mobile robot assigned for diagnostic and maintenance reservoirs

MODELLING AND OPTIMIZATION OF PHYSICAL SYSTEMS
8, pp. 43-48, Gliwice 2009
MOBILE ROBOT ASSIGNED FOR DIAGNOSTIC AND
MAINTENANCE RESERVOIRS WITH LIQUID
MARIUSZ GIERGIEL
PIOTR MAŁKA
Department of Robotics and Mechatronics, AGH University of Science and Technology
e-mail:[email protected], [email protected]
Abstract. This article presents and describes the initial objectives to design and
build a mobile robot intended for diagnostic and maintenance of water tanks. In
addition, existing practices article presents the inspection robot designed to
operate underwater.
1. INTRODUCTION
Robotics and especially mobile robotics constitute the big challenge in our times for
many researchers, designers and users, therefore at the Department of Mechatronics and
Robotics AGH became a subject of reflection and research. From a couple of years with great
success expanding the scope of knowledge on this issue both through numerous publications
[1,2,3,5,6] as well as grants financed by KBN. Our interest goes towards mechatronic
approach to the design and construction of this type structure with particular emphasis on the
use of modern engineering methods.
The essence of this work is to present the assumptions and the conception prototype of the
mobile robot diagnostic, maintenance and minor repairs of tanks assigned to store and
accumulate water. High safety and health requirements and adverse environmental conditions
of work cause a need to minimize human intervention in the process of cleaning, maintenance
and diagnosis of these tanks.
Analyzing the demand of companies engaged in production and distribution of water
shows that there is no use of diagnostic and repair processes vessels storing water. Experience
of Department of Robotics and Mechatronics AGH in the design and construction of mobile
robots allows for taking such a topic up.
2. OVERVIEW OF EXISTING SOLUTIONS OF ROBOTS
Reviewing the available literature on robotics it is possible to noted that, the topics
concerning using robotics in the industry operating in the area of works underwater more
often are taken up and they are among other the submarine research. Recently, more and more
robots of this type are used in the armaments industry [1,4,5].
Robots diagnostic, maintenance, service perform a variety of work such as:
• tanking cars, inspecting nuclear facilities,
• helping the elderly or the disabled persons,
• Guard attending in museums or showing around exhibitions,
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M. GIERGIEL, P. MAŁKA
• supporting the exploration of alien planets or depths and cleaning aeroplanes.
• carry out diagnostics and maintains various types of equipment, vehicles, ships,
industrial facilities.
The main advantages to this type of robots are: mobility, manipulation, cooperating with
humans (the environment), autonomy.
1.1. Robot DIABLO
Fig.1. Robot DIABLO
A Hydrovision company from the United Kingdom is a producer of this robot. The mass of
the robot is 2.8 t, while the lifting capacity 300 kg, the ability to work to 2000 m.
The main tasks of the robot DIABLO are: assembly, monitoring of drilling platforms,
works by underwater pipelines. His equipment is a manipulation and 5 different camera
systems.
1.2. Robot - ABE Autonomous Benthic Explorer
Fig.2. Robot ABE
The producer of this work is a Woods Hole Oceanographic Institution company from the
United States of America Work Possibility to the 4 500 m depth, range up to 100 km, speed 2
knots. The robot is equipped with 2 sonars intended for monitoring depth, stereo camera,
sensors of the measuring salinity, temperature, magnetic field, and others.
The main use of AEB robot is measurement of magnetic anomalies on connecting tectonic
plates.
MOBILE ROBOT ASSIGNED FOR DIAGNOSTIC AND MAINTENANCE RESERVOIRS WITH LIQUID
1.3. FAUST III
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Fig.3. Robot FAUST III
The robot was designed and built at the Institute for Material Science, University of
Hannover in Germany. Freely diving robot intended for the inspection and assembly of
underwater nuclear submarines. The scope and opportunity to work to a depth of 50 m.
Positioning is carried out by means of 8 screws driven by electric, however caterpillar tracks
were used to the drive of the robot.
Controlling the robot is held through the deck computer, however the outside computer
constitutes the user interface (control of the keyboard and trackball 6 DOF). Connection cable
operator is also a rescue rope. Dimensions: 790 mm x 700 mm x 305 mm, weight 42 kg.
FAUST III robot is equipped among others with cameras, lighting, sensors, 2 DOF
manipulator with the gripper, plasma cutting head.
1.4. FAUST IV (micro Faust) - TRIBUN
Fig.4. Robot FAUST IV
Another version of the underwater robot designed and built at the Institute for Material
Science, University of Hannover. Micro Faust is designed for inspection of pipelines and
various kinds of shafts.
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M. GIERGIEL, P. MAŁKA
1.5. Robot HYDRA
Fig.5. Robot HYDRA
Family of climbing robots assigned to the service, measurements and the assembly by
overhead structures and underwater. The structure of this type of robot is based on a metal
frame driven by servomotors pneumatic with suckers, so it is possible to attached it to work
surface. Depending on the used suckers can be move on the smooth surfaces as well as porous
surfaces
3. CONCEPT AND PRELIMINARY ASSUMPTIONS TO CONSTRUCTION WORK FOR
ROBOT AT DIAGNOSTICS AND THE MAINTENANCE OF TANKS WITH WATER
Undertaking designing and the structure of the robot work is due to a lack of specialized
robots that can assist diagnosis and maintenance of tanks containing liquids. Tanks containing
e.g. water exposed to various types of pollution of both solid and liquid (silting, particulates,
peeling off elevation, etc.). Currently, solutions to this problem are people who enter into
containers and diagnosing existing problems. Additionally written requirements in motor
documentation are obliging owners to effect periodic inspections. Thanks to the mobilityinspection robot can be limiting unnecessary inspections as well as empty containers will be
limited in order to make the diagnosis. Such a solution can be applied in companies dealing
with distribution e.g. waters of fuels.
They have a number of tanks that require periodic inspections and repairs. Cost which
incurred for conducting diagnostic-conservation works are very significant, both through
stoppages of containers, loss of media in the tank and finally the appropriate employment
service performing such tasks. In addition, the risk of work in the dangerous environment
would be minimized [1,2,3,4,5,6].
MOBILE ROBOT ASSIGNED FOR DIAGNOSTIC AND MAINTENANCE RESERVOIRS WITH LIQUID
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Fig.5. Model containers containing liquids
A conception arose of mobile robot will be drawn up using modern methods of supporting
engineering works so as systems CAD (CATIA, INVENTOR, etc.) and CEA (analysis
kinematic-dynamic). Both a model the kinematics and dynamics of the robot will be drawn up
using existing solutions for robot Pioneer 2 DX as well as the mini robot MRK. Additionally
the developed a mathematical model will be subjected to a series of numerical verifications
using the package MATLAB and MAPLE. On the basis of research results will be built a
prototype robot diagnostic-manipulation. Technical new solutions will be used for
construction of the robot, both minicomputers, sensors and materials. The requirements
placed on devices operating in the production of water and fuels are very high. In this case,
access to solutions from the scope of production and storing water will provide the Municipal
Water and Sewage Company, which is interested in creating such a robot.
All components and systems implementation of the robot will be carried out in accordance
with all applicable standards required by the work of this kind of materials, as well as
diagnostic technologies and maintenance of containers for the storing and accumulating of
drinking water.
The main structural assumptions are:
• Caterpillar and pneumatic drive with suckers,
• Control by microcomputer mounted locally on the robot and outside of the PC
computer with the system of visualization work
• All parts made in accordance with the recommendations and requirements PZH,
• Equipped with sensors positioning, navigation, video cameras, sensors of
physicochemical parameters,
• Exchangeable grippers installed on the shoulder of the manipulator,
• The operating range up to 20 meters under water
4. SUMMARY
This project of the robot is an innovative solution, so far not- examine. With this tool it is
possible to modernize and rationalization the work in the diagnosis and maintenance of tanks
with liquids. As part of the work on this issue will be built the prototype in the actual
verification on the MPWiK S.A. area in Krakow.
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REFERENCES
1.
2.
3.
4.
5.
6.
M. GIERGIEL, P. MAŁKA
Morecki A., Knapczyk J.: Podstawy robotyki: teoria i elementy manipulatorów
i robotów, Wydawnictwo Naukowo-Techniczne, Warszawa, 1994.
M., Hendzel Z, Żylski W.: Modelowanie i sterowanie mobilnych robotów kołowych.
Wydawnictwo Naukowe PWN. Warszawa 2002.
Dulęba I.: Metody i algorytmy planowania ruchu robotów mobilnych i manipulacyjnych.
Akademicka Oficyna Wydawnicza EXIT. Warszawa 2001.
Spong M. W., Vidyasagar M.: Dynamika i sterowanie robotów, Wydawnictwo
Naukowo-Techniczne, Warszawa, 1997.
Craig J.: Wprowadzenie do robotyki: mechanika i sterowanie, Wydawnictwo NaukowoTechniczne, Warszawa1995.
Małka P.: Pozycjonowanie i nadążanie minirobota kołowego, Praca Doktorska. 2008.
MOBILNY ROBOT PRZEZNACZONY DO DIAGNOSTYKI
ORAZ KONSERWACJI ZBIORNIKÓW Z CIECZĄ
Streszczenie. Robotyka a w szczególności robotyka mobilna stanowi
współcześnie wielkie wyzwanie dla wielu naukowców, projektantów
i użytkowników stąd też w Katedrze Robotyki i Mechatroniki AGH stała się
przedmiotem rozważań i prac badawczych. Od paru już lat z ogromnymi
sukcesami poszerzamy zakres wiedzy na ten temat zarówno dzięki licznym
publikacjom jak również grantom finansowanym przez KBN. Nasze
zainteresowania idą w kierunku mechatronicznego podejścia do projektowania
i budowy tego typu konstrukcji ze szczególnym naciskiem na wykorzystanie
nowoczesnych metod inżynierskich. Istotą niniejszej pracy jest przedstawienie
założeń oraz koncepcji prototypu mobilnego robota do diagnostyki, konserwacji
oraz drobnych napraw zbiorników przeznaczonych do przechowywania
i magazynowania wody. Wysokie wymogi bezpieczeństwa i higieny oraz
nieprzyjazne warunki środowiska pracy powodują, iż istnieje potrzeba
zminimalizowania ingerencji człowieka w procesie czyszczenia, konserwacji
i diagnostyki tych zbiorników. Analizując zapotrzebowanie firm zajmujących się
produkcją i dystrybucją wody wynika, że brak jest urządzeń wspomagających
procesy diagnostyczno-naprawcze zbiorników przechowujących wodę.
Doświadczenie Katedry Robotyki i Mechatroniki AGH w projektowaniu
i budowie robotów mobilnych pozwala na podjęcie takiego tematu.