Tank area inspection robot rapid inspection method and system based on real-time tracking

Abstract

This invention relates to the field of inspection robots, specifically to a rapid inspection method and system for tank farms based on real-time tracking. The invention determines the presence of leaking gas based on environmental gas data. When a leak is found, it combines real-time wind parameters to determine the initial diffusion range of the leaking gas. It then acquires the spatial concentration gradient of the gas within the initial diffusion range and performs trend analysis to determine the inspection robot's re-inspection return point and the initial suspected leak peak point. The leaking gas concentration within the re-inspection range is re-inspected, and the re-inspection peak point is determined based on the re-inspected leaking gas concentration. Combined with the initial suspected leak peak point analysis, a reference point for the leak area is obtained. By collecting wind parameters from the reference point in the leak area, the coordinates of the leak point are analyzed based on the reference point coordinates, the leaking gas concentration at the reference point, and the wind parameters. This achieves precise leak point location, improving the inspection speed and efficiency of the inspection robot.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and specifically to a rapid inspection method and system for tank farm inspection robots based on real-time tracking. Background Technology

[0002] In industries such as petroleum and chemical fuels, tank farms serve as crucial storage sites for various gases, and their safe operation directly impacts enterprise production safety, personnel safety, and the safety of the surrounding environment. Gas leaks in tank farms can lead to major accidents such as poisoning, explosions, and environmental pollution. With the development of robotics and automated monitoring technologies, how to achieve rapid inspections using inspection robots is an urgent problem to be solved.

[0003] In the existing technology, there are several related patents for inspection methods of intelligent inspection robots. For example, Chinese Patent Publication No. CN120578165A discloses a three-dimensional inspection system and method applied to hazardous chemical tank areas. This method uses a zipline robot to move back and forth along a first direction to detect gas and liquid leaks in the first and second detection units and the second area on the side of the hazardous chemical storage tank, thereby achieving all-round and multi-dimensional monitoring of the hazardous chemical storage tank.

[0004] However, existing technologies have the following problems: existing technologies only conduct repeated inspections along a specific route and only identify abnormal feature points to mark gas and liquid leak points in a single inspection. They do not consider determining the return point for re-inspection and conducting a second re-inspection to improve the accuracy of gas and liquid leak points. This results in an excessively large inspection range, low detection efficiency, and insufficient accuracy in locating leak points.

[0005] Meanwhile, existing technologies do not take into account the need to comprehensively analyze and determine the final leak point by using multiple leak area positioning reference points. This makes the detection results susceptible to interference from a single detection scenario, resulting in occasional deviations. Consequently, maintenance personnel may need to spend a lot of time investigating specific leak points, which seriously affects the efficiency and accuracy of leak point location in tank areas. Summary of the Invention

[0006] The present invention aims to overcome the shortcomings of the above-mentioned background technology and provide a rapid inspection method for tank area inspection robots based on real-time tracking. This method can effectively solve the problem that the existing technology cannot accurately locate the leakage point of the tank area, thereby achieving high-precision, rapid and comprehensive detection of the tank area environment.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: On the one hand, the present invention provides a rapid inspection method for tank area inspection robots based on real-time tracking, S1, installing a rail-mounted inspection robot track in the tank area, and controlling the inspection robot on the track to detect environmental gas data and real-time wind force parameters in real time.

[0008] S2. Determine whether there is a leaking gas based on environmental gas data. If there is a leaking gas, mark the current location as the initial detection point, determine the initial diffusion range of the leaking gas based on real-time wind parameters, and obtain the spatial concentration gradient of the gas within the initial diffusion range.

[0009] S3. Perform trend analysis on the spatial concentration gradient of the gas within the initial diffusion range to determine the re-inspection return point and the initial suspected leak peak point of the inspection robot.

[0010] S4. When the inspection robot moves to the re-inspection return point, control the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determine the re-inspection peak point based on the re-inspection leakage gas concentration, and combine it with the initial suspected leakage peak point to obtain the leakage area reference point.

[0011] S5. Collect wind parameters at the reference point in the leak area, and analyze the coordinates of the leak point based on the coordinates of the reference point, the concentration of leaked gas at the reference point, and the wind parameters at the reference point.

[0012] On the other hand, this invention provides a rapid inspection system for tank farm inspection robots based on real-time tracking, including a data acquisition module, a spatial concentration gradient construction module, a peak point determination module, a peak point correction module, and a leak point coordinate output module. The modules are connected as follows: the data acquisition module is connected to the spatial concentration gradient construction module; the peak point determination module is connected to both the spatial concentration gradient construction module and the peak point correction module; and the leak point coordinate output module is connected to the peak point correction module.

[0013] Data acquisition module: A track for the inspection robot is installed in the tank area, and the inspection robot on the track is controlled to detect environmental gas data and real-time wind parameters in real time.

[0014] Spatial concentration gradient construction module: Based on environmental gas data, it determines whether there is a leaking gas. When there is a leaking gas, it marks the current location as the initial detection point and determines the initial diffusion range of the leaking gas based on real-time wind parameters, and obtains the spatial concentration gradient of the gas within the initial diffusion range.

[0015] Peak point determination module: Performs trend analysis on the spatial concentration gradient of gas within the initial diffusion range to determine the re-inspection return point of the inspection robot and the initial suspected leak peak.

[0016] Peak point correction module: When the inspection robot moves to the re-inspection return point, it controls the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determines the re-inspection peak point based on the re-inspection leakage gas concentration, and obtains the leakage area benchmark point by combining the initial suspected leakage peak point analysis.

[0017] Leak point coordinate output module: Collects wind parameters of the reference point in the leak area, and analyzes the leak point coordinates based on the reference point coordinates, leaked gas concentration at the reference point, and wind parameters.

[0018] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention determines whether there is leaked gas by real-time detection of environmental gas data and real-time wind parameters. When there is leaked gas, the initial diffusion range of the leaked gas is determined according to the real-time wind parameters, and the spatial concentration gradient of the gas within the initial diffusion range is obtained, providing a data basis for subsequent determination of the re-inspection return point and suspected leakage peak point.

[0019] (2) By analyzing the spatial concentration gradient of the gas within the initial diffusion range, this invention determines the return point of the inspection robot and the initial suspected leakage peak point, providing a route for the subsequent inspection robot re-inspection, reducing the robot's invalid movement path, reducing inspection time, improving overall inspection efficiency, and providing more reliable data support for subsequent re-inspection and benchmark point determination.

[0020] (3) The present invention controls the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range when the inspection robot moves to the re-inspection return point. The re-inspection peak value is determined based on the re-inspection leakage gas concentration, and the reference point of the leakage area is obtained by combining the initial suspected leakage peak point analysis. This provides an anchor point for subsequent leakage point location, improving the accuracy of tank area leakage detection and subsequent location efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the method steps of the present invention.

[0023] Figure 2 This is a schematic diagram illustrating the steps for determining the re-inspection return point of the inspection robot in this invention.

[0024] Figure 3 This is a schematic diagram illustrating the steps of benchmark point analysis for the leakage area in this invention.

[0025] Figure 4 This is a schematic diagram of the system module connections in this invention. Detailed Implementation

[0026] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. Furthermore, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.

[0027] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0028] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0029] Please see Figure 1 As shown, the present invention provides a rapid inspection method for tank area inspection robots based on real-time tracking, including: S1, installing a rail-mounted inspection robot track in the tank area, and controlling the inspection robot on the track to detect environmental gas data and real-time wind parameters in real time.

[0030] It should be noted that the implementation scenario targeted by the embodiments of the present invention is: using inspection robots to track and detect leaking gas in tank areas in real time to determine the leak point.

[0031] The ambient gas data refers to the gas composition in the environment and the corresponding gas concentration of each component; real-time wind parameters include wind speed and wind direction.

[0032] This invention utilizes a rail-mounted inspection robot installed in the tank area to control the robot to monitor environmental gas data and wind parameters in real time, avoiding interference from ground obstacles and solving the problem of blind spots in ground robot inspections. This provides core environmental data support for determining the initial diffusion range of leaked gas and accurately locating the leak point, laying the foundation for scientific analysis of the entire inspection process.

[0033] S2. Determine whether there is a leaking gas based on environmental gas data. If there is a leaking gas, mark the current location as the initial detection point, determine the initial diffusion range of the leaking gas based on real-time wind parameters, and obtain the spatial concentration gradient of the gas within the initial diffusion range.

[0034] In one embodiment of the present invention, considering that different tank areas have corresponding types and components of stored gases, and that the safe leakage concentration thresholds of different types and components of gases are different, the method for determining whether there is a leaking gas includes: obtaining the types and components of stored gases corresponding to the tank area and their safe leakage concentration thresholds from the tank area storage database.

[0035] The types and concentrations of ambient gases detected by the inspection robot are compared with the types and concentrations of gases stored in the tank area and the safe leakage concentration thresholds.

[0036] When the inspection robot detects that the ambient gas contains the same type of gas stored in the tank area, and the concentration exceeds the corresponding safe leakage concentration threshold, it determines that there is a leaking gas; otherwise, it determines that there is no leaking gas.

[0037] In a preferred embodiment of the present invention, considering the large area of ​​the tank area and the wide coverage of the inspection robot, if the initial diffusion range is not determined and the return point is not analyzed based on the concentration gradient of the leaked gas, the inspection will be blind and untargeted, increasing the inspection time and resulting in low inspection efficiency.

[0038] Based on this, the method for determining the initial diffusion range of the leaked gas includes: determining the direction of the suspected leak point according to the wind direction in the real-time wind force parameters, selecting the target tank that is closest to the initial detection point in the direction of the suspected leak point, and taking the location coordinates of the target tank as the assumed leak point.

[0039] Obtain the gas concentration inside the target tank from the tank area storage database, and denote it as the assumed leak point gas concentration; input the assumed leak point gas concentration, the initial detection point wind speed, wind direction, and the height of the leak point from the track into the preset gas diffusion model to output the diffusion distance on the track.

[0040] In a preferred embodiment, the method for establishing the pre-defined gas diffusion model is as follows: An experimental environment simulating a real tank farm environment is constructed. Within this experimental environment, a simulated leak source that can move vertically is set up to represent leak points at different heights, and detection points are evenly distributed along a track. By changing the leak gas concentration at the leak source and the initial wind speed and direction at the detection points, the concentration at each detection point on the track is measured. The distance from each detection point to the projection of the leak point onto the track plane is recorded as the theoretical diffusion distance. The maximum distance between detection points exceeding the safe leak concentration threshold is measured and recorded as the diffusion distance on the track.

[0041] By statistically analyzing the maximum diffusion distance at different wind speeds and directions and the height from the leak point to the track under different leak gas concentration tests, as well as the gas concentration at each detection point at each theoretical diffusion distance, a gas diffusion model was constructed.

[0042] The initial diffusion range is obtained by extending the diffusion distance along the direction of the inspection robot from the initial detection point; the range between the initial detection point and the initial diffusion range end point is recorded as the initial diffusion range.

[0043] This invention determines the presence of leaked gas by real-time detection of ambient gas data and real-time wind parameters. When leaked gas is found, the initial diffusion range of the leaked gas is determined based on the real-time wind parameters, and the spatial concentration gradient of the gas within the initial diffusion range is obtained, providing a data basis for subsequent determination of re-inspection return points and suspected leak peak points.

[0044] S3. Perform trend analysis on the spatial concentration gradient of the gas within the initial diffusion range to determine the re-inspection return point and the initial suspected leak peak point of the inspection robot.

[0045] In a preferred embodiment of the present invention, when determining the re-inspection return point of the inspection robot, considering that the initial diffusion range may deviate from the actual diffusion range due to the complex environment of the tank area, the re-inspection return point is determined through overall spatial concentration gradient analysis to ensure that the re-inspection range accurately covers the effective leakage area. Furthermore, it is necessary to control the inspection robot to return in a timely manner for re-inspection.

[0046] Based on this, please refer to Figure 2 As shown, the specific method for determining the re-inspection return point of the inspection robot includes: W1. If the spatial concentration gradient within the initial diffusion range shows a trend of first increasing and then decreasing, the leakage gas concentration at the end point of the initial diffusion range is compared with the safe leakage concentration threshold.

[0047] Considering that when the concentration of leaked gas at the end of the initial diffusion range is lower than the safe leakage concentration threshold, the leakage diffusion range can be determined to be within the initial diffusion range, and the inspection robot does not need to continue to move forward for inspection.

[0048] Based on this W2, when the leakage gas concentration at the end point of the initial diffusion range is lower than its safe leakage concentration threshold, the end point of the initial diffusion range is recorded as the re-inspection return point.

[0049] Considering that if the concentration of leaked gas at the end of the initial diffusion range is higher than its safe leakage concentration threshold, it means that the actual diffusion range is larger than the initial diffusion range. Therefore, the specific location of the suspected leakage peak point cannot be determined yet, and the initial diffusion range needs to be corrected.

[0050] Based on this, W3, when the leakage gas concentration at the end point of the initial diffusion range is higher than its safe leakage concentration threshold, calculate the concentration decrease based on the maximum leakage gas concentration and the end leakage gas concentration in the spatial concentration gradient, correct the initial diffusion range based on the concentration decrease, analyze the spatial concentration gradient within the corrected diffusion range, and determine the re-inspection return point of the inspection robot.

[0051] In a preferred embodiment, the specific method for correcting the initial diffusion range includes: obtaining the concentration difference between the maximum leak gas concentration and the terminal leak gas concentration in the spatial concentration gradient, and using the ratio of this difference to the distance from the coordinates of the point corresponding to the maximum leak gas concentration to the terminal point of the initial diffusion range as the concentration decrease rate.

[0052] Considering that when the concentration gradient in the initial diffusion range first increases and then decreases and the terminal concentration exceeds the safety threshold, it can only be determined that the diffusion of the leaked gas has not ended, but it is impossible to determine how far it needs to extend to cover the diffusion boundary where the concentration is below the threshold.

[0053] Furthermore, considering that the difference between the terminal concentration and the safety threshold can intuitively reflect the gap between the current concentration and the safe leakage concentration threshold, the correction distance is determined by the ratio of the difference to the decrease rate, thus avoiding the low inspection efficiency caused by blindly expanding the scope.

[0054] Based on this, the difference between the concentration value at the end point of the initial diffusion range and its safe leakage concentration threshold is obtained, and the ratio of this difference to the concentration decrease is recorded as the corrected diffusion distance.

[0055] The point obtained by extending the corrected diffusion distance along the direction of the inspection robot's movement from the initial diffusion range end point is taken as the corrected end point, and the range between the initial detection point and the corrected end point is recorded as the corrected diffusion range.

[0056] In a preferred embodiment, the method for analyzing the spatial concentration gradient within the corrected diffusion range includes: controlling the inspection robot to continue moving forward, collecting the leaked gas concentration and real-time wind parameters between the current point and the corrected end point, and obtaining the spatial concentration gradient within the corrected diffusion range.

[0057] If the concentration of leaked gas is below the safe leakage concentration threshold, the coordinates of the end point of the corrected diffusion range will be marked as the re-inspection return point.

[0058] Conversely, if the spatial concentration gradient of the gas within the corrected diffusion range is not found, trend analysis is performed to determine the re-inspection return point for the inspection robot.

[0059] The method for determining the re-inspection return point of the inspection robot by analyzing the spatial concentration gradient within the corrected diffusion range is the same as that used for the initial diffusion range.

[0060] If the terminal point is the concentration of the leaked gas with the highest spatial concentration gradient within the entire initial diffusion range, it indicates that the suspected leak peak point is not within the initial range. Therefore, the initial diffusion range must be corrected to determine the retest return point and to find the suspected peak point.

[0061] Based on this, W4, if the spatial concentration gradient within the initial diffusion range shows a monotonically increasing trend or a fluctuating trend and the end point is the maximum leak gas concentration, the diffusion range is gradually expanded in the direction of the inspection robot's movement according to the set correction distance until the leak gas concentration within the expanded diffusion range is lower than its safe leak concentration threshold for the first time, and the end point of the current expanded diffusion range is recorded as the re-inspection return point.

[0062] The correction distance can be set to 1 meter to avoid excessive detection due to an excessively large correction distance, which consumes too much time, or to inefficient multiple corrections due to an excessively small correction distance.

[0063] It should be further explained that the specific method for determining the initial suspected leak peak point includes: obtaining the maximum value of the leaked gas concentration in the spatial concentration gradient within the corrected diffusion range, and marking the location of the maximum value as the initial suspected leak peak point.

[0064] This invention analyzes the spatial concentration gradient of gas within the initial diffusion range to determine the re-inspection return point and the initial suspected leak peak point of the inspection robot. This provides a route for subsequent re-inspection by the inspection robot, reduces invalid movement paths of the robot, reduces inspection time, improves overall inspection efficiency, and provides more reliable data support for subsequent re-inspection and benchmark point determination.

[0065] S4. When the inspection robot moves to the re-inspection return point, control the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determine the re-inspection peak point based on the re-inspection leakage gas concentration, and combine it with the initial suspected leakage peak point to obtain the leakage area reference point.

[0066] In one specific instance, considering that the leakage peak point is closest to the leak, the leakage point can be determined through the leakage peak point. However, considering that the initial suspected leakage peak point is only derived from the concentration gradient analysis of the initial diffusion range, it may be affected by local environmental interference from a single detection. Therefore, the leakage area benchmark point analysis step includes: recording the range from the re-inspection return point to the initial detection point as the re-inspection range.

[0067] Collect the leakage gas concentration at each detection point within the re-inspection range, and mark the location coordinates of the maximum concentration detected by the inspection robot within the diffusion range as the re-inspection peak point.

[0068] Compare the coordinates of the re-inspected peak point with the coordinates of the initial suspected leak peak point. If the two coordinates coincide, the initial suspected leak peak point is recorded as the reference point of the leak area.

[0069] Conversely, the midpoint between the re-inspection peak point coordinates and the initial suspected leak peak point coordinates is designated as the reference point for the leak area. Calculating the midpoint coordinates balances the effectiveness of the initial and re-inspections, avoids biases from a single detection scenario, and improves the accuracy of reference point selection.

[0070] This invention controls the inspection robot and its adjacent track inspection robots to re-inspect the leak gas concentration within the re-inspection range when the inspection robot moves to the re-inspection return point. The re-inspection peak value is determined based on the re-inspection leak gas concentration, and the reference point of the leak area is obtained by combining the initial suspected leak peak point analysis. This provides anchor points for subsequent leak point location, improving the accuracy of tank area leak detection and subsequent location efficiency.

[0071] S5. Collect wind parameters at the reference point in the leak area, and analyze the coordinates of the leak point based on the coordinates of the reference point, the concentration of leaked gas at the reference point, and the wind parameters at the reference point.

[0072] like Figure 3 As shown, the method for obtaining the coordinates of the leakage point is: S51, select the plane coordinates of the reference point corresponding to the inspection robot and the two adjacent inspection robots in the track plane.

[0073] S52. The average of the leak gas concentration at the re-inspection peak point and the leak gas concentration at the initial suspected leak peak point is used as the leak gas concentration at the baseline point. Calculating using the average value improves the accuracy and reasonableness of the leak gas concentration at the baseline point.

[0074] S53. Input the assumed gas concentration at the leak point, the wind speed and direction at the initial detection point, and the height of the leak point from the track into the preset gas diffusion model to output the gas concentration at each theoretical diffusion distance. Match the leak gas concentration at the reference point with the gas concentration at each theoretical diffusion distance to obtain the actual diffusion distance corresponding to each reference point.

[0075] S54. Construct the planar diffusion range of each reference point with the plane coordinates of the reference point as the center and the actual diffusion distance as the radius. If a single intersection point is found, mark the intersection point coordinates as the plane coordinates of the leak point; otherwise, calculate the mean of the x-coordinates and the mean of the y-coordinates of each intersection point, and use the results as the plane coordinates of the leak point.

[0076] S55. Starting from the plane coordinates of the leak point, draw a vertical line downwards and obtain the intersection point of the vertical line with the target tank in the tank area. Record this intersection point as the final leak point.

[0077] This invention collects wind parameters at a reference point in the leak area, analyzes the leak point coordinates based on the reference point coordinates, leak gas concentration, and wind parameters, and can accurately correlate the leak gas diffusion pattern with environmental influencing factors, improving the accuracy of leak point coordinate calculation, shortening the leak point search time, and providing key technical support for the safe operation of tank farms.

[0078] like Figure 4 As shown, on the other hand, the present invention provides a rapid inspection system for tank farm inspection robots based on real-time tracking, including: a data acquisition module, a spatial concentration gradient construction module, a peak point determination module, a peak point correction module, and a leak point coordinate output module. The modules are connected as follows: the data acquisition module is connected to the spatial concentration gradient construction module; the peak point determination module is connected to both the spatial concentration gradient construction module and the peak point correction module; and the leak point coordinate output module is connected to the peak point correction module.

[0079] Data acquisition module: A track for the inspection robot is installed in the tank area, and the inspection robot on the track is controlled to detect environmental gas data and real-time wind parameters in real time.

[0080] Spatial concentration gradient construction module: Based on environmental gas data, it determines whether there is a leaking gas. When there is a leaking gas, it marks the current location as the initial detection point and determines the initial diffusion range of the leaking gas based on real-time wind parameters, and obtains the spatial concentration gradient of the gas within the initial diffusion range.

[0081] Peak point determination module: Performs trend analysis on the spatial concentration gradient of gas within the initial diffusion range to determine the re-inspection return point of the inspection robot and the initial suspected leak peak point.

[0082] Peak point correction module: When the inspection robot moves to the re-inspection return point, it controls the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determines the re-inspection peak point based on the re-inspection leakage gas concentration, and obtains the leakage area benchmark point by combining the initial suspected leakage peak point analysis.

[0083] Leak point coordinate output module: Collects wind parameters of the reference point in the leak area, and analyzes the leak point coordinates based on the reference point coordinates, leaked gas concentration at the reference point, and wind parameters.

[0084] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0085] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0086] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0088] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tank area inspection robot rapid inspection method based on real-time tracking, characterized in that, Includes the following steps: S1. Install a rail-mounted inspection robot track in the tank area and control the inspection robot on the track to detect environmental gas data and real-time wind parameters in real time. S2. Determine whether there is a gas leak based on environmental gas data. If there is a gas leak, mark the current location as the initial detection point and determine the initial diffusion range of the leaked gas based on real-time wind parameters, and obtain the spatial concentration gradient of the gas within the initial diffusion range. S3. Perform trend analysis on the spatial concentration gradient of the gas within the initial diffusion range to determine the re-inspection return point and the initial suspected leak peak point of the inspection robot; S4. When the inspection robot moves to the re-inspection return point, control the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determine the re-inspection peak point based on the re-inspection leakage gas concentration, and combine it with the initial suspected leakage peak point to obtain the leakage area reference point. S5. Collect wind parameters at the reference point in the leak area, and analyze the coordinates of the leak point based on the coordinates of the reference point, the concentration of leaked gas at the reference point, and the wind parameters at the reference point. The specific method for determining the re-inspection return point of the inspection robot includes: If the spatial concentration gradient within the initial diffusion range shows a trend of first increasing and then decreasing, compare the leaked gas concentration at the end point of the initial diffusion range with the safe leak concentration threshold. When the concentration of leaked gas at the end point of the initial diffusion range is lower than its safe leakage concentration threshold, the end point of the initial diffusion range is recorded as the re-inspection return point; When the concentration of leaked gas at the end point of the initial diffusion range is higher than its safe leakage concentration threshold, the concentration decrease is calculated based on the maximum leakage gas concentration and the end leakage gas concentration in the spatial concentration gradient. The initial diffusion range is then corrected based on the concentration decrease, and the spatial concentration gradient within the corrected diffusion range is analyzed to determine the re-inspection return point of the inspection robot. If the spatial concentration gradient within the initial diffusion range shows a monotonically increasing or fluctuating trend and the end point is the maximum leaked gas concentration, the diffusion range is gradually expanded in the direction of the inspection robot's movement according to the set correction distance until the leaked gas concentration within the expanded diffusion range is lower than its safe leaked concentration threshold for the first time. Then, the end point of the current expanded diffusion range is recorded as the re-inspection return point. The specific method for correcting the initial diffusion range is as follows: Obtain the concentration difference between the maximum leak gas concentration and the terminal leak gas concentration in the spatial concentration gradient, and use the ratio of this difference to the distance from the coordinates of the point corresponding to the maximum leak gas concentration to the end point of the initial diffusion range as the concentration decrease rate. The difference between the concentration value at the end point of the initial diffusion range and its safe leakage concentration threshold is obtained, and the ratio of this difference to the concentration decrease is recorded as the corrected diffusion distance. The point obtained by extending the corrected diffusion distance along the direction of the inspection robot's movement from the end point of the initial diffusion range is taken as the corrected end point, and the range between the initial detection point and the corrected end point is recorded as the corrected diffusion range. The method for analyzing the spatial concentration gradient within the corrected diffusion range includes: The inspection robot is controlled to continue moving forward, collecting the leaked gas concentration and real-time wind parameters between the current point and the corrected end point, and obtaining the spatial concentration gradient within the corrected diffusion range. If the concentration of leaked gas is lower than the safe leakage concentration threshold, the coordinates of the end point of the corrected diffusion range will be marked as the re-inspection return point. Conversely, if the spatial concentration gradient of the gas within the corrected diffusion range is not found, trend analysis will continue to be performed to determine the re-inspection return point of the inspection robot. Specific methods for determining the initial suspected leak peak point include: Obtain the maximum value of the leaked gas concentration in the spatial concentration gradient within the corrected diffusion range, and mark the location of the maximum value as the initial suspected leak peak point; The benchmark point analysis step for the leakage area includes: The range from the re-inspection return point to the initial inspection point is recorded as the re-inspection range; Collect the concentration of leaked gas at each detection point within the re-inspection range, and mark the location coordinates of the maximum concentration detected by the inspection robot within the diffusion range as the re-inspection peak point; Compare the coordinates of the re-inspection peak point with the coordinates of the initial suspected leak peak point. If the two coordinates coincide, the initial suspected leak peak point is recorded as the reference point of the leak area. Conversely, the midpoint between the re-inspection peak point coordinates and the initial suspected leak peak point coordinates is marked as the reference point for the leak area.

2. The rapid inspection method for tank farm inspection robots based on real-time tracking according to claim 1, characterized in that: The method for determining whether there is a gas leak includes: Retrieve the types and components of the stored gases in the tank farm from the tank farm storage database, along with their safe leakage concentration thresholds. The types and concentrations of ambient gases detected by the inspection robot are compared with the types and concentrations of the corresponding stored gases in the tank area and the safe leakage concentration thresholds. When the inspection robot detects that the ambient gas contains the same type of gas stored in the tank area and the concentration exceeds the corresponding safe leakage concentration threshold, it determines that there is a leaking gas; otherwise, it determines that there is no leaking gas.

3. The rapid inspection method for tank farm inspection robots based on real-time tracking according to claim 1, characterized in that: The method for determining the initial diffusion range of the leaked gas includes: The direction of the suspected leak point is determined based on the wind direction in the real-time wind parameters. The target tank that is closest to the initial detection point in the direction of the suspected leak point is selected, and the coordinates of the target tank's location are taken as the assumed leak point. The gas concentration inside the target tank is obtained from the tank area storage database and denoted as the assumed leak point gas concentration. The assumed leak point gas concentration, the initial detection point wind speed, wind direction, and the height of the leak point from the track are then input into the preset gas diffusion model to output the diffusion distance on the track. The initial diffusion range endpoint is obtained by extending the diffusion distance along the direction of movement of the inspection robot from the initial detection point; the range between the initial detection point and the endpoint of the initial diffusion range is recorded as the initial diffusion range.

4. The rapid inspection method for tank farm inspection robots based on real-time tracking according to claim 1, characterized in that: The method for obtaining the coordinates of the leakage point is as follows: Select the plane coordinates of the reference points corresponding to the inspection robot and the two adjacent inspection robots in the track plane; The average of the leak gas concentration at the retested peak point and the leak gas concentration at the initial suspected leak peak point is used as the leak gas concentration at the baseline point. The assumed gas concentration at the leak point, the wind speed and direction at the initial detection point, and the height of the leak point from the track are input into the preset gas diffusion model to output the gas concentration at the detection point for each theoretical diffusion distance. The leak gas concentration at the benchmark point is matched with the gas concentration at the detection point for each theoretical diffusion distance to obtain the actual diffusion distance corresponding to each benchmark point. Using the plane coordinates of the reference points as the center and the actual diffusion distance as the radius, construct the plane diffusion range of each reference point. If a single intersection point is found, mark the intersection point coordinates as the plane coordinates of the leak point; otherwise, calculate the mean of the x-coordinates and the mean of the y-coordinates of each intersection point, and use the results as the plane coordinates of the leak point. Starting from the plane coordinates of the leak point, draw a vertical line downwards and obtain the intersection point of the vertical line with the target tank in the tank area. Record this intersection point as the final leak point.

5. A rapid inspection system for tank farm inspection robots based on real-time tracking, used to perform the steps in the rapid inspection method for tank farm inspection robots based on real-time tracking as described in any one of claims 1-4, characterized in that, include: Data acquisition module: A track for the inspection robot is installed in the tank area to control the inspection robot on the track to detect environmental gas data and real-time wind parameters in real time; Spatial concentration gradient construction module: Based on environmental gas data, it determines whether there is a leaking gas. When there is a leaking gas, it marks the current location as the initial detection point and determines the initial diffusion range of the leaking gas based on real-time wind parameters, and obtains the spatial concentration gradient of the gas within the initial diffusion range. Peak point determination module: Performs trend analysis on the spatial concentration gradient of gas within the initial diffusion range to determine the re-inspection return point of the inspection robot and the initial suspected leak peak point; Peak point correction module: When the inspection robot moves to the re-inspection return point, it controls the inspection robot and the inspection robots on its adjacent tracks to re-inspect the leakage gas concentration in the re-inspection range, determines the re-inspection peak point based on the re-inspection leakage gas concentration, and obtains the leakage area reference point by combining the initial suspected leakage peak point analysis. Leak point coordinate output module: Collects wind force parameters of the reference point in the leak area, and analyzes the leak point coordinates based on the reference point coordinates, leaked gas concentration at the reference point, and wind force parameters.

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