An autonomous inspection method for large storage tanks based on quadrotor drones

Abstract

The invention relates to an autonomous inspection method for large storage tanks based on a quadrotor drone. The technical solution is: fix the ultrasonic flaw detector on the quadrotor UAV, input the geometric parameters of the large storage tank to be inspected in the ground host computer of the autonomous inspection system based on the quadrotor UAV, and plan according to the geometric parameters The inspection path of the quadrotor UAV with full coverage on the surface of the large storage tank, and then use the learning-based method to design the controller of the quadrotor UAV, so that the quadrotor UAV will follow the planned path to the large Carry out autonomous inspection on the surface of the storage tank, record the detection data and the location of hidden danger points in real time, and send the detection results of the large storage tank to the ground host computer of the autonomous inspection system based on the quadrotor UAV, that is, the quadrotor drone Human-machine autonomous inspection of large storage tanks. The invention has the characteristics of large detection range, high detection efficiency and low detection cost.

Description

technical field [0001] The invention belongs to the technical field of autonomous inspection methods for large storage tanks. In particular, it relates to an autonomous inspection method for large storage tanks based on a quadrotor UAV. Background technique [0002] As an important equipment in petrochemical industry, large storage tanks are mainly used to store crude oil and refined oil products. They are key facilities for my country to implement strategic reserves and realize macro-control. This type of large storage tank is a vertical cylinder, which is also used in the storage of chemical raw materials and edible oil. It is generally welded by steel plates. The diameter of the tank ranges from 20m to 50m, or even 100m, and the height of the tank varies from 15m to 20m. [0003] Usually, the surface quality of such facilities is inspected by the construction unit and the supervisory unit during construction, including external dimensions, steel plate thickness, anti-cor...

AI Technical Summary

Problems solved by technology

[0007] In short, the existing surface defect detection technology for large storage tanks has shortcomings such as small detection range, low detection efficiency and high detection cost.

Although quadrotor UAVs have been widely used in many fields, there is no report on autonomous inspection of surface defects of large storage tanks by quadrotor UAVs.

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