China Special Equipment Inspection and Research Institute

Xiyue Zou

Yan Zhang

Bin Hu

Ting Wang

Zhiquan Wang

Xiqing Liu

Chenxing Jia

A path tracking method and device for an in-oil inspection robot for a storage tank bottom plate in an invisible environment are provided. The method includes: determining a current position of a robot in a rasterized storage tank bottom plate drawing; when the current position is located in an inspected area, searching a cell of an uninspected area closest to the current position as a target point, and planning a moving path to the target point and a scanning path for inspecting the uninspected area where the target point is located; controlling the robot to move to the target point using a path tracking algorithm; and completing inspection of the uninspected area where the target point is located with the target point as a starting point. According to the method, a path of the robot can be planned and tracked automatically, improving inspection efficiency.

Path tracking method and device for in-oil inspection robot for storage tank bottom plate in invisible environment

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.

Method for positioning in-oil inspection robot for storage tank bottom plate, apparatus, medium and product

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Beijing, China

Xiyue Zou