Structure and Control System Design of a Wall Climbing Robot for Oilcan Testing

The testing technology and the system of intelligent wall climbing robot are studied in this paper. A path planning method for motion on vertical walls is presented, the function of the anti-upset device is analyzed, and the general structure and control system is designed. Its main body is a wall climbing robot using permanent magnetic tracks. A non-contact NDT (non-destructive testing) technology and various sensors are applied to this robot, which give it high intelligence. Field experiments indicate that the equipment is in highly automatic level. It can move stably, has a high localization precision, and greatly improves the efficiency of oilcan testing.