CN105278431B - A kind of monitoring system of the cleaning oil tank robot based on valve control device - Google Patents
A kind of monitoring system of the cleaning oil tank robot based on valve control device Download PDFInfo
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- CN105278431B CN105278431B CN201510792154.3A CN201510792154A CN105278431B CN 105278431 B CN105278431 B CN 105278431B CN 201510792154 A CN201510792154 A CN 201510792154A CN 105278431 B CN105278431 B CN 105278431B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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Abstract
The invention discloses a kind of monitoring system of the cleaning oil tank robot based on valve control device, including：Robot control unit, system control unit, sensing communication unit and the monitoring alarm unit being connect respectively with valve control device；Wherein, robot control unit includes automatic cleaning model and manual wash mode, and control is shunk in robot ambulation control and stretching, extension；System control unit includes the volume cable laying control of camera shooting illumination, cleaning pump, hydraulic pump, pneumatics pump, vacuum pump, the start-up and shut-down control of filter press pump and umbilical cables roll-up apparatus；It senses communication unit and includes camera, encoder, combustable gas concentration detection sensor, oxygen concentration detection sensor, liquid level sensor, pressure sensor and motor-driven valve；Monitor that alarm unit includes integral type industrial personal computer, monitor and alarm.The present invention is compared with prior art：It is easy to control, intelligence degree is high, system reliability is high, realize the safe efficient, energy saving and environmentally friendly of oil storage tank robot washing and cleaning operation.
Description
Technical field
The present invention relates to the automatic cleaning control field of oil storage tank, more particularly to a kind of cleaning oil tank based on valve control device
The monitoring system of robot.
Background technology
It is the major way of strategic oil reserve using oil storage tank storage.In the prolonged storage and transportation of product oil oil storage tank,
For the impurity such as a small amount of grains of sand, soil, heavy metal salt in product oil because of density contrast, Hui Heshui is settled together is accumulated in oil storage tank bottom
Portion forms not only black but also thick colloid substance, i.e. oil storage tank bed mud.Impurity and moisture can reduce the quality of product oil, influence oil product
The accuracy of calculating；Accelerate oil storage tank corrosion, bottom plate can be caused to perforate when serious, cause oil accident；It generates electrostatic and gathers,
Cause electrostatic accident.In addition, when oil product upgrades and change the outfit different oil products, remaining oil product and new loading oil product cannot phases in tank
Mixed, leakage or other damages occur for oil storage tank, checked or get angry repairing when, be required for cleaning oil storage tank,
Cleaning maintenance also must periodically be carried out according to state's domestic discipline and family rules oil storage tank simultaneously.Cleaning oil tank technology successively experienced artificial cleaning and
The mechanical cleaning stage, with people to cleaning oil tank job safety, efficiency, cost, environmental requirement continuous improvement, oil storage tank
Cleaning robot technology has obtained more and more concerns both at home and abroad as a kind of cleaning technique without personnel into tank.Due to machine
Device people operation needs real-time monitoring results environment and operates many system equipments, for safe efficient, the energy saving and ring of cleaning
It protects, how to be problem to be solved to cleaning oil tank supervisory control of robot.
Invention content
Based on the problems of above-mentioned prior art, the present invention provides a kind of cleaning oil tank machine based on valve control device
People's monitoring system can be detected and control to the robot for cleaning oil storage tank, ensure the safety of cleaning robot operation, and carry
High cleaning efficiency.
In order to solve the above technical problems, the present invention provides a kind of monitoring system of the cleaning oil tank robot based on valve control device
System, including：
Monitor alarm unit, valve control device, robot control unit, system control unit and sensing communication unit；Wherein,
The monitoring alarm unit includes：Integral type industrial personal computer, monitor and alarm, the integral type industrial personal computer and prison
Visual organ communicates to connect, and the integral type industrial personal computer is communicated to connect with the valve control device；
It is defeated that the valve control device is equipped with switching input module, switching value output module, Analog input mModule and analog quantity
Go out module, wherein,
The switching input module is respectively equipped with cleaning pump start stop signal input interface, the input of vacuum pump start stop signal connects
Mouth, hydraulic pump start stop signal input interface, filter press pump start stop signal input interface, camera shooting light switch signal input interface,
Pneumatics pump start stop signal input interface, motor-driven valve feedback signal input interface, automatically and manually cleaning model control signal is defeated
Incoming interface, robot ambulation control signal input interface, control signal input interface is shunk in robot stretching, extension and roll-up apparatus volume is put
Control signal input interface；
The switching value output module be respectively equipped with cleaning pump signal output control terminal, vacuum pump signal output control terminal,
Hydraulic pump output control terminal, filter press pump output control terminal, pneumatics pump output control terminal, camera shooting illumination output control terminal, report
Alert output control terminal and solenoid directional control valve output control terminal, the warning output control terminal and the alarm of the monitoring alarm unit
Device is electrically connected；
The Analog input mModule is respectively equipped with robot turn signal input interface, the input of robot speed's signal connects
Mouthful, volume cable releasing speed signal input interface, encoded signal input interface, liquid level signal input interface, pressure signal input interface,
Oxygen concentration signals input interface and combustable gas concentration signal input interface；
The analog output module is respectively equipped with the first solenoid-operated proportional reversal valve output control terminal, the second solenoid-operated proportional changes
To valve output control terminal and third solenoid-operated proportional reversal valve output control terminal；
The robot control unit includes：Automatically and manually cleaning model control signal input, robot ambulation control
Signal input part processed, robot stretching, extension shrink control signal input, robot turn signal input terminal and robot speed's letter
Number input terminal, the automatically and manually cleaning model control signal input, robot ambulation control signal input, robot
Stretching, extension shrink control signal input, robot turn signal input terminal and robot speed's signal input part respectively with the valve
Automatically and manually cleaning model control signal input interface, the robot ambulation control signal for controlling the switching input module of device are defeated
Control signal input interface, robot turn signal input interface and robot speed's signal are shunk in incoming interface, robot stretching, extension
Input interface connects one to one；
The system control unit includes：It is defeated to image illumination sign input terminal, cleaning pump signal input part, hydraulic pressure pump signal
Enter end, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump signal input part, umbilical cables roll-up apparatus
Volume cable laying control signal input and volume cable releasing speed signal input part, the camera shooting illumination sign input terminal, cleaning pump letter
Number input terminal, hydraulic pump signal input part, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump letter
Number input terminal, the volume cable laying control signal input of umbilical cables roll-up apparatus and volume cable releasing speed signal input part respectively with the valve
Control camera shooting light switch signal input interface, cleaning pump start stop signal input interface, the hydraulic pump of the switching input module of device
Start stop signal input interface, pneumatics pump start stop signal input interface, vacuum pump start stop signal input interface, filter press pump start and stop
Signal input interface, roll-up apparatus volume put control signal input interface and volume cable releasing speed signal input interface connects one to one；
The sensing communication unit includes：Encoder, liquid level sensor, pressure sensor, oxygen concentration detection sensor,
Combustable gas concentration detection sensor, camera and motor-driven valve, the encoder, liquid level sensor, pressure sensor, oxygen are dense
Spend the Analog input mModule of detection sensor, combustable gas concentration detection sensor respectively through guard grating and the valve control device
Encoded signal input interface, liquid level signal input interface, pressure signal input interface, oxygen concentration signals input interface and flammable
Gas concentration signal input interface connects one to one；The monitor communication link of the camera and the monitoring alarm unit
It connects；The motor-driven valve is connect with the motor-driven valve feedback signal input interface of the switching input module of the valve control device.
Beneficial effects of the present invention are：It will monitor that alarm unit, robot control unit, system control are single by valve control device
The monitoring system that member and sensing communication unit organic linking are cleaned into control cleaning robot, which can be to cleaning robot
The operation of people is monitored, and state in the oil storage tank of cleaning can be monitored, safety and cleaning efficiency by cleaning.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this
For the those of ordinary skill in field, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is each section connection diagram of monitoring system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of console provided in an embodiment of the present invention；
Fig. 3 is the application setting status diagram of monitoring system provided in an embodiment of the present invention；
Each label corresponding component is in Fig. 2：1- monitors；2- integral type industrial personal computers；3- controls deck plate；4- keyboards；5-
Switch；6- switch boards；7- alarms；
The corresponding component of each label is in Fig. 3：31- monitoring systems；32- cleaning robots；33- gas detection sensors；
34- device for recycling sewage；35- power plants；36- waterworks；37- air ventilation devices；38- oil storage tanks；39-1 areas；310-
2nd area.
Specific embodiment
The technical solution in the embodiment of the present invention is clearly and completely described below, it is clear that described embodiment
Only part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to protection scope of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of monitoring system of the cleaning oil tank robot based on valve control device,
In cleaning system for robot cleaning oil storage tank, including：
Monitor alarm unit, valve control device, robot control unit, system control unit and sensing communication unit；Wherein, institute
Monitoring alarm unit is stated to include：Integral type industrial personal computer, monitor and alarm, the integral type industrial personal computer and monitor communication link
It connects, monitors that the integral type industrial personal computer of alarm unit is communicated to connect by serial ports RS-232 through MODBUS agreements and the valve control device；
It is defeated that the valve control device is equipped with switching input module, switching value output module, Analog input mModule and analog quantity
Go out module, wherein, it is defeated that the switching input module is respectively equipped with cleaning pump start stop signal input interface, vacuum pump start stop signal
Incoming interface, hydraulic pump start stop signal input interface, filter press pump start stop signal input interface, the signal input of camera shooting light switch connect
Mouth, automatically and manually pneumatics pump start stop signal input interface, motor-driven valve feedback signal input interface, cleaning model control signal
Control signal input interface and roll-up apparatus volume are shunk in input interface, robot ambulation control signal input interface, robot stretching, extension
Put control signal input interface；
The switching value output module be respectively equipped with cleaning pump signal output control terminal, vacuum pump signal output control terminal,
Hydraulic pump output control terminal, filter press pump output control terminal, pneumatics pump output control terminal, camera shooting illumination output control terminal, report
Alert output control terminal and solenoid directional control valve output control terminal, the warning output control terminal and the alarm of the monitoring alarm unit
Device is electrically connected；
The Analog input mModule is respectively equipped with robot turn signal input interface, the input of robot speed's signal connects
Mouthful, volume cable releasing speed signal input interface, encoded signal input interface, liquid level signal input interface, pressure signal input interface,
Oxygen concentration signals input interface and combustable gas concentration signal input interface；
The analog output module is respectively equipped with the first solenoid-operated proportional reversal valve output control terminal, the second solenoid-operated proportional changes
To valve output control terminal and third solenoid-operated proportional reversal valve output control terminal；
The robot control unit includes：Automatically and manually cleaning model control signal input, robot ambulation control
Control signal input, robot turn signal input terminal, robot speed's signal are shunk in signal input part processed, robot stretching, extension
Input terminal, the automatically and manually cleaning model control signal input, robot ambulation control signal input, robot are stretched
Exhibition shrink control signal input, robot turn signal input terminal and robot speed's signal input part respectively with the valve control
The automatically and manually cleaning model control signal input interface of the switching input module of device, robot ambulation control signal input
Interface, robot stretching, extension shrink control signal input interface, robot turn signal input interface, the input of robot speed's signal
Interface connects one to one；
The system control unit includes：It is defeated to image illumination sign input terminal, cleaning pump signal input part, hydraulic pressure pump signal
Enter end, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump signal input part, umbilical cables roll-up apparatus
Volume cable laying control signal input and volume cable releasing speed signal input part, the camera shooting illumination sign input terminal, cleaning pump letter
Number input terminal, hydraulic pump signal input part, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump letter
Number input terminal, the volume cable laying control signal input of umbilical cables roll-up apparatus and volume cable releasing speed signal input part respectively with the valve
Control camera shooting light switch signal input interface, cleaning pump start stop signal input interface, the hydraulic pump of the switching input module of device
Start stop signal input interface, pneumatics pump start stop signal input interface, vacuum pump start stop signal input interface, filter press pump start and stop
Signal input interface, roll-up apparatus volume put control signal input interface and volume cable releasing speed signal input interface connects one to one；
The sensing communication unit includes：Encoder, liquid level sensor, pressure sensor, oxygen concentration detection sensor,
Combustable gas concentration detection sensor, camera and motor-driven valve, the encoder, liquid level sensor, pressure sensor, oxygen are dense
Spend the Analog input mModule of detection sensor, combustable gas concentration detection sensor respectively through guard grating and the valve control device
Encoded signal input interface, liquid level signal input interface, pressure signal input interface, oxygen concentration signals input interface and flammable
Gas concentration signal input interface connects one to one；The monitor communication link of the camera and the monitoring alarm unit
It connects；The motor-driven valve is connect with the motor-driven valve feedback signal input interface of the switching input module of the valve control device.
In above-mentioned monitoring system, each unit effect is as follows：Monitor alarm unit：Robot manipulating task environment and pose are carried out
Real time monitoring, and can timely alert process；
Valve control device：As robot monitoring system controller, operation is carried out according to input signal, output signal carries out corresponding
Action；
Robot control unit：Robot motion, stretching, extension is controlled to shrink and adjust robot motion parameter；
System control unit：Control system corollary equipment switch, start and stop and action；
Sense communication unit：The information in robot and system equipment operation process is acquired in real time, and sends valve control device to.
In above-mentioned monitoring system, the solenoid directional control valve output control terminal of the switching value output module of the valve control device and institute
State the first solenoid-operated proportional reversal valve output control terminal of analog output module, the second solenoid-operated proportional reversal valve output control terminal and
Guard grating is respectively connected on third solenoid-operated proportional reversal valve output control terminal.
In above-mentioned monitoring system, keyboard is connected on the integral type industrial personal computer of the monitoring alarm unit；
The cleaning pump signal output control terminal of the switching value output module of the valve control device, the output control of vacuum pump signal
End, hydraulic pump output control terminal, filter press pump output control terminal, pneumatics pump output control terminal, camera shooting illumination output control terminal
On be respectively equipped with switch.
Above-mentioned monitoring system further includes：Console, by switch board, the horizontal control deck plate for being located at the switch board upper end
And it is located at the switch board upper end and the display panel composition in the operation console rear end vertically；
The integral type industrial personal computer and monitor of the monitoring alarm unit are respectively provided in the display panel of the console；
The alarm of the monitoring alarm unit, the keyboard of the integral type industrial personal computer and each switch being connect with valve control device
It is each provided on the control deck plate of the console；
The valve control device is located in the switch board of the console.
By setting console so that the valve control device in the monitoring system, integral type industrial personal computer and monitor are integrated in
In one console, alarm, Operation switch, keyboard are installed on control deck plate, and solenoid valve is integrated in hydraulic power unit
On valve block.In addition, camera and LED light are mounted on cleaning robot, combustable gas concentration detection sensor, oxygen concentration inspection
It surveys sensor and is positioned over center in cleaned oil storage tank, remaining sensor category is installed and used in corresponding equipment.To protect
Job safety is demonstrate,proved, the electrical equipment used in the monitoring system uses electric apparatus for explosive gas.
In above-mentioned monitoring system, valve control device is connect with 24V power supplys, is powered by 24V power supplys.
The monitoring system of the present invention is described further with reference to specific embodiment.
A kind of cleaning oil tank robot monitoring system based on valve control device of the present embodiment, including：Robot control is single
Member, system control unit, sensing communication unit and monitoring alarm unit；Robot control unit includes automatic cleaning model and hand
Control is shunk in dynamic cleaning model, robot ambulation control and stretching, extension；System control unit includes camera shooting illumination, cleaning pump, hydraulic pressure
The volume cable laying control of pump, pneumatics pump, vacuum pump, the start-up and shut-down control of filter press pump and umbilical cables roll-up apparatus；Sense communication unit
It is passed including camera, encoder, combustable gas concentration detection sensor, oxygen concentration detection sensor, liquid level sensor, pressure
Sensor and motor-driven valve；Monitor that alarm unit includes integral type industrial personal computer, monitor and alarm.
Robot control unit in above system includes automatic cleaning model and manual wash mode, robot ambulation control
Control is shunk in system and stretching, extension；Automatic cleaning model makes robot complete to pinpoint by path planning in tank by preliminary setting parameter
The washing and cleaning operation for completing robot in tank is manually operated by worker for cleaning, manual wash mode；Robot ambulation control is adopted
It is driven with two hydraulic motors, the principle of differential steering, the first solenoid-operated proportional reversal valve is controlled to control robot left by valve control device
Hydraulic motor, the right hydraulic motor of the second solenoid-operated proportional reversal valve control robot；Robot stretching, extension shrinks control using hydraulic oil
Cylinder drive link mechanism principle controls the first hydraulic cylinder and the second hydraulic cylinder simultaneous retractable by solenoid directional control valve.Pass through
Forward-reverse, pole changer on operation console panel realize the steering of robot, and the speed of robot is controlled by speed adjustment knob；
When robot advances, left and right hydraulic motor rotates forward；When robot retreats, the reversion of left and right hydraulic motor；When robot turns left, left liquid
Pressure motor inverts, and right hydraulic motor rotates forward；When robot turns right, left hydraulic motor rotates forward, right hydraulic motor reversion.
System control unit in above system includes camera shooting illumination, cleaning pump, hydraulic pump, pneumatics pump, vacuum pump, pressure
The volume cable laying control of the start-up and shut-down control and umbilical cables roll-up apparatus of filter pump；Valve control device is to camera shooting illumination, cleaning pump, hydraulic pump, sky
Press pump, vacuum pump, filter press pump, which protect, to stop controlling；Above equipment can be controlled by physical switches, work as monitoring system
During alarm, valve control device can close above equipment, lock above equipment at this time until alarm release；Valve control device passes through third electromagnetism ratio
Example reversal valve control umbilical cables roll-up apparatus hydraulic motor, and then the volume for adjusting umbilical cables is put and speed.Roll-up apparatus can be manual
Individually controlled under cleaning model, can also under automatic cleaning model Auto-matching motion planning and robot control.
Sensing communication unit in above system includes camera, encoder, combustable gas concentration detection sensor, oxygen
Concentration detection sensor, liquid level sensor, pressure sensor and motor-driven valve；Camera wears LED light and is used for observing robot week
Collarette border, encoder are used for detecting the rotating speed of robot or so hydraulic motor and umbilical cables roll-up apparatus hydraulic motor, fuel gas
Concentration detection sensor is used for detecting combustable gas concentration in tank, and oxygen concentration detection sensor is dense for detecting oxygen in tank
Degree, liquid level sensor are used for detecting the liquid level of cleaning water tank and Water Tank, and pressure sensor is used for detecting hydraulic system and feedwater
The pressure of system, the signal of motor-driven valve feedback are used for detecting the state that pump is in.
Monitoring police's unit in above system includes integral type industrial personal computer, monitor and alarm；Integral type industrial personal computer leads to
Cross serial ports RS-232, MODBUS agreement and valve control device communicated, by valve control device acquisition hydraulic motor, combustable gas concentration,
Oxygen concentration, motor-driven valve feedback signal, high water tank, Water Tank liquid level, hydraulic system and water supply system operating pressure signal into
Row real-time display and storage；Monitor is used for the video information transmitted by reflection camera in real time；Alarm receives valve control device
Control, can alarm at once when there is dangerous situation.
Valve control device in monitoring system in above system, integral type industrial personal computer and monitor are integrated in a console
In, alarm, Operation switch, keyboard are installed on control deck plate, and solenoid valve is integrated on the valve block of hydraulic power unit；Camera shooting
Head and LED light are mounted in robot, during combustable gas concentration detection sensor, oxygen concentration detection sensor are positioned in tank
The heart, remaining sensor category are installed and used in corresponding equipment；The electrical equipment used in system is that explosion-proof type is electrically set
It is standby.
The monitoring system of the present invention is located at the mode in oil storage tank robot cleaning system as shown in figure 3, control cleaning machine
Device people and each device clean oil storage tank.
The monitoring system of the present invention is compared with prior art：It is easy to control, intelligence degree is high, system reliability is high, real
The safe efficient, energy saving and environmentally friendly of oil storage tank robot washing and cleaning operation is showed.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
1. a kind of monitoring system of the cleaning oil tank robot based on valve control device, which is characterized in that including：
Monitor alarm unit, valve control device, robot control unit, system control unit and sensing communication unit；Wherein,
The monitoring alarm unit includes：Integral type industrial personal computer, monitor and alarm, the integral type industrial personal computer and monitor
Communication connection, the integral type industrial personal computer are communicated to connect with the valve control device；
The valve control device is equipped with switching input module, switching value output module, Analog input mModule and analog output mould
Block, wherein,
The switching input module be respectively equipped with cleaning pump start stop signal input interface, vacuum pump start stop signal input interface,
Hydraulic pump start stop signal input interface, filter press pump start stop signal input interface, camera shooting light switch signal input interface, pneumatics
Pump start stop signal input interface, motor-driven valve feedback signal input interface, automatically and manually the input of cleaning model control signal connects
Mouth, robot ambulation control signal input interface, control signal input interface is shunk in robot stretching, extension and roll-up apparatus is rolled up and puts control
Signal input interface；
The switching value output module is respectively equipped with cleaning pump signal output control terminal, vacuum pump signal output control terminal, hydraulic pressure
Pump output control terminal, filter press pump output control terminal, pneumatics pump output control terminal, camera shooting illumination output control terminal, alarm are defeated
Go out control terminal and solenoid directional control valve output control terminal, the warning output control terminal and the alarm electricity of the monitoring alarm unit
Gas connects；
The Analog input mModule be respectively equipped with robot turn signal input interface, robot speed's signal input interface,
Roll up cable releasing speed signal input interface, encoded signal input interface, liquid level signal input interface, pressure signal input interface, oxygen
Gas concentration signal input interface and combustable gas concentration signal input interface；
The analog output module is respectively equipped with the first solenoid-operated proportional reversal valve output control terminal, the second solenoid-operated proportional reversal valve
Output control terminal and third solenoid-operated proportional reversal valve output control terminal；
The robot control unit includes：Automatically and manually cleaning model control signal input, robot ambulation control letter
Number input terminal, robot stretching, extension shrink control signal input, robot turn signal input terminal, the input of robot speed's signal
End, the automatically and manually cleaning model control signal input, robot ambulation control signal input, robot stretching, extension are received
Contracting control signal input, robot turn signal input terminal, robot speed's signal input part respectively with the valve control device
The automatically and manually cleaning model control signal input interface of switching input module, robot ambulation control signal input connect
Mouth, robot stretching, extension shrink control signal input interface, robot turn signal input interface and the input of robot speed's signal
Interface connects one to one；
The system control unit includes：Image illumination sign input terminal, cleaning pump signal input part, the input of hydraulic pressure pump signal
End, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump signal input part, umbilical cables roll-up apparatus
Roll up cable laying control signal input and volume cable releasing speed signal input part, the camera shooting illumination sign input terminal, cleaning pump signal
Input terminal, hydraulic pump signal input part, air compressor machine pump signal input terminal, vacuum pump signal input control end, filter press pump signal
Input terminal, the volume cable laying control signal input of umbilical cables roll-up apparatus and volume cable releasing speed signal input part respectively with the valve control
Camera shooting light switch signal input interface, cleaning pump start stop signal input interface, the hydraulic pump of the switching input module of device open
Stop signal input interface, pneumatics pump start stop signal input interface, vacuum pump start stop signal input interface, filter press pump start and stop letter
Number input interface, roll-up apparatus volume put control signal input interface and volume cable releasing speed signal input interface connects one to one；
The sensing communication unit includes：It is encoder, liquid level sensor, pressure sensor, oxygen concentration detection sensor, flammable
Gas concentration detection sensor, camera and motor-driven valve, the encoder, liquid level sensor, pressure sensor, oxygen concentration inspection
Survey sensor, combustable gas concentration the detection sensor coding through guard grating Yu the Analog input mModule of the valve control device respectively
Signal input interface, liquid level signal input interface, pressure signal input interface, oxygen concentration signals input interface and fuel gas
Concentration signal input interface connects one to one；The monitor of the camera and the monitoring alarm unit communicates to connect；Institute
Motor-driven valve is stated to connect with the motor-driven valve feedback signal input interface of the switching input module of the valve control device；
The solenoid directional control valve output control terminal of the switching value output module of the valve control device and the analog output module
First solenoid-operated proportional reversal valve output control terminal, the second solenoid-operated proportional reversal valve output control terminal and third solenoid-operated proportional reversal valve
Guard grating is respectively connected on output control terminal.
2. a kind of monitoring system of cleaning oil tank robot based on valve control device according to claim 1, feature exist
In, it is described monitoring alarm unit integral type industrial personal computer on be connected with keyboard；
Cleaning pump signal output control terminal, vacuum pump signal output control terminal, the liquid of the switching value output module of the valve control device
Press pump output control terminal, filter press pump output control terminal, pneumatics pump output control terminal, camera shooting are illuminated on output control terminal respectively
Equipped with switch.
3. a kind of monitoring system of cleaning oil tank robot based on valve control device according to claim 1, feature exist
In further including：Console is located at the operation console of the switch board upper end by switch board, level and is located at the control vertically
Cabinet upper end and the display case composition in the operation console rear end；
The integral type industrial personal computer and monitor of the monitoring alarm unit are respectively provided in the display case of the console；
The monitoring alarm of alarm unit, the keyboard of the integral type industrial personal computer and respectively switching of connect with valve control device are all provided with
On the operation console of the console；
The valve control device is located in the switch board of the console.
4. a kind of monitoring system of cleaning oil tank robot based on valve control device according to claim 1, feature exist
In the integral type industrial personal computer for monitoring alarm unit is by serial ports RS-232 through MODBUS agreements and the valve control device communication link
It connects.
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| US11065655B2 (en) | 2016-10-17 | 2021-07-20 | Ecoserv Technologies, Llc | Apparatuses, systems, and methods for cleaning |
| WO2018218120A1 (en) | 2017-05-25 | 2018-11-29 | Ecoserv Technologies, Llc | Devices, systems, and methods for cleaning vessels |
| CN110864763B (en) * | 2019-11-27 | 2020-10-30 | 西安维米克自控仪表技术有限公司 | Glass liquid level meter |
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| CN105278431A (en) | 2016-01-27 |
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