CN109013588B - Explosion-proof positioning method for ground vertical oil storage tank cleaning robot - Google Patents
Explosion-proof positioning method for ground vertical oil storage tank cleaning robot Download PDFInfo
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- CN109013588B CN109013588B CN201810752199.1A CN201810752199A CN109013588B CN 109013588 B CN109013588 B CN 109013588B CN 201810752199 A CN201810752199 A CN 201810752199A CN 109013588 B CN109013588 B CN 109013588B
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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
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- 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
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- 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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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an explosion-proof positioning method for an overground vertical oil storage tank cleaning robot, which comprises the following steps: measuring distances D1 and D2 between the robot and two oil tank manholes (a and b) through distance sensors, thereby obtaining two estimated positions M1 and M2 of the robot in the oil tank; the oil tank area is partitioned into A, B, C, D four areas by adopting a global camera through manhole connection, a coordinate system is established by taking a central point as a circle center, the area where the robot is located is determined through a global image, and the specific coordinate position of the robot is obtained through calculation. The positioning method adopts a positioning technology combining ranging and images, solves the problem that a special oil tank structure cannot use traditional three-point positioning, and realizes that personnel cannot enter the tank, so that safety and accuracy are realized.
Description
Technical Field
The invention relates to the field of positioning systems, in particular to an explosion-proof positioning method for an overground vertical oil storage tank cleaning robot.
Background
Petrochemical oil is an important component of an energy system, improves the safety guarantee level of the petrochemical oil in a normal state and an abnormal state, and can better meet the requirements of social and economic development and improvement of the living standard of people. The vertical storage tank is the main mode of oil storage, and especially, the adoption of the inner floating top cover to cover the liquid surface is the most ideal economic and simple method for reducing the evaporation loss of the oil product which is recognized at present. The mode is mostly adopted by the newly-built vertical storage tank at present.
During the storage and transportation of the oil product, the oil product contains water, sand, soil, rust, heavy metal salts and other impurities which are infiltrated later and gradually deposit on the bottom of the tank to form viscous black colloidal oil sludge. The oil sludge can damage the quality of oil products, corrode the tank body and accessories of the oil storage tank, reduce the volume of the oil storage tank and generate electrostatic accidents. Therefore, according to the industry regulation Q/SH039-013-88, the cleaning interval is 3-5 years in a normal state; in addition, the oil tank also needs to be cleaned before oil products are replaced and the oil storage tank is maintained. The finished oil is easy to burn and explode in the common environment, and compared with a crude oil storage tank, the cleaning of the finished oil storage tank is more dangerous, and the finished oil is different from the crude oil cleaning process. A safer cleaning process is selected, inert gas is injected while the liquid level is reduced in the finished oil transferring process, the oxygen content in the tank is controlled to be below 8%, the intrinsic safety of the mechanical cleaning process is guaranteed, the storage tank is directly cleaned in a circulating mode through water, and the storage tank cleaning work is completed after oil-water separation. The management of the construction site is stricter, the construction at night is avoided, the cleaning operation is finished in the daytime, and the safety is further ensured.
The cleaning technology of the oil storage tank comprises manual cleaning and mechanical cleaning. The main problems of the manual cleaning method are as follows: low efficiency, poor effect, high cost, large pollution and difficulty in ensuring the safety of tank-entering operators, so the technology is gradually eliminated. The mechanical cleaning technology is the development direction of the storage tank cleaning technology, in particular to the robot technology capable of realizing the cleaning of the storage tank. The robot cleaning technology for unmanned tank feeding is realized, and robot positioning is one of key technologies. Currently, there are several positioning methods available on the market. For example, geometric computation, image positioning, and dead reckoning, most positioning systems in the market use the principle of triangulation or multi-point positioning, and in order to avoid errors, two or more positioning algorithms are generally combined to achieve hybrid positioning.
However, due to the special environmental requirements of the above-ground vertical oil storage tank, in order to meet the requirements that personnel do not need to enter the tank and prevent explosion, too many additional devices, such as WiFi, transmitters, receivers and the like, cannot be installed, and at most, the additional devices can be installed at two manholes; no additional device is installed in the dead reckoning, but a large accumulated error is formed in the working process; the single image localization method is costly and labor intensive.
The positioning method combining the distance measurement method and the image method not only meets the special environmental requirements of the overground vertical oil storage tank, but also integrates the advantages of the existing positioning method, and has an explosion-proof function.
Disclosure of Invention
The invention aims to provide an explosion-proof positioning method for an overground vertical oil storage tank cleaning robot, which can be suitable for special environmental requirements of the overground vertical oil storage tank, integrates the advantages of the existing positioning method and has an explosion-proof function.
The purpose of the invention is realized by the following technical scheme:
the invention discloses an explosion-proof positioning method for an overground vertical oil storage tank cleaning robot, which comprises the following steps:
step 1, measuring distances D1 and D2 between the robot and two oil tank manholes (a and b) through a distance sensor, and thus obtaining two estimated positions M1 and M2 of the robot in an oil tank;
and 2, partitioning the oil tank area by adopting a global camera, dividing the oil tank area into four ABCD areas, establishing a coordinate system by taking the central point as a circle center, determining the area where the robot is located through a global image, and calculating to obtain the specific coordinate position of the robot position.
According to the technical scheme provided by the invention, the two pre-estimated positions are obtained through the two-point distance measurement method, then the two pre-estimated positions are screened by adopting the image method to obtain accurate positioning, the problem that the ground vertical oil storage tank cannot be positioned at multiple points under the requirement of a special environment structure is solved, the positioning accuracy is greatly improved by combining the two positioning methods, and meanwhile, the distance measurement device and the global camera are both in an intrinsically safe anti-explosion type, so that the method is safe and efficient and has great practical value.
Drawings
Fig. 1 is a logic block diagram of an explosion-proof positioning method for an above-ground vertical oil storage tank cleaning robot according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a method for determining a robot area in an anti-explosion positioning method for an above-ground vertical oil storage tank cleaning robot according to an embodiment of the invention.
Fig. 3a and 3b are two schematic diagrams of a method for determining an estimated position of a robot in an anti-explosion positioning method for an above-ground vertical oil storage tank cleaning robot according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a method for determining a specific coordinate position of a robot in an explosion-proof positioning method for an above-ground vertical oil tank cleaning robot according to an embodiment of the invention.
Fig. 5 is a structural diagram of an explosion-proof system in the explosion-proof positioning method for the above-ground vertical oil storage tank cleaning robot.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention discloses an explosion-proof positioning method for an overground vertical oil storage tank cleaning robot, which comprises the following preferred specific implementation modes:
the method comprises the following steps:
step 1, measuring distances D1 and D2 between the robot and two oil tank manholes (a and b) through a distance sensor, and thus obtaining two estimated positions M1 and M2 of the robot in an oil tank;
and 2, partitioning the oil tank area by adopting a global camera, dividing the oil tank area into four ABCD areas, establishing a coordinate system by taking the central point as a circle center, determining the area where the robot is located through a global image, and calculating to obtain the specific coordinate position of the robot position.
In the step 1, two oil tank manholes (a, b) are respectively used as circle centers, corresponding circles are made by using D1 and D2 as radiuses, and two intersection points M1 and M2 are two estimated positions of the robot.
And 2, when the specific coordinate position of the robot position is obtained through calculation, combining the two estimated positions of the robot and finally determining the coordinate position of the robot through triangular calculation.
The specific calculation method in the step 2 comprises the following steps:
calculating the offset angle alpha of the robot position to the first tank manhole (a) by the known distance D between the two tank manholes (a, b) and the measured D1, D2:
calculating k in the graph1、k2The value of (c):
the coordinate of the robot position M is M (-K)1，K2)。
The distance sensor and the global camera are both of an intrinsically safe explosion-proof type, the power supply adopts an explosion-proof linear power supply, the distance sensor is a laser ranging device, an ultrasonic ranging device or an infrared ranging device, and the whole system circuit meets the requirement of ia-level intrinsic safety explosion-proof.
The specific embodiment, as shown in fig. 1 to 5:
referring to fig. 1, the invention provides an explosion-proof positioning method for an above-ground vertical oil storage tank cleaning robot, which comprises the following steps:
step 1, measuring distances D1 and D2 between the robot and two oil tank manholes (a and b) through a distance sensor, and thus obtaining two estimated positions M1 and M2 of the robot in an oil tank;
and 2, partitioning the oil tank area by adopting a global camera, dividing the oil tank area into four ABCD areas, establishing a coordinate system by taking the central point as a circle center, determining the area where the robot is located through a global image, and calculating to obtain the specific coordinate position of the robot position.
The distance measuring device and the global camera are both of intrinsically safe explosion-proof type, and the whole positioning system meets the intrinsically safe explosion-proof requirement under the oil tank environment.
In the step 1, the distances D1 and D2 between the robot and the two oil tank manholes (a and b) are measured through a distance sensor, whether data acquisition is correct or not is judged through comparison between D1+ D2 and D, if D1+ D2 is greater than or equal to D, the two manholes a and b are taken as circle centers, corresponding circles are made by taking D1 and D2 as radiuses, and two intersection points M1 and M2 are two estimated positions of the robot, which is referred to fig. 3a and 3 b.
In the step 2, the oil tank cleaning area is divided into four areas ABCD by the global camera, see fig. 2 in detail, and then the area where the robot is located is determined by the global image, and the coordinate position of the robot is finally determined by triangulation calculation, see fig. 4, and a method for calculating a specific coordinate position is described in the area a as an example.
And calculating the offset angle alpha of the robot position relative to the manhole a by the known distance D between the two manholes ab of the oil tank and the measured D1 and D2:
calculating k in the graph1、k2The value of (c):
the coordinate of the robot position M is M (-K)1，K2). The calculation method is similar when the robot position is in the remaining three areas.
The power supply adopts an explosion-proof linear power supply, the distance sensor can be used for laser ranging, ultrasonic ranging, infrared ranging and the like, and the whole system circuit meets the ia-level intrinsic safety explosion-proof requirement. The specific system structure is schematically shown in fig. 5.
Compared with the prior art, the positioning method provided by the invention has the following advantages and beneficial effects: the positioning technology combining the two-point distance measurement method and the image method overcomes the problem that multi-point positioning cannot be achieved under the requirement of the special environment structure of the overground vertical oil storage tank, the positioning precision is greatly improved, and meanwhile, the distance measurement device and the global camera are of intrinsically safe explosion-proof type, are safe and efficient, and have great practical value.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. An explosion-proof positioning method for an overground vertical oil storage tank cleaning robot is characterized by comprising the following steps:
step 1, measuring distances D1 and D2 between the robot and two oil tank manholes (a and b) through a distance sensor, and thus obtaining two estimated positions M1 and M2 of the robot in an oil tank;
step 2, partitioning the oil tank area by adopting a global camera, dividing the oil tank area into A, B, C, D four areas, establishing a coordinate system by taking a central point as a circle center, determining the area where the robot is located through a global image, and calculating to obtain the specific coordinate position of the robot position;
in the step 1, two oil tank manholes (a, b) are respectively used as circle centers, corresponding circles are made by using D1 and D2 as radiuses, and two intersection points M1 and M2 are two estimated positions of the robot;
in the step 2, when the specific coordinate position of the robot position is obtained through calculation, the coordinate position of the robot is finally determined through combining two estimated positions of the robot and performing triangular calculation;
the specific calculation method in the step 2 comprises the following steps:
calculating the offset angle alpha of the robot position to the first tank manhole (a) by the known distance D between the two tank manholes (a, b) and the measured D1, D2:
k is obtained by calculation1、k2The value of (c):
the coordinate of the robot position M is M (-K)1，K2)。
2. The explosion-proof positioning method for the above-ground vertical oil storage tank cleaning robot as claimed in claim 1, wherein the distance sensor and the global camera are both of intrinsically safe explosion-proof type, the power supply adopts an explosion-proof linear power supply, the distance sensor is a laser ranging device, an ultrasonic ranging device or an infrared ranging device, and the whole system circuit meets the requirement of intrinsically safe explosion-proof at ia level.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1164913C (en) * | 2002-04-02 | 2004-09-01 | 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 |
| CN102590216B (en) * | 2012-01-06 | 2014-07-23 | 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 |
| CN103377471B (en) * | 2012-04-16 | 2016-08-03 | 株式会社理光 | Object positioning method and device, optimum video camera are to determining method and apparatus |
| CN105689345B (en) * | 2016-03-22 | 2018-09-25 | 深圳市百事达卓越科技股份有限公司 | Explosion prevention robot for cleaning the storage and Oilcan cleaning work station |
| CN105842246B (en) * | 2016-05-27 | 2019-01-22 | 中国农业科学院农业信息研究所 | The method that farmland monitors system and monitors farmland |
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