Petrochemical spherical tank 2D map construction method for high-altitude wall climbing detection robot

Abstract

The application discloses a petrochemical spherical tank 2D map construction method for a high-altitude wall-climbing detection robot, and comprises the following steps: step 1, spherical tank area division; step 2, weld seam measurement; step 3, construction of a 2D map of an upper pole with a weld seam; step 4, construction of a 2D map of a lower pole with a weld seam; step 5, construction of a 2D map of an intermediate pole with a weld seam; all weld seams and intersection points of the intermediate pole are scaled and deformed by setting a mapping scale coefficient to form a 2D map of the intermediate pole; and step 6, construction of a spherical tank weld seam length data set. The spherical tank is divided into three parts by longitudinal segmentation, the position coordinates of weld seam intersection points and the actual length of the weld seam are obtained, a scale relationship is set, scaling is performed, coordinate system conversion is performed, 3D mapping is performed on a 2D plane, the relative position maps of the three parts of the spherical tank are sequentially constructed in the 2D plane, and then a data set is constructed to represent the real length of the spherical tank weld seam.

Description

Technical Field

[0001] This invention relates to the field of two-dimensional graphics processing and mapping technology, and in particular to a method for constructing 2D maps of petrochemical spherical tanks for high-altitude wall-climbing inspection robots. Background Technology

[0002] With the rapid development of industries such as petrochemicals, natural gas, and power, the application of special equipment such as large spherical tanks and vertical storage tanks is becoming increasingly widespread. These devices are typically used to store highly hazardous chemicals such as liquefied natural gas, liquefied hydrocarbons, and liquid ammonia, and are classified as pressure-bearing special equipment. In the event of a leak or explosion, it could lead to serious casualties, huge economic losses, and environmental pollution. Therefore, regular inspection and maintenance of the welds of large storage tanks such as spherical tanks are crucial to ensuring their safe operation.

[0003] Traditional weld inspection typically relies on manual operation, using non-destructive testing techniques such as radiography and ultrasound to assess weld quality. However, with the development of industrial automation and intelligent robotics, inspection tasks are gradually shifting from manual operation to automation and intelligence. This is especially true in hazardous environments such as high temperature, high pressure, and confined spaces, where robots are increasingly replacing human labor for weld inspection. In recent years, automated robotic equipment based on non-destructive testing technologies such as radiographic digital flat panel displays and ultrasonic TOFD has played a crucial role in the inspection of special equipment such as spherical tanks.

[0004] However, several challenges remain in weld inspection for equipment such as spherical tanks, particularly in accurately acquiring spatial distribution information of the welds, where an efficient method for constructing two-dimensional weld maps is still lacking. To improve the efficiency and accuracy of weld inspection, a technology capable of converting the three-dimensional spatial information of spherical tank welds into a two-dimensional planar map is urgently needed. Constructing a 2D map of spherical tank welds can provide robots or inspection personnel with more intuitive weld distribution information, thereby helping automated equipment perform inspection tasks more accurately and improving inspection efficiency and accuracy. Summary of the Invention

[0005] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a method for constructing a 2D map of petrochemical spherical tanks for high-altitude wall-climbing inspection robots. This method maps the three-dimensional weld distribution of the spherical tank onto a two-dimensional plane and combines information such as weld length and intersection points to generate a clear weld distribution map. This method not only significantly improves the efficiency of weld inspection but also provides a fundamental basis for the line-following control of automated equipment and weld quality assessment, which is of great significance for ensuring the safe operation of special equipment such as spherical tanks.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot includes the following steps.

[0008] Step 1: Divide the spherical tank area: The spherical tank has an upper circumferential weld and a lower circumferential weld. The area of ​​the spherical tank above the upper circumferential weld is called the upper polar zone, the area of ​​the spherical tank below the lower circumferential weld is called the lower polar zone, and the area of ​​the spherical tank between the upper polar zone and the lower polar zone is called the intermediate zone.

[0009] Step 2, Weld Measurement: Measure the actual length l of each weld on the spherical tank. r .

[0010] Step 3: Construct a two-dimensional map of the upper electrode zone weld seam: From the top view of the spherical tank, obtain the weld seam intersection points and the relative position distribution of the weld seams in the upper electrode zone. Project the actual weld seam length in the upper electrode zone onto a two-dimensional plane to construct a two-dimensional map of the upper electrode zone weld seam with the relative positional relationship of the weld seams.

[0011] Step 4: Construct a two-dimensional map of the lower electrode zone weld: From the bottom view of the spherical tank, obtain the weld intersection points and the relative position distribution of the welds in the lower electrode zone. Project the actual weld length in the lower electrode zone onto a 2D plane to construct a two-dimensional map of the lower electrode zone weld with the relative positional relationship of the welds.

[0012] Step 5: Construct a two-dimensional map of the intermediate zone weld seam: By setting the mapping scale coefficient, the upper circumferential weld seam and the weld seam intersection points on the upper circumferential weld seam, the lower circumferential weld seam and the weld seam intersection points on the lower circumferential weld seam, as well as all weld seams and intersection points between the upper and lower circumferential weld seams, are scaled and deformed to form a two-dimensional map of the intermediate zone.

[0013] Step 6: Construct a dataset of weld lengths for spherical tanks: For each weld constructed in steps 3 to 5, save the actual weld length measured in step 2. r .

[0014] In step 1, the spherical tank also has a middle circumferential weld located between the upper circumferential weld and the lower circumferential weld; the area of ​​the spherical tank located between the upper circumferential weld and the middle circumferential weld is called the upper temperature zone; the area of ​​the spherical tank located between the lower circumferential weld and the middle circumferential weld is called the lower temperature zone; the upper temperature zone and the lower temperature zone together constitute the intermediate zone.

[0015] In step 5, by setting mapping coefficients [η1, η2, η3, η4, η5], the weld seam and welding intersections are scaled and deformed to form a two-dimensional map of the intermediate zone; where:

[0016] η1 is used to synchronously scale the upper circumferential weld and all weld intersections on the upper circumferential weld.

[0017] η2 is used to synchronously scale the weld length in the upper temperature zone.

[0018] η3 is used to synchronously scale the circumferential weld and all weld intersections on the circumferential weld.

[0019] η4 is used to synchronously scale the weld length in the lower temperature zone.

[0020] η5 is used to synchronously scale the lower circumferential weld and all weld intersections on the lower circumferential weld.

[0021] Where η5>η3>η1, the upper circumferential weld, middle circumferential weld and lower circumferential weld in the two-dimensional map of the middle zone form a concentric circle structure arranged from the inside to the outside. The upper and lower temperature zone welds are arranged radially. The two ends of the upper temperature zone weld are connected to the upper circumferential weld and the middle circumferential weld respectively, and the two ends of the lower temperature zone weld are connected to the middle circumferential weld and the lower circumferential weld respectively.

[0022] In step 5, η2 = η4 = 2η1.

[0023] In step 5, the upper and lower temperature zone welds are staggered along the circumference.

[0024] Step 5, the method for constructing the two-dimensional map with the weld seam in the middle, includes the following steps:

[0025] Step 5-1: Construct the upper circumferential weld: Simultaneously scale the upper circumferential weld and all weld intersections C1-Cn located on the upper circumferential weld with a mapping coefficient η1; wherein, the length l1' of each upper circumferential weld after scaling is η1 times its true length l1; the coordinates of each upper circumferential weld intersection are η1 times the true coordinates.

[0026] Step 5-2: Construct the upper temperature zone weld: Starting from the intersection point C1-Cn of the upper circumferential weld, construct upper temperature zone welds with a length of l'2 along the radial direction, with the tail endpoints D1-Dn respectively; where l'2=l2·η2, and l2 is the actual length of the upper temperature zone weld.

[0027] Step 5-3: Construct the circumferential weld: Simultaneously scale the circumferential weld and some weld intersection points F1-Fn located on the circumferential weld with a mapping coefficient η3, so that the tail endpoints D1-Dn are all located on the circumferential weld, and are staggered at equal intervals along the circumference with weld intersection points F1-Fn; wherein, the length l3' of each circumferential weld after scaling is η3 times its true length l3; the coordinates of each circumferential weld intersection point are η3 times the true coordinates; D1-Dn and F1-Fn together constitute the circumferential weld intersection point.

[0028] Step 5-4: Constructing the lower temperature zone weld: Starting from the intersection point F1-Fn of the middle circumferential weld, construct the lower temperature zone weld with a length of l'4 along the radial direction, with the tail endpoints E1-En respectively; where l'4=l4·η4, and l4 is the actual length of the lower temperature zone weld.

[0029] Step 5-5: Construct the lower circumferential weld: Scale the lower circumferential weld with a mapping coefficient η5, and ensure that the tail endpoints E1-En are all located on the lower circumferential weld, forming the lower circumferential weld intersection point; wherein, the length l5' of each lower circumferential weld after scaling is η5 times its true length l5; the coordinates of each lower circumferential weld intersection point are η5 times the true coordinates.

[0030] In step 3, in the two-dimensional map of the upper electrode weld, each line segment intersection point represents the actual weld intersection point, denoted by letters A1-An; in step 4, in the two-dimensional map of the lower electrode weld, each line segment intersection point represents the actual weld intersection point, denoted by letters B1-Bn.

[0031] In step 6, the welds are divided into n categories based on their length, and n weld length coefficients [k1,k2,k3,L,k] are set. n This allows us to preserve the true length of each weld. The true length of the i-th type of weld is l. ri The saving method is: l ri =k i πR c ; where k i R represents the length coefficient of the i-th type of weld, 1≤i≤n; c Let be the radius of the spherical tank.

[0032] In step 6, n = 8, which are the oblique welds of the upper / lower electrode zone, the transverse edge welds of the upper / lower electrode zone, the transverse center welds of the upper / lower electrode zone, the longitudinal welds of the upper / lower electrode zone, the circumferential welds of the upper / lower electrode zone, the upper temperature zone welds, the middle circumferential welds, and the lower temperature zone welds, respectively. By setting 8 weld length coefficients [k1,k2,k3,L,k8], the actual lengths of the 8 types of welds are stored.

[0033] k1=0.0645; k2=0.0967; k3=0.0806; k4=0.2546; k5=0.0707; k6=0.2220; k7=0.0978

[0034] And k8 = 0.2779.

[0035] The present invention has the following beneficial effects:

[0036] 1. This invention divides a spherical tank longitudinally into three parts: an upper zone, a middle zone, and a lower zone. The coordinates and actual lengths of the weld intersections are obtained for each zone. A proportional relationship is established, and scaling and coordinate system transformation are performed to achieve accurate drawing of the three parts in a 2D plane. In particular, by combining the top and bottom views of the spherical tank, the representation of weld intersections and lengths on the 2D map is more accurate, thus providing reliable reference data for subsequent weld path detection and planning.

[0037] 2. This invention utilizes the weld intersection locations obtained from the top and bottom views of the spherical tank, and through coordinate system transformation and scaling, accurately maps the three-dimensional weld onto a 2D plane. This high-precision coordinate mapping method ensures the accurate representation of weld intersections and lengths in the 2D map, avoiding errors that may occur in traditional methods, and improving the navigation and inspection accuracy of the robot during actual inspection. Attached Figure Description

[0038] Figure 1 This is a vertical division diagram of the 3D map of the spherical tank.

[0039] Figure 2 2D map of the upper pole zone of the spherical tank.

[0040] Figure 3 This is a 2D map of the lower pole zone of the spherical tank.

[0041] Figure 4 A 2D map of the temperate weld seam on the spherical tank.

[0042] Figure 5 A 2D map of the weld seam in the lower temperate zone of the spherical tank.

[0043] Figure 6 This is a 2D map with a weld seam in the middle.

[0044] Among them are:

[0045] 10. Upper electrode zone; 11. Upper electrode zone oblique weld; 12. Upper electrode zone transverse edge weld; 13. Upper electrode zone transverse center weld; 14. Upper electrode zone longitudinal weld; 15. Upper electrode zone weld intersection;

[0046] 20. Middle zone;

[0047] 21. Upper temperate zone; 211. Upper temperate zone weld;

[0048] 22. Lower temperate zone; 221. Lower temperate zone weld;

[0049] 30. Lower electrode strip; 31. Lower electrode strip oblique weld; 32. Lower electrode strip transverse edge weld; 33. Lower electrode strip transverse center weld; 34. Lower electrode strip longitudinal weld; 35. Lower electrode strip weld intersection;

[0050] 40. Upper circumferential weld; 41. Intersection of upper circumferential welds;

[0051] 50. Mid-circumferential weld; 51. Intersection of mid-circumferential welds;

[0052] 60. Lower circumferential weld; 61. Intersection of lower circumferential welds. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0054] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0055] A method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot includes the following steps.

[0056] Step 1: Divide the spherical tank area

[0057] like Figure 1 As shown, the spherical tank has an upper circumferential weld 40, a middle circumferential weld 50, and a lower circumferential weld 60. The area of ​​the spherical tank above the upper circumferential weld is called the upper polar zone 10, the area of ​​the spherical tank below the lower circumferential weld is called the lower polar zone 30, the area of ​​the spherical tank between the upper circumferential weld and the middle circumferential weld is called the upper warm zone 21, and the area of ​​the spherical tank between the lower circumferential weld and the middle circumferential weld is called the lower warm zone 22. The upper warm zone and the lower warm zone together constitute the intermediate zone 20.

[0058] Step 2, Weld Measurement: Measure the actual length l of each weld on the spherical tank. r .

[0059] Step 3: Construct a two-dimensional map of the upper electrode weld seam.

[0060] like Figure 2 As shown, from the top view of the spherical tank, the distribution of weld intersections and relative positions of the welds in the upper electrode zone is obtained. The actual weld lengths in the upper electrode zone are projected onto a 2D plane to construct a 2D map of the upper electrode zone welds with relative weld positions. In the 2D map of the upper electrode zone welds, each line segment intersection represents an actual weld intersection, also known as upper electrode zone weld intersection point 15, denoted by the letters A1-An.

[0061] exist Figure 2 In the process, the upper electrode zone preferably has four types of welds of different lengths, namely, the upper electrode zone oblique weld 11, the upper electrode zone transverse edge weld 12, the upper electrode zone transverse center weld 13, and the upper electrode zone longitudinal weld 14.

[0062] Step 4: Construct a two-dimensional map of the lower electrode weld seam.

[0063] like Figure 3 As shown, from the bottom view of the spherical tank, the distribution of weld intersections and relative positions of the welds in the lower electrode zone is obtained. The actual weld lengths in the lower electrode zone are projected onto a 2D plane to construct a 2D map of the lower electrode zone welds with relative weld positions. In the 2D map of the lower electrode zone welds, each line segment intersection represents an actual weld intersection, also known as a lower electrode zone weld intersection point 35, denoted by the letters B1-Bn.

[0064] exist Figure 3 In the middle, the lower electrode strip preferably has four types of welds of different lengths, namely, the lower electrode strip oblique weld 31, the lower electrode strip transverse edge weld 32, the lower electrode strip transverse center weld 33, and the lower electrode strip longitudinal weld 34.

[0065] Step 5: Construct a 2D map of the intermediate weld seam.

[0066] By setting the mapping scaling factor, the upper circumferential weld and the weld intersections on the upper circumferential weld, the lower circumferential weld and the weld intersections on the lower circumferential weld, as well as all welds and intersections between the upper and lower circumferential welds are scaled and deformed to form a two-dimensional map of the middle zone.

[0067] Furthermore, preferably, by setting mapping coefficients [η1, η2, η3, η4, η5], the weld seam and welding intersections are scaled and deformed to form a two-dimensional map of the intermediate zone; wherein:

[0068] η1 is used to synchronously scale the upper circumferential weld and all weld intersections on the upper circumferential weld.

[0069] η2 is used to synchronously scale the weld length in the upper temperature zone.

[0070] η3 is used to synchronously scale the circumferential weld and all weld intersections on the circumferential weld.

[0071] η4 is used to synchronously scale the weld length in the lower temperature zone, preferably η2 = η4 = 2η1.

[0072] η5 is used to synchronously scale the lower circumferential weld and all weld intersections on the lower circumferential weld.

[0073] Where η5 > η3 > η1, the upper, middle, and lower circumferential welds form a concentric circular structure arranged sequentially from the inside out in the two-dimensional map of the middle zone. Both the upper and lower temperature zone welds are arranged radially and staggered circumferentially. The two ends of the upper temperature zone weld are connected to the upper and middle circumferential welds, respectively, and the two ends of the lower temperature zone weld are connected to the middle and lower circumferential welds, respectively.

[0074] like Figures 4 to 6 As shown, the method for constructing the above-mentioned two-dimensional map with intermediate weld seams includes the following steps.

[0075] Step 5-1: Construct the upper circumferential weld: Scale the upper circumferential weld and all weld intersections C1-Cn (also called upper circumferential weld intersections 41) on the upper circumferential weld synchronously with a mapping coefficient η1; where the length l1' of each upper circumferential weld after scaling is η1 times its true length l1; the coordinates of each upper circumferential weld intersection 41 are η1 times the true coordinates.

[0076] Step 5-2: Construct the upper temperature zone weld: Starting from the intersection point C1-Cn of the upper circumferential weld, construct upper temperature zone welds 211 with a length of l'2 along the radial direction, with the tail endpoints D1-Dn respectively; where l'2=l2·η2, l2 is the actual length of the upper temperature zone weld.

[0077] Step 5-3: Construct the circumferential weld: Simultaneously scale the circumferential weld and some weld intersection points F1-Fn located on the circumferential weld with a mapping coefficient η3, so that the tail endpoints D1-Dn are all located on the circumferential weld, and are staggered at equal intervals along the circumference with weld intersection points F1-Fn; wherein, the length l3' of each circumferential weld after scaling is η3 times its real length l3; the coordinates of each circumferential weld intersection point are η3 times the real coordinates; D1-Dn and F1-Fn together constitute the circumferential weld intersection point 51.

[0078] Step 5-4: Construct the lower temperature zone weld: Starting from the intersection point F1-Fn of the middle circumferential weld, construct the lower temperature zone weld 221 with a length of l'4 along the radial direction, with the tail endpoints E1-En respectively; where l'4=l4·η4, and l4 is the actual length of the lower temperature zone weld.

[0079] Step 5-5: Construct the lower circumferential weld: Scale the lower circumferential weld with a mapping coefficient η5, and ensure that the tail endpoints E1-En are all located on the lower circumferential weld, forming the lower circumferential weld intersection point 61; wherein, the length l5' of each lower circumferential weld after scaling is η5 times its true length l5; the coordinates of each lower circumferential weld intersection point are η5 times the true coordinates.

[0080] Step 6: Construct a dataset of weld lengths for spherical tanks: For each weld constructed in steps 3 to 5, save the actual weld length measured in step 2. r .

[0081] Furthermore, based on the weld length of the spherical tank, the welds are preferably divided into n categories, and n weld length coefficients [k1,k2,k3,L,k] are set. n This allows us to preserve the true length of each weld.

[0082] In this embodiment, n=8 is preferred, which are the oblique welds of the upper / lower electrode zone (such as A1A2, A5A6, etc.), the transverse edge welds of the upper / lower electrode zone (such as A2A3, A4A5, etc.), the transverse center welds of the upper / lower electrode zone (such as A3A4, A9A10, etc.), the longitudinal welds of the upper / lower electrode zone (such as A2A11, A3A10, etc.), the upper / lower circumferential welds, the upper temperature zone welds, the middle circumferential welds, and the lower temperature zone welds; by setting 8 weld length coefficients [k1,k2,k3,L,k8], the actual lengths of the 8 types of welds are stored.

[0083] The preferred values ​​for the above eight weld length coefficients are: k1 = 0.0645; k2 = 0.0967; k3 = 0.0806; k4 = 0.2546; k5 = 0.0707; k6 = 0.2220; k7 = 0.0978 and k8 = 0.2779.

[0084] The actual length l of the i-th type of weld among the above 8 welds ri The saving method is: l ri =k i πR c ; where k i R represents the length coefficient of the i-th type of weld, 1≤i≤8; c Let be the radius of the spherical tank.

[0085] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot, characterized in that: Includes the following steps: Step 1: Divide the spherical tank area: The spherical tank has an upper circumferential weld and a lower circumferential weld. The area of ​​the spherical tank above the upper circumferential weld is called the upper polar zone, the area of ​​the spherical tank below the lower circumferential weld is called the lower polar zone, and the area of ​​the spherical tank between the upper polar zone and the lower polar zone is called the intermediate zone. The spherical tank also has a middle circumferential weld located between the upper circumferential weld and the lower circumferential weld; the area of ​​the spherical tank located between the upper circumferential weld and the middle circumferential weld is called the upper temperature zone; the area of ​​the spherical tank located between the lower circumferential weld and the middle circumferential weld is called the lower temperature zone; the upper temperature zone and the lower temperature zone together constitute the intermediate zone; Step 2, Weld Measurement: Measure the actual length l of each weld on the spherical tank. r ; Step 3: Construct a two-dimensional map of the upper electrode zone weld seam: From the top view of the spherical tank, obtain the weld seam intersection points and the relative position distribution of the weld seams in the upper electrode zone. Project the actual weld seam length in the upper electrode zone onto a 2D plane to construct a two-dimensional map of the upper electrode zone weld seam with the relative positional relationship of the weld seams. Step 4: Construct a two-dimensional map of the lower electrode zone weld: From the bottom view of the spherical tank, obtain the weld intersection points and the relative position distribution of the welds in the lower electrode zone. Project the actual weld length in the lower electrode zone onto a 2D plane to construct a two-dimensional map of the lower electrode zone weld with the relative positional relationship of the welds. Step 5: Construct a two-dimensional map of the intermediate zone weld seam: By setting the mapping scale coefficient, the upper circumferential weld seam and the weld seam intersection on the upper circumferential weld seam, the lower circumferential weld seam and the weld seam intersection on the lower circumferential weld seam, as well as all weld seams and intersections between the upper circumferential weld seam and the lower circumferential weld seam are scaled and deformed to form a two-dimensional map of the intermediate zone. By setting mapping coefficients [η1, η2, η3, η4, η5], the weld seam and welding intersections are scaled and deformed to form a two-dimensional map of the intermediate zone; where: η1 is used to synchronously scale the upper circumferential weld and all weld intersections on the upper circumferential weld; η2 is used to synchronously scale the weld length in the upper temperature zone; η3 is used to synchronously scale the circumferential weld and all weld intersections on the circumferential weld; η4 is used to synchronously scale the weld length in the lower temperature zone; η5 is used to synchronously scale the lower circumferential weld and all weld intersections on the lower circumferential weld; Where η5>η3>η1, the upper circumferential weld, middle circumferential weld and lower circumferential weld in the two-dimensional map of the middle zone form a concentric circle structure arranged from the inside to the outside. The upper and lower temperature zone welds are arranged radially. The two ends of the upper temperature zone weld are connected to the upper circumferential weld and the middle circumferential weld respectively, and the two ends of the lower temperature zone weld are connected to the middle circumferential weld and the lower circumferential weld respectively. The upper and lower temperate zone welds are staggered along the circumference. Step 6: Construct a dataset of weld lengths for spherical tanks: For each weld constructed in steps 3 to 5, save the actual weld length measured in step 2. r .

2. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 1, characterized in that: In step 5, η2 = η4 = 2η1.

3. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 1, characterized in that: In step 5, the method for constructing the two-dimensional map with the weld seam in the middle includes the following steps: Step 5-1, Constructing the upper circumferential weld seam: The upper circumferential weld seam and all weld seam intersection points C1-Cn located on the upper circumferential weld seam are synchronously scaled with a mapping coefficient η1; wherein, the length l'1 of each upper circumferential weld seam after scaling is η1 times its true length l1; the coordinates of each upper circumferential weld seam intersection point are η1 times the true coordinates; Step 5-2: Construct the upper temperature zone weld: Starting from the intersection point C1-Cn of the upper circumferential weld, construct upper temperature zone welds with a length of l'2 along the radial direction, with the tail endpoints D1-Dn respectively; where l'2=l2·η2, l2 is the actual length of the upper temperature zone weld; Step 5-3: Construct the circumferential weld: Scale the circumferential weld and the weld intersections F1-Fn located on it synchronously using a mapping coefficient η3, ensuring that the tail endpoints D1-Dn are all located on the circumferential weld, and that the weld intersections F1-Fn are staggered at equal intervals along the circumference. The scaled length l'3 of each circumferential weld is η3 times its actual length l3; the coordinates of each circumferential weld intersection are η3 times its actual coordinates; D1-Dn and F1-Fn together constitute the circumferential weld intersection. Step 5-4: Constructing the lower temperature zone weld: Starting from the intersection point F1-Fn of the middle circumferential weld, construct the lower temperature zone weld with a length of l'4 along the radial direction, with the tail endpoints E1-En respectively; where l'4=l4·η4, and l4 is the actual length of the lower temperature zone weld; Step 5-5: Construct the lower circumferential weld: Scale the lower circumferential weld with a mapping coefficient η5, and ensure that the tail endpoints E1-En are all located on the lower circumferential weld, forming the lower circumferential weld intersection point; wherein, the length l'5 of each lower circumferential weld after scaling is η5 times its true length l5; the coordinates of each lower circumferential weld intersection point are η5 times the true coordinates.

4. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 1, characterized in that: In step 3, in the two-dimensional map of the upper electrode weld, each line segment intersection point represents the actual weld intersection point, denoted by letters A1-An; in step 4, in the two-dimensional map of the lower electrode weld, each line segment intersection point represents the actual weld intersection point, denoted by letters B1-Bn.

5. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 1, characterized in that: In step 6, the welds are divided into n categories based on their length, and n weld length coefficients [k1, k2, k3, ..., k] are set. n This allows us to preserve the true length of each weld; where the true length of the i-th type of weld is l. ri The saving method is: l ri =k i πR c ; where k i R represents the length coefficient of the i-th type of weld, 1≤i≤n; c Let be the radius of the spherical tank.

6. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 5, characterized in that: In step 6, n = 8, which are the oblique welds of the upper / lower electrode zone, the transverse edge welds of the upper / lower electrode zone, the transverse center welds of the upper / lower electrode zone, the longitudinal welds of the upper / lower electrode zone, the circumferential welds of the upper / lower electrode zone, the upper temperature zone welds, the middle circumferential welds, and the lower temperature zone welds, respectively. By setting 8 weld length coefficients [k1,k2,k3,…,k8], the actual lengths of the 8 types of welds are stored.

7. The method for constructing a 2D map of a petrochemical spherical tank for a high-altitude wall-climbing inspection robot according to claim 6, characterized in that: k1=0.0645; k2=0.0967; k3=0.0806; k4=0.2546; k5=0.0707; k6=0.2220; k7=0.0978 and k8=0.2779.

Images