| The storage tank is a storage container for the long-distance oil and gas pipeline transportation medium.The oil storage tank at the first station of the oil pipeline is used to collect and store oil and ensure the stability of oil transportation.The oil storage tank at the last station is used to receive and store oil and supply it to oil units,which are used as the main energy storage tool all around the world.As an in-service equipment,energy storage tanks may cause damage to the bottom of the tank or the tank wall due to corrosion,crushing of the crust plates,etc.,causing problems such as large-scale leakage of energy.Aiming at the problem of corrosion detection at the bottom of oil storage tank,a technique for online inspection using a tank bottom corrosion detection robot is proposed.According to the technical requirements of on-line inspection of industrial oil storage tank bottom,the basic technical indexes of crawler robots are proposed,and the two-wheel drive mode of the scanner control system for oil storage tank bottom corrosion detection is studied.The dynamic analysis of the bottom corrosion detection robot of the oil storage tank provides a theoretical basis for the study of the system controller.In order to describe the running attitude of the scanning control system of the oil tank bottom corrosion detection robot,the position and attitude description method of the scanning control system is established,and the Euler angle coordinate system transformation and the quaternion theory are introduced to complete the attitude of the automatic scanning control system.Analysis.In order to realize the motion path planning control of the scanning control system,the speed and direction controllers are studied by PID algorithm,and the closed-loop feedback control of the speed and running attitude of the scanning control system is realized.Based on the impact of the schedule,the Kalman filter algorithm is introduced to data fusion of the attitude sensor detection data.The path planning algorithm of the scanning control system is studied to realize the walking control of the scanning control system.Combined with the control theory research of the crawler robot,the test prototype of the scanning control system was completed,and the TFTLCD display,attitude calculation,motion performance,command control and motion path control experiments were carried out respectively.The experimental results show that the track-type scanning control system designReasonable;the stable operation and heading correction of the system are realized by the PID feedback control of the speed and posture of the scanning control system;the data fusion algorithm based on Kalman filter effectively reduces the dynamic measurement error of the attitude sensor,and reduces the PID after the attitude is settled.The influence of algorithm controller control precision;the walking strategy based on grid method path planning realizes the tank bottom scanning coverage of the system.Through the prototype experiment of the ultrasonic scanning tank bottom corrosion detection robot scanning control system,the technical feasibility of using the crawler type ultrasonic storage tank bottom corrosion detection robot scanning control system online detection is verified. |
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