A Wall Climbing Robot for Oil Tank Inspection
A Wall Climbing Robot for Oil Tank Inspection
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DOI：
10.1109/robio.2006.340155
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发表时间：
2006-12
期刊：
影响因子：
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通讯作者：
Love P. Kalra;J. Gu;M. Meng
中科院分区：
文献类型：
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作者：
Love P. Kalra;J. Gu;M. Meng
炼油厂中成千上万的储罐必须人工检查，以防止泄漏和/或任何其他潜在的灾难。设计了一种带无损传感器的永磁附着机构爬壁机器人。机器人可以自动操作，也可以手动操作。在自主模式下，机器人采用一种基于距离变换函数的巧妙覆盖算法，在水箱表面来回移动，利用传感器扫描水箱外壁，寻找可能出现的故障，无需人工干预。在手动模式下，机器人可以从地面站无线导航到任何感兴趣的位置。对样机进行了初步试验。
Thousands of storage tanks in oil refineries have to be inspected manually to prevent leakage and/or any other potential catastrophe. A wall climbing robot with permanent magnet adhesion mechanism equipped with nondestructive sensor has been designed. The robot can be operated autonomously or manually. In autonomous mode the robot uses an ingenious coverage algorithm based on distance transform function to navigate itself over the tank surface in a back and forth motion to scan the external wall for the possible faults using sensors without any human intervention. In manual mode the robot can be navigated wirelessly from the ground station to any location of interest. Preliminary experiment has been carried out to test the prototype.