Storage Tank In-Oil Robot Positioning with Relative Acoustic Arrival Times
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Solution Overview
Problem
Existing methods for acoustically positioning in-oil inspection robots for storage tank bottom plates suffer from positioning errors due to signal delay and attenuation, leading to inaccurate determination of the robot's position.
Innovation Solution
A method that selects available acoustic signal receivers based on voltage amplitude thresholds, calculates relative arrival times, and uses a particle swarm optimization algorithm to solve an objective function for precise positioning, considering both signal delay and attenuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If absolute arrival time is used for positioning, then positioning can be performed, but positioning accuracy deteriorates due to system delay
Solution Approach 1:
The patent segments the positioning calculation by separating the delay component from the propagation time. Instead of using absolute arrival time directly, the method calculates time differences between multiple receivers, which eliminates the common delay component. This segmentation allows the system to compensate for delay effects without requiring precise delay measurement.
Solution Approach 2:
The patent implements feedback by using the positioning results from multiple receivers to iteratively optimize the position estimation. The system collects arrival time data from multiple receivers, calculates initial position estimates, then refines these estimates by considering the consistency across different receiver measurements, effectively feedback-correcting for systematic delays.
2Area of stationary object
If acoustic signals are transmitted over long distances, then coverage area is improved, but positioning accuracy deteriorates due to signal attenuation
Solution Approach 1:
The patent merges information from multiple receivers to compensate for signal attenuation. By combining arrival time measurements from multiple receivers at different distances from the transmitter, the system maintains positioning accuracy even when individual signals are attenuated. The fusion of multiple measurements offsets the degradation from distance-related attenuation.
Solution Approach 2:
The patent transitions from considering single-receiver measurements to multi-receiver spatial distribution. By adding the dimension of multiple receivers arranged around the tank, the system can triangulate position more accurately and compensate for attenuation effects that would be problematic in a single-receiver configuration.
3Reliability
If multiple receivers are arranged around the storage tank, then positioning reliability is improved, but device complexity increases
Solution Approach 1:
The patent makes the receiver system multi-functional by designing receivers that can serve both as acoustic signal detectors and as reference points for positioning calculations. The same receiver array used for detecting acoustic signals also provides the geometric baseline for triangulation, eliminating the need for separate reference measurement systems and reducing overall device complexity.
Solution Approach 2:
The patent optimizes the positioning algorithm by changing parameters from absolute arrival time to relative time differences. This parameter transformation simplifies the mathematical model needed to process data from multiple receivers, reducing computational complexity while maintaining positioning reliability. The simplified algorithm makes the system more robust without requiring additional hardware complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves positioning accuracy by addressing errors from signal delay and attenuation, ensuring precise determination of the robot's position within the storage tank.
Implementation Method 1
propagating the acoustic signal transmitted by the acoustic signal transmitter installed on the in-oil inspection robot for the storage tank bottom plate in the storage medium
Data Source
AI summary
A method for positioning an in-oil inspection robot for a storage tank bottom plate, an apparatus, a medium and a product are provided. The method includes: selecting those of acoustic signal receivers that generate voltage amplitudes, when receiving an acoustic signal, being greater than a predetermined voltage amplitude as available receivers, calculating a difference between an absolute arrival time corresponding to the available receiver and an absolute arrival time corresponding to an available receiver ranked first to obtain a relative arrival time corresponding to the available receiver; and positioning the in-oil inspection robot for the storage tank bottom plate further according to the relative arrival time.