CN210704840U - Robot and monitoring system - Google Patents
Robot and monitoring system Download PDFInfo
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- CN210704840U CN210704840U CN201921102055.8U CN201921102055U CN210704840U CN 210704840 U CN210704840 U CN 210704840U CN 201921102055 U CN201921102055 U CN 201921102055U CN 210704840 U CN210704840 U CN 210704840U
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Abstract
The utility model provides a robot and monitoring system relates to the oil tank field of maintaining. The robot is used for monitoring the bottom of the oil tank and comprises a robot main body, wherein the robot main body comprises a main body outer shell, and the main body outer shell is used for connecting a cable so as to control the submerging depth of the robot in the oil tank through the cable; the robot comprises a monitoring mechanism, a positioning mechanism, a control mechanism, an execution mechanism and a power module. The robot can observe and monitor the bottom of the oil tank at any time, so that the corrosion condition of the bottom of the oil tank can be fed back in time, and the oil tank leakage can be avoided; so, need not the manual work and patrol and examine, also need not to empty the oil tank when patrolling and examining, still do benefit to and guarantee production efficiency.
Description
Technical Field
The utility model relates to an oil tank field of maintaining especially relates to a robot and monitoring system.
Background
Tanks having a capacity of 100 cubic meters or more are called large-sized tanks. The large oil tank has great hydraulic pressure and the precipitate and suspended matter are concentrated in the bottom, so that the large oil tank is easy to corrode. And the tank bottom of the large oil tank is far away from the tank opening, so that the tank bottom is not beneficial to observation and monitoring.
In the prior art, the observation and monitoring of the tank bottom mainly depend on regular manual inspection. Before manual inspection, the oil tank needs to be emptied. After the oil tank is emptied, the worker can enter the oil tank and go down to the bottom of the tank for inspection.
Because receive the restriction of empty oil tank, in order not to influence production, so can only regularly carry out the manual work to the tank bottoms under the majority condition and patrol and examine, and the time span between two manual works is patrolled and examined greatly, is unfavorable for in time discovering the problem. The serious accident of oil tank leakage occurs because the corrosion and perforation of the tank bottom are not found in time. In order to avoid the reoccurrence of the leakage of the oil tank, equipment capable of observing and monitoring the bottom of the oil tank at any time is urgently needed.
SUMMERY OF THE UTILITY MODEL
To overcome the above-mentioned defects of the prior art, an object of the present invention is to provide a robot and a monitoring system to overcome some deficiencies of the prior art.
The utility model provides a robot, which is used for monitoring the bottom of an oil tank, and comprises a robot main body, wherein the robot main body comprises a main body shell, and the main body shell is used for connecting a cable so as to control the submergence depth of the robot in the oil tank through the cable; the robot comprises a monitoring mechanism, a positioning mechanism, a control mechanism, an actuating mechanism and a power supply module; wherein the monitoring mechanism is used for monitoring the corrosion state of the tank bottom; the positioning mechanism is used for positioning the robot; the executing mechanism comprises a crawling unit, and the robot crawls at the bottom of the tank through the crawling unit; the control mechanism controls the motion state of the robot through the crawling unit; the power module is used for providing electric energy for the robot.
The robot as described above, optionally the monitoring mechanism comprises at least one of: camera unit, magnetic induction flaw detection unit, ultrasonic flaw detection unit.
Optionally, the actuator further includes a connecting arm, where the connecting arm includes a first connecting arm and a second connecting arm, and one end of the first connecting arm is hinged to one end of the second connecting arm; the other end of the first connecting arm is rotatably fixed on the main body of the robot; the other end of the second connecting arm is fixed with the monitoring mechanism.
The robot as described above, optionally, the connecting arm is in communication with the control mechanism, the control mechanism controls the rotation angle of the first connecting arm relative to the main body by a first rotating motor, and the control mechanism controls the rotation angle of the second connecting arm relative to the first connecting arm by a second rotating motor.
Optionally, the robot further comprises a monitoring mechanism, wherein the monitoring mechanism comprises a camera unit, and the camera unit comprises a camera assembly and an illumination assembly; the camera assembly comprises an auto-focus camera.
The robot as described above, optionally, the positioning mechanism comprises at least one of: the device comprises an angle and distance sensor unit, a radio positioning unit, an ultrasonic positioning unit and a laser positioning unit.
The robot as described above, optionally, the crawling unit comprises wheels and a crawler, and the crawler is wound around the wheels; the surface of the track, which deviates from the wheels, is provided with an anti-skid structure.
The robot as described above, optionally further comprising a safety mechanism; the safety mechanism includes a pressure sensor unit including a pressure sensor; the pressure sensor is fixed on the robot; the pressure sensor is in communication connection with the control mechanism; the safety mechanism further comprises a rearview mirror head unit, wherein the rearview mirror head unit comprises a rearview mirror head assembly and a rearview lighting assembly; the safety mechanism further comprises a storage backup unit; the storage backup unit is in communication connection with the control mechanism.
The robot as described above, optionally, further comprising a sampling mechanism, the sampling mechanism comprising a sampling port disposed on the main body housing; the sampling port is covered with a sampling door, the sampling door is opened and closed under the control of the sampling valve, and the sampling valve is in communication connection with the control mechanism.
The utility model also provides a monitoring system, which comprises a terminal device positioned on the ground and the robot; the control mechanism of the robot is in communication connection with the terminal equipment; the terminal equipment comprises a connecting arm reset key, a pressure indicator lamp and a display screen, wherein the connecting arm reset key is in communication connection with the control mechanism; the pressure indicator lamp is in communication connection with the control mechanism; the display screen is in communication connection with the control mechanism.
The utility model provides a robot and a monitoring system, because the robot can observe and monitor the bottom of the oil tank at any time, the corrosion condition of the bottom of the oil tank can be fed back in time, which is beneficial to avoiding the leakage of the oil tank; so, need not the manual work and patrol and examine, also need not to empty the oil tank when patrolling and examining, still do benefit to and guarantee production efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a connecting arm according to an embodiment of the present invention;
fig. 3 is a schematic view of an anti-slip structure of a track according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a robot according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a robot according to another embodiment of the present invention;
fig. 6 is a schematic block diagram of a monitoring system according to an embodiment of the present invention.
Reference numerals
10: a monitoring system;
100: a robot;
200: a terminal device;
300: a cable;
1000: a robot main body;
1100: a main body housing;
2000: a monitoring mechanism;
2110: a camera assembly;
2120: a lighting assembly;
2210: a magnetic induction probe;
3000: a positioning mechanism;
3310: a sonar probe;
4000: a control mechanism;
5000: an actuator;
5110: a wheel;
5120: a crawler belt;
5121: anti-skid lines;
5122: anti-skid projections;
5200: a connecting arm;
5210: a first connecting arm;
5220: a second connecting arm;
5230: a first rotating electrical machine;
5240: a second rotating electrical machine;
6000: a power supply module;
7000: a safety mechanism;
7200: a rearview mirror head unit;
7300: a storage backup unit;
8000: a sampling mechanism;
8100: a sampling port.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
It should be noted that, in the description of the present invention, the terms "first" and "second" are only used for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
The following detailed description of the present invention will be provided in conjunction with the accompanying drawings to enable those skilled in the art to more fully understand the present invention.
As shown in fig. 1 and 4, the present embodiment provides a robot 100 for monitoring the bottom of a tank, the robot 100 includes a robot main body 1000, the robot main body 1000 includes a main body casing 1100, the main body casing 1100 is used for connecting a cable 300, so as to control the submergence depth of the robot 100 in the tank through the cable 300; the robot 100 comprises a monitoring mechanism 2000, a positioning mechanism 3000, a control mechanism 4000, an actuating mechanism 5000 and a power module 6000; wherein, the monitoring mechanism 2000 is used for monitoring the corrosion state of the tank bottom; the positioning mechanism 3000 is used to position the robot 100; the actuator 5000 includes a crawling unit through which the robot 100 crawls at the bottom of the tank; the control mechanism 4000 controls the motion state of the robot 100 through the crawling unit; the power module 6000 is used to supply power to the robot 100.
In the prior art, the observation and monitoring of the bottom of the oil tank mainly depend on regular manual inspection. Before manual inspection, the oil tank needs to be emptied. After the oil tank is emptied, the worker can enter the oil tank and go down to the bottom of the tank for inspection.
Because receive the restriction of empty oil tank, in order not to influence production, so can only regularly carry out the manual work to the tank bottoms under the majority condition and patrol and examine, and the time span between two manual works is patrolled and examined greatly, is unfavorable for in time discovering the problem. The serious accident of oil tank leakage occurs because the corrosion and perforation of the tank bottom are not found in time. In order to avoid the reoccurrence of the leakage of the oil tank, equipment capable of observing and monitoring the bottom of the oil tank at any time is urgently needed.
Due to good sealing performance and pressure resistance, the robot 100 is a device capable of observing and monitoring the bottom of the oil tank at any time, and the robot 100 can submerge the oil tank filled with oil at any time when needed to observe and monitor the bottom of the oil tank.
The robot 100 includes a robot body 1000, and the robot body 1000 includes a body housing 1100, and the body housing 1100 is used to connect the cable 300 to control the submergence depth of the robot 100 in the tank through the cable 300. The cable 300 may be secured to a winch. The winches may be manual or electric to control the submergence depth of the robot 100.
The cable 300 is connected to the outer case of the robot main body 1000, and the cable 300 may be a cable for supplying power to the robot 100 and transmitting various data and commands. To ensure the sealing of the cable, a sealing rubber ring may be used at the junction of the cable and the housing.
In addition, the sealing rubber ring can also be applied to the connection part of the main body casing 1100 and the crawling unit, and also plays a role in sealing.
The positioning mechanism 3000 is used to position the robot 100, that is, the positioning mechanism 3000 can monitor the position of the robot 100 at the bottom of the oil tank in real time, so as to know the source of the corrosion state data fed back by the robot 100. In particular, the tank bottom area may be divided into several sub-areas by a grid and assigned a corresponding number for each sub-area. The number of the subregion where the robot 100 is located is determined by the positioning means 3000, and the erosion state of the subregion is known.
The actuator 5000 includes a crawling unit by which the robot 100 crawls at the bottom of the tank. The actuator 5000 enables the robot 100 to move at the tank bottom so that the robot 100 can crawl from one sub-area to another adjacent sub-area. The robot 100 can know the erosion state of different sub-areas by using the actuator 5000 and the monitoring mechanism 2000 in cooperation.
The crawling unit can enable the robot 100 to move forwards or turn at any angle, and is beneficial for workers to clearly and quickly know the corrosion state of the bottom of the oil tank. In this example, when the worker finds that one sub-area is severely corroded in a certain direction, the robot 100 can be enabled to turn to the direction and move forward in the direction, so that the range of the severely corroded area can be quickly and intuitively obtained.
The control mechanism 4000 is the core of the robot 100. Data acquired by the robot 100, such as monitoring results and positioning results, can be transmitted to the terminal device 200 on the ground or the storage backup unit 7300 in the robot 100 via the control mechanism 4000. All commands given by the staff to the robot 100 are also transmitted to the respective relevant mechanisms, such as the actuator 5000, by the control mechanism 4000.
Specifically, the control mechanism 4000 controls the motion states of the robot 100, such as forward, backward, left, right, and still, through the crawling unit.
In some examples, the control mechanism 4000 may include a chip that may be communicatively coupled to the terminal device 200 at the surface. The chip may also be communicatively coupled to the positioning mechanism 3000, the monitoring mechanism 2000, the power module 6000, etc. of the robot 100. The robot 100 may transmit the monitoring information generated by its monitoring mechanism 2000 and the positioning information generated by the positioning mechanism 3000 to the terminal device 200 on the ground. The terminal device 200 on the ground may transmit a control instruction to the robot 100 to cause the chip-controlled robot 100 to perform a corresponding operation. Alternatively, the chip may be communicatively connected to the terminal device 200 on the ground by means of a wireless connection.
The power module 6000 is used to supply power to the robot 100, and when the cable 300 is a cable, the cable supplies power to the robot 100, and the power module 6000 is connected to the cable and transmits power to various power consuming parts of the robot 100, such as the monitoring mechanism 2000, the positioning mechanism 3000, the actuator 5000, and the control mechanism 4000. The power module 6000 may also be equipped with a backup battery to ensure that the robot 100 operates normally in the event of a power outage.
In the embodiment, the robot 100 comprises the robot main body 1000, the robot main body 1000 comprises the main body casing 1100, and the main body casing 1100 is used for connecting the cable 300 so as to control the submergence depth of the robot 100 in the oil tank through the cable 300; the robot 100 comprises a monitoring mechanism 2000, a positioning mechanism 3000, a control mechanism 4000, an actuating mechanism 5000 and a power module 6000; wherein, the monitoring mechanism 2000 is used for monitoring the corrosion state of the tank bottom; the positioning mechanism 3000 is used to position the robot 100; the actuator 5000 includes a crawling unit through which the robot 100 crawls at the bottom of the tank; the control mechanism 4000 controls the motion state of the robot 100 through the crawling unit; the power module 6000 is used for providing electric energy for the robot 100, and the robot 100 can observe and monitor the bottom of the oil tank at any time and feed back the corrosion condition of the bottom of the oil tank in time, so that oil tank leakage is avoided; so, need not the manual work and patrol and examine, also need not to empty the oil tank when patrolling and examining, still do benefit to and guarantee production efficiency.
Optionally, the monitoring mechanism 2000 of the present embodiment includes at least one of: camera unit, magnetic induction flaw detection unit, ultrasonic flaw detection unit.
Specifically, the camera unit can use the camera to take a picture or make a video recording of each subregion condition of tank bottom to can learn the corrosion state of each subregion surface of tank bottom macroscopically.
The magnetic induction flaw detection unit includes a magnetic induction probe 2210. When magnetic flaw detection is carried out, firstly, a pre-detection subarea at the bottom of the tank is magnetized by using a contact method or a magnetic yoke method. If surface defects and near-surface defects exist in the sub-region, the magnetic induction lines leak to form a leakage magnetic field, and the magnetic induction probe 2210 determines the positions of the defects by detecting the leakage magnetic field. Additionally, as shown in fig. 1, a magnetic induction probe 2210 may be mounted on the vehicle tail.
The ultrasonic flaw detection unit can carry out ultrasonic flaw detection on the surface and the internal defects of the pre-detection subarea of the tank bottom, and if the defects exist in the subarea of the tank bottom, the defects cause the discontinuity of the tank bottom material and cause the inconsistency of acoustic resistance and resistance. The ultrasonic wave is reflected at the interface of two different acoustic impedance media, so that flaw detection is carried out.
Photographing and shooting, wherein magnetic flaw detection and ultrasonic flaw detection belong to nondestructive flaw detection, and the corrosion state of the tank bottom is detected on the premise of not damaging the tank bottom of the oil tank; wherein the camera unit is capable of discovering macroscopic defects located on the tank bottom surface; the magnetic induction flaw detection unit can detect microscopic defects on the bottom surface or near surface of the tank; the ultrasonic flaw detection unit can detect microscopic flaws on the surface and inside of the tank bottom.
The photographing and the camera shooting are performed, and the magnetic flaw detection and the ultrasonic flaw detection are matched for use, so that the corrosion state of the tank bottom can be comprehensively known by a worker. Specifically, the camera unit may be used first to determine a sub-area suspected to contain defects through the camera unit and the positioning mechanism 3000, randomly set observation points in the sub-area, and perform magnetic flaw detection and ultrasonic flaw detection on the observation points, so as to know whether or not microscopic defects exist and the severity of the microscopic defects.
In this embodiment, the monitoring mechanism 2000 includes at least one of the following components: the technical means of the camera unit, the magnetic induction flaw detection unit and the ultrasonic flaw detection unit are favorable for detecting the corrosion state of the tank bottom on the premise of not damaging the tank bottom of the oil tank, wherein the camera unit is favorable for macroscopically knowing the corrosion state of the surface of each subarea of the tank bottom; the magnetic induction flaw detection unit is beneficial to detecting the microscopic defects on the bottom surface or the near surface of the tank; the ultrasonic flaw detection unit is beneficial to detecting microscopic defects on the surface and inside of the tank bottom. And shoot, make a video recording, magnetic flaw detection and ultrasonic flaw detection cooperate and use, are favorable to the staff to know the corrosion status of tank bottoms comprehensively.
As shown in fig. 1 and 2, optionally, the actuator 5000 of the present embodiment further includes a connecting arm 5200, the connecting arm 5200 includes a first connecting arm 5210 and a second connecting arm 5220, and one end of the first connecting arm 5210 and one end of the second connecting arm 5220 are hinged; the other end of the first connection arm 5210 is rotatably fixed to the main body of the robot 100; the other end of the second connection arm 5220 is fixed with a monitoring mechanism 2000.
As shown in fig. 2, the connecting arm 5200 includes a first connecting arm 5210 and a second connecting arm 5220, and one end of the first connecting arm 5210 and one end of the second connecting arm 5220 are hinged, i.e., the second connecting arm 5220 can rotate 360 degrees with respect to a hinge shaft connecting the second connecting arm 5220 and the first connecting arm 5210. An arrow J2 in fig. 2 indicates the rotation direction of the second connection arm 5220.
As shown in fig. 2, the other end of the first connection arm 5210 is rotatably fixed to the main body of the robot 100, that is, the first connection arm 5210 can rotate 360 degrees around its own rotation axis, that is, the hinge shaft fixed to the first connection arm 5210 can rotate 360 degrees. An arrow J1 in fig. 2 indicates a rotation direction of the first connection arm 5210.
Then, when the crawling unit of the robot 100 is at rest, the moving area of the monitoring mechanism 2000 fixed to the other end of the second connecting arm 5220 may cover the entire spherical surface of the ball, wherein the center of the ball is located at the top end of the first connecting arm 5210 and the radius of the ball is the length of the second connecting arm 5220.
The monitoring mechanism 2000 fixed at the other end of the second connecting arm 5220 can move flexibly, so that the monitoring mechanism is beneficial to avoiding obstacles and shelters and collecting relevant data of preset observation points in each sub-area of the tank bottom of the oil tank, such as surface conditions and flaw detection results.
In this embodiment, the actuator 5000 further includes a connecting arm 5200, the connecting arm 5200 includes a first connecting arm 5210 and a second connecting arm 5220, and one end of the first connecting arm 5210 is hinged to one end of the second connecting arm 5220; the other end of the first connection arm 5210 is rotatably fixed to the main body of the robot 100; the other end of the second connecting arm 5220 is fixed with the technical means of the monitoring mechanism 2000; the monitoring mechanism 2000 can move flexibly, so that the monitoring mechanism 2000 can avoid obstacles and shelters, and relevant data of preset observation points in each subarea at the bottom of the oil tank can be collected.
Alternatively, the connecting arm 5200 of the present embodiment is communicatively connected to a control mechanism 4000, the control mechanism 4000 controls the rotation angle of the first connecting arm 5210 with respect to the main body by a first rotating motor 5230, and the control mechanism 4000 controls the rotation angle of the second connecting arm 5220 with respect to the first connecting arm 5210 by a second rotating motor 5240.
The control mechanism 4000 controls the rotation angle of the first connection arm 5210 relative to the main body by the first rotating motor 5230. The rotation axis of the first rotating motor 5230 is coaxially arranged with the rotation axis of the first connecting arm 5210, so that the first connecting arm 5210 can rotate 360 degrees around its own rotation axis and rotate or be stationary under the control of the control mechanism 4000. The rotation may bring the first connection arm 5210 to a predetermined angle, and the rest may fix the first connection arm 5210 at a predetermined angle.
The control mechanism 4000 controls the rotation angle of the second connection arm 5220 relative to the first connection arm 5210 by the second rotating motor 5240. The rotation shaft of the second rotating motor 5240 is coaxially disposed with the hinge shaft between the first and second connection arms 5210 and 5220. Therefore, the second connecting arm 5220 can rotate 360 degrees relative to the hinge axis connecting the second connecting arm 5220 and the first connecting arm 5210, and can rotate or be stationary under the control of the control mechanism 4000. The rotation may bring the second connecting arm 5220 to a preset angle, and the rest may fix the second connecting arm 5220 at the preset angle.
Then, when the crawling unit of the robot 100 is stationary, the moving area of the monitoring mechanism 2000 fixed on the second connecting arm 5220 may cover the entire spherical surface of the ball, and be stationary at any point on the spherical surface, wherein the center of the ball is located at the top end of the first connecting arm 5210, and the radius of the ball is the length of the second connecting arm 5220.
The connecting arm 5200 can flexibly rotate or stand still under the instruction of the control mechanism 4000, so that the monitoring mechanism 2000 can avoid obstacles and shelters and collect relevant data of preset observation points in each sub-area of the tank bottom of the oil tank, such as surface conditions and flaw detection results.
In the embodiment, the connecting arm 5200 is in communication connection with the control mechanism 4000, the control mechanism 4000 controls the rotation angle of the first connecting arm 5210 relative to the main body through the first rotating motor 5230, and the control mechanism 4000 controls the rotation angle of the second connecting arm 5220 relative to the first connecting arm 5210 through the second rotating motor 5240, so that the robot 100 can rotate the first connecting arm 5210 and the second connecting arm 5220 under the instruction of the control mechanism 4000, thereby facilitating the monitoring mechanism 2000 to avoid obstacles and shelters and collecting relevant data of preset observation points in each subarea of the tank bottom of the oil tank.
Optionally, the monitoring mechanism 2000 of the present embodiment comprises a camera unit, the camera unit comprising a camera assembly 2110 and an illumination assembly 2120; the camera assembly 2110 includes an autofocus camera.
The illumination assembly 2120 provides a light source for photographing and shooting, which is beneficial for the shooting assembly 2110 to obtain clear images. The automatic focusing camera can automatically change the focal length, which is beneficial to improving the definition of images and images at the bottom of the tank.
The camera unit is in communication connection with the control mechanism 4000, so that image and image data are transmitted to the terminal device 200 located on the ground through the control mechanism 4000, and a display screen of the terminal device 200 plays images and images acquired by the camera unit in real time. The worker can make more accurate and rapid determination based on the image and the video, and issue a further instruction to the robot 100.
In the embodiment, the monitoring mechanism 2000 comprises a camera unit, and the camera unit comprises a camera assembly 2110 and an illumination assembly 2120; the camera assembly 2110 includes a technical means of auto-focusing a camera, which is beneficial for the robot 100 to obtain clear images.
Alternatively, the positioning mechanism 3000 of the present embodiment includes at least one of: the device comprises an angle and distance sensor unit, a radio positioning unit, an ultrasonic positioning unit and a laser positioning unit.
The positioning mechanism 3000 is mainly used for positioning the position of the robot 100 at the tank bottom, so as to know the source of the corrosion state data fed back by the robot 100, and then rapidly position the observed and detected severe corrosion area.
In particular, the tank bottom area may be divided into several sub-areas by a grid and assigned a corresponding number for each sub-area. The number of the subregion where the robot 100 is located is determined by the positioning means 3000, and the erosion state of the subregion is known.
The angle and distance sensor unit includes an angle sensor and a distance sensor so as to record a displacement of each movement of the robot 100, and then an accurate position of the robot 100 is obtained by superimposing the displacements.
The radiolocation unit may include a GPS signal receiver so that the exact position of the robot 100 is acquired by GPS. The radio location unit may also include an ultra-wideband location tag. And simultaneously, a plurality of positioning base stations are installed on the oil tank. The positioning tag of the robot 100 transmits ultra-wideband position data, and the plurality of positioning base stations receive the position data and calculate the time difference of the position data reaching different positioning base stations, so that the accurate position of the robot 100 is obtained by using the ultra-wideband technology.
The ultrasonic positioning unit may include a sonar probe 3310. While a plurality of receivers are mounted on the tank. The sonar probe 3310 of the robot 100 transmits an ultrasonic signal, and the receiver receives the ultrasonic signal and transmits the ultrasonic signal to the sonar probe 3310 by reflection, so that the distance between the robot 100 and the receiver is calculated according to the time difference between the echo and the transmitted wave, and then the accurate position of the robot 100 is determined. The precision of ultrasonic positioning can reach centimeter level, and simple structure.
The laser positioning unit may comprise a laser transmitter receiver. And a plurality of reflecting plates are arranged in the oil tank. The laser transmitter-receiver of the robot 100 scans for a circle, calculates the distance between the laser transmitter-receiver and the reflective plate, and then determines the accurate position of the robot 100.
In the present embodiment, the positioning mechanism 3000 includes at least one of the following components: the technical means of the angle distance sensor unit, the radio positioning unit, the ultrasonic positioning unit and the laser positioning unit are adopted, so that the robot 100 at the bottom of the tank is positioned, the position source of corrosion state data fed back by the robot 100 is favorably acquired, and the rapid positioning of a severely corroded area is favorably realized.
As shown in fig. 1, optionally, the crawler unit of the present embodiment includes wheels 5110 and a crawler 5120, the crawler 5120 being wound around the wheels 5110; the surface of the track 5120 facing away from the wheel 5110 is provided with an anti-slip structure.
The arrangement of the track 5120 enables the robot 100 to have a small turning radius, which is beneficial for the robot 100 to quickly respond to a steering command and flexibly avoid obstacles such as suspended matters in an oil tank. When the worker finds that one sub-area is severely eroded in a certain direction, the robot 100 may rapidly turn to and advance in the direction through the crawler 5120, thereby rapidly and intuitively obtaining the range of the severely eroded area.
The surface of the track 5120 facing away from the wheel 5110 is provided with an anti-slip structure, as shown in fig. 3, the anti-slip structure may be a strip-shaped anti-slip pattern 5121 or a circular anti-slip protrusion 5122, and the anti-slip structure is intended to increase the contact area between the robot 100 and the bottom surface of the oil tank, thereby being beneficial to improving the stability of the robot 100 in traveling and avoiding the robot 100 from slipping and tipping over.
In the embodiment, the crawling unit comprises wheels 5110 and a crawler 5120, and the crawler 5120 is wound on the wheels 5110; the surface of the track 5120 departing from the wheel 5110 is provided with an anti-slip structure, the track 5120 enables the turning radius of the robot 100 to be small, the robot 100 can respond to a steering command quickly, and the anti-slip structure increases the contact area between the robot 100 and the bottom surface of the oil tank, so that the stability of the robot 100 in traveling is improved, and the robot 100 is prevented from sliding and overturning.
As shown in fig. 5, optionally, the robot 100 of the present embodiment further includes a safety mechanism 7000; the safety mechanism 7000 includes a pressure sensor unit including a pressure sensor; the pressure sensor is fixed on the robot 100; the pressure sensor is in communication connection with the control mechanism 4000; safety mechanism 7000 further comprises a rearview mirror head unit 7200, rearview mirror head unit 7200 comprising a rearview mirror head assembly and a rearview illumination assembly; security mechanism 7000 further includes a storage backup unit 7300; the storage backup unit 7300 is communicatively connected to the control mechanism 4000.
The pressure sensor unit includes a pressure sensor; the pressure sensor is fixed on the robot 100; the pressure sensor is in communication with the control mechanism 4000. Due to the constraints of the sealing performance and the pressure resistance performance of the robot 100, the robot 100 can only work normally when the environmental pressure is below the pressure threshold.
In particular, the pressure threshold may be 1.5 bar. The pressure sensor is fixed on the robot 100, and the pressure sensor can monitor the pressure of the environment where the robot 100 is located in real time and feed back the result to the control mechanism 4000 which is in communication connection with the pressure sensor. The control mechanism 4000 compares the real-time monitoring result of the pressure sensor with the pressure threshold.
When the monitoring result exceeds the pressure threshold value, the control mechanism 4000 controls the pressure indicator lamp positioned on the ground terminal equipment 200 to give a red light prompt; when the environmental pressure is below the pressure threshold, the control mechanism 4000 controls the pressure indicator lamp located in the ground terminal device 200 to emit a green light prompt, so that the worker can quickly and intuitively know whether the environmental pressure of the robot 100 is in a safety range, the safety of the robot 100 is guaranteed, and the robot 100 is prevented from being paralyzed in a high-pressure environment.
In addition, the pressure sensor can directly transmit the measured specific pressure value to the display screen of the ground terminal device 200 through the control mechanism 4000, which is beneficial for the workers to accurately know the environmental pressure of the robot 100 and make corresponding judgment based on the pressure value, thereby being beneficial to the safety of the robot 100.
In the present embodiment, the robot 100 further includes a safety mechanism 7000; the safety mechanism 7000 includes a pressure sensor unit including a pressure sensor; the pressure sensor is fixed on the robot 100; the pressure sensor is in communication connection with the control mechanism 4000; safety mechanism 7000 further comprises a rearview mirror head unit 7200, rearview mirror head unit 7200 comprising a rearview mirror head assembly and a rearview illumination assembly; security mechanism 7000 further includes a storage backup unit 7300; the storage backup unit 7300 is in communication connection with the control mechanism 4000, wherein the pressure sensor unit is beneficial to ensuring the safety of the robot 100 and avoiding the paralysis of the robot 100 in a high-pressure environment; the rearview mirror head unit 7200 is advantageous for preventing the robot 100 from colliding with the sidewall of the oil tank and also for preventing the cable 300 from winding the robot 100, thereby being advantageous for preventing the robot 100 from being damaged; the storage backup unit 7300 is beneficial to the robot 100 to store the acquired data, and after the robot 100 returns to the ground, the storage backup unit is beneficial to the staff to extract the data and analyze the corrosion condition of the tank bottom systematically.
As shown in fig. 1 and 5, optionally, the robot 100 of the present embodiment further includes a sampling mechanism 8000, and the sampling mechanism 8000 includes a sampling port 8100 provided on the main body casing 1100; the sampling port 8100 is covered with a sampling door, the sampling door is opened and closed under the control of the sampling valve, and the sampling valve is in communication connection with the control mechanism 4000.
Specifically, after the staff decided the sample, the sampling order was assigned to reach the sample valve through control mechanism 4000, and the sample valve control sample gate is opened, and sample connection 8100 and external intercommunication, oil get into sample connection 8100, through the time of predetermineeing after, the internal and external pressure balance of sample connection 8100, sample valve control sample gate is closed, accomplishes the sample. Wherein the preset time is an empirical value.
In the present embodiment, the robot 100 further includes a sampling mechanism 8000, and the sampling mechanism 8000 includes a sampling port 8100 provided in the main body casing 1100; the sampling port 8100 is covered with a sampling door, the sampling door is opened and closed under the control of the sampling valve, and the sampling valve is in communication connection with the control mechanism 4000, so that the real-time monitoring on the quality of oil at the bottom of the oil tank is favorably realized.
As shown in fig. 6, the present embodiment further provides a monitoring system 10, which includes a terminal device 200 located on the ground and the robot 100 described above; the control mechanism 4000 of the robot 100 is in communication connection with the terminal device 200; the terminal device 200 comprises a connecting arm reset key, a pressure indicator light and a display screen, wherein the connecting arm reset key is in communication connection with the control mechanism 4000; the pressure indicator lamp is in communication connection with the control mechanism 4000; the display screen is in communication with the control mechanism 4000.
Specifically, when the operator presses the connecting arm reset key, the control mechanism 4000 receives the instruction and transmits the instruction to the first rotating electric machine 5230 and the second rotating electric machine 5240. Under the driving of the first rotating motor 5230 and the second rotating motor 5240, the connecting arm 5200 returns to the original state, at this time, the included angle between the first connecting arm 5210 and the second connecting arm 5220 reaches the minimum value, and the second connecting arm 5220 is located right in front of the traveling direction of the robot 100 of the first connecting arm 5210, i.e., the rotation angle of the first rotating motor 5230 is zero and the rotation angle of the second rotating motor 5240 is zero. The connecting arm reset key facilitates the operator to control the connecting arm 5200 to reset quickly.
The pressure indicator lamp is in communication connection with the control mechanism 4000, and the control mechanism 4000 is in communication connection with the pressure sensor. When the monitoring result of the pressure sensor exceeds the pressure threshold value, the control mechanism 4000 controls the pressure indicator lamp to give a red light prompt; when the monitoring result of the pressure sensor is lower than the pressure threshold value, the control mechanism 4000 controls the pressure indicator lamp located in the ground terminal device 200 to send out a green light prompt, so that a worker can quickly and intuitively know whether the environmental pressure of the robot 100 is in a safety range, the safety of the robot 100 is guaranteed, and the robot 100 is prevented from being paralyzed in a high-pressure environment.
The display screen is in communication with the control mechanism 4000. The display screen can display all data obtained by the monitoring mechanism 2000 and the positioning mechanism 3000, such as images or videos of the tank bottom acquired by the camera unit, and the positioning mechanism 3000 acquires the positioning of the robot 100. The display screen may also display the operating state of various parts of the robot 100, such as the amount of power of the backup battery, the rotation angle of the first rotating electric machine 5230, and the rotation angle of the second rotating electric machine 5240. The display screen can show data directly perceived, is favorable to the staff to judge the corrosion status of oil tank bottom fast.
The monitoring system 10 includes a terminal device 200 located on the ground and the robot 100 described above. Because the oil tank does not need to be emptied before the monitoring system 10 is used, the robot 100 can observe and monitor the bottom of the oil tank at any time, and timely feed back the corrosion condition of the bottom of the oil tank, thereby being beneficial to avoiding oil tank leakage.
The present embodiment employs a monitoring system 10, which includes a terminal device 200 located on the ground and the robot 100; the control mechanism 4000 of the robot 100 is in communication connection with the terminal device 200; the terminal device 200 comprises a connecting arm reset key, a pressure indicator light and a display screen, wherein the connecting arm reset key is in communication connection with the control mechanism 4000; the pressure indicator lamp is in communication connection with the control mechanism 4000; the technical means of the communication connection between the display screen and the control mechanism 4000 is that the robot 100 can observe and monitor the bottom of the oil tank at any time and feed back the corrosion condition of the bottom of the oil tank in time, so that the oil tank leakage can be avoided; so, need not the manual work and patrol and examine, also need not to empty the oil tank when patrolling and examining, still do benefit to and guarantee production efficiency. The connecting arm reset key is beneficial for workers to control the connecting arm 5200 to reset quickly; the pressure indicator light is beneficial for workers to quickly and intuitively know whether the environmental pressure of the robot 100 is within a safety range, the safety of the robot 100 is guaranteed, and the robot 100 is prevented from being paralyzed in a high-pressure environment; the display screen can show data directly perceived, is favorable to the staff to judge the corrosion status of oil tank bottom fast.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A robot for tank bottom monitoring of an oil tank, characterized in that the robot comprises a robot body comprising a body shell for connection of a cable for controlling the depth of submergence of the robot in the oil tank by the cable; the robot comprises a monitoring mechanism, a positioning mechanism, a control mechanism, an actuating mechanism and a power supply module; wherein the content of the first and second substances,
the monitoring mechanism is used for monitoring the corrosion state of the tank bottom;
the positioning mechanism is used for positioning the robot;
the executing mechanism comprises a crawling unit, and the robot crawls at the bottom of the tank through the crawling unit;
the control mechanism controls the motion state of the robot through the crawling unit;
the power module is used for providing electric energy for the robot.
2. The robot of claim 1, wherein the monitoring mechanism comprises at least one of: camera unit, magnetic induction flaw detection unit, ultrasonic flaw detection unit.
3. The robot of claim 1, wherein the actuator further comprises a connecting arm, the connecting arm comprising a first connecting arm and a second connecting arm, one end of the first connecting arm and one end of the second connecting arm being hinged; the other end of the first connecting arm is rotatably fixed on the main body of the robot; the other end of the second connecting arm is fixed with the monitoring mechanism.
4. A robot as claimed in claim 3, wherein the connecting arm is communicatively connected to the control mechanism, the control mechanism controlling the angle of rotation of the first connecting arm relative to the main body by means of a first rotating electrical machine, the control mechanism controlling the angle of rotation of the second connecting arm relative to the first connecting arm by means of a second rotating electrical machine.
5. The robot of claim 1, wherein the monitoring mechanism includes a camera unit including a camera assembly and an illumination assembly; the camera assembly comprises an auto-focus camera.
6. The robot of claim 1, wherein the positioning mechanism comprises at least one of: the device comprises an angle and distance sensor unit, a radio positioning unit, an ultrasonic positioning unit and a laser positioning unit.
7. The robot of claim 1, wherein the crawler unit includes wheels and a crawler belt, the crawler belt being wound around the wheels; the surface of the track, which deviates from the wheels, is provided with an anti-skid structure.
8. The robot of claim 1, further comprising a safety mechanism; the safety mechanism includes a pressure sensor unit including a pressure sensor; the pressure sensor is fixed on the robot; the pressure sensor is in communication connection with the control mechanism;
the safety mechanism further comprises a rearview mirror head unit, wherein the rearview mirror head unit comprises a rearview mirror head assembly and a rearview lighting assembly;
the safety mechanism further comprises a storage backup unit; the storage backup unit is in communication connection with the control mechanism.
9. The robot of claim 1, further comprising a sampling mechanism including a sampling port disposed on the body housing; the sampling port is covered with a sampling door, the sampling door is opened and closed under the control of the sampling valve, and the sampling valve is in communication connection with the control mechanism.
10. A monitoring system comprising a terminal device located on the ground and a robot according to any of claims 1-9; the control mechanism of the robot is in communication connection with the terminal equipment; the terminal equipment comprises a connecting arm reset key, a pressure indicator light and a display screen, wherein,
the connecting arm reset key is in communication connection with the control mechanism;
the pressure indicator lamp is in communication connection with the control mechanism;
the display screen is in communication connection with the control mechanism.
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| CN201921102055.8U CN210704840U (en) | 2019-07-15 | 2019-07-15 | Robot and monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921102055.8U CN210704840U (en) | 2019-07-15 | 2019-07-15 | Robot and monitoring system |
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| CN210704840U true CN210704840U (en) | 2020-06-09 |
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