System and method for robotic positioning within a storage tank

Abstract

The present application relates to a kind of system and method for the positioning of robot in storage tank, the system includes: ranging unit, for measuring the distance between robot and the first position, second position and third position of storage tank respectively;And computing unit, for calculating the position of robot based on distance, wherein, second position and third position are the top measuring hole of storage tank, and first position is the bottom manhole of storage tank.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, and in particular to a system and method for robot positioning inside a storage tank. Background Technology

[0002] Within the storage tank environment, the electromagnetic enclosure of the tank prevents GPS and Beidou systems from navigating the robot inside. Using electromagnetic positioning devices also fails to meet the explosion-proof requirements of Zone 0 inside the tank.

[0003] When the robot works inside the storage tank, it first moves actively into the tank through the manhole at the bottom. However, its position cannot be directly determined inside the tank. The tank's interior is classified as a Zone 0 explosion-proof environment, while the manhole area is classified as a Zone 1 environment, requiring higher explosion-proof standards for electrical products. Furthermore, the presence of numerous pillars within the tank can obstruct the robot's movement and cause entanglement in hydraulic lines, infusion lines, and drainage lines. The robot's working environment contains a significant amount of oil, increasing the risk of slippage. Determining the robot's position based on its speed and direction is also unsuitable. Therefore, a method for accurate robot positioning inside the storage tank needs to be developed to optimize its path, effectively avoid obstacles, and enhance its mobility. Summary of the Invention

[0004] To address the problems in the prior art, the present invention provides a system and method for robot positioning inside storage tanks.

[0005] According to one aspect of the present invention, a method for robot positioning inside a storage tank is provided, comprising: measuring the distances between the robot and a first position, a second position, and a third position of the storage tank respectively; and calculating the position of the robot based on the distances, wherein the second position and the third position are measuring holes at the top of the storage tank, and the first position is a manhole at the bottom of the storage tank.

[0006] Furthermore, the distance is measured using laser ranging.

[0007] Furthermore, when measuring distances, the robot's surface is covered with a reflective layer.

[0008] Furthermore, the material of the reflective layer includes at least one of aluminum and silver.

[0009] Furthermore, the method further includes: after calculating the robot's position based on distance, projecting the robot's position onto a 3D modeling graph to display an image of the robot.

[0010] According to one aspect of the present invention, a system for robot positioning inside a storage tank is provided, comprising: a ranging unit for measuring the distances between the robot and a first position, a second position, and a third position of the storage tank, respectively; and a calculation unit for calculating the position of the robot based on the distances, wherein the second and third positions are top measuring holes of the storage tank, and the first position is a bottom manhole of the storage tank.

[0011] Furthermore, the ranging unit is a laser ranging device.

[0012] Furthermore, when measuring distances, the robot's surface is covered with a reflective layer.

[0013] Furthermore, the material of the reflective layer includes at least one of aluminum and silver.

[0014] Furthermore, the system further includes a display unit for projecting the robot's position onto a 3D modeling graphic to display an image of the robot.

[0015] According to embodiments of this disclosure, the robot's position can be accurately located inside the storage tank by measuring the distances between the robot and the first, second, and third positions of the storage tank, respectively, and calculating the robot's position based on these distances. Attached Figure Description

[0016] Figure 1 A system for robot positioning inside a storage tank, according to an embodiment of the present disclosure, is shown.

[0017] Figure 2 A schematic diagram showing the distance between the robot inside the tank and different locations within the tank according to an embodiment of the present disclosure is provided.

[0018] Figure 3 A flowchart of a method for robot positioning inside a storage tank according to an embodiment of the present disclosure is shown. Detailed Implementation

[0019] In the following description of examples or embodiments of this disclosure, reference will be made to the accompanying drawings, in which specific examples or embodiments that may be implemented are illustrated by way of illustration, and in which the same reference numerals and symbols may be used to designate the same or similar components, even if they are shown in different drawings. Furthermore, in the following description of examples or embodiments of this disclosure, a detailed description of well-known functions and components incorporated herein will be omitted where it is determined that such detailed description would make the subject matter of some embodiments of this disclosure less clear. Terms such as “comprising,” “having,” “including,” “constituting,” “forming,” and “form” as used herein are generally intended to allow for the addition of additional components, unless these terms are used in conjunction with the term “only.” As used herein, the singular forms are intended to include the plural forms unless the context clearly indicates otherwise.

[0020] Various embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0021] Figure 1 A system for robot positioning inside a storage tank, according to an embodiment of the present disclosure, is shown.

[0022] Reference Figure 1 The system 100 for robot positioning inside a storage tank according to the present disclosure (hereinafter referred to as the "system") may include a ranging unit 110 and a computing unit 120.

[0023] In one embodiment, the ranging unit 110 can be configured to measure the distance between the robot inside the tank and different locations within the tank.

[0024] For example, the ranging unit 110 can be a laser ranging device, an acoustic ranging device, or a device that measures distance by connecting a flexible ruler with a fixed pulley, etc. However, the present invention is not limited to these. As long as the ranging unit 110 can measure distance without being affected by electromagnetic shielding, it is acceptable.

[0025] For example, the ranging unit 110 can be a laser ranging sensor, a fixed laser rangefinder, a time-based laser rangefinder, or other laser ranging devices.

[0026] For example, the ranging unit 110 can be an ultrasonic rangefinder, a pulse acoustic wave ranging device, a frequency modulated continuous wave (FMCW) rangefinder, or other acoustic ranging devices.

[0027] For example, the aforementioned different locations may include at least a manhole at the bottom of the tank (which may be referred to as the first location), a first measuring hole (e.g., a gauging hole) at the top of the tank (which may be referred to as the second location), and a second measuring hole (e.g., a gauging hole) at the top of the tank (which may be referred to as the third location).

[0028] That is, the ranging unit 110 can obtain at least the distance between the robot inside the tank and the first position, the second position and the third position.

[0029] It should be noted that the projections of the first, second, and third positions onto the bottom plate of the storage tank cannot be on a straight line, otherwise it will affect the determination of the robot's position inside the storage tank.

[0030] In this embodiment, the calculation unit 120 can calculate the robot's position based on the aforementioned distances. For example, the calculation unit 120 can determine the coordinates of the three positions by establishing a coordinate system, and determine the robot's coordinates based on the determined coordinates of the three positions and the measured distances, that is, determine the robot's position.

[0031] The following will combine Figure 2Describe the method by which system 100 determines the position of a robot inside a storage tank.

[0032] Figure 2 The diagram shows the distances between the robot inside the storage tank and different positions within the tank. The distances between the robot and the first position (denoted by A), the second position (denoted by B), and the third position (denoted by C) are respectively... , , (Measured by ranging unit 110).

[0033] For ease of calculation, the calculation unit 120 can establish a coordinate system as follows: with the center of the tank's bottom plate as the origin, and the horizontal direction as the coordinate system. axial direction, in relation to The axis direction is perpendicular to and The directions of the axes lying in the same plane are axial direction, so as to be perpendicular to shaft and The direction of the axis is Axial direction.

[0034] Based on the coordinate system established above, the calculation unit 120 can determine the coordinates of the first position, the second position, and the third position as follows: , , (Given quantities), and set the robot's coordinates to... ,in , , It is an unknown quantity.

[0035] Since the distances between the robot inside the tank and the first position (represented by A), the second position (represented by B), and the third position (represented by C) are respectively , , Therefore, the following relational equation can be obtained: (1) The equation can be rearranged as follows: (2) make: , , , , , , , , , , , Then we have: (3) According to the meaning of a third-order determinant, let: (4) (5) (6) (7) The solution to the corresponding system of three linear equations is: (4) Robot form in The coordinates of the time are Represented as .

[0036] Therefore, the robot's position can be calculated.

[0037] As described above, the system 100 of the present invention measures the distance between the robot inside the storage tank and different positions within the tank using a ranging unit 110, and calculates the robot's position inside the tank based on the distance using a calculation unit 120. The present invention obtains the robot's real-time position based on a distance equation using only the real-time distance changes between the robot and three different fixed positions. It has advantages such as simple operation, fast and convenient calculation, and applicability in explosive environments due to the absence of explosion risk.

[0038] To more clearly show the robot's position, system 100 may further include a display unit (not shown).

[0039] In one embodiment, the display unit can be configured to project the robot's position onto a 3D modeling graphic to display an image of the robot, so as to provide a clearer and more direct visual understanding of the robot's condition.

[0040] According to the present invention, when the ranging unit 110 is a laser ranging device, a reflective layer can be covered on the surface of the robot to further improve the laser ranging efficiency.

[0041] For example, a reflective layer can be coated on part or all of the robot's surface. The reflective layer can be made of various materials that enhance reflection, including aluminum, silver, and combinations thereof, but the invention is not limited thereto.

[0042] Figure 3 A flowchart of a method for robot positioning inside a storage tank according to an embodiment of the present disclosure is shown.

[0043] Reference Figure 3 The method for robot positioning inside a storage tank according to an embodiment of the present disclosure includes measuring the distances between the robot and a first position, a second position and a third position of the storage tank respectively (step S301).

[0044] As mentioned above, the first position can be a manhole at the bottom of the tank, the second position can be a first measuring hole (e.g., a gauging hole) at the top of the tank, and the third position can be a second measuring hole (e.g., a gauging hole) at the top of the tank.

[0045] As mentioned earlier, the measurement can be done by laser ranging, acoustic ranging, or by using a fixed pulley connected to a tape measure to measure distance.

[0046] The method further includes calculating the robot's position based on distance (step S303).

[0047] As mentioned above, the coordinates of the three positions can be determined by establishing a coordinate system, and the robot's coordinates can be determined based on the coordinates of the three positions and the distance measured in step S301 above, that is, the robot's position can be determined.

[0048] The above has been referred to Figure 1 and Figure 2 The process of establishing a coordinate system to determine coordinates and determining the robot's coordinates (i.e., the robot's position) based on the determined coordinates and the measured distance is described, and will not be repeated here.

[0049] Optionally, the method further includes, after calculating the robot's position based on distance, projecting the robot's position onto a 3D modeling graph to display an image of the robot.

[0050] As mentioned earlier, in order to more clearly show the robot's position, the robot's position can be projected onto the 3D model graphics to display the robot's image, so as to understand the robot's status more clearly and directly from a visual perspective.

[0051] Although various embodiments of the disclosed technology have been described with specific features and different details for illustrative purposes, those skilled in the art will understand that various modifications, additions and substitutions can be made based on what is disclosed and shown in this disclosure without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A method for robot positioning inside a storage tank, characterized in that, include: The distances between the robot and the storage tank at the first, second, and third positions are measured respectively. as well as The robot's position is calculated based on the distance. The second and third positions are the top measuring holes of the storage tank, and the first position is the bottom manhole of the storage tank.

2. The method for robot positioning inside a storage tank according to claim 1, characterized in that, The distance is measured using laser ranging.

3. The method for robot positioning inside a storage tank according to claim 2, characterized in that, When measuring the distance, the surface of the robot is covered with a reflective layer.

4. The method for robot positioning inside a storage tank according to claim 3, characterized in that, The material of the reflective layer includes at least one of aluminum and silver.

5. The method for robot positioning inside a storage tank according to claim 1, characterized in that, The method further includes: after calculating the position of the robot based on the distance, projecting the position of the robot onto a three-dimensional modeling graphic to display an image of the robot.

6. A system for robot positioning inside a storage tank, characterized in that, include: The ranging unit is used to measure the distances between the robot and the first, second, and third positions of the storage tank, respectively. as well as A calculation unit is used to calculate the position of the robot based on the distance. The second and third positions are the top measuring holes of the storage tank, and the first position is the bottom manhole of the storage tank.

7. The system for robot positioning inside a storage tank according to claim 6, characterized in that, The ranging unit is a laser ranging device.

8. The system for robot positioning inside a storage tank according to claim 7, characterized in that, When measuring the distance, the surface of the robot is covered with a reflective layer.

9. The system for robot positioning inside a storage tank according to claim 8, characterized in that, The material of the reflective layer includes at least one of aluminum and silver.

10. The system for robot positioning inside a storage tank according to claim 6, characterized in that, The system further includes a display unit, which projects the position of the robot onto a three-dimensional modeling graphic to display an image of the robot.

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