CN104713992B - A kind of large-scale storage tank bottom plate traversal and positioner and method - Google Patents
A kind of large-scale storage tank bottom plate traversal and positioner and method Download PDFInfo
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- CN104713992B CN104713992B CN201510146234.1A CN201510146234A CN104713992B CN 104713992 B CN104713992 B CN 104713992B CN 201510146234 A CN201510146234 A CN 201510146234A CN 104713992 B CN104713992 B CN 104713992B
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- storage tank
- automatic checkout
- bottom plate
- checkout system
- tank bottom
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Abstract
The present invention relates to a kind of large-scale storage tank bottom plate traversal and positioner and method, the present invention includes automatic checkout system, traversal method and localization method, and wherein automatic checkout system includes walking mechanism, sensor, drive mechanism, detent mechanism, testing agency.Traversal method includes storage tank bottom plate, traverse path and whole circle mark.Localization method includes traverse path, storage tank side wall and laser range finder.The 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, and path is changed when the sensor in automatic checkout system detects whole circle mark.The positioning is to detect automatic checkout system to the distance of storage tank side wall by two side by side laser rangefinders to determine radial distance of the detecting system in storage tank bottom plate, and by determining the direction of automatic checkout system by comparing the measurement data of two laser range finders.
Description
Technical field
The present invention relates to a kind of path planning apparatus and method, more particularly to a kind of large-scale storage tank bottom plate traversal and positioning dress
Put and method.
Background technology
Strategic oil inventory is an important factor for weighing a national energy security, in order to ensure petroleum storage tank safety and stability
Operation, storage tank is proposed accordingly preventive maintenance and detection technique requirement, when storage tank bottom plate corrodes, if energy
Quick detection goes out corrosion area and takes corresponding remedial measure in time, it is possible to increase the cycle of operation of storage tank, and reduce storage
The loss that tank leakage is brought.Therefore, the research to tank floor inspection is significant.Because existing detector is usually
Scanning is carried out to whole storage tank bottom plate by manpower or human assistance driven by power, its labor intensity is big, and the sealing ring of storage tank
Border does not allow staff's working time long yet, therefore, in the case where China's storage tank quantity and capacity are continuously increased, develops
A set of automated detection system, there is important actual meaning for reducing hand labor intensity, improving tank floor inspection efficiency
Justice.In the detection of storage tank bottom plate, the research of automation has a wide range of applications, by detection technique and robot technology
With reference to storage tank bottom plate automatic detection can be realized.
Because large-scale storage tank bottom plate is circular, and area is very big, and automatic checkout system needs to travel through whole bottom plate, needs
Want good path planning.In addition, the problem of positioning of automatic checkout system in the soleplate is also individual very crucial, decides energy
The no storage tank bottom plate of traversal well completes complete detection.
The content of the invention
The present invention proposes a kind of large-scale storage tank bottom plate traversal and localization method, enables the automatic complete detection of detecting system
Storage tank bottom plate.
Technical scheme provided by the invention is as follows：
A kind of large-scale storage tank bottom plate traversal and positioner, it is characterised in that including an automatic checkout system, it is described from
Dynamic detecting system includes walking body and is arranged on the walking mechanism of walking body upper bottom portion；Walking body front end installation
There is sensor, walking body is provided with the drive mechanism for being used for driving walking mechanism；Detent mechanism is arranged in drive mechanism；
Testing agency is arranged on drive mechanism rear end；The detent mechanism includes the laser range finder being arranged side by side, and detects automatic detection
System determines radial distance of the detecting system in storage tank bottom plate to the distance of storage tank side wall, and by comparing two Laser Measurings
The measurement data of distance meter determines the direction of automatic checkout system.
A kind of large-scale storage tank bottom plate traversal and localization method, it is characterised in that traversal method includes traverse path and whole circle
Two steps of mark：Wherein,
Traverse path takes equidistant ring-type according to the shape of storage tank bottom plate, and automatic checkout system is according to traverse path row
Walk, path is changed when the sensor in automatic checkout system detects whole circle mark.
Localization method is to detect automatic checkout system to the distance of storage tank side wall by two side by side laser rangefinders come really
Regular inspection examining system storage tank bottom plate radial distance, and by by compare the measurement data of two laser range finders determine from
The direction of dynamic detecting system.
In a kind of above-mentioned large-scale storage tank bottom plate traversal and localization method, traversal method is characterised by that traverse path is between waiting
Away from ring-type, path is changed in whole circle mark.
Brief description of the drawings
Fig. 1 is automatic checkout system structure chart.
Fig. 2 is traversal method schematic diagram.
Fig. 3 is location structure schematic diagram.
Embodiment
With reference to embodiment, the invention will be further described, in figure, 1. walking mechanisms, and 2. sensors, 3. drivings
Mechanism, 4. detent mechanisms, 5. testing agencies, 6. storage tank bottom plates, 7. traverse paths, 8. whole circle marks, 7. traverse paths,
9. storage tank side wall, 10. laser range finders.
As shown in figure 1, automatic checkout system includes walking mechanism 1, sensor 2, drive mechanism 3, detent mechanism 4, inspection
Survey mechanism 5.As Fig. 2 includes storage tank bottom plate 6, traverse path 7 and whole circle mark 8.Fig. 3 includes traverse path 7, storage tank side wall
9 and laser range finder 10.The traverse path 7 takes equidistant ring-type according to the shape of storage tank bottom plate 6, and automatic checkout system is pressed
Walked according to traverse path 7, path is changed when the sensor 2 in automatic checkout system detects whole circle mark 8.Positioning is to pass through
Two side by side laser rangefinders 10 detect automatic checkout system to the distance of storage tank side wall 9 to determine detecting system in storage tank bottom plate
6 radial distance, and by determining the direction of automatic checkout system by comparing the measurement data of two laser range finders 10.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used 1. walking mechanisms herein, 2. sensors, 3. drive mechanisms, 4. detent mechanisms, 5.
Testing agency, 6. storage tank bottom plates, 7. traverse paths, 8. whole circle marks, 7. traverse paths, 9. storage tank side walls, 10. laser
The terms such as rangefinder, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily retouching using these terms
State and explain the essence of the present invention；Any additional limitation is construed as all to disagree with spirit of the present invention.
Claims (1)
1. a kind of large-scale storage tank bottom plate traversal and localization method, it is characterised in that traveled through based on a kind of large-scale storage tank bottom plate and fixed
Position device, it is characterised in that including an automatic checkout system, the automatic checkout system includes walking body and is arranged on
The walking mechanism (1) for body upper bottom portion of walking；The walking body front end is provided with sensor (2), and walking body, which is provided with, to be used
In the drive mechanism (3) of driving walking mechanism (1)；Detent mechanism (4) is arranged in drive mechanism (3)；Testing agency (5) is set
In drive mechanism (3) rear end；The detent mechanism (4) includes the laser range finder (10) being arranged side by side, detection automatic detection system
Unite to the distance of storage tank side wall (9) to determine radial distance of the detecting system in storage tank bottom plate (6), and swashed by comparing two
The measurement data of optar (10) determines the direction of automatic checkout system；
Traversal method includes (8) two steps of traverse path (7) and whole circle mark：Wherein, traverse path (7) is according to storage tank bottom plate
(6) shape takes equidistant ring-type, and automatic checkout system is walked according to traverse path (7), the biography in automatic checkout system
Sensor (2) changes path when detecting whole circle mark (8)；
Localization method be by two side by side laser rangefinders (10) detect automatic checkout systems to storage tank side wall (9) distance come
Radial distance of the detecting system in storage tank bottom plate (6) is determined, and by comparing the measurement data of two laser range finders (10)
The direction of automatic checkout system is determined, traversal method is characterised by that traverse path (7) is equidistant ring-type, in whole circle mark
(8) path is changed when；Automatic checkout system is walked according to traverse path (7), sensor (2) detection in automatic checkout system
Path is changed during to whole circle mark (8)；Positioning is by two side by side laser rangefinders 10) automatic checkout system is detected to storage tank
The distance of side wall (9) determines radial distance of the detecting system in storage tank bottom plate (6), and by by comparing two Laser Measurings
The measurement data of distance meter (10) determines the direction of automatic checkout system.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104713992A CN104713992A (en) | 2015-06-17 |
| CN104713992B true CN104713992B (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
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| CN (1) | CN104713992B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| EP2059701A2 (en) * | 2006-08-18 | 2009-05-20 | Rochester Gauges, Inc. | Service valve assembly having a 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 |
| CN102507874B (en) * | 2011-11-08 | 2014-09-24 | 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
- 2015-03-31 CN CN201510146234.1A patent/CN104713992B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN104713992A (en) | 2015-06-17 |
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Granted publication date: 20180313 Termination date: 20210331 |