CN111633654B - Hazardous chemical storage tank detection robot based on 5G - Google Patents
Hazardous chemical storage tank detection robot based on 5G Download PDFInfo
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- CN111633654B CN111633654B CN202010507261.8A CN202010507261A CN111633654B CN 111633654 B CN111633654 B CN 111633654B CN 202010507261 A CN202010507261 A CN 202010507261A CN 111633654 B CN111633654 B CN 111633654B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a 5G-based hazardous chemical storage tank detection robot, which comprises a model generation device, a detection device, a protection device, a transmission device and a controller, wherein the model generation model is configured to establish a storage model, store the storage model based on storage rules of the storage material and generate a detection list; the detection device is configured to detect the model parameters set by the model generation device; the protection device is configured to handle a hazardous condition of the storage tank; the model generation device, the detection device and the protection device are respectively in control connection with the controller. Through adopting deviation correcting device, guarantee that the storage jar of placing on the fixed plate can not squint and lead to the danger of the dangerization article that the vibration arouses, promptly: through deviation correcting device's protection for to the in-process of the transportation of storage jar, guarantee that the storage jar can not shake, can not exert an influence to the dangerization article of storage at the storage jar simultaneously.
Description
Technical Field
The invention relates to the technical field of hazardous chemical storage, in particular to a 5G-based hazardous chemical storage tank detection robot.
Background
In daily production and scientific research activities, various chemical preparations are frequently used, and some chemical preparations have various dangers in the using, storing and transporting processes, and accidents such as accidental leakage, secret leakage, loss and the like are frequently forbidden and can not be defended, so that the natural environment is seriously polluted, and the daily life of people is also influenced.
For example, CN104803117A prior art discloses an intelligent storage tank for hazardous chemical substances, which cannot maintain a safe storage environment for some unstable hazardous chemical substances because conventional storage containers do not have heating, cooling and heat preservation functions. In the transportation process, the storage container does not have the functions of bulletproof, stab-resistant, shockproof, secret losing prevention and the like, and the storage container is lack of protective measures. Another typical remote monitoring system for chemical liquid delivery, as disclosed in TW200401868A prior art, conveniently and correctly confirms the status of each delivery system with respect to the status of the tool with respect to liquid status, alarm, problem status and other warning signals, but there is uncertainty in the storage as to the lack of a means of detection of the status of the storage tank itself. Referring again to a shipping container with a container dome as disclosed in the prior art of US6163761A, steel shipping containers exposed to direct sunlight for extended periods of time can result in significant temperature increases in the shipping container and the shipping materials located therein, and the presence of defects such as poor detection of the conditions within the storage tank. .
The invention is made in order to solve the problems that the prior art is generally lack of protective measures, lack of detection means for monitoring, no bit monitoring and the like.
Disclosure of Invention
The invention aims to provide a dangerous chemical storage tank detection robot based on 5G, aiming at the defects of the existing dangerous chemical storage tank.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a hazardous chemical storage tank detection robot based on 5G comprises a model generation device, a detection device, a protection device, a transmission device and a controller, wherein the model generation model is configured to establish a storage model, store the storage model based on storage rules of the storage material and generate a detection list; the detection device is configured to detect the model parameters set by the model generation device; the protection device is configured to handle a hazardous condition of the storage tank; the model generation device, the detection device and the protection device are respectively in control connection with the controller.
Optionally, the model generating device includes: the energy distribution system comprises a setting mechanism, a conditioning mechanism, an energy distribution map generation module and an adjusting mechanism, wherein the setting mechanism is configured to define parameters of a group of storage tanks, generate energy profiles by simulating a group of physical tank models corresponding to the storage tank parameters, and fill an energy distribution map database with energy distribution maps; the energy profile generation module is configured to divide the database of energy profiles into parameter-based groups and cluster each parameter-based group into a set of clusters, each cluster having a representative pattern, the energy profiles belonging to each cluster being ordered according to their proximity to the representative pattern; the energy distribution map is further configured to select one cluster from a group of clusters and to select an energy distribution in the cluster that most closely matches the storage item among the selected clusters, wherein the physical storage model module corresponding to the set energy distribution of the storage item is selected from the storage tank model database; the adjustment mechanism is configured to calibrate a physical storage model for a storage object using known energy data and metadata, and to generate an adjusted storage tank model for a storage item, and to generate a corresponding training data set from the adjusted adjustment mechanism, the training data set being configured to generate a set of training data sets from the adjusted storage tank model and input into an artificial intelligence module based on the training data sets to generate an AI-based stored energy model.
Optionally, detection device is including detecting ring, elevating system, response mechanism and data transmission passageway, detect the ring with storage jar coaxial setting just detect the ring with storage jar nestification is in and set up the outer wall of storage jar, induction system sets up detect the ring inner wall, and along detect equidistant setting of the inner wall of ring, each response mechanism mutually supports the use and with data transmission passageway data connection.
Optionally, the protection device comprises a cooling mechanism and a fire extinguishing mechanism, the cooling mechanism comprises a plurality of spray headers and a spray pump, and each spray header is respectively connected with the spray pump through a pipeline; the heat insulation mechanism comprises a falling ring, a supply part, a heat insulation film, a storage cavity and a first driving mechanism, wherein the heat insulation film is arranged in the storage cavity, a clamping part is arranged in the storage cavity, the clamping part is connected with the first driving mechanism in a driving mode, one end of the heat insulation film is connected with the falling ring, the other end of the heat insulation film is fixedly connected with the clamping part of the storage cavity, and the falling ring is matched with a tank body of the storage tank.
Optionally, the transmission device includes a data buffering mechanism and a data response mechanism, and the data buffering mechanism is used for buffering data of the sensing device and storing the data in the data buffering mechanism; the data response mechanism retrieves the performance data in response to searching a database, and wherein a parameter of the search query indicates a particular event, a particular location, a particular action, an action type, a time period.
Optionally, the set action rule is set based on the states of the detection device and the protection device, and the entry and execution of the action rule are performed based on the control of the controller.
The beneficial effects obtained by the invention are as follows:
1. the protective device is adopted to protect the storage tank in the transportation process, so that the storage tank has the functions of heat prevention, heat insulation and vibration prevention, and the whole transportation process is ensured to have higher safety;
2. parameters are adjusted by an adjusting mechanism, so that the monitored parameters are optimal, meanwhile, an optimal training set is obtained, an optimal model for storing energy is obtained by inputting the optimal training set into artificial intelligence, and an optimal storage container, a storage method, monitoring parameters and the like are also obtained;
3. the detection ring is operated to detect at different positions under the action of the lifting device, so that the change of the detection position is effectively ensured, and the whole detection process is more comprehensive, accurate and reliable;
4. the other end of the displacement rod is fixedly connected with the clamping piece, and the displacement rod enables the position of the clamping frame to be stretched, so that the detection of any position is guaranteed, and the detection efficiency of the whole device is improved;
5. the path planning module is further configured to divide the storage tank into monitoring groups and sort the monitoring groups, so that the monitoring device can monitor the parameters of the storage tank;
6. through adopting deviation correcting device, guarantee that the storage jar of placing on the fixed plate can not squint and lead to the danger of the dangerization article that the vibration arouses, promptly: through deviation correcting device's protection for to the in-process of the transportation of storage jar, guarantee that the storage jar can not shake, can not exert an influence to the dangerization article of storage at the storage jar simultaneously.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic structural diagram of the inspection robot.
Fig. 2 is a schematic front view of the inspection robot.
Fig. 3 is a schematic structural diagram of the deviation correcting device.
Fig. 4 is a schematic structural view of the protection device.
Fig. 5 is a schematic structural diagram of a fourth embodiment.
FIG. 6 is a top view of the fourth embodiment.
The reference numbers illustrate: 1-detection ring; 2-a controller; 3-a sliding wheel; 4-a clamping cavity; 5-an adjusting block; 6-a detection mechanism; 7-a displacement mechanism; 8-a storage tank; 9-a heat-insulating film; 10-a supply; 11-a drop ring; 12-an offset rod; 13-a support wall; 14-a cavity; 15-a telescopic rod; 16-a deviation correcting device; 17-clamping ring.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: a hazardous chemical storage tank detection robot based on 5G comprises a model generation device, a detection device, a protection device, a transmission device and a controller 2, wherein the model generation model is configured to establish a storage model, store the storage model based on storage rules of the storage material and generate a detection list; the detection device is configured to detect the model parameters set by the model generation device; the protection device is configured to handle dangerous conditions of the storage tank 8; the model generation device, the detection device and the protection device are respectively in control connection with the controller 2; the model generation apparatus includes: a setting mechanism configured to define a set of storage tank 8 parameters, and to generate an energy profile by simulating a set of physical tank models corresponding to the storage tank 8 parameters, and to populate an energy profile database with energy profiles; the energy profile generation module is configured to divide the database of energy profiles into parameter-based groups and cluster each parameter-based group into a set of clusters, each cluster having a representative pattern, the energy profiles belonging to each cluster being ordered according to their proximity to the representative pattern; the energy distribution map is further configured to select one cluster from a group of clusters and to select the energy distribution in the cluster that most closely matches the storage item among the selected clusters, wherein the physical storage model module corresponding to the set energy distribution of the storage item is selected from the storage tank 8 model database; the adjustment mechanism is configured to calibrate a physical storage model for a storage object using known energy data and metadata, and to generate an adjusted storage tank 8 model for storing the item, and to generate a corresponding training data set in accordance with the adjusted adjustment mechanism, the training data set being configured to generate a set of training data sets in accordance with the adjusted storage tank 8 model, and to be input into the artificial intelligence module based on the training data sets to generate an AI-based stored energy model; the detection device comprises a detection ring 1, a lifting mechanism, induction mechanisms and a data transmission channel, wherein the detection ring 1 and the storage tank 8 are coaxially arranged, the detection ring 1 and the storage tank 8 are nested and arranged on the outer wall of the storage tank 8, the induction devices are arranged on the inner wall of the detection ring 1 and are arranged at equal intervals along the inner wall of the detection ring 1, and the induction mechanisms are mutually matched for use and are in data connection with the data transmission channel; the protection device comprises a cooling mechanism and a fire extinguishing mechanism, the cooling mechanism comprises a plurality of spray heads and a spray pump, and each spray head is respectively connected with the spray pump through a pipeline; the heat insulation mechanism comprises a falling ring 11, a supply part 10, a heat insulation film 9, a storage cavity and a first driving mechanism, wherein the heat insulation film 9 is arranged in the storage cavity, a clamping part is arranged in the storage cavity and is in driving connection with the first driving mechanism, one end of the heat insulation film 9 is connected with the falling ring 11, the other end of the heat insulation film 9 is fixedly connected with the clamping part of the storage cavity, and the falling ring 11 is matched with a tank body of the storage tank 8; the transmission device comprises a data buffer mechanism and a data response mechanism, wherein the data buffer mechanism is used for buffering the data of the sensing device and storing the data in the data buffer mechanism; the data response mechanism retrieves the performance data in response to searching a database, and wherein a parameter of the search query indicates a particular event, a particular location, a particular action, an action type, a time period; the set action rules are set based on the states of the detection device and the protection device, and the entry and execution of the action rules are performed based on the control of the controller 2.
Example two: the present embodiment should be understood to include at least all the features of any one of the foregoing embodiments and further improve on the same, and in particular, provide a 5G-based hazardous chemical tank detection robot, which includes a model generation device, a detection device, a protection device, a transmission device, and a controller 2, wherein the model generation model is configured to build a storage model, store the storage model based on storage rules of the storage material, and generate a detection list; the detection device is configured to detect the model parameters set by the model generation device; the protection device is configured to handle dangerous conditions of the storage tank 8; the model generation device, the detection device and the protection device are respectively in control connection with the controller 2; specifically, in this embodiment, the storage tank 8 is used for storing hazardous chemical substances, and in this process, different transported substances need to be stored, so as to ensure high pertinence, in this embodiment, the model generation device is used for generating a model of the storage tank 8, and based on the model of the storage tank 8 and the type of the stored material, corresponding types and monitored parameters are matched, so as to ensure that the monitoring process of the whole system is more complete, and meanwhile, the whole transportation process is also met, so that the safety of the whole transportation process is improved; in the embodiment, the detection device and the protection device are matched to ensure that the whole process has high automatic monitoring and the safety of the transported substances in the transport storage tank 8 is protected; in this embodiment, the protection device is used for protecting the storage tank 8 in the transportation process, so that the storage tank has the functions of heat prevention, heat insulation and vibration prevention, and the whole transportation process is ensured to have higher safety;
the model generation apparatus includes: a setting mechanism configured to define a set of storage tank 8 parameters, and to generate an energy profile by simulating a set of physical tank models corresponding to the storage tank 8 parameters, and to populate an energy profile database with energy profiles; the energy profile generation module is configured to divide the database of energy profiles into parameter-based groups and cluster each parameter-based group into a set of clusters, each cluster having a representative pattern, the energy profiles belonging to each cluster being ordered according to their proximity to the representative pattern; the energy distribution map is further configured to select one cluster from a group of clusters and to select the energy distribution in the cluster that most closely matches the storage item among the selected clusters, wherein the physical storage model module corresponding to the set energy distribution of the storage item is selected from the storage tank 8 model database; the adjustment mechanism is configured to calibrate a physical storage model for a storage object using known energy data and metadata, and to generate an adjusted storage tank 8 model for storing the item, and to generate a corresponding training data set in accordance with the adjusted adjustment mechanism, the training data set being configured to generate a set of training data sets in accordance with the adjusted storage tank 8 model, and to be input into the artificial intelligence module based on the training data sets to generate an AI-based stored energy model; specifically, the model generation device sets parameters such as the type of the storage tank 8, the transported material, the transportation rule and the like, and generates corresponding monitoring parameters by the model generation device; in this embodiment, the model generation device performs the relationship of the energy profiles by the set parameters, that is: the energy profile enables each position in the storage tank 8 to be set, that is, each position in the storage tank 8 is monitored through the positions of common defects under the condition of the addition of a network based on big data, and meanwhile, the energy profile is generated on the key position; in this embodiment, the distribution database is filled with the energy distribution map, a group of clusters is formed by using each divided parameter group, matching is performed on the substances to be stored in the clusters, and in each matched energy distribution, a suitable substance for storage or transportation habits is selected for modeling, and subsequent operations of processing the storage tank 8 and transporting the stored substance through the storage tank 8 are performed; in addition, the model generation device establishes a model based on set parameters, reference of big data and the like, so that the model establishment process is ensured to be in accordance with the most extensive use, and the storage tank 8 is effectively ensured to be matched with transported substances and to be transported under the optimal transportation parameters and monitoring parameters; in this embodiment, parameters are adjusted by the adjusting mechanism, so that the monitored parameters are optimal, an optimal training set is obtained, an optimal model for storing energy is obtained by inputting the optimal training set into the artificial intelligence, and an optimal storage container, a storage method, monitoring parameters and the like are also obtained;
the detection device comprises a detection ring 1, a lifting mechanism, induction mechanisms and a data transmission channel, wherein the detection ring 1 and the storage tank 8 are coaxially arranged, the detection ring 1 and the storage tank 8 are nested and arranged on the outer wall of the storage tank 8, the induction devices are arranged on the inner wall of the detection ring 1 and are arranged at equal intervals along the inner wall of the detection ring 1, and the induction mechanisms are mutually matched for use and are in data connection with the data transmission channel; specifically, the detection ring 1 is arranged in a circular shape, and the detection operation of the detection ring 1 at different positions is realized through the action of the lifting device, so that the change of the detection position is effectively ensured, and the whole detection process is more comprehensive, accurate and reliable; in this embodiment, the detection ring 1 is further disposed on the outer wall of the storage tank 8, and the sensing mechanism disposed on the detection ring 1 also extends toward the outer wall of the storage tank 8, so as to ensure that the parameter device on the periphery of the storage tank 8 is detected; in this embodiment, the detecting mechanism 6 further includes a displacement guiding mechanism, the guiding mechanism includes a path planning module and a path dividing module, the path dividing module is used in cooperation with the energy map, and the energy distribution map of the model generating device is used as a position to be monitored by the path planning module, which is based on the model establishment and experience; in this embodiment, the path dividing device further monitors according to a detection result of the monitoring device, so as to effectively ensure that a path detected by the storage tank 8 is accurately controlled; meanwhile, in this embodiment, the path division mechanism also performs the expansion work based on the data detected by the sensing mechanism in real time, so as to effectively ensure that the path plan is expanded within a reasonable range; in addition, the path planning module and the path dividing module are used in a matched manner, so that no dead angle exists in the detection process of the storage tank 8 by the detection device; in this embodiment, the path planning module is further configured to divide the storage tank 8 into monitoring groups, and sort the monitoring groups to ensure that the monitoring device can monitor the parameters of the storage tank 8;
in this embodiment, a be used for storage jar 8 to carry out inspection robot is provided, inspection robot includes movable pulley 3, holding frame, regulating block 5, the holding frame be with storage jar 8 nestification sets up, promptly: the clamping frame is arranged around the storage tank 8, in addition, a cavity 14 is arranged at the periphery of the storage tank 8, the cavity 14 and the storage tank 8 are coaxially arranged, and the cavity 14 at the periphery of the storage tank 8 is used for detecting the storage tank 8 by arranging the detection robot, so that the detection effect of the storage tank 8 on the hazardous chemical substances is effectively ensured; in this embodiment, each sliding wheel 3 is disposed at the periphery of the clamping frame, so that the sliding wheels 3 and the inner wall of the cavity 14 can slide, and any position can be slid according to actual needs, thereby ensuring that the detection robot has a more widely-applied scene; in addition, in this embodiment, various detection devices can be disposed on the body of the clamping frame, and in this embodiment, this structure is adopted for detecting the storage tank 8, so as to ensure that such detection devices can be implemented accurately; in this embodiment, the slide block forms a slide portion by nesting with a spring; the sliding wheel 3 is hinged to one end of a support, so that the sliding wheel 3 can rotate along the support, in this embodiment, the other end of the support is nested with the outer wall of the clamping frame, the sliding part is hinged to the rod body of the support to form a triangular structure, the support can be adjusted by sliding of the sliding part, each sliding wheel 3 is tightly attached to the inner wall of the cavity 14 and slides along the inner wall of the cavity 14, and meanwhile, the sliding wheel 3 can be ensured to adapt to different cavities 14 and the detection robot can have wider application scenes; in addition, the detection device can also be adjusted according to actual needs, which is a means well known by those skilled in the art, and therefore, the installation position of the detection device is not described in detail;
a displacement mechanism 7 is arranged on the periphery of the clamping frame, the displacement mechanism 7 comprises a displacement rod and a hydraulic driving device, the displacement rod of the displacement mechanism 7 is in driving connection with the hydraulic driving device, and the displacement mechanism 7 is used for extending and retracting the clamping frame, so that the clamping frame can be operated in an extending and retracting manner, and the clamping piece is ensured to be operated by the detection robot to detect the storage tank under the action of the displacement mechanism; in this embodiment, the detection robot includes an underframe, one end of the displacement rod is vertically and fixedly connected with the underframe, the other end of the displacement rod is fixedly connected with the clamping piece, and the displacement rod enables the telescopic operation to be performed on the position of the clamping frame, so that the detection of any position is ensured, and the detection efficiency of the whole device is improved;
the protection device comprises a cooling mechanism and a fire extinguishing mechanism, the cooling mechanism comprises a plurality of spray heads and a spray pump, and each spray head is respectively connected with the spray pump through a pipeline; the heat insulation mechanism comprises a falling ring 11, a supply part 10, a heat insulation film 9, a storage cavity and a first driving mechanism, wherein the heat insulation film 9 is arranged in the storage cavity, a clamping part is arranged in the storage cavity and is in driving connection with the first driving mechanism, one end of the heat insulation film 9 is connected with the falling ring 11, the other end of the heat insulation film 9 is fixedly connected with the clamping part of the storage cavity, and the falling ring 11 is matched with a tank body of the storage tank 8; specifically, in this embodiment, the protection device further includes a shackle mechanism, the shackle mechanism is used for connecting the detection ring 1 in a shackle manner, the shackle mechanism includes a clamping driving mechanism and a buckle, the buckle is in driving connection with the clamping driving mechanism, in addition, the clamping driving mechanism is in control connection with the controller 2, the controller 2 is ensured to drive the clamping driving mechanism to ensure that the buckle is driven, the clamping of the buckle on the falling ring 11 is released, so that the falling ring 11 falls on the periphery of the storage tank 8 under the action of gravity, and the storage tank 8 is ensured to have functions of fire prevention and heat insulation; in this embodiment, the cooling mechanism is configured to perform cooling or heat insulation operation on the storage tank 8, in this embodiment, the heat insulation film 9 has a double-layer structure, a cooling liquid is provided between the double-layer heat insulation film 9, the cooling liquid is triggered by the trigger mechanism, the trigger mechanism includes a volume cavity, an overflow hole and the cooling liquid, the cooling liquid is stored in the volume cavity, and after being triggered, the cooling liquid overflows through the overflow hole and is stored between the heat insulation films 9, so that the storage tank 8 can be cooled rapidly, and the entire storage tank 8 is also cooled within a suitable range; in this embodiment, the triggering mechanism further includes an electronic switch for controlling, the electronic switch is configured to control the overflow timing of the cooling liquid stored in the volume chamber, specifically, the electronic switch realizes precise control of the overflow of the cooling liquid under the control of the controller 2;
the transmission device comprises a data buffer mechanism and a data response mechanism, wherein the data buffer mechanism is used for buffering the data of the sensing device and storing the data in the data buffer mechanism; the data response mechanism retrieves the performance data in response to searching a database, and wherein a parameter of the search query indicates a particular event, a particular location, a particular action, an action type, a time period; specifically, in the present embodiment; the data caching mechanism and the data response mechanism of the transmission device are matched with each other; the data buffer mechanism also responds to performance data with the database, and the model generation device responds to analyze the performance data and provides high-precision model establishment for model establishment of the storage tank 8 in the analysis process; in this embodiment, the data response mechanism also operates on an expression that indicates a parameter for a particular parameter; in this embodiment, the transmission device is further configured to perform real-time guidance work on the actions of the guard device;
the set action rule is set based on the states of the detection device and the protection device, and the input and execution of the action rule are carried out based on the control of the controller 2; specifically, in this embodiment, the set action rule is set based on the states of the detection device and the protection device, and meanwhile, in the transportation process of storage of the storage tank 8, it is ensured that the storage tank 8 does not shake in the transportation process or the transportation safety of the whole hazardous chemical substance is not affected by improper transportation operation in the transportation process; in this embodiment, the action rules are adjusted according to the actual needs of the operator and according to the steps of implementing the adjustment, so as to ensure that the whole device has a wider function.
Example three: the embodiment should be understood to at least include all the features of any one of the foregoing embodiments, and is further improved on the basis of the foregoing embodiments, specifically, a deviation rectifying device 16 is provided, where the deviation rectifying device 16 is disposed at the bottom of the storage tank 8 and is detachably clamped with the storage tank 8, so as to ensure that the storage tank 8 is not impacted during transportation to affect hazardous chemical substances stored in the storage tank 8; the deviation correcting device 16 comprises a bottom plate, a fixed plate, a plurality of telescopic rods 15 and a sensing mechanism, wherein each telescopic rod 15 is arranged on one side of the fixed plate, the sensing mechanism is arranged on the fixed plate and detects the deviation angle of the fixed plate, in the embodiment, the bottom plate and the fixed plate are arranged in parallel and coaxially, each telescopic rod 15 is arranged between the bottom plate and the fixed plate, specifically, one end of each telescopic rod 15 is hinged to the fixed plate, and the other end of each telescopic rod 15 is hinged to the bottom plate; in addition, the deviation correcting device 16 further includes a hydraulic driving mechanism, the hydraulic driving mechanism and each of the telescopic rods 15 are hydraulically driven, meanwhile, in this embodiment, the telescopic rods 15 are labeled and matched with the sensing mechanism to detect the direction of a certain deviation, when a certain label has a deviation, the telescopic rods 15 corresponding to the label will be paired to operate, so as to ensure that the storage tank 8 placed on the fixing plate cannot deviate to cause dangers of dangerous chemicals caused by vibration, that is: through the protection of the deviation correcting device 16, the storage tank 8 is ensured not to vibrate in the transportation process of the storage tank 8, and meanwhile, dangerous chemicals stored in the storage tank 8 are not influenced; in addition, the deviation correcting device 16 further comprises a deviation mechanism, the deviation mechanism is used for clamping the tank body detection of the storage tank 8, the deviation mechanism comprises a clamping ring 17 and a plurality of deviation rods 12, the clamping ring 17 and the storage tank 8 are coaxially arranged, one end of each deviation rod 12 is hinged to the clamping ring 17, and the other end of each deviation rod 12 is fixedly connected with the supporting wall 13; in the present embodiment, the storage tank 8 is provided with a support wall 13 at the periphery, the support wall 13 is arranged coaxially with the storage tank 8, the support wall 13 is a cylindrical cavity 14, and the storage tank 8 is arranged in the cavity 14; in this embodiment, the inspection robot may also be disposed in the cavity 14 and inspect the storage tank 8; in this embodiment, the sensing device is used for detecting the offset angle of the storage tank 8, and when the sensing device senses that a certain group of labels is offset, the offset rod 12 will act to prevent the storage tank 8 from overturning dangerous chemicals stored in the storage tank 8 due to vibration.
Example four: the present embodiment should be understood to include at least all the features of any one of the embodiments and further improve on the same, and in particular, provides a robot for inspecting the inner wall of a storage tank 8, the robot includes a sliding wheel 3, a clamping frame, and an adjusting block 5, the clamping frame is provided with a clamping cavity 4, the storage tank is arranged in the clamping cavity 4, that is: the holder is nested with the storage tank 8, i.e.: the clamping frame is arranged around the storage tank 8, in addition, a cavity 14 is arranged at the periphery of the storage tank 8, the cavity 14 and the storage tank 8 are coaxially arranged, and the cavity 14 at the periphery of the storage tank 8 is used for detecting the storage tank 8 by arranging the detection robot, so that the detection effect of the storage tank 8 on the hazardous chemical substances is effectively ensured; in this embodiment, each sliding wheel 3 is disposed at the periphery of the clamping frame, so that the sliding wheels 3 and the inner wall of the cavity 14 can slide, and any position can be slid according to actual needs, thereby ensuring that the detection robot has a more widely-applied scene; in addition, in this embodiment, various detection devices can be disposed on the body of the clamping frame, and in this embodiment, this structure is adopted for detecting the storage tank 8, so as to ensure that such detection devices can be implemented accurately; in this embodiment, the slide block forms a slide portion by nesting with a spring; the sliding wheel 3 is hinged to one end of a support, so that the sliding wheel 3 can rotate along the support, in this embodiment, the other end of the support is nested with the outer wall of the clamping frame, the sliding part is hinged to the rod body of the support to form a triangular structure, the support can be adjusted by sliding of the sliding part, each sliding wheel 3 is tightly attached to the inner wall of the cavity 14 and slides along the inner wall of the cavity 14, and meanwhile, the sliding wheel 3 can be ensured to adapt to different cavities 14 and the detection robot can have wider application scenes; in addition, the detection device can also be adjusted according to actual needs, which is a means well known by those skilled in the art, and therefore, the installation position of the detection device is not described in detail; in other embodiments, the inspection mechanism and the controller 2 are disposed in the clamping frame for inspecting the interior of the pipeline, so as to ensure the operation of inspecting the interior of the pipeline or the storage tank 8, so that the inspection robot has a wider application scenario, that is: a visual detection device is formed between the controller 2 and the detection mechanism 6 and is used for detecting the inner wall of the storage tank 8; in addition, the visual inspection device further comprises an extension mechanism for abutting and inspecting the inner wall of the storage tank 8 or the pipeline; in this embodiment, the stretching device is used to stretch the visual inspection device, and the device is a means that can be known by those skilled in the art, and therefore, in this embodiment, the structure of the stretching device is not described in detail.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
In conclusion, the hazardous chemical storage tank detection robot based on 5G has the functions of heat prevention, heat insulation and vibration prevention by adopting the protection device to protect the transportation process of the storage tank, and ensures that the whole transportation process has higher safety; parameters are adjusted by an adjusting mechanism, so that the monitored parameters are optimal, meanwhile, an optimal training set is obtained, an optimal model for storing energy is obtained by inputting the optimal training set into artificial intelligence, and an optimal storage container, a storage method, monitoring parameters and the like are also obtained; the detection ring is operated to detect at different positions under the action of the lifting device, so that the change of the detection position is effectively ensured, and the whole detection process is more comprehensive, accurate and reliable; the other end of the displacement rod is fixedly connected with the clamping piece, and the displacement rod enables the position of the clamping frame to be stretched, so that the detection of any position is guaranteed, and the detection efficiency of the whole device is improved; the path planning module is further configured to divide the storage tank into monitoring groups and sort the monitoring groups, so that the monitoring device can monitor the parameters of the storage tank; through adopting deviation correcting device, guarantee that the storage jar of placing on the fixed plate can not squint and lead to the danger of the dangerization article that the vibration arouses, promptly: through deviation correcting device's protection for to the in-process of the transportation of storage jar, guarantee that the storage jar can not shake, can not exert an influence to the dangerization article of storage at the storage jar simultaneously.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (3)
1. A hazardous chemical storage tank detection robot based on 5G comprises a model generation device, a detection device, a protection device, a transmission device and a controller, wherein the model generation device is configured to establish a storage model, store the storage model based on storage rules of the storage material and generate a detection list; the detection device is configured to detect the model parameters set by the model generation device; the protection device is configured to handle a hazardous condition of the storage tank; the model generation device, the detection device and the protection device are respectively in control connection with the controller; characterized in that the model generation means comprises: the energy distribution system comprises a setting mechanism, a conditioning mechanism, an energy distribution map generation module and an adjusting mechanism, wherein the setting mechanism is configured to define parameters of a group of storage tanks, generate energy profiles by simulating a group of physical tank models corresponding to the storage tank parameters, and fill an energy distribution map database with energy distribution maps; the energy profile generation module is configured to divide the database of energy profiles into parameter-based groups and cluster each parameter-based group into a set of clusters, each cluster having a representative pattern, the energy profiles belonging to each cluster and being ordered according to their proximity to the representative pattern; the energy distribution map is further configured to select one cluster from a group of clusters and to select an energy distribution in the cluster that most closely matches the storage item among the selected clusters, wherein the physical storage model module corresponding to the set energy distribution of the storage item is selected from the storage tank model database; the adjustment mechanism is configured to calibrate a physical storage model for a storage object using known energy data and metadata, and to generate an adjusted storage tank model for the storage object, and to generate a corresponding training data set from the adjusted adjustment mechanism, the training data set being configured to generate a set of training data sets from the adjusted storage tank model and to be input into the artificial intelligence module based on the training data sets to generate an AI-based stored energy model.
2. The robot for detecting the hazardous chemical storage tank based on 5G according to claim 1, wherein the detection device comprises a detection ring, a lifting mechanism, sensing mechanisms and a data transmission channel, the detection ring is coaxially arranged with the storage tank, the detection ring is nested with the storage tank and is arranged on the outer wall of the storage tank, the sensing mechanisms are arranged on the inner wall of the detection ring and are arranged at equal intervals along the inner wall of the detection ring, and the sensing mechanisms are mutually matched and are in data connection with the data transmission channel.
3. The robot for detecting the hazardous chemical storage tank based on 5G according to claim 2, wherein the protection device comprises a temperature reduction mechanism, a fire extinguishing mechanism and a heat insulation mechanism, the temperature reduction mechanism comprises a plurality of spray heads and spray pumps, and each spray head is respectively connected with the spray pump through a pipeline; thermal-insulated mechanism is including falling ring, supply piece, thermal-insulated membrane, storage chamber and a actuating mechanism, thermal-insulated membrane setting is in the storage chamber, the storage intracavity is equipped with joint spare, joint spare with an actuating mechanism drive is connected, thermal-insulated membrane one end with it connects to fall the ring, thermal-insulated membrane the other end with the joint spare fixed connection in storage chamber, the ring that hangs down with the jar body phase-match of storage jar.
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