CN114838660A - Storage tank capacity metering device and method using laser tracker and robot - Google Patents
Storage tank capacity metering device and method using laser tracker and robot Download PDFInfo
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- CN114838660A CN114838660A CN202210491377.6A CN202210491377A CN114838660A CN 114838660 A CN114838660 A CN 114838660A CN 202210491377 A CN202210491377 A CN 202210491377A CN 114838660 A CN114838660 A CN 114838660A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 230000009194 climbing Effects 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
- G01B11/285—Measuring arrangements characterised by the use of optical techniques for measuring areas using photoelectric detection means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a device and a method for measuring the capacity of a storage tank by using a laser tracker and a robot. Firstly, dividing a storage tank into a bottom part and an upper part, and measuring the bottom capacity of the storage tank by a capacity comparison method; the ground robot moves to the middle of the bottom of the tank, and the wall-climbing robot moves in a traversing manner on the inner wall surface of the upper part of the storage tank; meanwhile, the wall-climbing robot continuously measures the distance d from the vehicle body to the tank wall; the laser tracker continuously tracks the position of the target ball, and records a target ball position coordinate O every delta h height 2 Obtaining n rows of target ball position coordinates in total; combining the distance measurement result and the target ball mounting height d 0 Obtaining position coordinates of measuring points on the walls of the n rows of tanks;performing circumferential fitting by using the position coordinates of the n measuring points at each height to obtain the cross sectional area of the storage tank at each height; then, the capacity of each height in the tank is obtained, and finally, the total capacity of the storage tank is obtained. The invention has high automation degree, can effectively reduce the human input and has accurate and reliable calculation result.
Description
Technical Field
The invention belongs to the technical field of storage tank capacity measurement, and particularly relates to a storage tank capacity measuring device and method utilizing a laser tracker and a robot.
Background
The vertical metal tank (storage tank for short) is a cylindrical metal tank which is formed by welding a plurality of layers of ring plates (usually steel plates) and is vertically installed. The storage tank is not only a main metering device for carrying out petrochemical product trade settlement, but also an important strong inspection metering device for domestic and foreign petrochemical product trade settlement. The existing measuring method for the capacity of the storage tank mainly comprises a geometric measuring method, a capacity comparison method and a photoelectric measuring method. The geometric measurement method is used for calculating the capacity of the storage tank after measuring the geometric dimension of the storage tank through tools such as a steel ruler and the like, and is large in workload, complex in calculation process and low in automation degree; the capacity comparison method is characterized in that quantitative water is injected into the storage tank for multiple times, and a capacity meter is calculated through multi-point height-capacity data interpolation, so that the method is accurate, long in time consumption and capable of causing large amount of water resource pollution; the photoelectric measurement method measures the geometric dimension of the storage tank through electronic equipment such as a total station and the like, and then calculates the capacity of the storage tank.
Disclosure of Invention
The present invention is directed to a tank capacity measuring device and method using a laser tracker and a robot to solve the above-mentioned problems.
In order to solve the above technical problems, the present invention provides a tank capacity measuring device and method using a laser tracker and a robot, the specific technical solution of which is as follows:
a storage tank capacity metering device utilizing a laser tracker and a robot comprises a wall-climbing robot and a ground robot, wherein the wall-climbing robot performs traversing motion on the inner wall surface of the upper part of a storage tank, and the ground robot is used for continuously tracking the position of the wall-climbing robot; the wall climbing robot comprises a shell, wherein the bottom of the shell is provided with a plane magnet, the plane magnet is used for adsorbing the wall climbing robot on a tank wall, the front end of the bottom of the shell is provided with a universal wheel, the rear end of the bottom of the shell is provided with a magnetic wheel, the magnetic wheel has magnetism and can be adsorbed on the tank wall, the top of the shell is provided with a target ball, and the target ball is used for laser recognition; the bottom of the body of the ground robot is provided with wheels, the front of the body is provided with a camera which is used for positioning the ground robot, and the top of the body is provided with a laser tracker which is used for tracking the position of a target ball on the wall-climbing robot.
Furthermore, the bottom of the wall-climbing robot is provided with a laser range finder, and the laser range finder is used for measuring the distance from the vehicle body of the wall-climbing robot to the tank wall.
Furthermore, the target ball is arranged on a holder at the top of the shell and has direction adjusting capability with two degrees of freedom.
Further, ground robot organism top has the safety cover, has the laser tracker in the safety cover, and the safety cover can open the upper cover when the tracking and expose the laser tracker.
The invention also discloses a storage tank capacity metering method by utilizing the laser tracker and the robot, which comprises the following steps:
step 1: dividing the storage tank into a bottom part and an upper part, and measuring the bottom capacity Q of the storage tank by a capacity comparison method 0 ；
And 2, step: the ground robot carries a laser tracker and autonomously travels to any position with good view in the middle of the bottom of the tank;
and step 3: the wall climbing robot carries a target ball to perform traversing motion on the inner wall surface of the upper part of the storage tank;
and 4, step 4: simultaneously with the step 3, a laser range finder at the bottom of the wall-climbing robot continuously measures the distance d from the vehicle body to the tank wall;
and 5: simultaneously with the step 3, the laser tracker continuously tracks the positions of the target balls, and records a target ball position coordinate O every delta h height 2 Obtaining n rows of target ball position coordinates in total;
step 6: combining the distance d of the corresponding moment of the measured coordinates and the target ball safety of the wall-climbing robotHeight d of the package 0 Obtaining position coordinates of measuring points on the walls of the n rows of tanks through coordinate transformation;
and 7: performing circumferential fitting by using the position coordinates of the n measuring points at each height to obtain the cross-sectional area Si of the storage tank at each height;
and 8: volume V at each height in the tank i =S i Δ h, then the total capacity of the tank Q = Q is determined 0 +ΣV i 。
Further, the principle that the storage tank in the step 1 is divided into the bottom part and the upper part is that the upper part of the storage tank is not shielded or obstructed by in-tank structures and the like, so that the wall-climbing robot is favorable for passing and photoelectric distance measurement.
Further, the traversal path of step 3 should pass through n vertical lines on the tank wall at even intervals.
Further, the value of the delta h in the step 5 is not less than half of the height of the ring plate used by the tank, and the higher the requirement on the metering precision, the smaller the value of the delta h.
Further, the number of the vertical paths in the traversal path in the step 6 is a value of n, n is not less than 8, the larger the diameter of the storage tank is or the higher the measurement precision requirement is, and the larger the value of n is.
The device and the method for measuring the capacity of the storage tank by using the laser tracker and the robot have the following advantages: the invention has high automation degree, can effectively reduce the manpower input in the tank and reduce the safety risk of personnel; the data acquisition is reliable, and errors caused by poor tank wall reflection conditions can be avoided.
Drawings
FIG. 1 is a flow chart of the operation of the capacity metering method of the present invention;
FIG. 2 is a schematic diagram of the operation of the volumetric metering method of the present invention;
FIG. 3 is a side view of a system for the volumetric metering method of the present invention in operation;
FIG. 4 is a schematic structural diagram of the wall-climbing robot of the present invention;
fig. 5 is a schematic structural diagram of the ground robot of the present invention.
The notation in the figure is: 1. the wall climbing robot comprises a wall climbing robot and a traversing path, wherein the wall climbing robot comprises a tank wall body 3, a tank wall body 4, a ground robot 5, a tank bottom 6, a laser tracker 7, universal wheels 8, plane magnets 9, a shell 10, target balls 11, magnetic wheels 12, a protective cover 13, a camera and 14 wheels.
Detailed Description
For a better understanding of the objects, structure and function of the present invention, a tank capacity measuring apparatus and method using a laser tracker and a robot according to the present invention will be described in detail with reference to the accompanying drawings.
The invention relates to a tank capacity metering device using a laser tracker and a robot, which comprises a wall-climbing robot 1 and a ground robot 4. The wall-climbing robot 1 performs traversing motion on the inner wall surface of the upper part of the storage tank, and the ground robot 4 is used for continuously tracking the position of the wall-climbing robot 1.
As shown in fig. 4, the wall-climbing robot 1 includes a housing 9, a planar magnet 8 is provided at the bottom of the housing 9, the planar magnet 8 is used for attaching the wall-climbing robot 1 to the tank wall 3, a universal wheel 7 is provided at the front end of the bottom of the housing 9, the direction of the universal wheel can be changed, 2 magnetic wheels 11 are provided at the rear end of the housing, and the magnetic wheels 11 have magnetism and can be attached to the tank wall 3. The holder on the top of the shell 9 is provided with a target ball 10, the target ball 10 has the direction adjusting capability of two degrees of freedom, and the target ball 10 is used for laser identification. The bottom of the wall-climbing robot 1 is provided with a laser range finder which is used for measuring the distance from the vehicle body of the wall-climbing robot to the tank wall 3.
As shown in fig. 5, the ground robot 4 has wheels 14 at the bottom of the body, and a camera 13 at the front of the body, the camera 13 being used for positioning the ground robot 4. Above the machine body there is a protective cover 12, inside the protective cover 12 there is the laser tracker 6. The protective cover 12 can be opened to expose the laser tracker 6 when tracking. The laser tracker 6 is used to track the position of the target ball 10 on the wall climbing robot.
As shown in FIG. 1, the working flow of the tank capacity measuring method comprises the following steps:
step 1: dividing the storage tank into a bottom part and an upper part, and measuring the bottom capacity Q of the storage tank by a capacity comparison method 0 ；
The principle that the storage tank is divided into the bottom and the upper part is that the upper part of the storage tank is not shielded and obstructed by in-tank structures and the like, and the wall-climbing robot 1 is favorable for passing and photoelectric distance measurement.
Step 2: the ground robot 4 carries a laser tracker 6 and autonomously travels to any position with good view in the middle of the tank bottom 5;
and step 3: as shown in fig. 2, the wall-climbing robot 1 carries a target ball 10 to perform traversing motion on the inner wall surface of the upper part of the storage tank, and a traversing path 2 should pass through n vertical lines with uniform intervals on the tank wall;
and 4, step 4: simultaneously with the step 3, a laser range finder at the bottom of the wall-climbing robot 1 continuously measures the distance d from the vehicle body to the tank wall; because the tank wall is not strictly flat, the calculation of the distance d from the vehicle body to the tank wall can calculate the capacity of the uneven part of the tank wall, so that the calculation result is more accurate;
and 5: simultaneously with the step 3, the laser tracker 6 continuously tracks the position of the target ball 10 and records a target ball position coordinate O every delta h height 2 Obtaining n rows of target ball position coordinates in total;
the value of delta h is not less than half of the height of a ring plate used by the tank, the higher the requirement on the metering precision is, the smaller the value of delta h is;
step 6: as shown in fig. 3, the distance d of the measured coordinates corresponding to the time is combined with the installation height d of the target ball 10 of the wall-climbing robot 1 0 Obtaining position coordinates of measuring points on the n rows of tank walls through coordinate transformation;
the number of vertical paths in the traversal path is the value of n. In order to reduce the capacity metering error, the value of n is not less than 8, the larger the diameter of the storage tank is or the higher the metering precision requirement is, the larger the value of n is;
and 7: performing circumference fitting by using the position coordinates of the n measuring points at each height to obtain the cross-sectional area S of the storage tank at each height i ；
And 8: volume V at each height in the tank i =S i Δ h, then the total capacity of the tank Q = Q is determined 0 +ΣV i 。
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. The storage tank capacity metering device utilizing the laser tracker and the robot is characterized by comprising a wall-climbing robot (1) and a ground robot (4), wherein the wall-climbing robot (1) performs traversing motion on the inner wall surface of the upper part of a storage tank, and the ground robot (4) is used for continuously tracking the position of the wall-climbing robot (1); the wall climbing robot (1) comprises a shell (9), the bottom of the shell (9) is provided with a plane magnet (8), the plane magnet (8) is used for adsorbing the wall climbing robot (1) on a tank wall (3), the front end of the bottom of the shell (9) is provided with a universal wheel (7), the rear end of the bottom of the shell (9) is provided with a magnetic wheel (11), the magnetic wheel (11) is magnetic and can be adsorbed on the tank wall (3), the top of the shell (9) is provided with a target ball (10), and the target ball (10) is used for laser identification; wheel (14) have in the bottom of the organism of ground robot (4), and organism the place ahead has camera (13), camera (13) are used for the location of ground robot (4), and the organism top has laser tracker (6), laser tracker (6) are used for tracking the position of target ball (10) on the climbing robot.
2. The tank capacity measuring device using the laser tracker and the robot as claimed in claim 1, wherein the wall-climbing robot (1) has a laser range finder at the bottom thereof for measuring the distance from the vehicle body of the wall-climbing robot to the tank wall (3).
3. The tank capacity gauging device using laser tracker and robot according to claim 1, characterized in that said target balls (10) are mounted on a pan/tilt head on top of the housing (9) with two degrees of freedom direction adjustment capability.
4. The tank capacity measuring device using the laser tracker and the robot as claimed in claim 1, wherein the ground robot (4) has a protective cover (12) above a body thereof, the laser tracker (6) is provided in the protective cover (12), and the protective cover (12) is opened to expose the laser tracker (6) when tracking.
5. A method of tank volume gauging using the tank volume gauging device according to any one of the claims 1-4, characterized by the steps of:
step 1: dividing the storage tank into a bottom part and an upper part, and measuring the bottom capacity Q of the storage tank by a capacity comparison method 0 ；
Step 2: the ground robot (4) carries a laser tracker (6) and autonomously moves to any position with good view in the middle of the tank bottom (5);
and step 3: the wall climbing robot (1) carries a target ball (10) to do traversing motion on the inner wall surface of the upper part of the storage tank;
and 4, step 4: simultaneously with the step 3, a laser range finder at the bottom of the wall-climbing robot (1) continuously measures the distance d from the vehicle body to the tank wall;
and 5: simultaneously with the step 3, the laser tracker (6) continuously tracks the position of the target ball (10), and records a target ball position coordinate O every delta h height 2 Obtaining n rows of target ball position coordinates in total;
step 6: combining the distance d of the corresponding moment of the measured coordinates and the installation height d of the target ball (10) of the wall-climbing robot (1) 0 Obtaining position coordinates of measuring points on the walls of the n rows of tanks through coordinate transformation;
and 7: performing circumferential fitting by using the position coordinates of the n measuring points at each height to obtain the cross-sectional area Si of the storage tank at each height;
and 8: volume V at each height in the tank i =S i Δ h, then the total capacity of the tank Q = Q is determined 0 +ΣV i 。
6. The tank capacity metering device of claim 5, wherein the principle of dividing the tank of the step (1) into the bottom part and the upper part is that the upper part of the tank is free from shelters and obstacles such as in-tank structures, and the like, thereby facilitating the passage of the wall climbing robot (1) and the photoelectric distance measurement.
7. The method for tank gauging according to claim 5, wherein said traversal path (2) of step 3 should pass through n evenly spaced vertical lines in the tank wall.
8. The method for measuring the capacity of the storage tank by using the tank capacity measuring device according to claim 5, wherein the value of Δ h in the step 5 is not less than half of the height of the ring plate used by the tank, and the higher the measuring precision requirement is, the smaller the value of Δ h is.
9. The method for measuring the capacity of the storage tank by using the tank capacity measuring device according to claim 7, wherein the number of the vertical paths in the traversal paths in the step 6 is a value of n, n is not less than 8, and the larger the diameter of the storage tank is or the higher the measuring accuracy requirement is, the larger the value of n is.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210491377.6A CN114838660A (en) | 2022-05-07 | 2022-05-07 | Storage tank capacity metering device and method using laser tracker and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210491377.6A CN114838660A (en) | 2022-05-07 | 2022-05-07 | Storage tank capacity metering device and method using laser tracker and robot |
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| CN114838660A true CN114838660A (en) | 2022-08-02 |
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| CN202210491377.6A Pending CN114838660A (en) | 2022-05-07 | 2022-05-07 | Storage tank capacity metering device and method using laser tracker and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115435764A (en) * | 2022-11-09 | 2022-12-06 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | A sucking disc formula walking robot for scanning of laser tracker target spot |
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| CN115435764B (en) * | 2022-11-09 | 2022-12-30 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | A sucking disc formula walking robot for scanning of laser tracker target spot |
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