CN109013588A - A kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground - Google Patents
A kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground Download PDFInfo
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- CN109013588A CN109013588A CN201810752199.1A CN201810752199A CN109013588A CN 109013588 A CN109013588 A CN 109013588A CN 201810752199 A CN201810752199 A CN 201810752199A CN 109013588 A CN109013588 A CN 109013588A
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- robot
- oil tank
- explosion
- tank
- proof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of explosion-proof localization methods for vertical cleaning oil tank robot on the ground, method includes the following steps: by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1, D2, so that obtaining two in oil tank of robot estimates position M1, M2；It uses global camera to carry out subregion to oil tank region with manhole line, is divided into tetra- regions A, B, C, D, and establish coordinate system by the center of circle of central point, robot region is determined by global image, the specific coordinate position of robot location is calculated.Wherein, range unit and global camera are Sefe antiexplosion pattern, entire positioning system meets the inbeing safe explosion prevention requirement under oil tank environment, the location technology that the localization method uses ranging to combine with image, solve the problems, such as that oil tank special construction is not available traditional three-point fix, for realization personnel not into tank, safety is accurate.
Description
Technical field
The present invention relates to a kind of positioning system fields more particularly to a kind of for vertical cleaning oil tank robot on the ground
Explosion-proof localization method.
Background technique
Petrochemical industry oil plant is the important component of China's energy system, improve its normality and it is abnormal under safety guarantee
Level can preferably meet the needs of socio-economic development and living standards of the people raising.Vertical storage tank is oil product storage
Major way, being covered on liquid surface in particular by inner floating roof lid is optimal reduction oil product evaporating loss generally acknowledged at present
Most economical, simple method.The vertical storage tank created at present is mostly in this way.
During oil storage and transportation, itself contains and penetrates into later in oil product moisture, the grains of sand, soil, iron rust, heavy metal
The impurity such as salt can gradually deposit to tank bottom, form sticky black glue greasy filth.Greasy filth can damage the quality of oil product, corrosion
Oil storage tank tank body and attachment reduce oil storage tank volume, generate electrostatic accident.Therefore, Q/SH039-013-88 is provided according to industry,
Clean after every is 3~5 years under normal condition；In addition, being also required to clean oil tank before repairing oil storage tank in the oil product that changes the outfit.
Product oil easily causes to burn and be exploded in usual environment, and compared with crude oil storage tank, cleaning refined oil storage tank has more risk,
Product oil is different from crude oil washing/COW technique.Safer cleaning process should be selected, during product oil transfer, liquid level decline
While inject inert gas, control in tank oxygen content 8% hereinafter, guaranteeing mechanical cleaning process essential safety, it is straight with water
It connects and wash cycles is carried out to storage tank, tank cleaning work is completed after water-oil separating.The management of construction site is stringenter, without night
Between construct, washing and cleaning operation daytime complete, be further ensured that safety.
Cleaning oil tank technology has artificial cleaning, mechanical cleaning.Main problem existing for artificial cleaning method is: efficiency
Low, effect is poor, at high cost, and pollution is big, it is difficult to guarantee into tank operating personnel's safety, therefore this technology is gradually eliminated.It is mechanical
Cleaning technique is the direction of tank cleaning technology development, is especially that by the robot technology of cleaning oil tank.Realize nothing
For personnel into the robot cleaning technique of tank, robot localization is one of key technology.Currently, there is a variety of positioning sides on the market
Method.Such as geometric calculation, framing method and dead reckoning, most of positioning system is fixed using triangle in the market
The principle of position or multipoint positioning can be generally realized in conjunction with two or more location algorithm while in order to avoid error
Mixed positioning.
However, be not required to reach personnel into tank, explosion-proof requirement due to the particular surroundings requirement of the vertical oil storage tank in ground,
Excessive attachment device, such as WiFi, transmitter, receiver etc. can not be installed, additional dress can only be at most installed at two manholes
It sets；Dead reckoning does not have to installation attachment device, but will form biggish accumulated error during the work time；Single image is fixed
Position method is with high costs, and larger workload.
The localization method that telemetry and image method combine both had met the particular surroundings requirement of vertical oil storage tank on the ground,
The advantages of integrating existing localization method again, and there is explosion prevention function.
Summary of the invention
The object of the present invention is to provide a kind of explosion-proof localization methods for vertical cleaning oil tank robot on the ground, can
The advantages of to be suitable for the particular surroundings requirement of vertical oil storage tank on the ground, integrate existing localization method, and there is explosion prevention function.
The purpose of the present invention is what is be achieved through the following technical solutions:
Explosion-proof localization method for vertical cleaning oil tank robot on the ground of the invention, this method includes following step
It is rapid:
Step 1, by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1, D2, thus
It obtains two in oil tank of robot and estimates position M1, M2；
Step 2, subregion is carried out to oil tank region using global camera, is divided into tetra- regions ABCD, and with central point
Coordinate system is established for the center of circle, robot region is determined by global image, the specific coordinate of robot location is calculated
Position.
As seen from the above technical solution provided by the invention, provided in an embodiment of the present invention for vertical oil storage on the ground
The explosion-proof localization method of tank cleaning robot obtains two by two o'clock telemetry and estimates position, then using image method to two
A position of estimating is screened, and is accurately positioned, and overcoming can not under the particular surroundings structural requirement of vertical oil storage tank on the ground
The problem of multipoint positioning, and two kinds of positioning modes combine and substantially increase positioning accuracy, while range unit and global camera
It is Sefe antiexplosion pattern, it is safe and efficient, it has great practical value.
Detailed description of the invention
Fig. 1 is patrolling for the explosion-proof localization method of vertical cleaning oil tank robot on the ground provided in an embodiment of the present invention
Collect block diagram.
Fig. 2 is provided in an embodiment of the present invention for true in the explosion-proof localization method of vertical cleaning oil tank robot on the ground
Determine the method schematic diagram of robot zone.
Fig. 3 a, Fig. 3 b are respectively the explosion-proof positioning side for vertical cleaning oil tank robot on the ground of the embodiment of the present invention
Determine that robot estimates two schematic diagrames of the method for position in method.
Fig. 4 is the embodiment of the present invention for determining machine in the explosion-proof localization method of vertical cleaning oil tank robot on the ground
The method schematic diagram of the specific coordinate position of device people.
Fig. 5 is the present invention for explosion protection system structure in the explosion-proof localization method of vertical cleaning oil tank robot on the ground
Figure.
Specific embodiment
The embodiment of the present invention will be described in further detail below.What is be not described in detail in the embodiment of the present invention is interior
Appearance belongs to the prior art well known to professional and technical personnel in the field.
Explosion-proof localization method for vertical cleaning oil tank robot on the ground of the invention, preferable specific embodiment party
Formula is:
Method includes the following steps:
Step 1, by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1, D2, thus
It obtains two in oil tank of robot and estimates position M1, M2；
Step 2, subregion is carried out to oil tank region using global camera, is divided into tetra- regions ABCD, and with central point
Coordinate system is established for the center of circle, robot region is determined by global image, the specific coordinate of robot location is calculated
Position.
It is corresponding using D1, D2 as the work of radius respectively with two tank manholes (a, b) for the center of circle in the step 1
Circle, two intersection points M1, M2 are that two of robot estimate position.
In the step 2, when the specific coordinate position of robot location is calculated, two in conjunction with the robot are pre-
Estimate position and robot coordinate position is finally determined by triangulation calculation.
The specific calculation method of step 2 includes:
By the distance between known two tank manholes (a, b) D and D1, D2 for measuring, robot position is calculated
Set the deviation angle α for the first tank manhole (a):
K in figure is calculated1、k2Value:
Then the coordinate of robot location M is M (- K1, K2)。
The distance-sensor and global camera are Sefe antiexplosion pattern, and power supply uses explosion-proof linear electricity
Source, the distance-sensor are laser ranging system, Ultrasonic ranging device or infrared distance measuring device, and whole system circuit meets ia
The Sefe antiexplosion requirement of rank.
Specific embodiment, as shown in Figures 1 to 5:
Refering to fig. 1, a kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground provided by the invention, should
Method the following steps are included:
Step 1, by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1, D2, thus
It obtains two in oil tank of robot and estimates position M1, M2；
Step 2, subregion is carried out to oil tank region using global camera, is divided into tetra- regions ABCD, and with central point
Coordinate system is established for the center of circle, robot region is determined by global image, the specific coordinate of robot location is calculated
Position.
Wherein, range unit and global camera are Sefe antiexplosion pattern, and entire positioning system meets oil tank ring
Inbeing safe explosion prevention requirement under border.
In the step 1, by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1,
D2 judges the correctness of data acquisition through D1+D2 compared with D, if D1+D2 is more than or equal to D, respectively with two manholes
A, b is the center of circle, and corresponding justifying using D1, D2 as radius, two intersection points M1, M2 are that two of robot estimate position,
Refering to Fig. 3 a, Fig. 3 b.
In the step 2, Oilcan cleaning region is divided by tetra- regions ABCD by global camera, in detail referring to Fig.2,
And then robot region is judged by global image, finally determine that robot is sat by triangulation calculation combination claim 2
Cursor position introduces the method for calculating specific coordinate position refering to Fig. 4 in a-quadrant.
By the distance between known two manhole ab of oil tank D and D1, D2 for measuring, calculate robot location for
The deviation angle α of manhole a:
K in figure is calculated1、k2Value:
Then the coordinate of robot location M is M (- K1, K2).The calculation method phase when robot location is in its excess-three region
Seemingly.
Wherein, power supply uses explosion-proof linear power supply, and distance-sensor can be laser ranging, supersonic sounding, infrared survey
Away from etc., whole system circuit meets the Sefe antiexplosion requirement of ia rank.Specific system structure diagram is refering to Fig. 5.
Localization method provided by the invention compared with prior art, has the following advantages and benefits: passing through two o'clock
The location technology that telemetry and image method combine overcomes under the particular surroundings structural requirement of vertical oil storage tank on the ground without fado
The problem of point location, substantially increases positioning accuracy, while range unit and global camera are Sefe antiexplosion pattern,
It is safe and efficient, it has great practical value.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (5)
1. a kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground, which is characterized in that this method include with
Lower step:
Step 1, by the distance between distance-sensor robot measurement and two tank manholes (a, b) D1, D2, to obtain
Two in oil tank of robot estimate position M1, M2；
Step 2, subregion is carried out to oil tank region using global camera, is divided into tetra- regions A, B, C, D, and be with central point
Coordinate system is established in the center of circle, determines robot region by global image, and the specific coordinate bit of robot location is calculated
It sets.
2. the explosion-proof localization method according to claim 1 for vertical cleaning oil tank robot on the ground, feature exist
In, in the step 1, respectively with two tank manholes (a, b) for the center of circle, corresponding justifying using D1, D2 as radius, two
Intersection point M1, M2 are that two of robot estimate position.
3. the explosion-proof localization method according to claim 2 for vertical cleaning oil tank robot on the ground, feature exist
In in the step 2, when the specific coordinate position of robot location is calculated, two in conjunction with the robot are estimated position
It sets and passes through triangulation calculation and finally determine robot coordinate position.
4. the explosion-proof localization method according to claim 3 for vertical cleaning oil tank robot on the ground, feature exist
In the specific calculation method of step 2 includes:
By the distance between known two tank manholes (a, b) D and D1, D2 for measuring, robot location couple is calculated
In the deviation angle α of the first tank manhole (a):
K in figure is calculated1、k2Value:
Then the coordinate of robot location M is M (- K1, K2)。
5. the explosion-proof localization method according to any one of claims 1 to 4 for vertical cleaning oil tank robot on the ground,
It is characterized in that, the distance-sensor and global camera are Sefe antiexplosion pattern, power supply uses explosion-proof line
Property power supply, the distance-sensor be laser ranging system, Ultrasonic ranging device or infrared distance measuring device, whole system circuit symbol
Close the Sefe antiexplosion requirement of ia rank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752199.1A CN109013588B (en) | 2018-07-10 | 2018-07-10 | Explosion-proof positioning method for ground vertical oil storage tank cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752199.1A CN109013588B (en) | 2018-07-10 | 2018-07-10 | Explosion-proof positioning method for ground vertical oil storage tank cleaning robot |
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| Publication Number | Publication Date |
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| CN109013588A true CN109013588A (en) | 2018-12-18 |
| CN109013588B CN109013588B (en) | 2020-10-16 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1373349A (en) * | 2002-04-02 | 2002-10-09 | 上海交通大学 | Oil tank volume measuring system and calibrating method |
| KR100581086B1 (en) * | 2004-12-13 | 2006-05-22 | 한국전자통신연구원 | Method and apparatus for mobile robot localization using led of rfid tag |
| CN102590216A (en) * | 2012-01-06 | 2012-07-18 | 中国人民解放军后勤工程学院 | Measurement method for positioning of defects of tank bottom of vertical steel oil tank |
| CN103377471A (en) * | 2012-04-16 | 2013-10-30 | 株式会社理光 | Method and device for object positioning, and method and device for determining optimal camera pair |
| CN105689345A (en) * | 2016-03-22 | 2016-06-22 | 深圳市百事达卓越科技股份有限公司 | Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation |
| CN105842246A (en) * | 2016-05-27 | 2016-08-10 | 中国农业科学院农业信息研究所 | Farmland monitoring system and farmland monitoring method |
-
2018
- 2018-07-10 CN CN201810752199.1A patent/CN109013588B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1373349A (en) * | 2002-04-02 | 2002-10-09 | 上海交通大学 | Oil tank volume measuring system and calibrating method |
| KR100581086B1 (en) * | 2004-12-13 | 2006-05-22 | 한국전자통신연구원 | Method and apparatus for mobile robot localization using led of rfid tag |
| CN102590216A (en) * | 2012-01-06 | 2012-07-18 | 中国人民解放军后勤工程学院 | Measurement method for positioning of defects of tank bottom of vertical steel oil tank |
| CN103377471A (en) * | 2012-04-16 | 2013-10-30 | 株式会社理光 | Method and device for object positioning, and method and device for determining optimal camera pair |
| CN105689345A (en) * | 2016-03-22 | 2016-06-22 | 深圳市百事达卓越科技股份有限公司 | Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation |
| CN105842246A (en) * | 2016-05-27 | 2016-08-10 | 中国农业科学院农业信息研究所 | Farmland monitoring system and farmland monitoring method |
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