CN104713992A - Large-scale storage tank base plate traversing and positioning device and method - Google Patents
Large-scale storage tank base plate traversing and positioning device and method Download PDFInfo
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- CN104713992A CN104713992A CN201510146234.1A CN201510146234A CN104713992A CN 104713992 A CN104713992 A CN 104713992A CN 201510146234 A CN201510146234 A CN 201510146234A CN 104713992 A CN104713992 A CN 104713992A
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- storage tank
- base plate
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- automatic checkout
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Abstract
The invention relates to a large-scale storage tank base plate traversing and positioning device and a large-scale storage tank base plate traversing and positioning method. The large-scale storage tank base plate traversing and positioning device and the large-scale storage tank base plate traversing and positioning method comprise an automatic detection system, a traversing method and a positioning method, wherein the automatic detection system comprises a travelling mechanism, a sensor, a driving mechanism, a positioning mechanism and a detecting mechanism; the traversing method needs the following devices: a storage tank base plate, a traversing path and a whole-ring mark; the positioning method needs the following devices: a traversing path, a storage tank side wall and laser distance meters; the traversing paths adopt equally-spaced ring shapes according to the shape of the storage tank base plate, the automatic detection system travels according to the traversing paths, and the paths are changed when the whole-ring mark is detected by the sensor on the automatic detection system; and the positioning method comprises the following steps: determining the radial distance of the detection system on the storage tank base plate by detecting the distance from the automatic detection system to the storage tank side wall by using two side-by-side laser distance meters, and determining the direction of the automatic detection system by comparing measurement data of the two laser distance meters.
Description
Technical field
The present invention relates to a kind of path planning apparatus and method, particularly a kind of large-scale storage tank base plate traversal and locating device and method.
Background technology
Strategic oil reserve is the key factor of a measurement national energy security, in order to ensure that petroleum storage tank safely and steadily runs, accordingly preventive maintenance and detection technique requirement are proposed to storage tank, when there is corrosion in storage tank bottom plate, if corrosion area can be detected fast and take corresponding remedial measures in time, the cycle of operation of storage tank can be improved, and reduce storage tank and reveal the loss brought.Therefore, the research of tank floor inspection is significant.Because existing detecting device is generally carry out scanning by manpower or human assistance driven by power to whole storage tank bottom plate, its labour intensity is large, and the sealed environment of storage tank does not allow staff's working time long yet, therefore, under China's storage tank quantity and the ever-increasing situation of capacity, develop a set of automated detection system, for reduction hand labor intensity, raising tank floor inspection efficiency, there is important practical significance.In the detection of storage tank bottom plate, the research of robotization has a wide range of applications, and the combination of detection technique and Robotics can be realized storage tank bottom plate and automatically detect.
Because large-scale storage tank base plate is circular, and area is very large, and automatic checkout system needs to travel through whole base plate, needs good path planning.Can in addition, automatic checkout system location in the soleplate be also a very crucial problem, decide well travel through storage tank bottom plate and complete complete detection.
Summary of the invention
The present invention proposes a kind of large-scale storage tank base plate traversal and localization method, enable detection system complete detection storage tank bottom plate automatically.
Technical scheme provided by the invention is as follows:
A kind of large-scale storage tank base plate traversal and locating device, is characterized in that, comprise an automatic checkout system, and described automatic checkout system comprises walking body and is arranged on the travel mechanism of walking body upper bottom portion; Described walking body front end is provided with sensor, and walking body is provided with the driving mechanism for driving travel mechanism; Detent mechanism is arranged on driving mechanism; Testing agency is arranged on driving mechanism rear end; Described detent mechanism comprises the laser range finder be arranged side by side, detect automatic checkout system and determine the radial distance of detection system at storage tank bottom plate to the distance of storage tank sidewall, and by the direction of the measurement data determination automatic checkout system that compares two laser range finders.
A kind of large-scale storage tank base plate traversal and localization method, it is characterized in that, traversal method comprises traverse path and whole circle marks two steps: wherein,
Traverse path takes equidistant ring-type according to the shape of storage tank bottom plate, and automatic checkout system is walked according to traverse path, changes path when the sensor in automatic checkout system detects that whole circle marks.
Localization method detects automatic checkout systems by two side by side laser stadimeters to determine the radial distance of detection system at storage tank bottom plate to the distance of storage tank sidewall, and by the direction of the measurement data determination automatic checkout system that compares two laser range finders.
At above-mentioned a kind of large-scale storage tank base plate traversal and localization method, the feature of traversal method is that traverse path is equidistant ring-type, changes path when whole circle mark.
Accompanying drawing explanation
Fig. 1 is automatic checkout system structural drawing.
Fig. 2 is traversal method schematic diagram.
Fig. 3 is location structure schematic diagram.
Embodiment
Below in conjunction with embodiment, the invention will be further described, in figure, and 1. travel mechanism, 2. sensor, 3. driving mechanism, 4. detent mechanism, 5. testing agency, 6. storage tank bottom plate, 7. traverse path, 8. whole circle mark, 7. traverse path, 9. storage tank sidewall, 10. laser range finder.
As shown in Figure 1, automatic checkout system comprises travel mechanism 1, sensor 2, driving mechanism 3, detent mechanism 4, testing agency 5.As Fig. 2 comprises storage tank bottom plate 6, traverse path 7 and whole circle mark 8.Fig. 3 comprises traverse path 7, storage tank sidewall 9 and laser range finder 10.Described traverse path 7 takes equidistant ring-type according to the shape of storage tank bottom plate 6, and automatic checkout system is walked according to traverse path 7, changes path when the sensor 2 in automatic checkout system detects whole circle mark 8.Location detects automatic checkout system by two side by side laser stadimeters 10 to determine the radial distance of detection system at storage tank bottom plate 6 to the distance of storage tank sidewall 9, and by the direction of measurement data determination automatic checkout system by comparing two laser range finders 10.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ 1. travel mechanisms herein, 2. sensor, 3. driving mechanism, 4. detent mechanism, 5. testing agency, 6. storage tank bottom plate, 7. traverse path, 8. whole circle mark, 7. traverse path, 9. storage tank sidewall, the 10. term such as laser range finder, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (3)
1. large-scale storage tank base plate traversal and a locating device, is characterized in that, comprise an automatic checkout system, and described automatic checkout system comprises walking body and is arranged on the travel mechanism (1) of walking body upper bottom portion; Described walking body front end is provided with sensor (2), and walking body is provided with the driving mechanism (3) for driving travel mechanism (1); Detent mechanism (4) is arranged on driving mechanism (3); Testing agency (5) is arranged on driving mechanism (3) rear end; Described detent mechanism (4) comprises the laser range finder (10) be arranged side by side, detect automatic checkout system and determine the radial distance of detection system in storage tank bottom plate (6) to the distance of storage tank sidewall (9), and by the direction of the measurement data determination automatic checkout system that compares two laser range finders (10).
2. large-scale storage tank base plate traversal and a localization method, is characterized in that, traversal method comprises traverse path (7) and whole circle mark (8) two steps: wherein,
Traverse path (7) takes equidistant ring-type according to the shape of storage tank bottom plate (6), and automatic checkout system, according to traverse path (7) walking, changes path when the sensor (2) in automatic checkout system detects whole circle mark (8);
Localization method detects automatic checkout systems by two side by side laser stadimeters (10) to determine the radial distance of detection system in storage tank bottom plate (6) to the distance of storage tank sidewall (9), and by the direction of the measurement data determination automatic checkout system that compares two laser range finders (10).
3. a kind of large-scale storage tank base plate travels through and localization method according to claim 2, and the feature of traversal method is that traverse path (7) is equidistant ring-type, changes path when whole circle mark (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510146234.1A CN104713992B (en) | 2015-03-31 | 2015-03-31 | A kind of large-scale storage tank bottom plate traversal and positioner and method |
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| CN201510146234.1A CN104713992B (en) | 2015-03-31 | 2015-03-31 | A kind of large-scale storage tank bottom plate traversal and positioner and method |
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| CN104713992A true CN104713992A (en) | 2015-06-17 |
| CN104713992B CN104713992B (en) | 2018-03-13 |
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| CN201510146234.1A Expired - Fee Related CN104713992B (en) | 2015-03-31 | 2015-03-31 | A kind of large-scale storage tank bottom plate traversal and positioner and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109187733A (en) * | 2018-09-12 | 2019-01-11 | 湖北工业大学 | Large-scale storage tank tank skin defect detecting device |
| CN110243924A (en) * | 2019-07-03 | 2019-09-17 | 西红柿科技（武汉）有限公司 | A kind of storage tank bottom plate intelligent detecting method |
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| US6192751B1 (en) * | 1997-11-18 | 2001-02-27 | Scientific Solutions, Inc. | Non-invasive low frequency elastic wave fluid level sensing system for sludge laden environments |
| WO2008022340A2 (en) * | 2006-08-18 | 2008-02-21 | Rochester Gauges, Inc. | Service valve assembly having stop-fill device and remote liquid level indicator |
| CN201417262Y (en) * | 2009-07-02 | 2010-03-03 | 戴光 | Hand-operated and power-operated integrated magnetic leakage detector for storage tank bottom plate |
| CN102507874A (en) * | 2011-11-08 | 2012-06-20 | 华中科技大学 | Detecting device of storage tank soleplate |
| CN203519559U (en) * | 2013-10-23 | 2014-04-02 | 湖北工业大学 | Automatic magnetic flux leakage testing intelligent trolley for bottom board of large-scaled storage tank |
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2015
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Patent Citations (5)
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| US6192751B1 (en) * | 1997-11-18 | 2001-02-27 | Scientific Solutions, Inc. | Non-invasive low frequency elastic wave fluid level sensing system for sludge laden environments |
| WO2008022340A2 (en) * | 2006-08-18 | 2008-02-21 | Rochester Gauges, Inc. | Service valve assembly having stop-fill device and remote liquid level indicator |
| CN201417262Y (en) * | 2009-07-02 | 2010-03-03 | 戴光 | Hand-operated and power-operated integrated magnetic leakage detector for storage tank bottom plate |
| CN102507874A (en) * | 2011-11-08 | 2012-06-20 | 华中科技大学 | Detecting device of storage tank soleplate |
| CN203519559U (en) * | 2013-10-23 | 2014-04-02 | 湖北工业大学 | Automatic magnetic flux leakage testing intelligent trolley for bottom board of large-scaled storage tank |
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| 李佳林: "石化系统常压储罐底板腐蚀失效与漏磁检测", 《中国石油和化工标准与质量 》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109187733A (en) * | 2018-09-12 | 2019-01-11 | 湖北工业大学 | Large-scale storage tank tank skin defect detecting device |
| CN110243924A (en) * | 2019-07-03 | 2019-09-17 | 西红柿科技（武汉）有限公司 | A kind of storage tank bottom plate intelligent detecting method |
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| CN104713992B (en) | 2018-03-13 |
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