Cable-Suspended Modular Robot for 3D Plant Inspection Access
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Solution Overview
Problem
Existing robotic technologies for inspecting and maintaining industrial structures, such as those in oil and gas and petrochemical plants, are limited in their ability to access complex, convoluted networks of pipes and structures, requiring multiple technologies that are not universally applicable.
Innovation Solution
A modular, propelled cable-driven robotic platform system that includes a robotic platform suspended by an overhead cable and pulley system, equipped with interchangeable tool modules and a propulsion system, allowing it to navigate freely within a three-dimensional workspace and perform various inspection and maintenance tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple specialized robotic technologies are used for different inspection tasks, then task-specific performance is improved, but device complexity and the number of systems required increases
Solution Approach 1:
The robotic platform is designed with a universal cable-driven suspension system that can support multiple interchangeable tool modules, allowing a single platform to perform various inspection and maintenance tasks including visual inspection, thermal imaging, ultrasonic testing, and mechanical work, thereby eliminating the need for multiple specialized robotic systems
Solution Approach 2:
The system is divided into modular components: a base robotic platform with cable suspension and interchangeable tool modules. Each tool module can be attached or detached based on the specific task requirements, enabling flexible configuration while maintaining a single core platform structure
2Adaptability or versatility
If traditional ground-based or fixed robotic systems are used, then system simplicity is maintained, but accessibility to hard-to-reach areas and three-dimensional workspace coverage is limited
Solution Approach 1:
The system transitions from ground-based two-dimensional movement to three-dimensional workspace coverage by suspending the robotic platform from overhead cables. The cable-driven mechanism enables movement in vertical and horizontal dimensions, allowing access to elevated pipes, vessels, and structures that are inaccessible to traditional ground-based robots
Solution Approach 2:
Overhead cables and pulleys are introduced as intermediary elements to suspend and position the robotic platform. This cable-driven suspension system acts as a mediator between the fixed overhead structure and the mobile robotic platform, enabling flexible positioning in three-dimensional space while maintaining system simplicity
3Productivity
If manual inspection and maintenance methods are used, then equipment simplicity is maintained, but inspection time, cost, and safety hazards increase
Solution Approach 1:
The robotic platform is equipped with autonomous navigation capabilities including onboard sensors (cameras, LIDAR, GPS) and controllers that enable self-positioning and autonomous execution of inspection tasks. The system can independently navigate to target locations, perform inspections, and return to base, reducing the need for manual operation and minimizing human exposure to hazardous environments
Solution Approach 2:
Manual inspection methods are replaced with automated robotic systems equipped with various sensing technologies including visual cameras, thermal imaging sensors, and ultrasonic testing devices. These electronic and optical systems substitute human senses and manual operations, improving inspection efficiency and eliminating safety hazards associated with human entry into hazardous areas
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables efficient monitoring, inspection, and maintenance of industrial structures by providing access to hard-to-reach areas, reducing time and cost associated with these tasks, and minimizing hazards through its modular and versatile design.
Implementation Method 1
The propulsion system is configured to provide a directional thrust on the body during operation
Implementation Method 2
Each cable extends from a respective motorized cable reel through a respective elevated suspension point and is attached at a free end to the robotic platform, whereby the robotic platform is suspended from above by the cables
Data Source
AI summary
Modular, propelled cable-driven robotic platform systems and methods of operation are disclosed. The system includes a robotic platform suspended by a system of overhead cables, motorized cable reels and pulleys. The robotic platform is configured to be equipped with tool modules for performing respective tasks. Additionally, the tool modules each have a multirotor propulsion system. A master control computer coordinates operation of the motorized cable and propulsion systems as a function of sensor data captured by navigation sensors on-board the platform so as to maneuver the robotic platform inside an industrial plant. The system is configured to maneuver around pipings and avoid obstacles in the plant in order to maximize the effective workspace that the robotic platform can reach to perform operations including inspection or repair.