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The field tests of a spherical tank (3000 m 3) verified that the robotic system could improve the efficiency and stability of inspection operations and replace manual inspection with automated weld line recognition and weld path planning. In the field tests, the virtual simulation of weld path planning on spherical tanks was explored in detail. The experiment results demonstrated that the robot could plan the shortest path to traverse all weld lines on the experimental platform. The laboratory experiments indicated that the inspection robot could identify weld lines within 0.2–0.25 s and track weld lines with a maximum offset of ☒0 mm. To accurately identify weld lines, deep learning networks were constructed and trained with weld line data sets, which were captured by the camera mounted in the front of the robot. In addition, an improved Fleury algorithm was proposed to solve Eulerian circuit and plan an optimal running route for robot inspection. Review HyperX Cloud Stinger Wireless Headset Review: Great Sub-100 Sound, No Strings Attached. In 2D weld maps, indispensable repetitive lines were added to form an Eulerian circuit that traversed all weld lines. 1130 Astribank series 1131 Astribank series 1132 Astribank series 1140 Astribank. Two-dimensional (2D) weld maps were prepared for robot path planning on the basis of the actual distribution of weld lines. (ID0009A) e2b7 Jie Li 0811 CD002 0812 CD005 MP3 Player e4e4 Xorcom Ltd. This paper presents a robotic system for the inspection of spherical tanks, which can identify and track weld lines on the shortest running route. Inspection robots have been applied in large pressure vessels due to their low cost and high efficiency. Periodic inspections are required for the safe operation of large pressure vessels such as spherical tanks.