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A Novel Radius Measurement Method for Vertical Oil Tank Based on Laser Tracking and Wall-Climbing Robot

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

In order to address the issue of low efficiency and poor accuracy in measuring the radius of large vertical oil tanks, a novel measurement method based on the combination of laser tracking and wall-climbing robot was proposed in this manuscript. To solve the problem of light interruption during the laser tracking measurement process, an active spherically mounted retroreflector (SMR) device that can automatically align the laser was designed. A wall-climbing robot equipped with the active target and temperature sensor was developed to crawl on the tank wall and collect four-dimensional point cloud data. And a self-written program based on the PCL point cloud processing library was adopted to fit and calculate the tank plate radius. Furthermore, multiple measurements were carried out on a vertical oil tank with a capacity of 1000 m3, and the average radius error was only 1.39 mm, which strongly verified the repeatability and feasibility of the method proposed in this manuscript. This method provides a more effective and accurate method for measuring the radius of oil tanks, and it is foreseeable that it will be a good supplement to existing methods.

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Acknowledgment

This work was supported by the “National Key R&D Program of China” (No.: 2022YFF0606003) and “Eaglet planning cultivation project of Zhejiang Administration for Market Regulation” (No.: CY2022231).

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Authors and Affiliations

  1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China

    Hongfei Zu & Junjun Ma

  2. Zhoushan Institute of Calibration and Testing for Qualitative and Technical Supervision, Zhoushan, 316012, China

    Cunjun Li, Xianlei Chen & Haolei Shi

  3. Zhejiang Premax Co. Ltd., Ningbo, 315048, China

    Xuwen Chen & Xiang Zhang

  4. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China

    Zhangwei Chen

Authors
  1. Hongfei Zu
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  2. Junjun Ma
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  3. Cunjun Li
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  4. Xianlei Chen
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  5. Haolei Shi
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  6. Xuwen Chen
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  7. Xiang Zhang
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  8. Zhangwei Chen
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Corresponding author

Correspondence to Hongfei Zu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zu, H. et al. (2023). A Novel Radius Measurement Method for Vertical Oil Tank Based on Laser Tracking and Wall-Climbing Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_30

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_30

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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