Research On Robot System For Automatic Measurement Of Large Oil Tank Deformation

Vertical oil tank is an important equipment for storage of oil and gas resources,and it is also an important metering equipment in the international trade of petrochemical products.When the geometric deformation of the tank is large,on the one hand,it will lead to the error in the calculation of oil tank reserves,which will bring losses to both sides of the trade.Geometry deformation cause of tank oil tank,on the other hand,the change of the Angle will affect the degree of floating roof tank sealing ring seal,seal is lax,making around inside the tank or tank of oil and gas density is high,easy to fire,serious and may even cause explosions and other major safety accidents,so it is imperative to get tested regularly for oil tank.At present,there are many problems,such as high labor intensity,high cost,low precision and long operation time,in the measurement methods such as gird-scale method,radial deviation method and total station instrument.In view of the problems of large tank deformation measurement,there are many accidents and it is difficult to develop a measuring robot that can replace manual operation in the tank body.This paper takes the large tank deformation measuring machine as the research object,and mainly carries out the following research work:(1)The design of the measuring robot system.Through on-the-spot investigation and exploration of oil tank area environment,measurement conditions and understanding of the tank structure design,both inside and outside the attachment setting location by measuring robot technology parameters,according to the overall design scheme of technical parameters of measuring robot three-dimensional model is established,and the key mechanical parts finite element analysis,motion process simulation,and making the physical prototype.(2)Measuring robot measuring system design.By comparing the advantages and disadvantages of various measuring equipment,this paper chooses 3D laser scanner as the measuring equipment,describes the research status,working principle and measurement operation process of 3D laser scanner at home and abroad in detail,and finally makes the scanning measurement scheme of this experiment.(3)Measurement method of tank volume and deformation.The tank is divided into several cylinders by integral thinking.The height of each cylinder is defined by itself according to the deformation and corrosion degree of the measured tank wall.The volume of each cylinder is calculated,and then the volume of the oil tank is finally obtained by adding them together.Digital Terrain Model(DTM)technology is used to connect a large number of point cloud data at the bottom of the tank into a triangular surface by certain rules to cover the entire bottom area of the tank,and ensure that the triangular surface does not omit or overlap.The volume of the whole bottom of the tank can be obtained by cumulatively calculating the volume of the triangular prism.(4)Physical experiment.An experimental platform was built,and a physical prototype was used to carry out repeatability measurement experiments before and after deformation of the measurement target.Different measurement methods were used to carry out comparative experiments for the same measurement target.Through repeatability and comparative experiments,scanning model data were collected and analyzed to verify the feasibility and accuracy of measurement.