In-Oil Inspection Robot Path Tracking in Invisible Tank Bottoms
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Solution Overview
Problem
Existing inspection methods for storage tank bottom plates require periodic cleaning and manual inspection, which are challenging due to the corrosive and explosive nature of the environment, and there is a difficulty in path planning and tracking for in-oil inspection robots in invisible environments.
Innovation Solution
A path tracking method and device for in-oil inspection robots that utilize ultrasonic positioning to determine the robot's position on a rasterized storage tank bottom plate drawing, plan a moving path to uninspected areas, and correct deviations using path tracking algorithms, incorporating obstacle avoidance sensors and a main control module for efficient inspection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual inspection methods are used for storage tank bottom plates, then inspection can be performed with simple equipment, but inspection efficiency is low and the process requires periodic cleaning and manual intervention
Solution Approach 1:
The inspection robot performs autonomous path planning and tracking using ultrasonic positioning signals and rasterized drawings, enabling self-service inspection without periodic manual cleaning and intervention. The robot independently navigates the storage tank bottom plate, inspects defects, and updates inspection status automatically.
Solution Approach 2:
The patent replaces manual mechanical inspection with an automated robot system that uses ultrasonic positioning signals and computer-based path planning algorithms. The mechanical system is substituted with an intelligent control system that processes positioning data and generates navigation paths automatically.
2Productivity
If in-oil inspection robot is used to navigate in invisible environment, then inspection can continue without cleaning, but path planning and tracking becomes difficult due to invisible environment
Solution Approach 1:
The patent introduces ultrasonic positioning signals as an intermediary to enable the robot to locate and track its position in the invisible environment. The positioning signals serve as a mediator between the robot and the environment, providing spatial information that allows path planning and tracking without visual capability.
Solution Approach 2:
The patent performs preliminary rasterization of the storage tank bottom plate drawing before inspection. The rasterized drawing is prepared in advance with marked impassable areas, inspected areas, and uninspected areas, enabling the robot to plan paths without real-time visual feedback during inspection.
3Productivity
If robot performs automatic path planning and tracking, then inspection efficiency is greatly improved, but the system requires complex control algorithms and positioning systems
Solution Approach 1:
The patent segments the storage tank bottom plate into a rasterized grid system with discrete cells. This segmentation simplifies path planning by breaking down the continuous navigation problem into discrete grid-based movements, making the control system more manageable despite the overall system complexity.
Solution Approach 2:
The patent implements dynamic path updating based on robot position and inspection status. The rasterized drawing is dynamically updated to mark inspected areas and generate new paths to uninspected areas, allowing the system to adapt and maintain efficiency despite complex control requirements.
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
Enables automatic path planning and tracking for in-oil inspection robots, improving inspection efficiency by allowing the robot to navigate and inspect the storage tank bottom plate effectively, even in complex environments.
Implementation Method 1
A current position of a robot in a rasterized storage tank bottom plate drawing is determined according to an ultrasonic positioning signal of the robot
Data Source
AI summary
A path tracking method and device for an in-oil inspection robot for a storage tank bottom plate in an invisible environment are provided. The method includes: determining a current position of a robot in a rasterized storage tank bottom plate drawing; when the current position is located in an inspected area, searching a cell of an uninspected area closest to the current position as a target point, and planning a moving path to the target point and a scanning path for inspecting the uninspected area where the target point is located; controlling the robot to move to the target point using a path tracking algorithm; and completing inspection of the uninspected area where the target point is located with the target point as a starting point. According to the method, a path of the robot can be planned and tracked automatically, improving inspection efficiency.