PDF下载

[1]康叶伟吴长访郭正虹.储罐底板在线检测机器人定位系统开发及性能测试[J].油气储运,2025,44(04):1-12.
　KANG Yewei WU Changfang GUO Zhenghong.Development and Performance Testingof Robotic Positioning System forTank Floor In-service Inspection[J].Oil & Gas Storage and Transportation,2025,44(04):1-12.

点击复制

储罐底板在线检测机器人定位系统开发及性能测试

《油气储运》[ISSN:1000-8241/CN:13-1093/TE] 卷: 44 期数: 2025年04期页码: 1-12 栏目: 出版日期: 2025-04-25

Title:: Development and Performance Testingof Robotic Positioning System forTank Floor In-service Inspection

作者:: 康叶伟吴长访郭正虹

Author(s):: KANG Yewei WU Changfang GUO Zhenghong

关键词:: 储罐; 底板; 机器人; 在线检测; 定位; IMU; 声波; 信标

Keywords:: storage tank; tank floor; robot; in-service inspection; positioning; IMU; sound wave; beacon

分类号:: TE832

文献标志码:: A

摘要:: 【目的】精确的定位能力对于储罐底板在线检测机器人的避障、缺陷量化及自主导航功能的实现极为重要。在金属储罐环境下实现机器人的精确定位，不仅需要定位原理上的合理性，更需要在工程实践上的可行性。【方法】利用机器人携带的2个声波发射换能器（信标）主动发射声波，通过储罐外壁布设的多个声波接收换能器，基于声波到达时差的双曲线定位原理，实现储罐底板检测机器人的定位，进而确定缺陷的位置。在实现系统定位时，为了满足油气环境下的安全运行，定位信标、罐壁换能器进行了防爆设计；在定位算法方面，为了避免经验声速对定位精度的影响，通过声速场估计算法解决声速的合理取值问题；为了进一步提高时差计算的精度，通过广义互相关方法进行声波时延估计；针对信标靠近罐壁时声波混响会导致时延计算不准确，从而导致定位结果偏差较大的问题，引入惯性测量单元（Inertial Measuring Unit, IMU），通过声波定位系统与IMU的融合，提高定位结果的可靠性，同时提升机器人的整体定位精度。【结果】物理试验验证与数值模拟结果表明，在多措施补偿的情况下，开发实现的定位系统位置误差不大于10 cm、方向角误差小于5°，满足储罐环境下机器人精确定位的需求。【结论】基于声波到达时差的定位系统，在辅助声速测量以及融合IMU的情况下，能够在圆柱体钢制储罐环境下实现可靠的精确定位，可为检测机器人的检测自动化与智能化功能实现提供有力支撑。

Abstract:: [Objective]Accurate positioning capability is very important for the realization of obstacle avoidance, defect quantification and autonomous navigation functions of the tank floor in-service inspection robot. How to realize the precise positioning in the metal storage tank environment requires not only the feasibility of positioning principle, but also the reasonable design and realization of engineering practice. At present, the referenced practice is extremely limited, which is not conducive to the development of relevant robot technology in China. [Method]Two acoustic emission transducers (beacons) carried by the robot were used to actively emit sound waves, and a plurality of acoustic wave receiving transducers arranged on the outer wall of the storage tank were used to realize the accurate positioning of the storage tank floor inspection robot based on the hyperbolic positioning principle of the time difference of sound wave arrival, and then the position of the defect was determined. In order to meet the safety requirements of the oil and gas environment, the positioning beacon and tank wall transducer are designed with explosion-proof consideration. In terms of the implementation of the positioning algorithm, in order to avoid the influence of a single wave velocity on the positioning accuracy, the sound velocity field estimation algorithm is used to solve the problem of determining the sound velocity. In order to further improve the accuracy of time difference calculation, the generalized cross-correlation method is used to estimate the acoustic wave delay. In view of the problem that when the beacon is close to the tank wall, the sonic reverberation will lead to inaccurate calculation of the time difference, which will lead to a large deviation in the positioning result. To address this issue, an inertial measurement unit (IMU) is introduced to improve the reliability of positioning results through the integration of the acoustic positioning system and IMU, while also improving the overall positioning accuracy of the robot. [Results] The results of physical test verification and numerical simulation show that the positioning error of the developed explosion-proof positioning system is ≤10cm, and the direction angle error is <5°, which meets the needs of the robot for accurate positioning in the storage tank environment. [Conclusion] The positioning system based on the time difference of sound wave arrival can achieve reliable and accurate positioning in the cylindrical steel storage tanks with the help of sound velocity measurement and IMU fusion, so as to provide strong support for the detection automation and intelligent function realization of the inspection robot.

相似文献/References:

[1]陈健峰,税碧垣,沈煜欣,等.储罐与工艺管道的完整性管理[J].油气储运,2011,30(04):259.[doi:10.6047/j.issn.1000-8241.2011.04.005]
　Chen Jianfeng,Shui Biyuan,Shen Yuxin,et al.Integrity management of storage tank and process pipeline[J].Oil & Gas Storage and Transportation,2011,30(04):259.[doi:10.6047/j.issn.1000-8241.2011.04.005]
[2]朱鸿梅,孙恒,刘宏伟.大型 LNG 储罐角部绝热结构的温度场[J].油气储运,2011,30(01):37.[doi:10.6047/j.issn.1000-8241.2011.01.010]
　Zhu Hongmei,Sun Heng,Liu Hongwei.Temperature field on corner adiabatic structure of large-scale LNG storage tank[J].Oil & Gas Storage and Transportation,2011,30(04):37.[doi:10.6047/j.issn.1000-8241.2011.01.010]
[3]黄奎.含固重污油储罐运行方案优化[J].油气储运,2011,30(02):144.[doi:10.6047/j.issn.1000-8241.2011.02.017]
　Huang Kui.Operation scheme optimization of tank containing solid and heavy dirty oil[J].Oil & Gas Storage and Transportation,2011,30(04):144.[doi:10.6047/j.issn.1000-8241.2011.02.017]
[4]计弘名,王孝委.LPG储存系统的安全设计[J].油气储运,2010,29(1):72.[doi:10.6047/j.issn.1000-8241.2010.01.022]
　Ji Hongming,Wang Xiaowei.Safety Design of LPG Storage System[J].Oil & Gas Storage and Transportation,2010,29(04):72.[doi:10.6047/j.issn.1000-8241.2010.01.022]
[5]王彦,信鹏,高萃仙,等.LNG接收站蒸发气的发生与气量计算[J].油气储运,2010,29(5):363.[doi:10.6047/j.issn.1000-8241.2010.05.013]
　Wang Van,Xin Peng,Gao Cuixian.Generation of Vapour and Vapour Volurne Calculation for LNG Receiving Station[J].Oil & Gas Storage and Transportation,2010,29(04):363.[doi:10.6047/j.issn.1000-8241.2010.05.013]
[6]赵祥迪,袁纪武,翟良云,等.基于CFD 的液态烃罐区泄漏爆炸事故后果模拟[J].油气储运,2011,30(08):634.[doi:10.6047/j.issn.1000-8241.2011.08.009]
　Zhao Xiangdi,Yuan Jiwu,Zhai Liangyun,et al.Leakage explosion consequence simulation based on CFD for liquid hydrocarbon tankfarms[J].Oil & Gas Storage and Transportation,2011,30(04):634.[doi:10.6047/j.issn.1000-8241.2011.08.009]
[7]朱本廷,吴明,陈军.基于灰色系统理论改进模型的储罐腐蚀速率预测[J].油气储运,2010,29(9):679.[doi:10.6047/j.issn.1000-8241.2010.09.011]
　Zhu Benting,Wu Ming,Chen Jun.Corrosion Rate Prediction of Tank Based on Modified Grey System Theory Model[J].Oil & Gas Storage and Transportation,2010,29(04):679.[doi:10.6047/j.issn.1000-8241.2010.09.011]
[8]刘玉玲,孙建松,彭国华,等.海水试压储罐钢板防腐蚀技术应用实践[J].油气储运,2009,28(11):80.[doi:10.6047/j.issn.1000-8241.2009.11.023]
　LIU Yuling,SUN Jiansong.Application of Seawater Pressure Testing Technique on Oil Tanks and Corrosion Control[J].Oil & Gas Storage and Transportation,2009,28(04):80.[doi:10.6047/j.issn.1000-8241.2009.11.023]
[9]赵彦修,闫河.大型储罐检测标准对比分析[J].油气储运,2010,29(12):929.[doi:10.6047/j.issn.1000-8241.2010.12.016]
　Zhao Yanxiu,Yan He.Comparative Analysis on Inspection Standards for Large-scale Storage Tank[J].Oil & Gas Storage and Transportation,2010,29(04):929.[doi:10.6047/j.issn.1000-8241.2010.12.016]
[10]张运华,殷孟连,王帅.控制储油温度延长成品油的储存期[J].油气储运,2010,29(9):716.[doi:10.6047/j.issn.1000-8241.2010.09.023]
　Zhang Yunhua,Yin Menglian,Wang Shuai.Temperature Control to Extend Storage Period of Products[J].Oil & Gas Storage and Transportation,2010,29(04):716.[doi:10.6047/j.issn.1000-8241.2010.09.023]
[11]林明春,辛爱华,高金杰,等.罐底声发射在线检测及其可靠性验证[J].油气储运,2010,29(10):776.[doi:10.6047/j.issn.1000-8241.2010.10.016]
　Lin Mingchun,Xin Aihua,Gao Jinjie.Acoustic Emission In-service Inspection for Tank Bottom and Its Reliability Testing[J].Oil & Gas Storage and Transportation,2010,29(04):776.[doi:10.6047/j.issn.1000-8241.2010.10.016]
[12]梁宏,刘书梅,肖容鸽.储罐底板阴极保护电位分布不均匀性分析[J].油气储运,2004,23(4):39.[doi:10.6047/j.issn.1000-8241.2004.04.011]
　LIANG Hong,LIU Shumei.Analysis on Distribution Inhomogeneity of Cathodic Protection Potential for Bottom Plate of Oil Tank[J].Oil & Gas Storage and Transportation,2004,23(04):39.[doi:10.6047/j.issn.1000-8241.2004.04.011]
[13]冯洪臣,毕汝温.已建储罐底板的阴极保护系统[J].油气储运,2000,19(4):44.[doi:10.6047/j.issn.1000-8241.2000.04.013]
　Feng Hongchen,Bi Ruwen.How to Protect Bottom Plate of Tank with CP System[J].Oil & Gas Storage and Transportation,2000,19(04):44.[doi:10.6047/j.issn.1000-8241.2000.04.013]

更新日期/Last Update: 2024-11-13