An autonomous inspection method for large storage tanks based on quadrotor drones

A technology of quadrotor UAV and large storage tank, which is applied in the directions of instruments, three-dimensional position/channel control, control/regulation system, etc., and can solve the problem of autonomous inspection, low detection efficiency and detection cost of quadrotor UAV. High-level problems, to achieve the effect of eliminating potential safety hazards, low detection cost, and high detection efficiency

CN110362100BActive Publication Date: 2022-02-01WUHAN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-02-01

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Abstract

The invention relates to an autonomous inspection method for large storage tanks based on a quadrotor drone. The technical solution is: fix the ultrasonic flaw detector on the quadrotor UAV, input the geometric parameters of the large storage tank to be inspected in the ground host computer of the autonomous inspection system based on the quadrotor UAV, and plan according to the geometric parameters The inspection path of the quadrotor UAV with full coverage on the surface of the large storage tank, and then use the learning-based method to design the controller of the quadrotor UAV, so that the quadrotor UAV will follow the planned path to the large Carry out autonomous inspection on the surface of the storage tank, record the detection data and the location of hidden danger points in real time, and send the detection results of the large storage tank to the ground host computer of the autonomous inspection system based on the quadrotor UAV, that is, the quadrotor drone Human-machine autonomous inspection of large storage tanks. The invention has the characteristics of large detection range, high detection efficiency and low detection cost.
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Description

technical field

[0001] The invention belongs to the technical field of autonomous inspection methods for large storage tanks. In particular, it relates to an autonomous inspection method for large storage tanks based on a quadrotor UAV. Background technique

[0002] As an important equipment in petrochemical industry, large storage tanks are mainly used to store crude oil and refined oil products. They are key facilities for my country to implement strategic reserves and realize macro-control. This type of large storage tank is a vertical cylinder, which is also used in the storage of chemical raw materials and edible oil. It is generally welded by steel plates. The diameter of the tank ranges from 20m to 50m, or even 100m, and the height of the tank varies from 15m to 20m.

[0003] Usually, the surface quality of such facilities is inspected by the construction unit and the supervisory unit during construction, including external dimensions, steel plate thickness, anti-cor...

Examples

Embodiment 1

[0165] An autonomous inspection method for large storage tanks based on quadrotor drones. The geometric parameters of the large storage tank described in this embodiment:

[0166] The large storage tanks such as figure 1 As shown, the shape of the large storage tank body is a cylinder, and the shape of the filling of the large storage tank is a spherical body. The large storage tank: the diameter of the tank body is 30m, the height of the tank body is 14m, the radius of the spherical surface of the filling roof is R=17.32m, and the height of the curved surface of the tank top is H=8.66m.

[0167] The tank wall of the large storage tank has no obstacles.

[0168] This embodiment is an autonomous inspection method for an obstacle-free flight area on the wall of a large storage tank based on a quadrotor UAV. The steps of the autonomous inspection method are:

[0169] Step 1. Autonomous inspection system based on quadrotor UAV

[0170] The autonomous inspection system based on...

Embodiment 2

[0315] An autonomous inspection method for large storage tanks based on quadrotor drones. The geometric parameters of the large storage tank described in this embodiment:

[0316] The large storage tanks such as figure 2 As shown, the shape of the large storage tank body is a cylinder, and the shape of the filling of the large storage tank is a spherical body. The large storage tank: the diameter of the tank body is 30m, the height of the tank body is 14m, the radius of the spherical surface of the filling roof is R=17.32m, and the height of the curved surface of the tank top is H=8.66m.

[0317] There is an obstruction on the wall of the large storage tank.

[0318] This embodiment is an autonomous inspection method for an obstacle-free flight area on the wall of a large storage tank based on a quadrotor UAV. The steps of the autonomous inspection method are:

[0319] Step 1. Autonomous inspection system based on quadrotor UAV

[0320] The autonomous inspection system ba...