 2, characterized in that, One steering drive motor is configured between the two front wheels and one between the two rear wheels.

5. The tank bottom imaging robot as described in claim 1, characterized in that, The imaging robot includes a rangefinder, which is disposed at the front end, rear end, left end and right end of the shell, for real-time detection of the distance between the imaging robot and the tank wall.

6. The tank bottom imaging robot as described in claim 1, characterized in that, The imaging robot includes a proximity switch disposed at the front, rear, left, and right ends of the housing, for detecting whether the imaging robot has reached the end of the tank bottom plate.

7. The tank bottom imaging robot as described in claim 1, characterized in that, The imaging robot includes a sensor and a supplementary light, wherein the sensor is used to detect the brightness level inside the storage tank, and the supplementary light is used to provide supplementary lighting for the camera.

8. A tank bottom imaging robot as described in any one of claims 1-7, characterized in that, The imaging robot includes LED lights, which are mounted on the top of the housing and are used to display the operating status of the imaging robot by using different colored lights.

9. The tank bottom imaging robot as described in claim 2, characterized in that, The imaging robot includes a control box mounted on the fixed plate. The control box contains a microcontroller and a programmable logic device. The microcontroller is used to store a predetermined route and control the camera to acquire images at predetermined points. The programmable logic device communicates with the microcontroller and is used to control the walking drive motor and the steering drive motor.

10. The tank bottom imaging robot as described in claim 2, characterized in that, The imaging robot includes a battery disposed on the fixed plate for providing electrical power to the imaging robot.

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