{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:24:06Z","timestamp":1754155446960,"version":"3.41.2"},"reference-count":5,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2019,12,16]],"date-time":"2019-12-16T00:00:00Z","timestamp":1576454400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,12,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to introduce a new acoustic positioning method to solve the problem of space positioning for online inspection robots within the storage tank.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The proposed positioning system comprises two acoustic signal emitters and two receivers. Emitters are brought by the robot into the storage tank. Receivers are mounted on the external edge of the storage tank floor. The spatial coordinate values and motion directions of the robot in the storage tank are calculated by using the proposed acoustic positioning algorithm.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experiment results and positioning error analysis indicate that the method can obtain the data of robotic space coordinates and motion orientation, while the positioning error of the method can be less than 20\u2009cm. The accuracy reaches the positioning technology level of other tank online inspection robots.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This method not only expands the positioning of the inspection robots from 2D plane to 3D space but also significantly reduces the number of positioning sensors carried by a robot and improves the safety of a robot in the tank.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-08-2019-0168","type":"journal-article","created":{"date-parts":[[2020,1,7]],"date-time":"2020-01-07T11:54:48Z","timestamp":1578398088000},"page":"187-195","source":"Crossref","is-referenced-by-count":6,"title":["Research on spatial positioning of online inspection robots for vertical storage tanks"],"prefix":"10.1108","volume":"47","author":[{"given":"Zhiqiang","family":"Huang","sequence":"first","affiliation":[]},{"given":"Lei","family":"He","sequence":"additional","affiliation":[]},{"given":"ZhaoXin","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Yingqi","family":"Jia","sequence":"additional","affiliation":[]},{"given":"Yewei","family":"Kang","sequence":"additional","affiliation":[]},{"given":"Dou","family":"Xie","sequence":"additional","affiliation":[]},{"given":"Chunli","family":"Fu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"2","key":"key2020032310360972700_ref001","first-page":"157","article-title":"RobTank inspec \u2013 in service robotized inspection tool for hazardous products storage tanks","volume":"32","year":"2013","journal-title":"Industrial Robot: An International Journal"},{"issue":"3","key":"key2020032310360972700_ref002","first-page":"54","article-title":"Putting the maverick fuel-tank inspection robot to the test","volume":"6","year":"1999","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"6","key":"key2020032310360972700_ref003","doi-asserted-by":"crossref","first-page":"732","DOI":"10.1108\/IR-05-2018-0085","article-title":"Depth control for storage tank in-service inspection robot based on artificial intelligence control","volume":"45","year":"2018","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"2","key":"key2020032310360972700_ref004","first-page":"9","article-title":"Neptune: above-ground storage tank inspection robot system","volume":"2","year":"1997","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"key2020032310360972700_ref005","first-page":"1","article-title":"Advanced aboveground storage tank inspections \u2013 in-service robotics tank inspections","volume-title":"National Environmental & Safety Conference","year":"2004"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2019-0168\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2019-0168\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:44Z","timestamp":1753393184000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/2\/187-195\/180895"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,16]]},"references-count":5,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,12,16]]}},"alternative-id":["10.1108\/IR-08-2019-0168"],"URL":"https:\/\/doi.org\/10.1108\/ir-08-2019-0168","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2019,12,16]]}}}