Detection structure and detection device

Abstract

The application relates to a detection structure and a detection device. The detection structure comprises a support, a metal corrosion detector and an extension piece. The metal corrosion detector is arranged on the support, and the extension piece is arranged on the support and is arranged in extension along a first direction. The metal corrosion detector comprises a detection probe, one end of the detection probe along the first direction is provided with a detection end, and the same end of the extension piece along the first direction is provided with an abutting end. Along the first direction, compared with the detection end, the abutting end is arranged farther away from the support and protrudes out of the support. The detection structure can be applied to detection of a plane and a curved surface and can replace manual detection, thereby improving the safety and detection efficiency of corrosion detection of a storage tank.

Description

Technical Field

[0001] This application relates to the field of storage tank technology, and in particular to a detection structure and detection device. Background Technology

[0002] Fuel for nuclear power plant emergency diesel generator systems is typically stored long-term in tanks for backup. The safe operation of these tanks is a prerequisite for the normal functioning of the emergency diesel generator system. Safety hazards in these tanks stem from leaks caused by sidewall corrosion and cracks. Therefore, regular inspections of the tanks' corrosion are necessary for safety assessments. Current techniques, such as emptying the tanks and manually entering to inspect the internal corrosion (visual inspection), suffer from poor safety and low efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide a detection structure and device to address the problems of poor safety and low efficiency in manually inspecting the inner wall corrosion of storage tanks.

[0004] According to a first aspect of this application, a detection structure is provided, including a support, a metal corrosion detector, and a telescopic component. The metal corrosion detector is mounted on the support, and the telescopic component is mounted on the support and extends and retracts along a first direction. The metal corrosion detector includes a detection probe with a detection end at one end along the first direction, and the telescopic component has an abutment end at the same end along the first direction. Along the first direction, the abutment end is located further away from the support than the detection end and protrudes from the support.

[0005] In the technical solution of this application, since the contact end is further away from the support than the detection end along the first direction, and the contact end protrudes from the support, the contact end of the telescopic member can abut against the inner wall of the storage tank along the first direction, and the detection end of the metal corrosion detector is set towards the inner wall of the storage tank, with a certain distance between it and the inner wall of the storage tank in the first direction. This facilitates the use of the metal corrosion detector to detect the corrosion of the inner wall of the storage tank. Combined with the fact that the telescopic member can extend and retract along the first direction, when the inner wall of the storage tank is an arc surface, the telescopic member can be adjusted according to the applicability of the arc surface, so that the telescopic member can abut well against the arc surface of the storage tank, thereby maintaining a certain distance between the detection end of the metal corrosion detector and the inner wall of the storage tank. Therefore, this detection structure is applicable to the detection of flat and curved surfaces, and can replace manual inspection, thereby improving the safety and efficiency of corrosion detection of storage tanks.

[0006] In one embodiment, the detection probe is an ultrasonic phased array. The detection structure of this application employs ultrasonic testing technology, primarily utilizing the propagation and reflection of ultrasonic waves in a medium. Based on the degree of ultrasonic wave attenuation, defects existing on the surface of the tested equipment (such as the inner wall of a storage tank) can be identified, effectively detecting defects embedded in welds inside the storage tank. Furthermore, diesel fuel inside the storage tank can be used as a coupling agent, eliminating the need for applying other coupling agents. In addition, the ultrasonic phased array can be used to improve the detection accuracy and efficiency of corrosion detection in storage tanks.

[0007] In one embodiment, the metal corrosion detector includes multiple detection probes, and the detection structure includes multiple telescopic members corresponding to the multiple detection probes. This allows the contact end of each telescopic member to abut against the inner wall of the tank along a first direction, thereby making the distance between the detection ends of the multiple detection probes and the inner wall of the tank approximately equal, thus improving the detection accuracy of the tank's corrosion.

[0008] In one embodiment, the telescopic component includes a rod and an elastic element. The rod is movably mounted on a support along a first direction, one end of the elastic element is connected to the rod, and the other end of the elastic element is connected to the support; the contact end is located on the rod. Thus, when the detection structure is in use, the contact end of the rod abuts against the inner wall of the tank along the first direction, causing the elastic element to be in a compressed state. If the inner wall of the tank is an arc surface, the rod can automatically adjust adaptively, maintaining a suitable distance between the probe of the metal corrosion detector and the inner wall of the tank, which is beneficial for detecting corrosion on the inner wall of the tank using the metal corrosion detector.

[0009] In one embodiment, the detection structure further includes at least one sleeve disposed on the support, the sleeve corresponding to the telescopic member, and the rod being slidably connected to the corresponding sleeve along a first direction. This allows the rod to move more smoothly relative to the support along the first direction, improving the stability of the rod and thus enhancing the reliability of the detection structure.

[0010] In one embodiment, the detection structure further includes multiple sleeves, with the elastic element positioned between corresponding two sleeves along a first direction. This allows the elastic element to stretch or contract more stably along the first direction, thereby enabling the rod to move telescopically along the first direction more stably and improving the reliability of the detection structure.

[0011] In one embodiment, the detection structure further includes a first driving member connected to a bracket to drive the bracket to move along a first direction. Thus, the first driving member can be used to move the bracket along the first direction, thereby moving the metal corrosion detector and the telescopic component along the first direction. The position of the metal corrosion detector and the telescopic component along the first direction can be adjusted to maintain a suitable distance between the detection end of the metal corrosion detector and the inner wall of the storage tank.

[0012] In one embodiment, the detection structure further includes a second driving member connected to the support to drive the support to rotate about an axis parallel to the first direction. Thus, the second driving member can drive the support to rotate about an axis parallel to the first direction, thereby driving the metal corrosion detector and the telescopic component to rotate about the same axis. This allows adjustment of the detection position and angle of the metal corrosion detector, enabling multiple detection probes to be spaced along the inner wall of the tank. This ensures consistent spacing between the probes and the inner wall, facilitating clearer confirmation of defects and improving the accuracy of the metal corrosion detector.

[0013] In one embodiment, the detection structure further includes a third driving member connected to the support to drive the support to rotate about an axis parallel to the second direction. The detection structure is used to detect a storage tank. The first and second directions are perpendicular to each other, and the second direction is parallel to the axial direction of the storage tank. Thus, the third driving member can drive the support to rotate about an axis parallel to the second direction, thereby driving the metal corrosion detector and the telescopic component to rotate about the same axis. This allows adjustment of the position of the detection probes along the extension direction of the inner wall of the storage tank. This enables the multiple detection probes of the metal corrosion detector to be spaced apart along the extension direction of the inner wall of the storage tank, and also ensures that the distance between the multiple detection probes and the inner wall of the storage tank remains consistent, which is beneficial for improving the detection accuracy of the multiple detection probes.

[0014] According to a second aspect of this application, a detection device is provided, including a robot and a detection structure according to any of the above embodiments; wherein the detection structure is mounted on the robot. By mounting the detection structure on the robot, the robot drives the detection structure to move within the storage tank along the axial direction of the tank or along the extension direction of the inner wall of the tank, thereby enabling full-area detection of the bottom and wall of a horizontal storage tank without draining oil, and achieving qualitative and quantitative inspection of damage and defects on the inner wall of the storage tank. Attached Figure Description

[0015] Figure 1 A schematic diagram of the detection device and storage tank according to an embodiment of this application is shown.

[0016] Figure 2 It shows Figure 1 Side view.

[0017] Figure 3 A schematic diagram of the detection structure according to an embodiment of this application is shown.

[0018] Figure 4 An exploded view of a detection structure according to an embodiment of this application is shown.

[0019] Figure 5 A top view of a second drive unit, a bracket, and a metal corrosion detector according to an embodiment of this application is shown.

[0020] Figure 6 A schematic diagram of the structure of a storage tank according to an embodiment of this application is shown.

[0021] Reference numerals: 10, detection structure; 100, bracket; 101, mounting hole; 110, sleeve; 200, metal corrosion detector; 210, detection probe; 201, detection end; 300, telescopic component; 301, contact end; 310, rod; 320, elastic component; 410, first driving component; 420, guide rail; 510, second driving component; 520, mounting bracket; 20, storage tank; 21, manhole; 30, robot. Detailed Implementation

[0022] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0023] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0024] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0028] The fuel for the emergency diesel engine system in a nuclear power plant needs to be stored in storage tanks for long-term standby. The safe operation of the storage tanks is a prerequisite for the normal operation of the emergency diesel engine system.

[0029] Safety hazards in storage tanks stem from leaks caused by sidewall corrosion and cracks. Therefore, regular inspections of the tank's corrosion status and safety assessments are necessary. Deteriorated areas / components should be repaired as needed to prevent fuel leaks and subsequent safety accidents and environmental pollution. Current techniques, such as emptying the tank and manually entering to inspect the internal corrosion (visual inspection), suffer from poor safety and low efficiency.

[0030] To address the aforementioned technical problems, this application presents a detection structure and detection device capable of detecting corrosion on the inner wall of storage tanks, thereby improving the safety and efficiency of the detection process.

[0031] Figure 1 A schematic diagram of the detection device and storage tank according to an embodiment of this application is shown. Figure 2 It shows Figure 1 Side view, Figure 3 A schematic diagram of the detection structure according to an embodiment of this application is shown.

[0032] Please see Figures 1-3 One embodiment of this application provides a detection structure 10, including a bracket 100, a metal corrosion detector 200, and a telescopic component 300.

[0033] The metal corrosion detector 200 and the telescopic component 300 are respectively mounted on the bracket 100, and the telescopic component 300 is telescopically mounted along the first direction F1.

[0034] The detection structure 10 is used to detect the storage tank 20, specifically, the storage tank 20 contains diesel fuel. When the detection structure 10 detects the bottom wall of the storage tank 20, the detection structure 10 is placed in a roughly horizontal position (e.g., ...). Figure 1 As shown in the figure, at this time, the first direction F1 is parallel to the gravity direction of the detection structure 10.

[0035] Of course, the first direction F1 is not limited to being parallel to the gravity direction of the detection structure 10. For example, when the storage tank 20 is placed horizontally and the detection structure 10 is not placed horizontally, the first direction F1 intersects the axial direction of the storage tank 20 and the gravity direction of the detection structure 10, respectively.

[0036] If the inner wall of the storage tank 20 is cylindrical, it can be understood that the first direction F1 can be parallel to the radial direction of the storage tank 20.

[0037] The metal corrosion detector 200 includes a detection probe 210. One end of the detection probe 210 along the first direction F1 has a detection end 201. The telescopic member 300 along the first direction F1 has an abutment end 301 at the same end. Along the first direction F1, the abutment end 301 is located further away from the bracket 100 than the detection end 201 and protrudes from the bracket 100.

[0038] Optionally, the detection probe 210 may be an ultrasonic probe.

[0039] Taking the detection structure 10 as an example, which is generally horizontally placed and used to detect the bottom wall of the storage tank 20, the detection end 201 is located at the bottom of the metal corrosion detector 200, and the contact end 301 is located at the bottom of the telescopic member 300. Since the contact end 301 is further away from the support 100 than the detection end 201 along the first direction F1, and protrudes from the support 100, the contact end 301 of the telescopic member 300 can abut against the bottom of the inner wall of the storage tank 20 along the first direction F1. This ensures that the detection end 201 of the metal corrosion detector 200 faces the inner wall of the storage tank 20 and is aligned with the bottom of the inner wall of the storage tank 20 along the first direction F1. The F1 has a certain gap, which facilitates the use of the metal corrosion detector 200 to detect the corrosion of the inner wall of the storage tank 20. Combined with the telescopic component 300, which can extend and retract along the first direction F1, when the inner wall of the storage tank 20 is an arc surface, the telescopic component 300 can be adjusted according to the arc surface, so that the telescopic component 300 can make good contact with the arc surface of the storage tank 20. This ensures that the detection end 201 of the metal corrosion detector 200 maintains a certain gap with the inner wall of the storage tank 20. Therefore, the detection structure 10 can be used to detect both flat and curved surfaces and can replace manual inspection, thereby improving the safety and efficiency of corrosion detection of the storage tank 20.

[0040] In some embodiments, the detection probe 210 is an ultrasonic phased array.

[0041] Optionally, the detection probe 210 can be the smallest customizable phased array ultrasonic detection module in the industry, weighing only about 500 grams, and the width of the detection probe 210 can be widened as needed, thereby increasing the detection width of the detection probe 210.

[0042] Optionally, the bracket 100 is provided with mounting holes 101 corresponding to the detection probes 210. The mounting holes 101 are arranged through the bracket 100 along the first direction F1. The detection probes 210 are installed and fixed in the corresponding mounting holes 101 so that the detection end 201 of the detection probes 210 faces the inner wall of the storage tank 20. For example, there are three detection probes 210, and the bracket 100 is provided with three mounting holes 101.

[0043] The detection structure 10 of this application employs ultrasonic testing technology, primarily utilizing the propagation and reflection of ultrasonic waves in a medium. Based on the degree of ultrasonic wave attenuation, defects existing on the surface of the tested equipment (such as the inner wall of storage tank 20) ​​can be identified, effectively detecting defects embedded in welds inside storage tank 20. Furthermore, diesel fuel inside storage tank 20 can be used as a coupling agent, eliminating the need for applying other coupling agents. In addition, ultrasonic phased array technology can be used to improve the detection accuracy and efficiency of corrosion detection in storage tank 20.

[0044] In some embodiments, please refer to Figure 3 and Figure 4 The metal corrosion detector 200 includes multiple detection probes 210, and the detection structure 10 includes multiple telescopic components 300 corresponding to the multiple detection probes 210.

[0045] For example, the detection probe 210 has three probes and the telescopic member 300 has six probes.

[0046] In this way, the contact end 301 of each telescopic member 300 can abut against the inner wall of the detection tank 20 along the first direction F1, thereby making the distance between the detection end 201 of multiple detection probes 210 and the inner wall of the tank 20 more equal, thereby improving the detection accuracy of corrosion detection of the tank 20.

[0047] In some embodiments, the telescopic member 300 includes a rod 310 and an elastic member 320. The rod 310 is movably disposed on the bracket 100 along the first direction F1. One end of the elastic member 320 is connected to the rod 310, and the other end of the elastic member 320 is connected to the bracket 100. The abutment end 301 is disposed on the rod 310.

[0048] Thus, when the detection structure 10 is in use, the contact end 301 of the rod 310 abuts against the inner wall of the detection tank 20 along the first direction F1, causing the elastic element 320 to be in a compressed state. When the inner wall of the tank 20 is constructed as an arc surface, the rod 310 can automatically make adaptive adjustments, so that the detection end 201 of the metal corrosion detector 200 and the inner wall of the tank 20 maintain a suitable distance, which is beneficial to use the metal corrosion detector 200 to detect the corrosion of the inner wall of the tank 20.

[0049] In this embodiment, the detection structure 10 further includes at least one sleeve 110 disposed on the bracket 100. The sleeve 110 is disposed corresponding to the telescopic member 300, and the rod 310 is slidably connected to the corresponding sleeve 110 along the first direction F1.

[0050] This allows the rod 310 to move more smoothly relative to the support 100 along the first direction F1, which can improve the stability of the rod 310 and thus improve the reliability of the detection structure 10.

[0051] In this embodiment, the detection structure 10 also includes a plurality of sleeves 110, and along the first direction F1, the elastic element 320 is limited between two corresponding sleeves 110.

[0052] This allows the elastic element 320 to stretch or contract more stably along the first direction F1, thereby allowing the rod 310 to move more stably along the first direction F1, and thus improving the reliability of the detection structure 10.

[0053] In some embodiments, the detection structure 10 further includes a first driving member 410, which is connected to the bracket 100 to drive the bracket 100 to move along a first direction F1.

[0054] The first driving element 410 may be a motor or a cylinder. For example, the first driving element 410 is a cylinder, and the stroke of the cylinder in the first direction is 0mm-40mm.

[0055] The detection structure 10 also includes a guide rail 420, a first driving member 410 is slidably connected to the guide rail 420, and the first driving member 410 is used to drive the guide rail 420 to move in a first direction F1. The bracket 100 is disposed on the guide rail 420.

[0056] Specifically, the first drive component 410 and the guide rail 420 are combined to form a pneumatic slide.

[0057] In this way, the first driving component 410 can be used to drive the bracket 100 to move along the first direction F1, thereby driving the metal corrosion detector 200 and the telescopic component 300 to move along the first direction F1. The position of the metal corrosion detector 200 and the telescopic component 300 along the first direction F1 can be adjusted, so that the detection end 201 of the metal corrosion detector 200 and the inner wall of the storage tank 20 can maintain a suitable distance.

[0058] In some embodiments, the detection structure 10 further includes a second driving member 510, which is connected to the bracket 100 to drive the bracket 100 to rotate about an axis parallel to the first direction F1.

[0059] The second driving component 510 can be a motor or a cylinder. For example, the second driving component 510 is a swing cylinder with a stroke of 0° to 90° (which can be combined with...). Figure 5 (To understand).

[0060] Specifically, the second drive unit 510 is connected to the guide rail 420 via the mounting bracket 520, and the bracket 100 is located on the output end of the second drive unit 510.

[0061] In this way, the second driving component 510 can be used to drive the bracket 100 to rotate around an axis parallel to the first direction F1, thereby driving the metal corrosion detector 200 and the telescopic component 300 to rotate around an axis parallel to the first direction F1. The detection position and detection angle of the metal corrosion detector 200 can be adjusted, so that the multiple detection probes 210 of the metal corrosion detector 200 can be arranged at intervals along the extension direction of the inner wall of the storage tank 20. This ensures that the distance between the multiple detection probes 210 and the inner wall of the storage tank 20 remains consistent, making it easier to use the multiple detection probes 210 to more clearly confirm the defect quality and improve the detection accuracy of the metal corrosion detector 200.

[0062] In some embodiments, the detection structure 10 further includes a third driving member (not shown in the figure), which is connected to the bracket 100 to drive the bracket 100 to rotate about an axis parallel to the second direction F2. The first direction F1 and the second direction F2 are perpendicular to each other, and the second direction F2 is parallel to the axial direction of the storage tank 20.

[0063] In this way, the bracket 100 can be rotated around an axis parallel to the second direction F2 by the third driving component, thereby driving the metal corrosion detector 200 and the telescopic component 300 to rotate around an axis parallel to the second direction F2. The position of the detection probe 210 along the extension direction of the inner wall of the storage tank 20 can be adjusted, so that the multiple detection probes 210 of the metal corrosion detector 200 can be arranged at intervals along the extension direction of the inner wall of the storage tank 20. It is also convenient to keep the distance between the multiple detection probes 210 and the inner wall of the storage tank 20 consistent, which is beneficial to improving the detection accuracy of the multiple detection probes 210.

[0064] This application also provides a detection device, which includes a detection structure 10 and a robot 30 as described in any of the above embodiments. The detection structure 10 is mounted on the robot 30. By mounting the detection structure 10 on the robot 30, the robot 30 drives the detection structure 10 to move within the storage tank 20 along the axial direction of the storage tank 20 or along the extension direction of the inner wall of the storage tank 20. This enables full-area detection of the bottom and wall of the horizontal storage tank 20 without draining oil, and allows for qualitative and quantitative inspection of damage and defects on the inner wall of the storage tank 20.

[0065] like Figure 6 As shown, the top of the storage tank 20 is provided with a manhole 21. The detection device can be hoisted by hoisting equipment (such as a crane). In this way, the hoisting equipment can hoist the detection device into the storage tank 20 through the manhole 21 so that the detection structure 10 can be used to detect the entire area of ​​the bottom and wall of the horizontal storage tank 20.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A detection structure, characterized in that, include: support; A metal corrosion detector is mounted on the bracket. and A telescopic component is provided on the bracket and is telescopically extended along a first direction; The metal corrosion detector includes a detection probe with a detection end at one end along the first direction, and an abutment end at the same end of the telescopic member along the first direction. Along the first direction, the abutment end is located further away from the support than the detection end and protrudes from the support. The abutment end is used to abut against the inner wall of the storage tank along the first direction. The detection end of the metal corrosion detector is positioned towards the inner wall of the storage tank and is spaced apart from the bottom of the inner wall of the storage tank in the first direction. The metal corrosion detector includes a plurality of detection probes, and the detection structure includes a plurality of telescopic components corresponding to the plurality of detection probes.

2. The detection structure according to claim 1, characterized in that, The detection probe is an ultrasonic phased array.

3. The detection structure according to claim 1, characterized in that, There are three detection probes and six telescopic components.

4. The detection structure according to any one of claims 1-3, characterized in that, The telescopic component includes a rod and an elastic element. The rod is movably mounted on the bracket along the first direction. One end of the elastic element is connected to the rod, and the other end of the elastic element is connected to the bracket. The contact end is located on the rod.

5. The detection structure according to claim 4, characterized in that, The detection structure further includes at least one sleeve disposed on the bracket, the sleeve being disposed corresponding to the telescopic member, and the rod being slidably connected to the corresponding sleeve along the first direction.

6. The detection structure according to claim 5, characterized in that, The detection structure further includes a plurality of sleeves, and along the first direction, the elastic element is positioned between two corresponding sleeves.

7. The detection structure according to any one of claims 1-3, characterized in that, The detection structure further includes a first driving member, which is connected to the bracket to drive the bracket to move along the first direction.

8. The detection structure according to any one of claims 1-3, characterized in that, The detection structure further includes a second driving member, which is connected to the bracket to drive the bracket to rotate about an axis parallel to the first direction.

9. The detection structure according to any one of claims 1-3, characterized in that, The detection structure further includes a third driving member, which is connected to the bracket to drive the bracket to rotate about an axis parallel to the second direction; The detection structure is used to detect storage tanks; The first direction is perpendicular to the second direction, and the second direction is parallel to the axial direction of the storage tank.

10. A detection device, characterized in that, include: robot; and The detection structure according to any one of claims 1-9; The detection structure is located on the robot.

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