CN117921645A - Anti-collision system for storage tank robot - Google Patents
Anti-collision system for storage tank robot Download PDFInfo
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- CN117921645A CN117921645A CN202211255496.8A CN202211255496A CN117921645A CN 117921645 A CN117921645 A CN 117921645A CN 202211255496 A CN202211255496 A CN 202211255496A CN 117921645 A CN117921645 A CN 117921645A
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Abstract
The invention relates to the technical field of storage tank safety, and provides an anti-collision system for a storage tank robot, which comprises an anti-collision device for the storage tank robot, the storage tank robot and a monitoring system, wherein the anti-collision device is used for detecting whether touch occurs to the inner wall of a storage tank or not and displaying identification information corresponding to the touch or non-touch; anti-collision devices are respectively fixed on different directions of the storage tank robot, and the detection direction and the direction of the anti-collision devices are the same; the monitoring system is used for collecting the identification information displayed by each anti-collision device in real time, carrying out movement control on the storage tank robot according to the identification information, and realizing accurate navigation on the storage tank robot by the collision conditions of the anti-collision devices arranged at a plurality of positions of the storage tank robot and the inner wall of the storage tank and analyzing the identification information displayed by the anti-collision devices, so that the storage tank robot collides with the inner wall of the storage tank at which position, and the accurate movement direction of the storage tank robot is controlled.
Description
Technical Field
The invention relates to the technical field of storage tank safety, in particular to an anti-collision system for a storage tank robot.
Background
In the petrochemical field, along with the growth of the service time, a large amount of oil sludge is gradually accumulated in the oil storage tank, so that the quality of oil products is seriously affected, the effective volume of the storage tank is reduced, the corrosion of the oil storage tank is accelerated, and the service life of the oil storage tank is prolonged. The cleaning and detection work of the storage tank is carried out regularly, and the method has an important effect on the long-term safe and stable operation of the storage tank. In order to reduce operation risk and labor intensity, reduce environmental pollution, reduce cost output, improve working efficiency and realize an autonomous and intelligent cleaning operation mode is a necessary trend. The intelligent tank cleaning robot has various problems of pose determination, navigation control and the like in the tank, and due to the complex internal structure of the storage tank, a large amount of combustible gas exists, a floating disc support, a heater, an anode protection device and the like exist, meanwhile, the introduction of traditional electrical elements brings certain safety risks, conventional distance measurement positioning means such as laser and ultrasound, and pose determination and collision judgment means of multiple sensors have certain limitations in the internal application of the storage tank.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an anti-collision system for a storage tank robot.
In a first aspect, the present invention provides an anti-collision system for a tank robot, comprising an anti-collision device for a tank robot, a tank robot and a monitoring system, wherein:
the anti-collision device is used for detecting whether the anti-collision device touches the inner wall of the storage tank or not and displaying identification information corresponding to touching or non-touching;
The anti-collision devices are respectively fixed on different directions of the storage tank robot, and the detection direction and the direction of the anti-collision devices are the same;
The monitoring system is used for collecting the identification information displayed in real time by each anti-collision device and carrying out movement control on the storage tank robot according to the identification information.
In one embodiment, the monitoring system is further configured to collect pressure information detected by the anti-collision device, and perform movement control on the tank robot according to the pressure information.
In one embodiment, the identification information of each anti-collision device is different, and the monitoring system further determines the current pose state of the storage tank robot according to the identification information.
In one embodiment, the monitoring system comprises a tracking light source, a camera device, and a controller, wherein: the tracking light source is used for emitting light to the storage tank robot; the camera device is used for shooting a real-time picture of the storage tank robot; the controller is used for determining the identification information according to the real-time picture and performing movement control on the storage tank robot according to the identification information; and the controller is also used for carrying out movement control on the storage tank robot according to the pressure information and the real-time image.
In one embodiment, the anti-collision device comprises a detection structure, a transmission structure, and an identification structure, wherein:
The first end part of the detection structure is used for touching the inner wall of the storage tank; the second end part of the detection structure is connected with the first end part of the transmission structure, and the second end part of the transmission structure is connected with the identification structure; the marking structure is provided with a reflecting surface and a non-reflecting surface;
When the first end part of the detection structure and the inner wall of the storage tank are touched to generate pressure, the detection structure and the transmission structure are linked to enable the identification structure to display the non-reflective surface; when the first end part of the detection structure is not contacted with the inner wall of the storage tank, the detection structure is linked with the transmission structure, so that the identification structure is restored to the reflecting surface.
In one embodiment, the detection structure includes a first fixed plate, a detection rod, a linkage structure, a first rail, and a reset structure, wherein:
The first fixing plate is used for being fixed on the body of the storage tank robot;
A first guide rail and the reset structure are fixed on the first fixed plate, and the first end of the detection rod is contacted with the inner wall of the storage tank; the second end of the detection rod is connected with the linkage structure; the linkage structure is connected with the light-emitting structure; the detection rod can move on the first guide rail; the reset structure is connected with the detection rod and is used for resetting the detection rod when the first end of the detection rod and the inner wall of the storage tank are not touched.
In one embodiment, the linkage structure includes a linkage plate coupled to the second end of the detection rod; the linkage plate is provided with a linkage hole, and the linkage hole is an arc hole and extends upwards along the direction towards the first end of the detection rod; the first end of the transmission structure is movable over the linkage hole.
In one embodiment, the transmission structure includes a second fixed plate, a second guide rail, a push rod, and a rotation rod, wherein: the second fixing plate is fixed on the first fixing plate, the second guide rail is fixed on the second fixing plate, and the pushing rod can move on the second guide rail; the first end of the pushing rod can move on the linkage hole; the second end of the pushing rod is connected with the first end of the rotating rod, and the second end of the rotating rod is connected with the identification structure.
In one embodiment, the marking structure includes a reflector having a reflective surface and a non-reflective surface, and a shaft; the reflector is fixed on the shaft, the first end of the shaft is fixed on the second fixing plate, the second end of the shaft is connected with a rotary table, and the second end of the rotary rod is fixed on a non-central position point of the surface of the rotary table.
In one embodiment, the reset structure comprises a reset pile and a reset spring, wherein the reset pile is fixed on the first fixing plate, the detection rod penetrates through the reset pile, one end of the reset spring is fixed on the reset pile, and the other end of the reset spring is fixed on the linkage plate.
In one embodiment, the anti-collision device further comprises a pressure sensing device disposed on the first end of the detection structure, the pressure sensing device being a non-electrical device.
In one embodiment, the pressure sensing device comprises a fluid bladder and a pressure sensor, the fluid bladder being connected by a hydraulic conduit to the pressure sensor arranged outside the reservoir.
According to the anti-collision system for the storage tank robot, provided by the invention, the collision conditions of the anti-collision devices arranged in a plurality of directions of the storage tank robot and the inner wall of the storage tank are utilized, so that the reflecting surface or the non-reflecting surface displayed by the anti-collision devices can be analyzed, and the collision between the storage tank robot and the inner wall of the storage tank in which direction is caused, so that the correct moving direction of the storage tank robot is controlled, and the accurate navigation of the storage tank robot is realized.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a tank robot-based collision avoidance system provided by the present invention;
fig. 2 is a schematic structural view of an anti-collision device based on a tank robot provided by the invention;
FIG. 3 is a schematic distribution diagram of a tank robot and an anti-collision device provided by the invention;
fig. 4 is a schematic view of a usage scenario of the anti-collision system for a tank robot provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 shows a schematic structural diagram of an anti-collision system based on a tank robot, which is provided by the invention, and referring to fig. 1, the anti-collision system comprises an anti-collision device 01 for the tank robot, a tank robot 02 and a monitoring system 03, wherein:
The anti-collision device is used for detecting whether the anti-collision device touches the inner wall of the storage tank or not and displaying the identification information corresponding to touching or non-touching;
Anti-collision devices are respectively fixed on different directions of the storage tank robot, and the detection direction and the direction of the anti-collision devices are the same;
And the monitoring system is used for collecting the identification information displayed by each anti-collision device in real time and carrying out movement control on the storage tank robot according to the identification information.
In this regard, in the present invention, the tank robot is movable at the bottom of the tank, and cleaning and detecting work of the bottom of the tank is performed periodically. Anti-collision devices are respectively fixed on different directions (for example, one is respectively arranged on the front, the back, the left and the right, for example, one is respectively arranged on all directions of the storage tank robot). The anti-collision device can be contacted with the inner wall of the storage tank before the storage tank robot in the moving process of the storage tank robot, so that whether collision with the inner wall of the storage tank occurs or not can be detected, and the identification information corresponding to touching or non-touching is displayed.
In the invention, when the storage tank robot is monitored, the monitoring system can be arranged at the central position of the opening of the storage tank or at the edge of the opening of the storage tank. That is, the monitoring system can be an independent whole, and can be reasonably fixed at the position of the tank opening of the storage tank when the storage tank robot is monitored.
The monitoring system can acquire the identification information displayed by each anti-collision device in real time, acquire the positions of the anti-collision devices, which are contacted with the inner wall of the storage tank, according to the identification information, then generate corresponding control signals, control the storage tank robot to move, and keep away from the inner wall of the storage tank.
In a further system of the system, the monitoring system is further used for collecting pressure information detected by the anti-collision device and performing movement control on the storage tank robot according to the pressure information. In this regard, in order to avoid a collision early warning delay, the anti-collision device further has a function of detecting pressure information, and a change in the pressure information also occurs in a collision process between the tank robot and the inner wall of the tank, so that the monitoring system can also perform movement control on the tank robot according to the pressure information. Similarly, the monitoring system can accurately judge the direction of the storage tank robot colliding with the inner wall of the storage tank according to the pressure information and the identification information, and therefore the movement of the storage tank robot can be accurately controlled.
In the invention, when the storage tank robot and the inner wall of the storage tank are not collided, the identification information of each anti-collision device is the same color, and when any anti-collision device in the storage tank robot collides with the inner wall of the storage tank, the identification information corresponding to the collided anti-collision device is different from other identification information. The controller can determine which anti-collision device collides with the inner wall of the storage tank according to the identification information, and at the moment, the controller controls the storage tank robot to move in the opposite direction.
When the tank robot collides with the inner wall of the tank, the identification information of each anti-collision device is different, and when any one of the anti-collision devices collides with the inner wall of the tank, the identification information corresponding to each anti-collision device detected at this time is different from the original identification information. The controller is combined with the originally arranged identification information distribution position, the front-back left-right orientation position of the storage tank robot and the southwest and northwest direction position of the storage tank body to carry out comprehensive evaluation, and the current pose device of the storage tank robot, namely the orientation condition of the storage tank robot, is determined.
In a further system of the above system, the monitoring system comprises a tracking light source, a camera device and a controller, wherein: a tracking light source for emitting light to the tank robot; the camera device is used for shooting a real-time picture of the storage tank robot; the controller is used for determining real-time conditions according to the real-time pictures and performing movement control on the storage tank robot according to the real-time conditions;
When the anti-collision device can acquire the pressure information, the controller is further used for controlling the movement of the storage tank robot according to the pressure information.
In a further system of the above system, fig. 2 shows a schematic structural view of an anti-collision device for a tank robot according to the present invention, see fig. 2, which can be mounted on the tank robot. For example, four or eight orientations of the tank robot, each of which is equipped with an anti-collision device. This anti-collision device can touch the storage tank inner wall earlier in storage tank robot's body to reach and avoid storage tank robot and storage tank inner wall to bump and lead to the possibility of damage, simultaneously, can also be after anti-collision device and storage tank inner wall bump, control storage tank robot that can be timely removes to the opposite direction, reaches the purpose of timely keeping away from the storage tank inner wall.
Referring to fig. 2, the anti-collision device comprises a detection structure, a transmission structure, and a marking structure, wherein: a first end of the detection structure is used for touching the inner wall of the storage tank; the second end part of the detection structure is connected with the first end part of the transmission structure, and the second end part of the transmission structure is connected with the identification structure; the logo structure has a reflective surface and a non-reflective surface.
In the present invention, the detection structure is used to detect whether the structure itself collides with the inner wall of the tank. Therefore, one end part of the detection structure can be contacted with the inner wall of the storage tank, the detection structure and the inner wall of the storage tank can generate collision force, and certain external force influence can be generated on the detection structure, for example, the detection structure can generate displacement change. The detection structure is equivalent to being able to obtain a "detection signal" which can indicate whether the structure itself touches the inner wall of the tank. For this reason, the "detection signal" needs to be able to be "transmitted" and "displayed" by the reflective or non-reflective surface of the identification structure. The other end of the detection structure is connected with one end of the transmission structure, and the transmission structure can transmit collision force received by the detection structure to the light-emitting structure so as to change the surface of the identification structure, thereby realizing that the identification structure can display detection signals.
In the invention, the reflective surface can generate a glaring 'bright area' by light, and the non-reflective surface can absorb the light, so that the glaring 'bright area' is not easy to generate.
In the invention, when no collision occurs, the identification structure takes the 'reflecting surface' as the main display surface, and when collision occurs, the identification structure takes the 'non-reflecting surface' as the main display surface.
When the end part of the detection structure touches the inner wall of the storage tank to generate pressure, the detection structure is linked with the transmission structure, so that the identification structure displays a non-reflective surface; when the end part of the detection structure is not contacted with the inner wall of the storage tank, the detection structure is linked with the transmission structure, so that the identification structure resets to display the reflecting surface.
In the invention, the current picture of the display 'face' of the luminous structure can be acquired. Therefore, the current picture can be analyzed, and specific 'display results' of each anti-collision device can be determined.
In the present invention, since the light emitting structures can exhibit different "faces" in the case of collision and non-collision, respectively. Therefore, if the anti-collision devices corresponding to different directions show different 'faces' when the anti-collision device corresponding to one direction shows different 'faces' from the anti-collision devices corresponding to other directions, the situation that the storage tank robot collides with the inner wall of the storage tank in which direction can be judged, and at the moment, the movement of the storage tank robot can be controlled, and the storage tank robot can move in the opposite direction of the collision.
In the invention, no matter the detection structure, the transmission structure or the identification structure is a mechanical structure mode, and no electronic structural element is added. Avoiding the electrical structural element from causing danger to the combustible substances in the storage tank.
In addition, it should be noted that the light reflecting surfaces of the light emitting structures of the anti-collision devices may be light reflecting surfaces of different colors. Referring to fig. 3, the front, back, left and right in fig. 3 are the orientations of the tank robot itself. The red, yellow, blue and green in fig. 3 represent the different color logo structures, respectively. Based on the specific condition of the collected light surface of each marking structure shown in fig. 3, the front of the storage tank machine can be judged based on red and yellow, and at this time, the relative position relationship between the storage tank robot and the storage tank (i.e. the pose state of the storage tank robot in the storage tank) is determined by combining the internal structural characteristics (such as detection holes) of the storage tank, so that the front of the storage tank robot can be judged to face in the southeast, the northwest and the northwest directions.
According to the invention, through the collision conditions of the anti-collision devices arranged in a plurality of directions of the storage tank robot and the inner wall of the storage tank, the reflecting surface or the non-reflecting surface displayed by the anti-collision devices can analyze which direction the storage tank robot collides with the inner wall of the storage tank, so that the correct moving direction of the storage tank robot is controlled, and the accurate navigation of the storage tank robot is realized.
In the further apparatus of the above apparatus, a specific construction of a detecting structure is mainly explained, and with continued reference to fig. 2, the detecting structure includes a first fixing plate 11, a detecting lever 12, a linkage structure, a first guide rail 14, and a reset structure, wherein:
A first fixing plate 11 for fixing to the body of the tank robot;
a first guide rail 14 and a reset structure are fixed on the first fixed plate 11, and the first end of the detection rod 12 touches the inner wall of the storage tank; the second end of the detecting rod 12 is connected with the linkage structure; the linkage structure is connected with the light-emitting structure; the detection lever 12 is movable on a first guide rail 14; the reset structure is connected with the detection rod 12 and is used for resetting the detection rod 12 when the first end of the detection rod 12 is not contacted with the inner wall of the storage tank.
In the invention, the detecting rod is a long rod which can slide on the guide rail on the fixed plate, and the sliding is caused by the fact that the detecting rod touches the inner wall of the storage tank to generate collision force which enables the detecting rod to move towards the other direction. When the collision force disappears, the detection rod needs to be reset, and for this purpose, the reset structure can provide a force opposite to the collision force for resetting the detection rod. The linkage structure is connected with the light-emitting structure, and the linkage structure can be linked with the light-emitting structure, so that collision force received by the detection rod is transmitted to the light-emitting structure, and the light-emitting structure displays a reflecting surface or a non-reflecting surface.
In addition, since the probe rod is part of a specific component of the above-described probe structure, the first end of the probe rod may be identical to the first end of the above-described probe structure.
In the further device of the above device, the specific structure of the linkage structure is mainly explained, specifically: with continued reference to FIG. 2, the linkage structure includes a linkage plate 131, the linkage plate 131 being connected to the second end of the probe rod 12; the linkage plate 131 is provided with a linkage hole 132, and the linkage hole 132 is an arc hole and extends upwards along the direction towards the first end of the detection rod 12; the first end of the transmission structure is movable over the linkage hole.
In the invention, when one end of the detection rod touches the inner wall of the storage tank to generate pressure, the linkage plate also displaces, and at the moment, one end of the transmission structure displaces along the linkage hole because the linkage hole is a radian hole. Referring to fig. 2, it can be seen that the driving structure is displaced up and down.
In the further device of the above device, the specific structure of the transmission structure is mainly explained, specifically: with continued reference to fig. 2, the transmission structure includes a second fixed plate 21, a second guide rail 22, a push rod 23, and a rotating rod 24, wherein: the second fixing plate 21 is fixed on the first fixing plate 11, the first fixing plate 11 and the second fixing plate 21 are in a mutually perpendicular structure, the second guide rail 22 is fixed on the second fixing plate 21, and the pushing rod 23 can move on the second guide rail 22; the first end of the push rod 23 is movable over the linkage hole 132; the second end of the push rod 23 is connected to the first end of the turn rod 24, and the second end of the turn rod 24 is connected to the marking structure.
In the invention, when one end of the detection rod touches the inner wall of the storage tank to generate pressure, the linkage plate is displaced, and at the moment, one end of the pushing rod is displaced along the linkage hole because the linkage hole is a radian hole. The other end of the pushing rod is connected with one end of the rotating rod, and the other end of the rotating rod is connected with the marking structure and used for overturning the marking structure to realize the conversion between the reflecting surface and the non-reflecting surface.
In the further device of the above device, the specific construction of the identification structure is mainly explained, specifically: with continued reference to FIG. 2, the signage structure includes a reflector 31 and a shaft 32, the reflector 31 having a reflective surface and a non-reflective surface; the reflecting plate 31 is fixed on the shaft 32, a first end of the shaft 32 is fixed on the second fixing plate 21, a second end of the shaft 32 is connected with a turntable 33, and a second end of the rotating rod 23 is fixed on a non-center position point of the surface of the turntable 33.
In this regard, the turning lever and the turntable are in a non-central linkage manner, so that the reflective surface and the non-reflective surface of the reflective plate can be changed.
In the further device of the above device, the specific structure of the reset structure is mainly explained, specifically: with continued reference to fig. 2, the reset structure includes a reset stake 151 and a reset spring 152, the reset stake 151 is fixed on the first fixing plate 11, the detection rod 12 passes through the reset stake 151, one end of the reset spring 152 is fixed on the reset stake 151, and the other end is fixed on the linkage plate 131. In the invention, due to the existence of the reset popup window, when the anti-collision device in the storage tank robot collides with the inner wall of the storage tank, the anti-collision device has a buffering effect, and the damage of the device and the rollover accident of the device caused by the violent collision between the storage tank robot and the inner wall of the storage tank can be avoided to a certain extent.
In a further arrangement of the above arrangement, there is a certain hysteresis in the pre-warning of the collision of the tank robot with the tank wall, in order to avoid damage to the tank wall caused by the collision of the tank robot body with the tank wall, it is necessary to provide a pressure-sensitive device on the anti-collision device, which is provided on the first end of the detection structure, which is also a non-electrical device.
More specifically, the pressure sensing device includes a fluid bladder 41 and a pressure sensor 42, the fluid bladder being connected to the pressure sensor disposed outside the tank through a hydraulic line. In the invention, because of the existence of the liquid bag, when the anti-collision device in the storage tank robot collides with the inner wall of the storage tank, the anti-collision device has a buffering effect, and the damage of the device and the rollover accident of the device caused by the violent collision between the storage tank robot and the inner wall of the storage tank can be avoided to a certain extent.
When collision between the liquid bag and the inner wall of the storage tank occurs, the collision occurrence position and severity can be judged according to pressure change and size, and the pressure signal is converted into an electric signal to control the storage tank robot to move in the opposite direction of the collision. In addition, the interference signal needs to be identified, divided and noise reduced in the signal processing process.
In the invention, when the reflective surfaces of the identification structures of all the anti-collision devices are the same color, the tracking light source carries out ray tracking on the storage tank robot at the bottom of the storage tank, and when any one of the anti-collision devices of the storage tank robot collides with the inner wall of the storage tank, the corresponding reflective surface is changed into a non-reflective surface. At this time, the image pickup device collects a current real-time image, and the controller can determine which of the specific mark structures is the non-reflective surface according to the real-time image, and at this time, the controller controls the storage tank robot to move to the opposite range for control.
When the colors of the reflecting surfaces of the identification structures of the anti-collision devices are different, at the moment, any anti-collision device in the storage tank robot collides with the inner wall of the storage tank, and at the moment, the corresponding reflecting surface is changed into a non-reflecting surface. At this time, the camera device collects the current real-time picture, and the controller carries out comprehensive evaluation according to the colors of the reflecting surfaces and the non-reflecting surfaces in the real-time picture and combines the initially set color distribution position of the reflecting surfaces, the front, back, left and right orientation positions of the storage tank robot and the southeast, southwest and northwest orientation positions of the storage tank body to determine the current orientation condition of the storage tank robot.
In addition, when collision between the liquid bag and the inner wall of the storage tank occurs, the collision occurrence position and severity degree can be judged according to pressure change and size, and the pressure signal is converted into an electric signal to control the storage tank robot to move in the opposite direction of the collision.
Referring to fig. 4, which is a schematic view of a usage scenario of an anti-collision system for a tank robot, it can be seen from fig. 4 that a tracking light source tracks a tank robot at an inner bottom of a tank, and a camera captures images during the tracking process in real time. The image contains identification information displayed by the anti-collision device.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. An anti-collision system for a tank robot, comprising an anti-collision device for a tank robot, and a monitoring system, wherein:
the anti-collision device is used for detecting whether the anti-collision device touches the inner wall of the storage tank or not and displaying identification information corresponding to touching or non-touching;
The anti-collision devices are respectively fixed on different directions of the storage tank robot, and the detection direction and the direction of the anti-collision devices are the same;
The monitoring system is used for collecting the identification information displayed in real time by each anti-collision device and carrying out movement control on the storage tank robot according to the identification information.
2. The anti-collision system for a tank robot of claim 1, wherein the monitoring system is further configured to collect pressure information detected by an anti-collision device, and to perform movement control on the tank robot according to the pressure information.
3. The anti-collision system for a tank robot of claim 1, wherein the identification information of each anti-collision device is different, and the monitoring system further determines the current pose state of the tank robot based on the identification information.
4. The anti-collision system for a tank robot of claim 1, in which the monitoring system comprises a tracking light source, a camera device, and a controller, in which: the tracking light source is used for emitting light to the storage tank robot; the camera device is used for shooting a real-time picture of the storage tank robot; the controller is used for determining the identification information according to the real-time picture and performing movement control on the storage tank robot according to the identification information; and the controller is also used for carrying out movement control on the storage tank robot according to the pressure information and the real-time image.
5. The anti-collision system for a tank robot of claim 1, in which the anti-collision device comprises a detection structure, a transmission structure, and a marker structure, in which:
The first end part of the detection structure is used for touching the inner wall of the storage tank; the second end part of the detection structure is connected with the first end part of the transmission structure, and the second end part of the transmission structure is connected with the identification structure; the marking structure is provided with a reflecting surface and a non-reflecting surface;
When the first end part of the detection structure and the inner wall of the storage tank are touched to generate pressure, the detection structure and the transmission structure are linked to enable the identification structure to display the non-reflective surface; when the first end part of the detection structure is not contacted with the inner wall of the storage tank, the detection structure is linked with the transmission structure, so that the identification structure is restored to the reflecting surface.
6. The anti-collision system for a tank robot of claim 5, wherein the detection structure comprises a first fixed plate, a detection rod, a linkage structure, a first rail, and a reset structure, wherein:
The first fixing plate is used for being fixed on the body of the storage tank robot;
A first guide rail and the reset structure are fixed on the first fixed plate, and the first end of the detection rod is contacted with the inner wall of the storage tank; the second end of the detection rod is connected with the linkage structure; the linkage structure is connected with the light-emitting structure; the detection rod can move on the first guide rail; the reset structure is connected with the detection rod and is used for resetting the detection rod when the first end of the detection rod and the inner wall of the storage tank are not touched.
7. The anti-collision system for a tank robot of claim 6, wherein the linkage structure comprises a linkage plate connected to the second end of the detection rod; the linkage plate is provided with a linkage hole, and the linkage hole is an arc hole and extends upwards along the direction towards the first end of the detection rod; the first end of the transmission structure is movable over the linkage hole.
8. The anti-collision system for a tank robot of claim 7, wherein the transmission structure comprises a second fixed plate, a second guide rail, a push rod, and a turn rod, wherein: the second fixing plate is fixed on the first fixing plate, the second guide rail is fixed on the second fixing plate, and the pushing rod can move on the second guide rail; the first end of the pushing rod can move on the linkage hole; the second end of the pushing rod is connected with the first end of the rotating rod, and the second end of the rotating rod is connected with the identification structure.
9. The anti-collision system for a tank robot of claim 8, wherein the marker structure comprises a reflector having a reflective surface and a non-reflective surface and a shaft; the reflector is fixed on the shaft, the first end of the shaft is fixed on the second fixing plate, the second end of the shaft is connected with a rotary table, and the second end of the rotary rod is fixed on a non-central position point of the surface of the rotary table.
10. The anti-collision system for a tank robot of claim 9, wherein the reset structure comprises a reset post and a reset spring, the reset post is fixed on the first fixed plate, the detection rod passes through the reset post, one end of the reset spring is fixed on the reset post, and the other end is fixed on the linkage plate.
11. The anti-collision system for a tank robot of claim 5 or 10, further comprising a pressure sensing device disposed on the first end of the detection structure, the pressure sensing device being a non-electrical device.
12. The anti-collision system for a tank robot of claim 11, wherein the pressure sensing device comprises a fluid bladder and a pressure sensor, the fluid bladder being connected by a hydraulic conduit to the pressure sensor disposed outside the tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211255496.8A CN117921645A (en) | 2022-10-13 | 2022-10-13 | Anti-collision system for storage tank robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211255496.8A CN117921645A (en) | 2022-10-13 | 2022-10-13 | Anti-collision system for storage tank robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117921645A true CN117921645A (en) | 2024-04-26 |
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ID=90749416
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211255496.8A Pending CN117921645A (en) | 2022-10-13 | 2022-10-13 | Anti-collision system for storage tank robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117921645A (en) |
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2022
- 2022-10-13 CN CN202211255496.8A patent/CN117921645A/en active Pending
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