储油罐检测机器人性能综合评价

Comprehensive Performance Evaluation of Inspection Robot for Petrochemical Storage Tank

储油罐检测机器人技术发展较快,但缺乏合理的性能评价方法。构建统一的储油罐检测机器人性能评价指标体系,提出一种以序关系分析(G1)法和基于层间相关性赋权法(CRITIC)确定权重、引入功效系数法与虚拟云改进云模型的综合评价方法。建立7个机器人的指标数据集,通过序号总和理论与众数理论与多种评价方法作对比。结果表明:云模型的评价方法有效性测度更高,且机器人的性能大多处于中等水平,还有很大的改进空间。

The technology of oil tank inspection robot has developed rapidly,but it lacks reasonable performance evaluation methods.To this end,a comprehensive evaluation index system was constructed for storage tank inspection robots.A comprehensive evaluation method was proposed in which the weights were determined by the order relationship analysis(G1)method and the criteria importance though intercriteria correlation(CRITIC),the efficacy coefficient method and the virtual cloud were introduced to improve the cloud model.The index data set of 7 robots was established.The effectiveness of several evaluation methods was compared with the sum of serial numbers theory and mode theory.The results show that the evaluation method of cloud model is more practical,and the performance of the robots is mostly at the medium level,and there is still much room for improvement.