Normal pressure storage tank risk detection device and method

Abstract

The application discloses a kind of atmospheric storage tank risk detection device and method, the device includes front detection terminal and background control terminal;The front detection terminal includes walking mechanism and is set on walking mechanism automatic detection mechanism, detection control module;The automatic detection mechanism includes detector and lifting drive mechanism;The detector includes detection probe, and the detection probe is towards downwards;The drive end of the lifting drive mechanism is connected with the detection probe;The detection control module is electrically connected with detector, lifting drive mechanism, walking mechanism respectively;The background control terminal is connected with the detection control module by wireless network, and the background control terminal includes background processor, display and data transmitter.The application can automatically carry out risk detection to atmospheric storage tank, without manual field operation, and it is beneficial to improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a storage tank detection device and method, in particular to a normal pressure storage tank risk detection device and method. BACKGROUND

[0002] The normal pressure storage tank is a special device with danger in the petrochemical industry. The storage medium of the normal pressure storage tank mostly has the characteristics of flammability, explosiveness or toxicity, etc. Meanwhile, the failure probability of the storage tank is greatly increased due to the influence of the structure of the storage tank, operation conditions, insufficient experience of management personnel and loose management, etc. Once leakage occurs, it may cause disastrous accidents such as fire, explosion and poisoning, resulting in serious environmental pollution and causing great loss and harm to the society, economy, production and people's life and property.

[0003] After a long time of use, the oil may cause corrosion to the inner bottom surface of the storage tank, so it is necessary to detect the thickness of the inner bottom surface of the storage tank regularly. The existing management of the normal pressure storage tank has not been included in the track of legal management, and the number of the storage tanks is large, so it is difficult to realize the inspection of each tank. In order to not affect the production, each enterprise adopts the way of sampling inspection, and completely relies on manual detection instrument to comprehensively detect the sampled storage tank, which is time-consuming and laborious, and the work efficiency is relatively low. SUMMARY

[0004] The present application aims to overcome the above-mentioned problems, and provides a normal pressure storage tank risk detection device, which can automatically detect the risk of the normal pressure storage tank without manual on-site operation, saving time and effort, and being beneficial to improve the work efficiency.

[0005] Another object of the present application is to provide a normal pressure storage tank risk detection method.

[0006] The object of the present application is realized by the following technical scheme:

[0007] A normal pressure storage tank risk detection device, comprising a front detection terminal and a background control terminal;

[0008] The front detection terminal comprises a walking mechanism, an automatic detection mechanism and a detection control module arranged on the walking mechanism; the automatic detection mechanism comprises a detection instrument and a lifting driving mechanism; the detection instrument comprises a detection probe, which faces downward; the driving end of the lifting driving mechanism is connected with the detection probe; the detection control module is electrically connected with the detection instrument, the lifting driving mechanism and the walking mechanism respectively;

[0009] The background control terminal is connected with the detection control module through a wireless network, and the background control terminal comprises a background processor, a display and a data transmitter.

[0010] The working principle of the above-mentioned normal pressure storage tank risk detection device is as follows:

[0011] In work, detection parameters are set on the background control terminal, the front detection terminal is put into the tank to be detected, the background control terminal sends a start work instruction to the front detection terminal through a data transmitter, the detection control module of the front detection terminal receives the work instruction and sends corresponding work signals to the detector, the lifting driving mechanism and the walking mechanism, the detection probe of the detector is driven to move downward by a set distance through the lifting driving mechanism, so that the detection probe approaches the detection surface of the tank, the detector moves on the detection surface of the tank through the walking mechanism, the detection surface of the tank is detected in real time through the detection probe of the detector during the movement, the detection data are transmitted to the background control terminal in real time through the detection control module, and the detection data are displayed in real time by the display of the background control terminal and viewed in real time by the staff, so that the internal detection of the tank is completed.

[0012] In one preferred scheme of the application, the detection probe is provided in plurality, and the plurality of detection probes are arranged side by side, so that the detection efficiency can be multiplied.

[0013] Further, the automatic detection mechanism further comprises a profiling telescopic mechanism, which comprises a telescopic moving plate, an elastic assembly and a telescopic driving mechanism; the telescopic moving plate is connected with the driving end of the telescopic driving mechanism; the driving direction of the telescopic driving mechanism is perpendicular to the driving direction of the lifting driving mechanism.

[0014] The elastic assembly comprises a middle mounting block, a telescopic spring and a telescopic guide rod, the detection probe is connected to the middle mounting block; one end of the telescopic guide rod is fixed to the middle mounting block, the other end of the telescopic guide rod is slidably arranged through the telescopic moving plate and is limited by the limiting structure; the telescopic spring is sleeved on the telescopic guide rod, and two ends of the telescopic spring are respectively abutted against the middle mounting block and the telescopic moving plate. In actual operation, since the cylindrical storage tank has an arc-shaped side surface, and the plurality of detection probes are arranged side by side (under the action of no external force), when the plurality of detection probes arranged side by side are close to the arc-shaped side surface of the storage tank, a fan-shaped dead angle is formed between the plurality of detection probes and the arc-shaped side surface, the position of the dead angle is difficult to detect, and a safety hazard exists. Therefore, through the above structure, when the plurality of detection probes arranged side by side are close to the arc-shaped side surface of the storage tank, the telescopic moving plate is driven by the telescopic driving mechanism to move forward, so that the middle mounting block and the detection probe move forward synchronously. Since the front is the arc-shaped side surface, the detection probes at both ends are in contact with the arc-shaped side surface first and stop, and the detection probe in the middle continues to move forward. At this time, the middle mounting blocks at both ends compress the telescopic spring, and the advancement of the detection probe in the middle is obtained by compressing the telescopic spring. Therefore, the position of the dead angle is detected in the process of advancement. The structure is very ingenious. According to the above operation, from outside to inside, the detection probes are in contact with the arc-shaped side surface in turn, until the detection probe in the middle is also attached to the arc-shaped side surface of the storage tank, so that the detection of the dead angle is completed.

[0015] Further, the telescopic driving mechanism comprises a telescopic driving motor and a telescopic transmission assembly, the telescopic transmission assembly comprises a lead screw and a lead screw nut, and the lead screw nut is fixedly connected with the telescopic moving plate.

[0016] Further, the lifting driving mechanism comprises a pressing rod, a reset assembly and a pressing driving element.

[0017] The pressing rod is horizontally arranged, and the extending direction of the pressing rod is parallel to the arrangement direction of the plurality of detection probes; the pressing rod is arranged above the probe mounting member and is fixedly connected with the driving end of the pressing driving element; and the detection probe is fixedly arranged on the probe mounting member.

[0018] The pressing driving element is fixedly arranged on the telescopic moving plate.

[0019] The reset assembly comprises a reset guide rod and a reset spring, the lower end of the reset guide rod is fixed on the middle mounting block, the upper end of the reset guide rod is slidably arranged through the probe mounting member and is limited by the limiting structure; the reset spring is sleeved on the reset guide rod, and the two ends of the reset spring are respectively abutted against the middle mounting block and the probe mounting member. Through the above structure, under the driving of the downward pressing driving element, the downward pressing rod pushes the probe mounting member downward, so that the detection probe is lowered to approach the detection surface of the storage tank, at this time, the reset spring is compressed to store energy; when the downward pressing rod is reset upward, the reset spring restores the deformation to release the potential energy, so as to drive the probe mounting member and the detection probe to reset upward.

[0020] In one preferred embodiment of the application, the walking mechanism comprises walking wheels, a walking drive motor and a walking transmission assembly; the walking wheels are provided in two and are rotatably connected to the vehicle frame; the walking drive motor is arranged on the vehicle frame; the walking transmission assembly comprises transmission belts and transmission pulleys, the transmission pulleys are provided in three, two of which are coaxially fixedly connected with the two walking wheels, and the other transmission pulley is fixedly connected with the output shaft of the walking drive motor.

[0021] The walking mechanism is provided in two groups, and the two groups of walking mechanisms are symmetrically arranged.

[0022] In one preferred embodiment of the application, the front detection terminal further comprises a rotating drive mechanism for driving the automatic detection mechanism to rotate, the rotating drive mechanism comprises a rotating mounting seat and a rotating drive motor; the automatic detection mechanism is arranged on the rotating mounting seat; the rotating drive motor is arranged on the vehicle frame, and the output shaft of the rotating drive motor is connected with the rotating mounting seat. Through the above structure, when the automatic detection mechanism moves from one end of the storage tank to the other end, at this time, the detection probe is located on the side away from the other end of the storage tank, and thus cannot detect the position behind the detection probe; under the driving of the rotating drive motor, the entire automatic detection mechanism rotates by 180°, changing the orientation of the detection probe, so as to detect the bottom surface of the other end of the storage tank in place.

[0023] A method for detecting risks of atmospheric storage tanks, comprising the following steps:

[0024] Setting detection parameters on the background control terminal;

[0025] Placing the front detection terminal into the storage tank to be detected;

[0026] Sending a start working instruction to the front detection terminal through the data transmitter of the background control terminal; after receiving the working instruction, the detection control module of the front detection terminal respectively sends corresponding working signals to the detector, the lifting drive mechanism and the walking mechanism;

[0027] The detection probe of the detector is driven to move downwards by a lifting driving mechanism by a set distance, so that the detection probe approaches the detection surface of the storage tank;

[0028] The detector is driven to move on the detection surface of the storage tank by a walking mechanism, and in the moving process, the detection surface of the storage tank is detected in real time by the detection probe of the detector;

[0029] The detection data is transmitted to the background control terminal in real time by the detection control module, and is displayed in real time by the display of the background control terminal, and is viewed in real time by the staff, so that the internal detection of the storage tank is completed.

[0030] Further, when the plurality of detection probes arranged side by side approach the arc-shaped side surface of the storage tank, the telescopic moving plate is driven to move forward by the telescopic driving mechanism, so that the middle mounting block and the detection probe move forward synchronously; the detection probes at both ends first contact the arc-shaped side surface and stop, and the detection probe in the middle continues to move forward, at this time, the middle mounting blocks at both ends compress the telescopic springs, and the forward movement of the detection probe in the middle is replaced by the compression of the telescopic springs, and the dead angle position is detected in the process of forward movement;

[0031] According to the above operation, from outside to inside, the detection probes are in contact with the arc-shaped side surface in turn, until the detection probe in the middle is also attached to the arc-shaped side surface of the storage tank, so that the detection of the dead angle position is completed.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] The detection device of the present application can replace manual entry into the storage tank and automatically complete risk detection by setting a self-propelled front detection terminal, and can transmit detection data to a background control terminal in real time, display the detection data in real time by a display of the background control terminal, and view the detection data in real time by staff, without the need for manual on-site operation, saving time and effort, and being conducive to improving work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a perspective view of the front detection terminal of the atmospheric pressure storage tank risk detection device of the present application.

[0035] Figure 2 It is a perspective view of the automatic detection mechanism and the rotating mounting seat of the present application.

[0036] Figure 3 It is a front view of the automatic detection mechanism and the rotating mounting seat of the present application.

[0037] Figure 4 It is a perspective view of the automatic detection mechanism of the present application.

[0038] Figure 5 It is a top view of the automatic detection mechanism of the present application in a working state. DETAILED DESCRIPTION

[0039] In order for those skilled in the art to have a better understanding of the technical solutions of the present application, the present application will be further described below in conjunction with the embodiments and drawings, but the embodiments of the present application are not limited thereto.

[0040] Referring to Figure 1 The atmospheric storage tank risk detection device of the present embodiment comprises a front detection terminal and a background control terminal; the front detection terminal comprises a walking mechanism and an automatic detection mechanism and a detection control module arranged on the walking mechanism; the automatic detection mechanism comprises a detector and a lifting driving mechanism; the detector comprises a detection probe 1 which faces downward; the driving end of the lifting driving mechanism is connected with the detection probe 1; the detection control module is electrically connected with the detector, the lifting driving mechanism and the walking mechanism respectively; specifically, the detection control module can adopt an existing controller.

[0041] Referring to Figure 1 The detection probe 1 is provided in plurality, and the plurality of detection probes 1 are arranged side by side, so that the detection efficiency can be multiplied.

[0042] Referring to Figures 2-5The automatic detection mechanism further comprises a profiling telescopic mechanism, which comprises a telescopic moving plate 2, an elastic assembly and a telescopic driving mechanism; the telescopic moving plate 2 is connected with a driving end of the telescopic driving mechanism; the driving direction of the telescopic driving mechanism is perpendicular to the driving direction of the lifting driving mechanism; the elastic assembly comprises an intermediate mounting block 3, a telescopic spring 4 and a telescopic guide rod, the detection probe 1 is connected on the intermediate mounting block 3; one end of the telescopic guide rod is fixed on the intermediate mounting block 3, and the other end of the telescopic guide rod is slidably through the telescopic moving plate 2 and is limited by a limiting structure; the telescopic spring 4 is sleeved on the telescopic guide rod, and both ends of the telescopic spring 4 are respectively abutted against the intermediate mounting block 3 and the telescopic moving plate 2. In actual operation, since the cylindrical storage tank has an arc-shaped side surface, and a plurality of detection probes 1 are arranged side by side (under the action of no external force), when the plurality of side-by-side detection probes 1 approach the arc-shaped side surface of the storage tank, a fan-shaped dead angle is formed between the arc-shaped side surface and the plurality of side-by-side detection probes 1, it is difficult to detect the position of the dead angle, and there is a safety hazard. Therefore, through the above structure, when the plurality of side-by-side detection probes 1 approach the arc-shaped side surface of the storage tank, the telescopic moving plate 2 is driven by the telescopic driving mechanism to move forward, so that the intermediate mounting block 3 and the detection probe 1 move forward synchronously, since the front is the arc-shaped side surface, the detection probes 1 located at both ends first contact the arc-shaped side surface and stop, while the detection probes 1 located in the middle continue to move forward, at this time, the intermediate mounting blocks 3 at both ends compress the telescopic spring 4, and the advancement of the detection probes 1 in the middle is obtained by compressing the telescopic spring 4, so that the dead angle position is detected in the advancement process, and the structure is very ingenious. According to the above operation, from the outside to the inside, the detection probes 1 are in contact with the arc-shaped side surface in turn, until the detection probe 1 located in the middle is also attached to the arc-shaped side surface of the storage tank, so as to complete the detection of the dead angle.

[0043] Further, the telescopic driving mechanism comprises a telescopic driving motor 6 and a telescopic transmission assembly, the telescopic transmission assembly comprises a lead screw and a lead screw nut, and the lead screw nut is fixedly connected with the telescopic moving plate 2.

[0044] Referring to Figures 2-5The lifting driving mechanism comprises a pressing-down rod 7, a reset assembly and a pressing-down driving element 8 (a pneumatic cylinder or an electromagnet can be used) ; the pressing-down rod 7 is horizontally arranged, and the extending direction of the pressing-down rod 7 is parallel to the arrangement direction of the plurality of detection probes 1; the pressing-down rod 7 is located above the probe mounting member 9 and is fixedly connected with the driving end of the pressing-down driving element 8; the detection probes 1 are fixedly arranged on the probe mounting member 9; the pressing-down driving element 8 is fixedly arranged on the telescopic moving plate 2; the reset assembly comprises a reset guide rod and a reset spring 11; the lower end of the reset guide rod is fixed on the middle mounting block 3, the upper end of the reset guide rod is slidably arranged through the probe mounting member 9 and is limited by a limiting structure; the reset spring 11 is sleeved on the reset guide rod, and the two ends of the reset spring 11 are abuttingly arranged on the middle mounting block 3 and the probe mounting member 9 respectively. Through the above structure, under the driving of the pressing-down driving element 8, the pressing-down rod 7 pushes down the probe mounting member 9, so that the detection probes 1 are lowered to approach the detection surface of the storage tank, at this time, the reset spring 11 is compressed to store energy; when the pressing-down rod 7 is reset upward, the reset spring 11 restores the deformation to release the potential energy, so as to drive the probe mounting member 9 and the detection probes 1 to reset upward.

[0045] Referring to Figure 1 The walking mechanism comprises walking wheels 12, a walking driving motor 13 and a walking transmission assembly; the walking wheels 12 are provided with two and are rotationally connected on the vehicle frame 14 respectively; the walking driving motor 13 is arranged on the vehicle frame 14; the walking transmission assembly comprises transmission belts 15 and transmission pulleys 16, the transmission pulleys 16 are provided with three, two of the transmission pulleys 16 are coaxially fixedly connected with the two walking wheels 12, and the other transmission pulley 16 is fixedly connected with the output shaft of the walking driving motor 13; the walking mechanism is provided with two groups, and the two groups of walking mechanisms are symmetrically arranged.

[0046] Referring to Figures 1-3 The front detection terminal further comprises a rotating driving mechanism for driving the automatic detection mechanism to rotate, the rotating driving mechanism comprises a rotating mounting seat 17 and a rotating driving motor 18; the automatic detection mechanism is arranged on the rotating mounting seat 17; the rotating driving motor 18 is arranged on the vehicle frame 14, and the output shaft of the rotating driving motor 18 is connected with the rotating mounting seat 17. Through the above structure, when the automatic detection mechanism moves from one end of the storage tank to the other end, at this time, the detection probes 1 are located on the side far away from the other end of the storage tank, and thus the position behind the detection probes 1 cannot be detected; under the driving of the rotating driving motor 18, the whole automatic detection mechanism rotates by 180°, and the orientation of the detection probes 1 is changed, so that the bottom surface of the other end of the storage tank can be detected in place.

[0047] Specifically, the background control terminal (using a mobile tablet computer or the like) of the embodiment is connected with the detection control module through a wireless network, and the background control terminal includes a background processor, a display, and a data transmitter.

[0048] Referring to Figures 1-5 The atmospheric tank risk detection method of the embodiment includes the following steps:

[0049] The detection parameters are set on the background control terminal, including the walking speed, the lifting distance, and the internal size parameters of the tank, and the like.

[0050] The front detection terminal is placed in the tank to be detected.

[0051] The data transmitter of the background control terminal sends a start working instruction to the front detection terminal, and the working instruction includes the distance of the downward driving of the lifting driving mechanism, the walking path of the walking mechanism, the walking speed, and the like; after the detection control module of the front detection terminal receives the working instruction, corresponding working signals are sent to the detector, the lifting driving mechanism, and the walking mechanism.

[0052] The detection probe 1 of the detector is driven by the lifting driving mechanism to move downward by a set distance, so that the detection probe 1 approaches the detection surface of the tank.

[0053] The detector is driven by the walking mechanism to move on the detection surface of the tank according to the set walking path, and in the moving process, the detection surface of the tank is detected in real time by the detection probe 1 of the detector.

[0054] The detection data are transmitted in real time by the detection control module to the background control terminal, displayed in real time by the display of the background control terminal, and viewed in real time by the staff, so as to complete the internal detection of the tank.

[0055] Further, referring to Figures 4-5 When the multiple detection probes 1 arranged side by side approach the arc-shaped side surface of the tank, the telescopic moving plate 2 is driven by the telescopic driving mechanism to move forward, so that the middle mounting block 3 and the detection probe 1 move forward synchronously; the detection probes 1 at both ends first contact the arc-shaped side surface and stop, and the detection probe 1 in the middle continues to move forward, at which time the middle mounting blocks 3 at both ends compress the telescopic springs 4, and the detection probe 1 in the middle advances by means of the compression of the telescopic springs 4, and the dead angle position is detected in the advancing process.

[0056] According to the above operation, the detection probes 1 contact the arc-shaped side surface in turn from the outside to the inside, until the detection probe 1 in the middle also sticks to the arc-shaped side surface of the tank, so as to complete the detection of the dead angle position.

[0057] The above is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above, and any change, modification, substitution, combination, simplification, etc. made without departing from the spirit and principles of the present application shall be equivalent replacement and included in the protection scope of the present application.

Claims

1. An atmospheric tank risk detection device characterized by comprising: The application relates to a front detection terminal and a background control terminal. The front detection terminal comprises a walking mechanism, an automatic detection mechanism arranged on the walking mechanism and a detection control module; the automatic detection mechanism comprises a detector and a lifting driving mechanism; the detector comprises a detection probe which faces downwards; the driving end of the lifting driving mechanism is connected with the detection probe; and the detection control module is electrically connected with the detector, the lifting driving mechanism and the walking mechanism. The background control terminal is connected with the detection control module through a wireless network, and the background control terminal comprises a background processor, a display and a data transmitter. The detection probe is provided in plurality, and the plurality of detection probes are arranged side by side. The automatic detection mechanism further comprises a profiling telescopic mechanism which comprises a telescopic moving plate, an elastic component and a telescopic driving mechanism; the telescopic moving plate is connected with the driving end of the telescopic driving mechanism; and the driving direction of the telescopic driving mechanism is perpendicular to the driving direction of the lifting driving mechanism. The elastic component comprises an intermediate mounting block, a telescopic spring and a telescopic guide rod; the detection probe is connected with the intermediate mounting block; one end of the telescopic guide rod is fixed on the intermediate mounting block, and the other end of the telescopic guide rod is slidably arranged through the telescopic moving plate and is limited by a limiting structure; and the telescopic spring is sleeved on the telescopic guide rod, and the two ends of the telescopic spring are abutted against the intermediate mounting block and the telescopic moving plate respectively. The lifting driving mechanism comprises a pressing rod, a reset component and a pressing driving element. The pressing rod is horizontally arranged, the extending direction of the pressing rod is parallel to the arrangement direction of the plurality of detection probes; the pressing rod is arranged above the probe mounting piece and is fixedly connected with the driving end of the pressing driving element; and the detection probe is fixedly arranged on the probe mounting piece. The pressing driving element is fixedly arranged on the telescopic moving plate. The reset component comprises a reset guide rod and a reset spring; the lower end of the reset guide rod is fixed on the intermediate mounting block, the upper end of the reset guide rod is slidably arranged through the probe mounting piece and is limited by a limiting structure; and the reset spring is sleeved on the reset guide rod, and the two ends of the reset spring are abutted against the intermediate mounting block and the probe mounting piece respectively. When the plurality of side-by-side detection probes approach the arc-shaped side surface of the storage tank, the telescopic moving plate is driven by the telescopic driving mechanism to move forward, so that the intermediate mounting block and the detection probe move forward synchronously; the detection probes located at the two ends first contact the arc-shaped side surface and stop, and the detection probe located in the middle continues to move forward; at this time, the intermediate mounting blocks located at the two ends compress the telescopic spring, and the forward movement of the detection probe located in the middle is replaced by the compression of the telescopic spring; and the dead angle position is detected in the process of the forward movement. According to the above operation, the detection probes contact the arc-shaped side surface from outside to inside in sequence, until the detection probe located in the middle also adheres to the arc-shaped side surface of the storage tank, so that the detection of the dead angle position is completed.

2. The atmospheric tank risk detection device according to claim 1, characterized by The telescopic driving mechanism comprises a telescopic driving motor and a telescopic transmission assembly; the telescopic transmission assembly comprises a lead screw and a lead screw nut; and the lead screw nut is fixedly connected with the telescopic moving plate.

3. The atmospheric tank risk detection apparatus according to claim 1, characterized by The walking mechanism comprises walking wheels, a walking driving motor and a walking transmission assembly; the walking wheels are two in number and are rotationally connected to the vehicle frame respectively; the walking driving motor is arranged on the vehicle frame; the walking transmission assembly comprises transmission belts and transmission pulleys, and the transmission pulleys are three in number, two of which are coaxially fixedly connected with the walking wheels, and the other transmission pulley is fixedly connected with an output shaft of the walking driving motor; The walking mechanism is provided with two groups, and the two groups of walking mechanisms are symmetrically arranged.

4. The atmospheric tank risk detection apparatus according to claim 1, characterized by The front detection terminal further comprises a rotating driving mechanism for driving the automatic detection mechanism to rotate, and the rotating driving mechanism comprises a rotating mounting seat and a rotating driving motor; the automatic detection mechanism is arranged on the rotating mounting seat; and the rotating driving motor is arranged on the vehicle frame, and an output shaft of the rotating driving motor is connected with the rotating mounting seat.

5. A method for detecting a risk of an atmospheric storage tank, applied to the risk detection apparatus for the atmospheric storage tank according to any one of claims 1 to 4, characterized by, The method comprises the following steps: Setting detection parameters on the background control terminal; Placing the front detection terminal into the storage tank to be detected; Sending a start working instruction to the front detection terminal through a data transmitter of the background control terminal; after receiving the working instruction, a detection control module of the front detection terminal sends corresponding working signals to the detector, the lifting driving mechanism and the walking mechanism respectively; Driving the detection probe of the detector to move downward by a set distance through the lifting driving mechanism, so that the detection probe approaches the detection surface of the storage tank; Driving the detector to move on the detection surface of the storage tank through the walking mechanism, and in the moving process, the detection surface of the storage tank is detected in real time through the detection probe of the detector; Transmitting the detection data to the background control terminal in real time through the detection control module, and displaying the detection data on a display of the background control terminal in real time, so that the detection of the inside of the storage tank is completed by a worker in real time.

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