Research On Design And Path Planning Of Wall-climbing Robot For Defect Detection Of Storage Tanks

As one of the most important petrochemical equipment,the storage tanks are widely used in the petrochemical industry.The state stipulates that the wall of the tank can be checked regularly to judge whether it can continue to be put into use.But the current means of testing are basically artificial scaffolding,long time and easy to cause danger to the safety of workers.Therefore,it is of high practical value to develop an economical and efficient automatic detection of wall climbing robot,which is applied to the detection of storage tank.In this paper,the mechanical structure and control system of the wall climbing robot is designed,and the robot prototype is successfully developed.And studied the key technologies such as kinematics,dynamics and path planning.The specific research contents are as follows:1.The overall design objective of the wall climbing robot is put forward,and the advantages and disadvantages of the current modules of each functional module(adsorption module,movement module,driving module and detection module)are compared to determine the basic function plan of the prototype.According to the basic function scheme of the prototype,the robot structure is designed and machined.On the basis of the mechanical structure,the control system of the robot is set up and the speed control mode of the motor is determined.2.The kinematic model of a wall climbing robot is set up,and the relationship between the speed of the driving wheel and the turning radius is derived,which provides the basis for the design of the robot attitude closed-loop control algorithm.The force and power consumption of the wall climbing robot in uniform straight line(vertical straight line and horizontal straight line)and uniform turning(big radius turning and small radius turning)on the wall are analyzed.The power consumption of the motor of the wall climbing robot under different motion is compared and analyzed with the specific size parameters,and the basis for path planning is provided from the angle of power consumption.3.A rectangular decomposition full traversal path planning algorithm based on grid map is proposed based on the grid map,which is based on the leakage area and energy consumption of the wall climbing robot.Firstly,the basic path of the traversal of the robot is determined from the angle of the leakage area and the angle of energy consumption.Secondly,the grid method is used to establish the environment model,and the environment model is divided into multiple sub-regions by the rectangular decomposition method.Thirdly,we determined the convenience of each area and sequentially traversed.In the process of traversing the sub-regions,we put forward the path selection function for the robot to fall into the dead zone,so that the robot could escape from the dead zone as soon as possible and complete the traversal.Finally,the full coverage path planning algorithm is simulated in Matlab.The simulation results show that the algorithm can not only guide the wall climbing robot to traverse the working area with high coverage rate and low repetition rate,but also escape from the dead zone quickly.On the basis of the above study,the paper successfully developed the tank defect detection of wall climbing robot prototype.With this prototype as the carrier,the experiments of the power consumption and path planning algorithm of the robot is carried out.These experiments show that the robot has the advantages of good adsorption performance,stable and reliable motion,low coverage path repetition rate and high coverage efficiency.It greatly improves the detection efficiency of storage tank defects.