An autonomous self contained wall climbing robot for non-destructive inspection of above-ground storage tanks

被引：30

作者：

Kalra, Love P. ^{[1
]}

Gu, Jason ^{[1
]}

机构：

[1] Dalhousie Univ, Halifax, NS, Canada

来源：

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2007年 / 34卷 / 02期

关键词：

robotics; motion;

D O I：

10.1108/01439910710727469

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Purpose - The aim of this research is to design a wall climbing robot (WCR) for the non-destructive inspection (NDT) of the above-ground storage tanks (ASTs) autonomously making the industrial inspection and maintenance tasks safer. Design/methodology/approach - A WCR is designed that can be equipped with any NDT sensor. It uses permanent magnets as an adhesion mechanism to crawl over the steel tank walls. A surface coverage algorithm is proposed for the WCR to scan the AST wall surfaces autonomously with the NDT sensors to perform the necessary inspection tasks. Findings - The proposed surface coverage algorithm performs the complete coverage of the AST walls under different obstacle configurations. It has been tested and demonstrated in simulations. Originality/value - A surface coverage algorithm is proposed for the WCR to perform the non-destructive inspection of the ASTs autonomously. It can also be used in applications like cleaning glass building and painting ship hulls, etc.

引用

页码：122 / 127

页数：6

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