The invention provides an
oil tank truck tank body inner wall cleaning
robot and a control method, and the cleaning
robot comprises a
robot body which comprises a
machine body, a plurality of advancing legs, a steering engine and a
potentiometer; the advancing legs are arranged in parallel, so that the robot body can
climb over a wave-proof plate in the tank body; the cleaning
assembly comprises an electric telescopic rod, a high-pressure hydraulic rotating
nozzle and a telescopic water conveying
pipe, one end of the telescopic water conveying
pipe is connected with the high-pressure hydraulic rotating
nozzle, and the other end of the telescopic water conveying
pipe is connected with a conveying pump; the camera is used for acquiring an internal image of the tank body and judging the cleaning degree and / or the cleaning effect in the tank body; the
laser radar is used for acquiring a three-dimensional
point cloud image in the tank body so as to construct an environment map in real time and locate the position of the robot; the robot body further comprises a main control board, an
inertial measurement unit module and a
network communication assembly. The automatic cleaning device can overcome the limitation of the material of the tank body and realize the automatic cleaning of the inner wall of the tank body of the
oil tank truck with the washboard.