Vehicle for controlled movement along surfaces of objects with vertical walls

FIELD: mechanical engineering.

SUBSTANCE: invention relates to remote controlled vehicles which can move over surfaces of different objects such as vessels, reservoirs, walls of constructions, etc for carrying out different operations, such as checking condition of metal, welding, cutting scraping of surfaces, etc. Proposed device contains transport module capable of moving over vertical surfaces, transport module direction control unit and laser ranger. The latter is secured on housing of transport module to occupy position with beam directed vertically downwards. Reflector with bench marks is installed below module travel levels over entire length of its horizontal displacements. Said bench marks are fixed by laser ranger and are arranged at preset distances from initial bench mark over length of reflector. Control unit is made for action drives of transport module driving wheels at signals from laser ranger to provide vertical lifting to preset height mark turning and horizontal movement.

EFFECT: enlarged functional capabilities providing movement along most frequency required trajectories.

3 dwg

 

The invention relates to a transport device, and more specifically to a transport device with a remote control capable of operating on the surfaces of various objects (vessels, tanks, walls, buildings etc)used to perform work on the survey and inspection of metal, such as ultrasonic inspection, welding, cutting, scraping the surface and others, in industry, energy and nuclear power in particular.

In such devices it is necessary to remotely control their movement on the surface, setting the desired trajectory, and to determine the coordinates of their location at the current time.

The known device with magnetic propulsion systems (wheels), capable manageable to move on the surface of various objects made of ferromagnetic material.

The known method and device scanning surface and, accordingly, control the movement of the transport device adopted for analogue (A.S. No. 1632133), in which the trajectory of movement is set by the uncoiling of the flexible connection (cable)wound on a drum connecting the drum with the transport device, and the length of unwound from the drum contacts are determined by the coordinates of the transport device on the surface.

The disadvantages of analogue is that using it is you can only manage a spiral path of the transport device and only in line of sight (forward direction) from the drum to the point of cable mounting on a transport device, that makes it impossible to control the transport device when it is moved over the outer surface of objects with vertical walls, for example vessels, and does not provide motion control for the most frequently requested trajectory consisting of vertical and horizontal movements.

The aim of the invention is to remedy these disadvantages.

This objective is achieved in that the transport module is equipped with a laser rangefinder, the beam of which is directed always vertical to the reflector, which has a reference mark located at certain distances from the initial benchmark.

Figure 1 shows the proposed device (General view), figure 2 - the trajectory of movement of the transport module and the control circuit during movement of the module in the vertical direction, figure 3 - the path of movement of the module horizontally and the control unit.

The device consists of a transport module 1 mounted on it by means of the swivel suspension 2 laser range finder 3 and the reflector 4. The reflector is provided with reference marks fixed by the finder, for example, in the form of a protrusion 5 (primary reference) and depressions 6 of a certain height and depth respectively located at predetermined distances from the initial reference point.

The transport module is driven with POM is using the leading magnetic wheel with electric actuators 7 and 8 (figure 3), located on left and right sides of the module, respectively. On one of the wheels of the module fortified trip meter (count the number of wheel revolutions) 9. The control operation of the actuator driving wheels carries out the control unit 10, which receives information from the trip meter 9 and the range finder 3.

Powered device (for example, inspection of the hull of a nuclear power reactor 11 in figure 1) as follows: original transport module 1 is installed on the reactor vessel 11 in position I (figure 1). Laser rangefinder 3 articulated suspension 2 is a vertical position, and its beam is directed onto the surface of the initial frame 5. At power drives the drive wheels 7 and 8 from the control unit 10 both wheels start to rotate at the same speed, and the transport module 1 begins to move vertically upward along the surface of the housing 11. In case of rejection of the movement of the module from the vertical, for example, to the left, under the influence of external forces (tension cable connecting the module to the control unit), the beam-finder (see figure 2), being directed vertically, will not be reflected from a reference point 5, and from the main surface of the reflector 4, i.e. the distance from the rangefinder will sharply increase the height of the frame 5. Upon receipt of such information from the rangefinder to the block information and the last 10 will change the speed of the drives driving wheels 7 and 8 thus, that the wheel is located on the left side, will begin to rotate faster than the wheel on the right side, and the module will begin to shift to the right, returning to a given vertical. If the module will begin to shift to the right from a given vertical, the rangefinder will record the change of the distance to the reflective surface on the sum of the height of the protrusion 5 and the depth of the trench 6, located to the right of the ledge. The control unit in this case will cause already right wheel to rotate faster than the left, and the module will return to a given vertical. When the module rises to a predetermined elevation (position II, Fig 1), which is determined by the readings of the rangefinder, the module stops, turns 90° and begins to move horizontally.

The horizontal movement of the module is determined by the constant distance from the module to the reflector, mounted horizontally. If this distance for any reason changes (figure 3), on the basis of information received from the range finder, the control unit corrects the moving direction of the module, acting on the actuators wheels, returning it to a predetermined altitude in the same way as when moving vertically.

The value of the traversed distance module from the initial reference level is determined by the trip meter 9. Due to the maneuvering module d is I save the horizontal movement measured by the trip distance will be different from the length of the straight line (the length of the arc of a circle while moving around the cylinder), connecting the start point of movement to the point where at the moment the module is located. This difference (the error in the measurement position coordinates module (horizontal) will continuously increase with the distance traveled. To reduce the error in determining the true coordinate positions of the module when moving horizontally serve as a benchmark 6 located at a known, fixed distance from each other and from the initial benchmark. The advent of the module to the frame is fixed rangefinder. This information is transmitted to the control unit, on the basis of which the control unit adjusts the counter path, eliminating the accumulated error of its measurement.

The complete turnover of the module around the casing 11 is fixed rangefinder 3 reference guide 5. The module stops, turns 90°, rising to new heights, again begins to move horizontally etc.

Analysis of the known technical solutions allows to make a conclusion that the claimed invention should not be from the level of the investigated technique that demonstrates its compliance with the criterion of "novelty".

The essence of the invention for professionals not obvious from the prior art, which allows to make a conclusion about its compliance with the criterion of "izopet the consumer level."

The possibility of using the claimed invention in the domestic industry allows us to conclude that it conforms to the criterion "industrial applicability".

Rangefinder mounted on the transport module, and a reflector with fiducial marks will allow you to control the path of movement of the transport device when moving in horizontal and vertical directions by vertical walls.

Transport device for the controlled movement on the surface of objects with vertical walls, containing the transport module, able to move along vertical surfaces, the block control the direction of movement of the transport module and a laser rangefinder, characterized in that a laser rangefinder mounted on the hull of the transport module with the possibility of adopting the provisions of the vertical direction of the beam, below the levels of the movement of the transport module throughout the length of its horizontal movement is installed reflector with reference marks fixed laser rangefinder and located at predetermined distances from the initial reference point along the length of the reflector, and the aforementioned control unit is arranged to influence the drives driving wheels of the transport module when receiving signals from the laser rangefinder to provide vertical is Yama transport module to a predetermined elevation, spread and horizontal movement.



 

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