基于爬壁机器人技术的油罐容积测量新方法的研究

The Research on a New Method Based on Wall-Climbing Robot for Measuring the Volume of Oil Tank

大型石油储油罐经过长期使用后 ,会由于油罐变形而导致其容积变化。因此需要在油罐的使用过程中对其容积进行重新测量。通常采用的传统测量方法 ,如光学参比法和围尺法 ,其操作者的劳动强度大 ,操作危险 ,测量效率低。本文提出的基于爬壁机器人技术的油罐容积测量新方法 ,在此称为自移动法 ,该方法由爬壁机器人绕油罐爬行 ,通过安装于机器人上的一系列传感器而测量计算出油罐容积。该方法提高了测量的自动化程度和测量效率 。

After a long period of using, the volume of a large oil tank will change because of its deformation. So it is necessary to re measure the volume of the large oil tank when the tank is in use. The traditional methods, such as optical reference method, enclosed ruler method, are hard and dangerous to operator, and their measuring efficiency is low. A new method based on the technology of wall climbing robot is introduced, which is called self moving method. In such a method, a wall climbing robot moves around the oil tank, through the sensors on the robot, the volume of the oil tank can be calculated. This method increases the automation and the efficiency of measurement, and satisfies the measurement precision.