CN114428465A - Oil field storage tank detects wall climbing robot space positioner - Google Patents

Abstract

The invention belongs to the technical field of automatic non-destructive testing of storage tanks, and in particular relates to a space positioning device for a wall-climbing robot for oil field storage tank testing. The oilfield storage tank detection wall-climbing robot space positioning device adopts non-contact real-time positioning, which has the characteristics of high resolution, good stability and reliability, and rapid response time. A space positioning device for an oilfield storage tank detection wall-climbing robot, comprising: an acceleration sensor, a laser ranging sensor, and an inclination sensor arranged on the wall-climbing robot; and a control device connected with the acceleration sensor, the laser ranging sensor, and the inclination sensor The control unit adopts the chip of the model STM32F103; wherein, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

Description

A space positioning device for wall-climbing robot for oil field storage tank detection

technical field

The invention belongs to the technical field of automatic non-destructive testing of storage tanks, and in particular relates to a space positioning device for a wall-climbing robot for oil field storage tank testing.

Background technique

The in-service inspection of steel atmospheric storage tanks originated from the petrochemical industry in Europe and the United States. The storage tank is usually used to store toxic and flammable media. It will cause serious safety accidents and environmental pollution. Therefore, regular in-service inspection of these storage tanks can detect the deteriorated parts/components in time before the accident occurs, and take necessary maintenance to provide an effective guarantee for the continuous and safe operation of the storage tanks. As an emerging technology, wall-climbing robots can effectively replace manual in-service inspection of storage tanks; compared with manual inspection, wall-climbing robot storage tank inspection has the characteristics of accurate and reliable inspection results, strong environmental adaptability, and can be Significantly reduces operational risk and reduces labor costs, so it is widely used in in-service inspection of storage tanks. However, in the process of further research, the inventor found that the tank detection of wall-climbing robots is an automated operation in a complex environment, and the accuracy of its map construction and positioning plays an important role in the control and path setting of wall-climbing robots. If the wall-climbing robot runs in an uncertain and erroneous positioning state for a long time and a long distance, it will cause the estimated value of the wall-climbing robot's pose to seriously deviate from the real value, which will ultimately affect the reliability of the in-service inspection results of the storage tank. .

SUMMARY OF THE INVENTION

The invention provides an oil field storage tank detection wall-climbing robot space positioning device. The oil field storage tank detection wall-climbing robot space positioning device adopts non-contact real-time positioning, and has the advantages of high resolution, good stability and reliability, fast response time, etc. Features.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

A space positioning device for an oilfield storage tank detection wall-climbing robot, comprising: an acceleration sensor, a laser ranging sensor, and an inclination sensor arranged on the wall-climbing robot; and a control device connected with the acceleration sensor, the laser ranging sensor, and the inclination sensor The control unit adopts the chip of the model STM32F103; wherein, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

Preferably, the acceleration sensor, the laser ranging sensor, and the inclination sensor are all communicated and interconnected with the control unit through an RS485 transceiver, and the RS485 transceiver adopts a chip with a model of MAX13487; wherein, the VCC pin of the MAX13487 chip is connected to the 5V DC power supply. Connect, the GND pin of the MAX13487 chip and the ground; a current-limiting resistor is also set between the A pin of the MAX13487 chip and the B pin of the MAX13487 chip.

Optionally, the acceleration sensor adopts a 10-axis attitude sensor with model HWT901B-485.

Optionally, the laser ranging sensor adopts a ranging sensor with model SW-LDS50X.

Optionally, the inclination sensor adopts a digital output dual-axis inclination sensor model SCA126V.

Preferably, it also includes: a CAN bus communication unit connected to the control unit, the CAN bus communication unit adopts a chip with a model of TJA1050; wherein, the RXD pin of the TJA1050 chip is connected with the PA11 pin of the STM32F103 chip, and the TJA1050 The TXD pin of the chip is connected to the PA12 pin of the STM32F103 chip; the CANH pin of the TJA1050 chip and the CANL pin of the TJA1050 chip are connected to the interface circuit JP1; the VCC pin of the TJA1050 chip is connected to 5V DC power; Both the GND pin and the S pin are grounded.

More preferably, it also includes: a drive motor connected to the control unit.

Further preferably, it also includes: a multi-channel output optocoupler relay, and the output optocoupler relay adopts a chip with a model of AQY212GS; wherein, the 2 pins of any AQY212GS chip are in one-to-one correspondence with the PB12 to PB15 pins of the STM32F103 chip Connected, pin 1 of AQY212GS chip is connected to 3.3V DC power supply, pin 3 of AQY212GS chip is connected to COM terminal, pin 4 of AQY212GS chip is connected to the signal input end of the drive motor.

Further preferably, it also includes: a multi-channel input photocoupler, and the input photocoupler adopts a TLP185 chip; wherein, the C pin of any TLP185 chip corresponds to the PC6 to PC9 pins of the STM32F103 chip one-to-one. Connect, the E pin of the TLP185 chip is grounded, the A pin of the TLP185 chip is connected to the VIN terminal, and the K pin of the TLP185 chip is connected to the signal output terminal of the drive motor.

The invention provides a space positioning device for an oilfield storage tank detection wall-climbing robot. The oilfield storage tank detection wall-climbing robot space positioning device includes an acceleration sensor, a laser ranging sensor, an inclination sensor, a control unit, an RS485 transceiver, and a CAN bus. Communication unit, drive motor and other structural units. The oilfield storage tank detection wall-climbing robot space positioning device with the above structural features adopts non-contact real-time positioning, and has the characteristics of high resolution, good stability and reliability, and rapid response time.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and together with the embodiments of the present invention, are used to explain the present invention, and are not construed to limit the present invention. In the following drawings:

Fig. 1 is the structural block diagram of the oil field storage tank detection wall-climbing robot space positioning device provided by the present invention;

FIG. 2 is a schematic circuit diagram of the control unit STM32F103 chip provided by the present invention;

FIG. 3 is a schematic circuit diagram of the RS485 transceiver MAX13487 chip provided by the present invention;

4 is a schematic circuit diagram of a CAN bus communication unit TJA1050 chip provided by the present invention;

5 is a schematic circuit diagram of an output optocoupler relay output optocoupler relay AQY212GS chip provided by the present invention;

FIG. 6 is a schematic circuit diagram of the input photocoupler TLP185 chip provided by the present invention.

Detailed ways

The invention provides an oil field storage tank detection wall-climbing robot space positioning device. The oil field storage tank detection wall-climbing robot space positioning device adopts non-contact real-time positioning, and has the advantages of high resolution, good stability and reliability, fast response time, etc. Features.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the description of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than An indication or implication that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, is not to be construed as a limitation of the invention. In addition, in the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

Example 1

The present invention provides a space positioning device for an oilfield storage tank detection wall-climbing robot, as shown in FIG. 1 , the oilfield storage tank detection wall-climbing robot space positioning device includes an acceleration sensor and a laser ranging sensor arranged on the wall-climbing robot , an inclination sensor, and a control unit; the control unit is connected with an acceleration sensor, a laser ranging sensor, and an inclination sensor. Specifically, as shown in FIG. 2, as a preferred embodiment of the present invention, the control unit adopts a chip with a model of STM32F103, which is a medium-capacity enhanced, 32-bit ARM core-based 64 or 128K chip Byte flash microcontroller, the highest operating frequency can reach 72MHz, and is configured with SRAM cells up to 20K bytes; in addition, the STM32F103 chip is also equipped with rich clock, reset and power management functions, 2 12-bit analog-to-digital converter, up to 80 fast I/O ports, at least 7 timers, and up to 80 fast I/O ports. Specifically, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

As a more preferred embodiment of the present invention, the acceleration sensor preferably adopts a 10-axis attitude sensor with a model of HWT901B-485. The acceleration sensor integrates multiple modules such as a gyroscope, an accelerometer, and an RM3100 geomagnetic field sensor. The internal configuration processor unit and Kalman dynamic filtering algorithm can realize the purpose of quickly solving the real-time motion attitude of the acceleration sensor; the laser ranging sensor preferably adopts the ranging sensor of model SW-LDS50X, with a safety protection level of IP67, which can be used in multiple It can work normally in a complex environment; the inclination sensor preferably adopts a digital output dual-axis inclination sensor model SCA126V, which is equipped with a high-precision digital sensor, which can correct the temperature drift according to the change of the built-in temperature sensor, and ensure the low temperature and high temperature. In addition, the inclination sensor is also equipped with a variety of output methods (RS232, RS485, TTL, CAN 2.0B optional).

Embodiment 2

The second embodiment includes all the technical features in the first embodiment. Specifically, the present invention provides a space positioning device for an oilfield storage tank detection wall-climbing robot. As shown in FIG. 1 , the oilfield storage tank detection wall-climbing robot space positioning The device includes an acceleration sensor, a laser ranging sensor, an inclination sensor and a control unit arranged on the wall-climbing robot; the control unit is connected with the acceleration sensor, the laser ranging sensor and the inclination sensor. Specifically, as shown in FIG. 2 , as a preferred embodiment of the present invention, the control unit adopts a chip with a model number of STM32F103. The STM32F103 chip is a medium-capacity enhanced, 32-bit ARM-based core with 64 or 128K words Flash memory microcontroller, the highest operating frequency can reach 72MHz, and is equipped with SRAM cells up to 20K bytes; in addition, the STM32F103 chip is also equipped with rich clock, reset and power management functions, two 12-bit Analog-to-digital converters, up to 80 fast I/O ports, at least 7 timers, and up to 80 fast I/O ports. Specifically, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

As a preferred embodiment of the present invention, the acceleration sensor adopts a 10-axis attitude sensor with model HWT901B-485. The acceleration sensor integrates multiple modules such as gyroscope, accelerometer, and RM3100 geomagnetic field sensor. The processor unit and Kalman dynamic filtering algorithm can quickly solve the real-time motion attitude of the acceleration sensor; the laser ranging sensor adopts the ranging sensor model SW-LDS50X, with a safety protection level of IP67, which can be used in a variety of complex It works normally in the environment; the inclination sensor adopts a digital output dual-axis inclination sensor model SCA126V, which is equipped with a high-precision digital sensor, which can correct the temperature drift according to the change of the built-in temperature sensor, ensuring the complex temperature such as low temperature and high temperature. High reliability in the environment, in addition, it is also equipped with a variety of output methods (such as RS232, RS485, TTL, CAN 2.0B optional).

In addition, the second embodiment further discloses the RS485 transceiver. Specifically, the acceleration sensor, the laser ranging sensor, and the inclination sensor are all communicated and interconnected with the control unit through the RS485 transceiver. The RS485 transceiver is preferably a MAX13487 chip, which is a half-duplex, ±15kV ESD-protected, compatible transceiver that operates over an extended temperature range of -40°C to +85°C . As shown in Figure 3, the VCC pin of the MAX13487 chip is connected to the 5V DC power supply, and the GND pin of the MAX13487 chip is connected to ground; the A pin of the MAX13487 chip and the B pin of the MAX13487 chip are used to connect with the acceleration sensor, laser measurement Connect the signal input end and signal output end of the distance sensor and the inclination sensor (any one) (a current limiting resistor is also set between the A pin of the MAX13487 chip and the B pin of the MAX13487 chip); the RO pin of the MAX13487 chip, The DI pin is used to connect with the control unit STM32F103 chip correspondingly, so as to realize the communication interconnection between the acceleration sensor, the laser ranging sensor, the inclination sensor and the control unit.

Embodiment 3

The third embodiment includes all the technical features in the first embodiment. Specifically, the present invention provides a space positioning device for an oilfield storage tank detection wall-climbing robot. As shown in FIG. 1 , the oilfield storage tank detection wall-climbing robot space positioning The device includes an acceleration sensor, a laser ranging sensor, an inclination sensor and a control unit arranged on the wall-climbing robot; the control unit is connected with the acceleration sensor, the laser ranging sensor and the inclination sensor. Specifically, as shown in FIG. 2 , as a preferred embodiment of the present invention, the control unit adopts a chip with a model number of STM32F103. The STM32F103 chip is a medium-capacity enhanced, 32-bit ARM-based core with 64 or 128K words Flash memory microcontroller, the highest operating frequency can reach 72MHz, and is equipped with SRAM cells up to 20K bytes; in addition, the STM32F103 chip is also equipped with rich clock, reset and power management functions, two 12-bit Analog-to-digital converters, up to 80 fast I/O ports, at least 7 timers, and up to 80 fast I/O ports. Specifically, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

As a preferred embodiment of the present invention, the acceleration sensor adopts a 10-axis attitude sensor with model HWT901B-485. The acceleration sensor integrates multiple modules such as gyroscope, accelerometer, and RM3100 geomagnetic field sensor. The processor unit and Kalman dynamic filtering algorithm can quickly solve the real-time motion attitude of the acceleration sensor; the laser ranging sensor adopts the ranging sensor model SW-LDS50X, with a safety protection level of IP67, which can be used in a variety of complex It works normally in the environment; the inclination sensor adopts a digital output dual-axis inclination sensor model SCA126V, which is equipped with a high-precision digital sensor, which can correct the temperature drift according to the change of the built-in temperature sensor, ensuring the complex temperature such as low temperature and high temperature. High reliability in the environment, in addition, it is also equipped with a variety of output methods (such as RS232, RS485, TTL, CAN 2.0B optional).

In addition, the third embodiment further discloses a CAN bus communication unit. As a more preferred embodiment of the present invention, the CAN bus communication unit preferably adopts a chip whose model is TJA1050. Among them, as shown in Figure 4, the RXD pin of the TJA1050 chip is connected to the PA11 pin of the STM32F103 chip, the TXD pin of the TJA1050 chip is connected to the PA12 pin of the STM32F103 chip; the CANH pin of the TJA1050 chip, the CANH pin of the TJA1050 chip The CANL pins are connected with the interface circuit JP1 (the interface circuit JP1 is used to connect various peripheral devices); the VCC pin of the TJA1050 chip is connected to the 5V DC power supply; the GND pin and the S pin of the TJA1050 chip are both grounded.

Embodiment 4

The fourth embodiment includes all the technical features in the first embodiment. Specifically, the present invention provides a space positioning device for a wall-climbing robot for oil field storage tank detection. As shown in FIG. 1 , the oil field storage tank detection wall-climbing robot space positioning The device includes an acceleration sensor, a laser ranging sensor, an inclination sensor and a control unit arranged on the wall-climbing robot; the control unit is connected with the acceleration sensor, the laser ranging sensor and the inclination sensor. Specifically, as shown in FIG. 2 , as a preferred embodiment of the present invention, the control unit adopts a chip with a model of STM32F103. The STM32F103 chip is a medium-capacity enhanced, 32-bit ARM-based core with 64 or 128K words Flash memory microcontroller, the highest operating frequency can reach 72MHz, and is equipped with SRAM cells up to 20K bytes; in addition, the STM32F103 chip is also equipped with rich clock, reset and power management functions, two 12-bit Analog-to-digital converters, up to 80 fast I/O ports, at least 7 timers, and up to 80 fast I/O ports. Specifically, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded.

As a preferred embodiment of the present invention, the acceleration sensor adopts a 10-axis attitude sensor with model HWT901B-485. The acceleration sensor integrates multiple modules such as gyroscope, accelerometer, and RM3100 geomagnetic field sensor. The processor unit and Kalman dynamic filtering algorithm can quickly solve the real-time motion attitude of the acceleration sensor; the laser ranging sensor adopts the ranging sensor model SW-LDS50X, with a safety protection level of IP67, which can be used in a variety of complex It works normally in the environment; the inclination sensor adopts a digital output dual-axis inclination sensor model SCA126V, which is equipped with a high-precision digital sensor, which can correct the temperature drift according to the change of the built-in temperature sensor, ensuring the complex temperature such as low temperature and high temperature. High reliability in the environment, in addition, it is also equipped with a variety of output methods (such as RS232, RS485, TTL, CAN 2.0B optional).

In addition, the fourth embodiment further discloses a driving motor, a multiple-output optocoupler relay, and a multiple-input optocoupler. Among them, the drive motor is used to adjust the posture and travel parameters of the wall-climbing robot according to the instructions of the control unit. The output optocoupler relay is specifically shown in Figure 5. The output optocoupler relay preferably adopts the chip of the model AQY212GS; among them, the 2 pins of any AQY212GS chip are connected to the PB12~PB15 pins of the STM32F103 chip one-to-one. Pin 1 of the AQY212GS chip is connected to the 3.3V DC power supply, pin 3 of the AQY212GS chip is connected to the COM terminal, and pin 4 of the AQY212GS chip is connected to the signal input end of the drive motor. The input optocoupler is specifically shown in Figure 6. The input optocoupler is preferably a TLP185 chip; among them, the C pin of any TLP185 chip is connected to the PC6~PC9 pins of the STM32F103 chip in one-to-one correspondence. The E pin of the TLP185 chip is grounded, the A pin of the TLP185 chip is connected to the VIN end, and the K pin of the TLP185 chip is connected to the signal output end of the drive motor.

Embodiment 5

In the fifth embodiment, the spatial positioning process and method steps of the oilfield storage tank detection wall-climbing robot space positioning device provided in the above-mentioned embodiments will be explained as follows.

Specifically, after the wall-climbing robot starts to work, the control unit controls the running posture and the running mode of the wall-climbing robot under the control of the loaded control program. During this process, the real-time data provided by the speed sensor, the inclination sensor, the laser ranging sensor and the remote control host (if any) are collected in real time; specifically, taking the inclination sensor as an example, the control accesses it every 0.5 seconds , determine its current tilt angle; if tilt occurs, control the drive motor to perform real-time rectification action, control the pulley to rotate in the opposite direction, and repeat the cycle in turn. For the laser ranging sensor, after the body of the wall-climbing robot moves to the designated position, the control unit compares the positioning data detected by the laser ranging sensor with the expected position to determine whether it has reached the required position; If there is a deviation in the expected position, the motor is further controlled to move forward or backward; after the wall-climbing robot is stabilized, the detection is performed again until the final position is reached. The acceleration sensor is used to monitor the acceleration process of the wall-climbing robot in real time; Through the coordinated control of the three structural units of the above-mentioned inclination sensor, laser ranging sensor and acceleration sensor, the specific orientation of the wall-climbing robot is finally determined, and the feedback adjustment is made to keep it always in the predetermined orbit.

The invention provides a space positioning device for an oilfield storage tank detection wall-climbing robot. The oilfield storage tank detection wall-climbing robot space positioning device includes an acceleration sensor, a laser ranging sensor, an inclination sensor, a control unit, an RS485 transceiver, and a CAN bus. Communication unit, drive motor and other structural units. The oilfield storage tank detection wall-climbing robot space positioning device with the above structural features adopts non-contact real-time positioning, and has the characteristics of high resolution, good stability and reliability, and rapid response time.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (9)

1. an oil field storage tank detects a wall-climbing robot space positioning device, it is characterized in that, comprise: be arranged on the acceleration sensor, laser ranging sensor, inclination sensor on the wall-climbing robot; And with acceleration sensor, laser distance measuring sensor, The control unit connected to the inclination sensor, the control unit adopts the chip of the model STM32F103; wherein, the VBAT pin and the VDDA pin of the STM32F103 chip are connected to the 3.3V DC power supply, and the VSSA pin of the STM32F103 chip is grounded. 2. The space positioning device of a wall-climbing robot for oilfield storage tank detection according to claim 1, wherein the acceleration sensor, the laser ranging sensor and the inclination sensor are all communicated and interconnected with the control unit through an RS485 transceiver, and the RS485 The transceiver adopts the chip model MAX13487; among them, the VCC pin of the MAX13487 chip is connected to the 5V DC power supply, the GND pin of the MAX13487 chip is connected to the ground; the A pin of the MAX13487 chip and the B pin of the MAX13487 chip are also set Current limiting resistor. 3 . The space positioning device for an oilfield storage tank detection wall-climbing robot according to claim 2 , wherein the acceleration sensor adopts a 10-axis attitude sensor with a model of HWT901B-485. 4 . 4 . The space positioning device of an oilfield storage tank detection wall-climbing robot according to claim 2 , wherein the laser ranging sensor adopts a ranging sensor with a model of SW-LDS50X. 5 . 5 . The space positioning device of an oilfield storage tank detection wall climbing robot according to claim 2 , wherein the inclination sensor adopts a digital output dual-axis inclination sensor with a model of SCA126V. 6 . 6. a kind of oil field storage tank detection wall climbing robot space positioning device according to claim 1, is characterized in that, also comprises: the CAN bus communication unit that is connected with the control unit, the CAN bus communication unit adopts the model of TJA1050 chip; among them, the RXD pin of the TJA1050 chip is connected to the PA11 pin of the STM32F103 chip, and the TXD pin of the TJA1050 chip is connected to the PA12 pin of the STM32F103 chip; the CANH pin of the TJA1050 chip and the CANL pin of the TJA1050 chip The pins are connected with the interface circuit JP1; the VCC pin of the TJA1050 chip is connected to the 5V DC power supply; the GND pin and the S pin of the TJA1050 chip are both grounded. 7 . The space positioning device for a wall-climbing robot for oilfield storage tank detection according to claim 1 , further comprising: a drive motor connected to the control unit. 8 . 8. The space positioning device of an oilfield storage tank detection wall-climbing robot according to claim 7, further comprising: a multi-channel output optocoupler relay, and the output optocoupler relay adopts a chip with a model of AQY212GS; Among them, the 2 pins of any AQY212GS chip are connected to the PB12~PB15 pins of the STM32F103 chip one by one, the 1 pin of the AQY212GS chip is connected to the 3.3V DC power supply, and the 3 pins of the AQY212GS chip are connected to the COM terminal. The 4 pins of the AQY212GS chip are connected to the signal input end of the drive motor. 9. A kind of oil field storage tank detection wall climbing robot space positioning device according to claim 7, is characterized in that, also comprises: multi-channel input photoelectric coupler, described input photoelectric coupler adopts model to be TLP185 chip; wherein , the C pin of any TLP185 chip is connected to the PC6~PC9 pins of the STM32F103 chip one by one, the E pin of the TLP185 chip is grounded, the A pin of the TLP185 chip is connected to the VIN terminal, and the K pin of the TLP185 chip is connected. Connect with the signal output terminal of the drive motor.

Images