A method for bottom plate impact positioning of a tank bottom plate on an oil detection robot

Abstract

The invention discloses a method for impacting and positioning the bottom plate of a tank bottom plate on an oil detection robot, which relates to the field of robot positioning technology and comprises the following steps: step 1, a plurality of ultrasonic receivers are arranged at the bottom of the outer wall of the tank; step 2, the tank bottom plate is located inside the tank and on the bottom plate of the tank by the ultrasonic generator of the oil detection robot; the tank bottom plate sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form an acoustic pulse signal that spreads to the surroundings, or the tank bottom plate is sent by the oil detection robot in the form of mechanical impact on the bottom plate; step 3, a plurality of ultrasonic receivers located outside the tank capture the acoustic pulse signal and calculate the position of the tank bottom plate on the oil detection robot through a positioning algorithm. The method for impacting and positioning the bottom plate of the tank bottom plate on the oil detection robot solves the problems of high attenuation and high error of the acoustic pulse signal, and can be applied to tanks with larger diameters.

Description

Technical Field

[0001] The invention relates to the technical field of robot positioning, in particular to a method for bottom plate impact positioning of a tank bottom plate on an oil detection robot. Background Art

[0002] With the development of technology, robot detection technology is being continuously applied to tank bottom plate detection. The existing tank bottom plate positioning method of oil detection robot relies on the pulse sound signal transmitter installed on the robot to send out sound signals, which will propagate in the storage medium and be received by multiple receivers arranged around the tank. The positioning direction is determined according to the arrival time of the sound signal.

[0003] When propagating in the storage medium, the amplitude of the acoustic pulse signal will decay exponentially with distance, and the higher the attenuation coefficient of the storage medium, the more serious the amplitude attenuation of the signal. The medium stored in the crude oil tank will cause the attenuation coefficient to increase with the viscosity of the medium depending on the quality. For crude oil with high viscosity, its attenuation coefficient is more than ten times that of water. When the diameter of the tank is large, the receiver far away from the robot will not be able to capture the pulse signal transmitted from the medium. In addition, the crude oil stored in the tank generally has inconsistent viscosity, and the sound velocity distribution of the sound wave in the medium is also inconsistent. Therefore, the propagation distance of the sound signal will cause uncorrectable errors due to the unknown sound velocity distribution.

[0004] In summary, the feasibility and accuracy of the existing tank bottom plate acoustic positioning method for oil detection robots are easily affected by the quality of the storage medium and the diameter of the tank. When the tank occupies a large area and the storage medium has a high viscosity, the receiver of the acoustic signal cannot detect the pulse signal emitted by the robot far away from the tank wall. Even if the signal can be received, the problem of uneven viscosity distribution will lead to positioning errors. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method for impact positioning of the bottom plate of a storage tank on an oil detection robot, which solves the problems of high attenuation and high error of acoustic pulse signals and can be applied to storage tanks with larger diameters.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a method for bottom plate impact positioning of a storage tank bottom plate on an oil detection robot, comprising the following steps:

[0008] Step 1: multiple ultrasonic receivers are arranged at the bottom of the outer wall of the storage tank;

[0009] Step 2: The tank bottom plate oil detection robot is located inside the tank and on the bottom plate of the tank; the tank bottom plate oil detection robot's ultrasonic generator sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form an acoustic pulse signal that spreads to the surroundings, or the tank bottom plate oil detection robot mechanically impacts the bottom plate to send out an acoustic pulse signal;

[0010] Step three: the plurality of ultrasonic receivers located outside the storage tank capture the acoustic pulse signal and calculate the position of the tank bottom plate on the oil detection robot through a positioning algorithm.

[0011] Preferably, in step one, a plurality of ultrasonic receivers are evenly arranged along the circumferential direction at the bottom of the outer side wall of the storage tank, and the number of the ultrasonic receivers is greater than four.

[0012] Preferably, the tank bottom plate oil detection robot includes a robot body, a walking mechanism and the ultrasonic generator. The walking mechanism is arranged at the lower part of the robot body and is used to drive the robot body to move. The ultrasonic generator is arranged at the bottom of the robot body, and the lower end surface of the ultrasonic generator does not protrude from the bottom surface of the walking mechanism.

[0013] Preferably, the tank bottom plate in the oil detection robot includes a robot body, a walking mechanism, a linear telescopic drive mechanism, a lifting component, a force sensor, a contact platform and the ultrasonic generator, the walking mechanism is arranged at the lower part of the robot body, and is used to drive the robot body to move; the linear telescopic drive mechanism is arranged in the robot body, the lower end of the linear telescopic drive mechanism is connected to the lifting component, the lifting component extends to the outside of the robot body, the upper part of the contact platform is connected to the lower part of the lifting component through the force sensor, the lower part of the contact platform is provided with a receiving groove, the ultrasonic generator is arranged in the receiving groove, and the lower end surface of the ultrasonic generator does not protrude from the bottom surface of the contact platform.

[0014] Preferably, in step 2, the linear telescopic drive mechanism drives the lifting component to descend and monitors the reading of the force sensor; when the vertical force rises slowly, it indicates that the contact platform begins to contact the flexible sediment on the bottom plate, and at this time, the descending speed of the lifting component is reduced until the descending speed is zero; when the vertical force rises rapidly, it indicates that the contact platform is contacting the bottom plate, and at this time, the lifting component stops descending and is raised a certain distance to avoid friction hindering the movement of the tank bottom plate in the oil detection robot; after adjusting the positions of the lifting component and the ultrasonic generator, the ultrasonic generator sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form a sound pulse signal that spreads to the surroundings.

[0015] Preferably, the tank bottom plate in the oil detection robot includes a robot body, a walking mechanism, an elastic component, a collision rod, and an collision drive mechanism. The walking mechanism is arranged at the lower part of the robot body and is used to drive the robot body to move; the upper end of the collision rod is located inside the robot body and is connected to the robot body through the elastic component, the lower end of the collision rod is located outside the robot body, and the bottom end of the collision rod is wrapped with a sheath, and the collision rod can reciprocate in the vertical direction relative to the robot body; a protrusion is provided on one side of the upper part of the collision rod, and the collision drive mechanism is arranged in the robot body, and the collision drive mechanism is used to intermittently push the protrusion, thereby intermittently pushing the collision rod to move upward.

[0016] Preferably, in step two, the impact drive mechanism pushes the protrusion upward, causing the impact rod to move upward, squeezing the elastic component, and the impact drive mechanism leaves the protrusion. The impact rod moves downward under the action of gravity and the elastic component, and then hits the bottom plate, causing the bottom plate to vibrate and emit a sound pulse signal.

[0017] Preferably, the impact drive mechanism includes a drive motor and a toggle component, the drive motor is fixed in the robot body, the drive motor is used to drive the toggle component to rotate, the toggle component is used to intermittently toggle the protrusion, and the toggle component is a ratchet or a cam.

[0018] Preferably, a linear bearing is sleeved on the impact rod, and the linear bearing is fixed in the robot body; the elastic component is a spring, and the sheath is made of rubber material.

[0019] Preferably, in step three, the main control computer calculates the propagation distance according to the propagation time collected by each ultrasonic receiver, and then calculates the position of the tank bottom plate on the oil detection robot according to the propagation distance.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The invention discloses a method for impact positioning of the bottom plate of a storage tank on the bottom plate of an oil detection robot. The ultrasonic generator of the storage tank bottom plate of the oil detection robot sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form a sound pulse signal that spreads to the surroundings, or the storage tank bottom plate of the oil detection robot sends a sound pulse signal by mechanically impacting the bottom plate; multiple ultrasonic receivers located outside the storage tank capture the sound pulse signal and calculate the position of the storage tank bottom plate on the oil detection robot through a positioning algorithm. Storage tanks are generally made of metal. Since the attenuation coefficient of sound waves in metal is less than that in light crude oil, and the sound velocity of sound waves in metal plates is evenly distributed, the ultrasonic receiver can receive the sound pulse signal sent by the robot farther away from it, so that the feasibility is no longer limited by the diameter of the storage tank, that is, it can be applied to storage tanks with larger diameters. In the present application, by generating a sound pulse signal that can propagate along the bottom plate of the storage tank, the attenuation of the sound pulse signal by the storage medium is reduced, and the influence of non-uniform sound velocity on positioning accuracy is avoided, thereby solving the problem of high attenuation and high error of the sound pulse signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the tank bottom plate oil detection robot provided in the first embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the tank bottom plate in-oil detection robot provided in the second embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the tank bottom plate oil detection robot provided in the third embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the coordination between the ratchet and the impact rod of the tank bottom plate in the oil detection robot provided in the third embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the cooperation between the cam and the impact rod of the tank bottom plate in the oil detection robot provided in the third embodiment of the present invention;

[0028] Figure 6This is a schematic diagram of the structure of the tank bottom plate provided in the third embodiment of the present invention when the impact rod in the oil detection robot impacts the bottom plate;

[0029] Figure 7 This is a schematic diagram of the structure of the tank bottom plate provided in the third embodiment of the present invention when the impact rod in the oil detection robot is pushed upward.

[0030] Explanation of the accompanying drawings: 1. Robot body; 2. Driving wheel; 3. Ultrasonic generator; 4. Linear telescopic driving mechanism; 5. Lifting component; 6. Force sensor; 7. Contact platform; 8. Impact rod; 9. Bump; 10. Elastic component; 11. Ratchet; 12. Cam; 13. Linear bearing; 14. Sleeve; 15. Base plate. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide a method for bottom plate impact positioning of a storage tank on an oil detection robot, which solves the problems of high attenuation and high error of acoustic pulse signals and can be applicable to storage tanks with larger diameters.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Embodiment 1:

[0035] This embodiment provides a method for impact positioning of a tank bottom plate on an oil detection robot, comprising the following steps:

[0036] Step 1: A plurality of ultrasonic receivers are arranged at the bottom of the outer side wall of the storage tank.

[0037] Step 2: The tank bottom plate oil detection robot is located inside the tank and on the bottom plate 15 of the tank; the tank bottom plate oil detection robot's ultrasonic generator 3 sends an excitation signal toward the bottom plate 15, and the energy of the excitation signal is transmitted to the bottom plate 15 to form a sound pulse signal that spreads to the surroundings, or the tank bottom plate oil detection robot uses mechanical impact on the bottom plate 15 to send out a sound pulse signal.

[0038] Step 3: Multiple ultrasonic receivers located outside the tank capture the acoustic pulse signal and calculate the position of the tank bottom plate on the oil detection robot through a positioning algorithm.

[0039] Storage tanks are generally made of metal. Since the attenuation coefficient of sound waves in metal is smaller than that in light crude oil, and the sound velocity of sound waves is evenly distributed in metal plates, the ultrasonic receiver can receive the sound pulse signal sent by the robot farther away from it, so that the feasibility is no longer limited by the diameter of the storage tank, that is, it can be applied to storage tanks with larger diameters. In this embodiment, by generating a sound pulse signal that can propagate along the bottom plate 15 of the storage tank, the attenuation of the sound pulse signal by the storage medium is reduced, and at the same time, the influence of non-uniform sound velocity on the positioning accuracy is avoided, thereby solving the problem of high attenuation and high error of the sound pulse signal.

[0040] Specifically, in step one, a plurality of ultrasonic receivers are evenly arranged along the circumferential direction at the bottom of the outer side wall of the storage tank, and the number of the ultrasonic receivers is greater than four.

[0041] Specifically, in step three, multiple ultrasonic receivers are connected to the main control computer, and the main control computer calculates the propagation distance according to the propagation time collected by each ultrasonic receiver, and then calculates the position of the tank bottom plate on the oil detection robot according to the propagation distance.

[0042] like Figure 1 As shown, the tank bottom plate oil detection robot in this embodiment includes a robot body 1, a walking mechanism and an ultrasonic generator 3. The walking mechanism is arranged at the lower part of the robot body 1 and is used to drive the robot body 1 to move. The ultrasonic generator 3 is arranged at the bottom of the robot body 1, and the lower end surface of the ultrasonic generator 3 does not protrude from the bottom surface of the walking mechanism. The walking mechanism and the ultrasonic generator 3 are both connected to the main control machine.

[0043] In this specific embodiment, the robot body 1 has a rectangular structure, and the walking mechanism includes two pairs of driving wheels 2, with a pair of driving wheels 2 at the front and rear of the robot body 1. When the driving wheels 2 are in contact with the bottom plate 15, there is a certain distance between the bottom of the robot body 1 and the bottom plate 15, and there is a certain distance between the lower end surface of the ultrasonic transmitter and the bottom plate 15, so that the ultrasonic transmitter will not come into contact with the bottom plate 15 and the deposits on its surface during the movement of the robot body 1.

[0044] It should be noted that the robot body 1 may also have contours of other shapes, and the walking mechanism may also be a crawler type or an omnidirectional wheel type.

[0045] According to the diameter of the bottom plate 15, the available working frequency band of the ultrasonic transmitter is 1kHz~45kHz, and the propagation direction is perpendicular to the bottom plate 15. The lower the working frequency, the longer the propagation distance of the ultrasonic signal, but the worse the positioning accuracy. Therefore, when detecting smaller storage tanks, such as small vertical storage tanks with a diameter of 10m, an operating frequency of 45kHz can be used to improve positioning accuracy. According to the design of the pulse excitation circuit, the overall design of the robot and the explosion-proof requirements, the ultrasonic excitation voltage is between 150V~1500V. The higher the excitation voltage, the longer the propagation distance of the ultrasonic signal, but the higher the energy consumption of the robot hardware, and the greater the difficulty of explosion-proof design.

[0046] In step 2, after the low-frequency pulse signal is emitted, the piezoelectric sheet inside the ultrasonic transmitter vibrates, thereby emitting an excitation signal directly below. Since there is a certain distance between the ultrasonic transmitter and the bottom plate 15, part of the energy of the excitation signal will be reflected or lost by the sediment on the bottom plate 15, part of the energy will be reflected on the surface of the bottom plate 15, and the remaining energy will be transmitted to the bottom plate 15 to form an acoustic pulse signal that spreads to the surroundings.

[0047] In step three, multiple ultrasonic receivers located on the periphery of the storage tank are connected to the acquisition card of the main control machine. When the acquisition card detects that the voltage value of a certain channel exceeds the preset warning value of the system at a certain moment, it will return the time taken for the ultrasonic wave to propagate from the ultrasonic transmitter to the ultrasonic receiver. After completing the command of the excitation pulse, the main control machine will wait for a certain period of time until the ultrasonic pulse has enough time to be transmitted to all ultrasonic receivers. After that, the propagation distance will be calculated based on the propagation time collected by each ultrasonic receiver, and then the sound source position will be calculated based on the above propagation distance. It should be noted that the specific positioning algorithm adopts the positioning algorithm in the prior art, and the commonly used method is the three-point positioning algorithm.

[0048] The tank bottom plate in this embodiment is simple in the positioning module of the oil detection robot, and no additional mechanical moving parts are required as auxiliary, nor is there any need to significantly modify the overall structure of the robot. The distance between the ultrasonic generator 3 and the bottom plate 15 is fixed, which is more suitable for tanks containing clear oil, finished oil, and smooth bottom plates 15.

[0049] Embodiment 2:

[0050] The difference between this embodiment and the first embodiment lies in the structure and working mode of the oil detection robot on the tank bottom plate. Figure 2As shown, the tank bottom plate oil detection robot includes a robot body 1, a walking mechanism, a linear telescopic drive mechanism 4, a lifting component 5, a force sensor 6, a contact platform 7 and an ultrasonic generator 3. The walking mechanism is arranged at the lower part of the robot body 1 and is used to drive the robot body 1 to move; the linear telescopic drive mechanism 4 is arranged in the robot body 1, and the lower end of the linear telescopic drive mechanism 4 is connected with the lifting component 5, and the lifting component 5 extends to the outside of the robot body 1. The upper part of the contact platform 7 is connected to the lower part of the lifting component 5 through the force sensor 6, and the lower part of the contact platform 7 is provided with a receiving groove, and the ultrasonic generator 3 is arranged in the receiving groove, and the lower end surface of the ultrasonic generator 3 does not protrude from the bottom surface of the contact platform 7. The contact platform 7 in this embodiment is a disc structure with a concave middle and a protruding edge. When there is an obstacle on the bottom plate 15, the obstacle will collide with the protruding edge of the contact platform 7, thereby protecting the ultrasonic transmitter.

[0051] Specifically, a groove is provided at the lower part of the robot body 1 , and the lower end of the lifting component 5 and the contact platform 7 can rise and be located in the groove under the drive of the linear telescopic driving mechanism 4 .

[0052] The walking mechanism, the linear telescopic drive mechanism 4 , the force sensor 6 and the ultrasonic generator 3 in this embodiment are all connected to the main control machine. The linear telescopic drive mechanism 4 can adjust the lifting height of the ultrasonic transmitter according to the force feedback of the force sensor 6 .

[0053] Specifically, the linear telescopic drive mechanism 4 can adopt a linear motor, a gear rack combined with a rotary stepper motor, or a hydraulic lifting platform combined with a hydraulic pump. The advantage of a linear motor is that the structure is simple and takes up little space. The advantage of a gear rack combined with a rotary stepper motor is that precise position control can be achieved and the driving force is moderate. The advantage of a hydraulic lifting platform combined with a hydraulic pump is that the driving force is large. When the robot body 1 carries a detection module with a large load that needs to be adjusted and lifted, the inspection module can be lifted together with the ultrasonic transmitter, but the disadvantage is that it takes up a large space and has low positioning accuracy. Therefore, when selecting the linear telescopic drive mechanism 4, a suitable solution should be determined according to the specific design of the robot.

[0054] In this specific embodiment, the lifting component 5 is a lifting block, and the force sensor 6 is embedded in the bottom of the lifting block, so that one end of the force sensor is connected to the lifting block, and the other end of the force sensor 6 is connected to the contact platform 7.

[0055] In this specific embodiment, the force sensor 6 is a three-axis force sensor, which can measure the force of the tank bottom plate in the direction of the oil detection robot, in the direction perpendicular to the direction of the oil detection robot, and in the direction perpendicular to the bottom plate 15. When the step surface blocks the contact platform 7, the force sensor 6 will detect the force rising in the horizontal direction. When the tank bottom plate passes through the weld, the contact platform 7 will rub against the weld, resulting in the simultaneous increase of the force in the horizontal and vertical directions.

[0056] In step 2, the linear telescopic drive mechanism 4 drives the lifting component 5 to descend, and monitors the reading of the force sensor 6; when the vertical force rises slowly, it indicates that the contact platform 7 begins to contact the flexible sediment of the bottom plate 15, and the descending speed of the lifting component 5 is reduced until the descending speed is zero; when the vertical force rises rapidly, it indicates that the contact platform 7 is contacting the bottom plate 15, and the lifting component 5 stops descending and rises a distance to avoid friction hindering the movement of the tank bottom plate in the oil detection robot; after adjusting the position of the lifting component 5 and the ultrasonic generator 3, the ultrasonic generator 3 sends an excitation signal toward the bottom plate 15, and the energy of the excitation signal is transmitted to the bottom plate 15 to form a sound pulse signal that spreads to the surroundings. Specifically, due to the certain distance between the ultrasonic transmitter and the bottom plate 15, part of the energy of the excitation signal will be reflected or lost by the sediment on the bottom plate 15, part of the energy will be reflected on the surface of the bottom plate 15, and the remaining energy will be transmitted to the bottom plate 15 to form a sound pulse signal that spreads to the surroundings.

[0057] In this specific embodiment, the tank bottom plate starts to move on the bottom plate 15 and continues to send out an excitation signal during the movement. When the tank bottom plate starts to move on the oil detection robot, the reading of the force sensor 6 is always monitored. If it is found that the force of the tank bottom plate in the direction of the oil detection robot is significantly increased, the linear telescopic drive mechanism 4 is adjusted until the contact platform 7 no longer interferes with the bottom plate 15 structure, that is, the force on the force sensor 6 is maintained at a lower level. After the adjustment is completed, the excitation signal is emitted again, and after passing through the protruding structure, the lifting component 5 is lowered to a suitable position through the linear telescopic drive mechanism 4. At the current position, if no physical interference is detected, the excitation signal is emitted and the work in step three is performed.

[0058] In this embodiment, the lift-off of the ultrasonic transmitter can be adjusted according to the data of the force sensor 6 to avoid collision caused by lifting too low and signal attenuation caused by lifting too high. Compared with the first embodiment, it can adapt to storage tanks with more complex bottom plate 15 structures.

[0059] Embodiment three:

[0060] The difference between this embodiment and the first embodiment lies in the structure and working mode of the oil detection robot on the tank bottom plate. Figure 3As shown, the tank bottom plate oil detection robot includes a robot body 1, a walking mechanism, an elastic component 10, an impact rod 8 and an impact drive mechanism. The walking mechanism is arranged at the lower part of the robot body 1 and is used to drive the robot body 1 to move; the upper end of the impact rod 8 is located inside the robot body 1 and is connected to the robot body 1 through the elastic component 10, the lower end of the impact rod 8 is located outside the robot body 1, and the bottom end of the impact rod 8 is wrapped with a sheath 14, and the impact rod 8 can reciprocate in the vertical direction relative to the robot body 1; a protrusion 9 is arranged on one side of the upper part of the impact rod 8, and the impact drive mechanism is arranged in the robot body 1, and the impact drive mechanism is used to intermittently push the protrusion 9, and then intermittently push the impact rod 8 to move upward.

[0061] Specifically, a groove is provided at the lower part of the robot body 1 , and the impact drive mechanism puts the impact rod 8 in a retracted state by moving the protrusion 9 , at which time the lower end of the impact rod 8 is located in the groove.

[0062] Specifically, the impact driving mechanism includes a driving motor and a toggle component. The driving motor is fixed in the robot body 1. The driving motor is used to drive the toggle component to rotate. The toggle component is used to intermittently toggle the protrusion 9. Figure 4 As shown, the toggle component is a ratchet 11, and the power output shaft of the drive motor is connected to the central axis of the ratchet 11, as shown in FIG. Figure 5 As shown, the shifting component is a cam 12 , and the power output shaft of the driving motor is connected to the central axis of the cam 12 .

[0063] like Figure 6 and Figure 7 As shown, when the moving component is a cam 12, when the cam 12 rotates, the protruding portion of the cam 12 moves the bump 9 on one side of the impact rod 8, causing the impact rod 8 to rise and compress the elastic component 10; when the cam 12 separates from the bump 9, the impact rod 8 will be quickly released.

[0064] In order to guide the vertical movement of the impact rod 8, a linear bearing 13 is sleeved on the impact rod 8, and the linear bearing 13 is fixed in the robot body 1. In this embodiment, two linear bearings 13 are provided.

[0065] In this specific embodiment, the elastic component 10 is a spring.

[0066] Specifically, the impact rod 8 is a steel cylindrical rod, the upper end of which is a plane and connected to the lower end of the spring, and the lower end is a hemispherical surface for impacting the bottom plate 15. The projection 9 is a semi-cylindrical projection, the axial direction of the projection 9 is perpendicular to the axial direction of the impact rod 8, and the arc surface of the projection 9 can contact the cam 12.

[0067] When the cam 12 rotates to below the bump 9, the outer surface of the protruding portion of the cam 12 contacts the bottom of the bump 9 and pushes the impact rod 8 upward. When the cam 12 rotates to the point where the protruding portion is tangent to the bump 9 of the impact rod 8, the impact rod 8 will separate from the cam 12. At this time, the compressed spring quickly releases its elastic potential energy, pushing the impact rod 8 downward quickly, so that the bottom end of the impact rod 8 and the bottom plate 15 have a mechanical impact.

[0068] The sheath 14 in this embodiment is made of rubber material, and the sheath 14 made of flexible material can avoid sparks when hitting the bottom plate 15. At the same time, the impact part is a smooth curved surface to avoid damaging the bottom plate 15 and its paint layer during the knocking process. Specifically, the sheath 14 is made of hard rubber.

[0069] In step two, the impact drive mechanism pushes the protrusion 9 upward, causing the impact rod 8 to move upward, squeezing the elastic component 10, and the impact drive mechanism leaves the protrusion 9. The impact rod 8 moves downward under the action of gravity and the elastic component 10, and then hits the bottom plate 15, causing the bottom plate 15 to vibrate and emit a sound pulse signal.

[0070] In this specific embodiment, when the oil detection robot enters the tank bottom plate, the impact drive mechanism puts the impact rod 8 in a retracted state by toggling the protrusion 9, which will not affect the movement. When the excitation signal is received, the impact drive mechanism starts to work and releases the impact rod 8 to achieve a knock. The knock will cause the bottom plate 15 to vibrate and emit a sound signal. The ultrasonic receiver located outside the tank captures the sound pulse signal and calculates the position of the robot through a positioning algorithm. After completing a knock, the impact drive mechanism pulls up the impact rod 8, compressing the elastic component 10 during the pulling process to prepare for the next release.

[0071] The tank bottom plate continuously performs a knocking action during the movement of the oil detection robot, which can adapt to the surface characteristics of the bottom plate 15, and there is no need for the force sensor 6 to detect the state of the bottom plate 15. Because the impact rod 8 will repeatedly rise and fall under the action of the impact drive mechanism, it will not be hindered by the protruding part of the bottom plate 15.

[0072] The energy of the knocking process and the power of the acoustic pulse signal in this embodiment are determined by the mechanical device. Specifically, the higher the energy that the elastic component 10 can store, the stronger the acoustic pulse signal is. Compared with the first and second embodiments, the problem of low power of the acoustic pulse signal is solved. In addition, the continuous knocking process can adapt to the complex terrain of the bottom plate 15, such as step surfaces, welds, etc., and is more suitable for storage tanks containing crude oil with high viscosity and complex bottom plate 15 structures.

[0073] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for bottom plate impact positioning of a tank bottom plate of an oil detection robot, characterized in that: The following steps are involved: Step 1: multiple ultrasonic receivers are arranged at the bottom of the outer wall of the storage tank; Step 2: The tank bottom plate oil detection robot is located inside the tank and on the bottom plate of the tank; the tank bottom plate oil detection robot's ultrasonic generator sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form an acoustic pulse signal that spreads to the surroundings, or the tank bottom plate oil detection robot mechanically impacts the bottom plate to send out an acoustic pulse signal; The tank bottom plate oil detection robot comprises a robot body, a walking mechanism, a linear telescopic drive mechanism, a lifting component, a force sensor, a contact platform and the ultrasonic generator, wherein the walking mechanism is arranged at the lower part of the robot body and is used to drive the robot body to move; the linear telescopic drive mechanism is arranged in the robot body, the lower end of the linear telescopic drive mechanism is connected to the lifting component, and the lifting component extends to the outside of the robot body, the upper part of the contact platform is connected to the lower part of the lifting component through the force sensor, the lower part of the contact platform is provided with a receiving groove, the ultrasonic generator is arranged in the receiving groove, and the lower end surface of the ultrasonic generator does not protrude from the bottom surface of the contact platform; Or the tank bottom plate in the oil detection robot includes a robot body, a walking mechanism, an elastic component, a collision rod, and a collision drive mechanism, the walking mechanism is arranged at the lower part of the robot body, and is used to drive the robot body to move; the upper end of the collision rod is located inside the robot body, and is connected to the robot body through the elastic component, the lower end of the collision rod is located outside the robot body, and the bottom end of the collision rod is wrapped with a sheath, and the collision rod can reciprocate in the vertical direction relative to the robot body; a protrusion is arranged on one side of the upper part of the collision rod, and the collision drive mechanism is arranged in the robot body, and the collision drive mechanism is used to intermittently push the protrusion, and then intermittently push the collision rod to move upward; Step three, the multiple ultrasonic receivers located outside the storage tank capture the acoustic pulse signal and calculate the position of the tank bottom plate in the oil detection robot through a positioning algorithm. The main control computer calculates the propagation distance according to the propagation time collected by each ultrasonic receiver, and then calculates the position of the tank bottom plate in the oil detection robot according to the propagation distance.

2. The method for bottom plate impact positioning of a tank bottom plate in an oil detection robot according to claim 1 is characterized in that: In step one, a plurality of ultrasonic receivers are evenly arranged along the circumferential direction at the bottom of the outer side wall of the storage tank, and the number of the ultrasonic receivers is greater than four.

3. The method for bottom plate impact positioning of a tank bottom plate in an oil detection robot according to claim 1, characterized in that: In step 2, the linear telescopic drive mechanism drives the lifting component to descend and monitors the reading of the force sensor; when the vertical force rises slowly, it indicates that the contact platform begins to contact the flexible sediment of the bottom plate, and at this time, the descending speed of the lifting component is reduced until the descending speed is zero; when the vertical force rises rapidly, it indicates that the contact platform is contacting the bottom plate, and at this time, the lifting component stops descending and is raised a certain distance to avoid friction that hinders the movement of the tank bottom plate in the oil detection robot; after adjusting the positions of the lifting component and the ultrasonic generator, the ultrasonic generator sends an excitation signal toward the bottom plate, and the energy of the excitation signal is transmitted to the bottom plate to form a sound pulse signal that spreads to the surroundings.

4. The method for bottom plate impact positioning of a tank bottom plate in an oil detection robot according to claim 1, characterized in that: In step two, the impact drive mechanism pushes the protrusion upward, causing the impact rod to move upward and squeeze the elastic component. The impact drive mechanism leaves the protrusion, and the impact rod moves downward under the action of gravity and the elastic component, thereby hitting the bottom plate, causing the bottom plate to vibrate and emit a sound pulse signal.

5. The method for bottom plate impact positioning of a tank bottom plate in an oil detection robot according to claim 1, characterized in that: The impact drive mechanism includes a drive motor and a toggle component. The drive motor is fixed in the robot body. The drive motor is used to drive the toggle component to rotate. The toggle component is used to intermittently toggle the protrusion. The toggle component is a ratchet or a cam.

6. The method for bottom plate impact positioning of a tank bottom plate in an oil detection robot according to claim 1, characterized in that: The impact rod is sleeved with a linear bearing, and the linear bearing is fixed in the robot body; the elastic component is a spring, and the sheath is made of rubber material.

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