Large Wall Climbing Robots for Boarding Ship Rust Removal Cleaner

Yi, Zhengyao; Gong, Yongjun; Wang, Zuwen; Wang, Xingru; Zhang, Zengmeng

doi:10.3724/sp.j.1218.200.00560

Cited by 13 publications

(7 citation statements)

References 4 publications

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“…As the reference path was short in stage 3 , the UPCR with the conventional fuzzy controller did not have enough time to finish adjusting. In stage 4 , although the initial deviation for the optimized fuzzy controller was bigger than that for the conventional fuzzy controller, both fuzzy controllers spent almost the same time to eliminate errors.…”

Section: Simulations and Resultsmentioning

confidence: 99%

“…In recent years, climbing robots have been developed for industrial applications, especially in the area of cleaning underwater structures [3,4]. These robots utilize propulsion force adhesion [5][6][7][8], magnetic force adhesion [9,10], and clamping [11] to achieve stable locomotion and withstand the counterforce brought on by cleaning operations.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Novel Online Optimized Control for Underwater Pipe-Cleaning Robots

et al. 2020

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Due to the particularity of the jacket structure of offshore platforms and the complexity of the marine environment, there have been few effective localization and autonomous control methods for underwater robots that are designed for cleaning tasks. To improve this situation, a fusion bat algorithm (BA) online optimized fuzzy control method using vision localization was developed based on the constraints of the underwater operational environment. Vision localization was achieved based on images from a catadioptric panoramic imaging system. The features of the pipe edge and the boundary of the area covered by biofouling were obtained by image processing and feature extraction. The feature point chosen as the “highest” point of the boundary was calculated by projection transformation to generate the reference path. The specialized fuzzy controller was designed to drive the robot to track the reference path, and an improved bat algorithm with dynamic inertia weight and differential evolution method was developed to optimize the scale factors of the fuzzy controller online. The control method was simulated and further implemented on an underwater pipe-cleaning robot (UPCR), and the results indicate its rationality and validity.

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Section: Simulations and Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel Online Optimized Control for Underwater Pipe-Cleaning Robots

et al. 2020

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“…The disadvantages of NdFeB permanent magnet material are low Curie temperature, poor temperature stability and poor chemical stability, but these disadvantages can be overcome by adjusting the chemical composition and taking other measures. NdFeB permanent magnet materials have broad application and development prospects due to their excellent performance, high coercivity and magnetic energy product, its concrete performance parameters are shown in table 2 [14][15] .…”

Section: Materials Selectionmentioning

confidence: 99%

Design and analysis of a climbing robot for weld detection

Fan

2022

J. Phys.: Conf. Ser.

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The climbing robot is gradually applied to the safety weld detection on large metal walls to avoid manual operation. However, most robots are difficult to perform efficient operations for the poor performance on obstacle overcoming, flexible turning and motion stability. This paper presents a weld detection climbing robot, which integrates contact permanent magnet adsorption units and crawler chain mobile mechanism to obtain continuous, flexible and stable motion performance on large metal walls. By establishing the robot mechanical model, the minimum adsorption force can be calculated considering the instability conditions such as sliding, longitudinal overturning and lateral overturning. Combined with the Ansys Maxwell simulation, the magnet structure was optimized to obtain the structural size of a single permanent magnet adsorption unit. Experimental results show the robot can achieve stable motion and accurate detection on large metal walls with welds, and the maximum load of the robot can reach to 15.6 kg, which meets the engineering application requirements of weld detection on large metal walls.

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“…The tracks of wall climbing robots should consider their ability to absorb and load, as well as how to plan the magnetic force distribution of the permanent magnetic adsorption unit without affecting the robot's mobility. Therefore, the key challenge for the design of wall climbing robot tracks is how to ensure the adsorption capacity of the track while at the same time having a certain level of flexibility [1] .…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of a permanent magnet crawler for a marine wall-cleaning robot

Feng

Guan²,

Deng³

et al. 2023

J. Phys.: Conf. Ser.

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At present, ship wall cleaning is important in the marine engineering equipment maintenance industry. Designing permanent magnetic adsorption units is one of the most important ways to implement efficient, environmentally friendly, high-quality ship cleaning work. In this paper, theoretical design tests and technical studies are carried out on the permanent magnetic crawler structure of the ship cleaning and wall climbing robot, and the adsorption method, walking method, magnetic material and permanent magnetic adsorption structure of the ship cleaning and wall climbing robot are comprehensively analyzed and selected. Finally, the design of the permanent magnetic crawler for the ship cleaning and wall climbing robot is proposed.

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Large Wall Climbing Robots for Boarding Ship Rust Removal Cleaner

Cited by 13 publications

References 4 publications

Novel Online Optimized Control for Underwater Pipe-Cleaning Robots

Novel Online Optimized Control for Underwater Pipe-Cleaning Robots

Design and analysis of a climbing robot for weld detection

Design and optimization of a permanent magnet crawler for a marine wall-cleaning robot

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