CN110653834A - Metering room robot, metering room robot system and metering room oil production measuring method - Google Patents
Metering room robot, metering room robot system and metering room oil production measuring method Download PDFInfo
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- CN110653834A CN110653834A CN201911023759.0A CN201911023759A CN110653834A CN 110653834 A CN110653834 A CN 110653834A CN 201911023759 A CN201911023759 A CN 201911023759A CN 110653834 A CN110653834 A CN 110653834A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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Abstract
The invention discloses a metering room robot, a metering room robot system and a metering room oil production measuring method, wherein the metering room robot comprises: the device comprises a movable chassis, a driving mechanism, a valve opening and closing device and a camera device; the driving mechanism is fixedly connected with the movable chassis and is used for enabling the camera device and the valve opening and closing device to reach working positions; the camera device and the valve opening and closing device are both arranged at the tail end of the driving mechanism, the camera device is used for acquiring image information of the valve and the instrument, and the valve opening and closing device adjusts the valve according to control information; the metering room robot system comprises the metering room robot and the robot control system; the robot control system controls the robot in a wired or wireless manner. The invention has the advantages of automatic oil measurement and yield measurement and high working efficiency.
Description
Technical Field
The invention relates to the technical field of automatic oil transportation, in particular to a metering room robot, a metering room robot system and a metering room oil measurement and production measurement method.
Background
With the development of society, automobiles become daily transportation tools of people, and the oil filling of automobiles also becomes an indispensable part, so that the petrochemical industry maintains national economic life lines. In the current production of oil production and transportation, pipelines of a plurality of oil wells are usually converged into a metering room (valve block), oil pipes, hot washing pipelines and the like of each oil well are converged together in the metering room, each single well is usually provided with about 4 valves which are respectively a single well separator inlet gate for controlling an oil way, a single well oil return gate, a single well hot washing gate for controlling a hot water pipeline and a single well water mixing gate; the single-well separator inlet gate is used for controlling the flow direction on-off of the oil well effluent to the separator; the single-well oil return gate is used for controlling the on-off of the flow direction of the oil well effluent to the oil collecting pipe, and the single-well hot washing gate is used for controlling the on-off of the flow direction of hot water flowing to a well head sleeve; the single-well water mixing gate is used for controlling and adjusting the flow and the connection and disconnection of single-well water mixing.
The measuring room is usually provided with one to three separators and matched pipelines, the pipelines can independently guide the liquid output of each oil well in the measuring room into the separators, usually, glass tube type liquid level meters are installed on the separators, the oil extraction workers carry out combined operation of matching with valves of the pipelines, and the liquid output of a single well, namely, the oil measurement and production can be calculated out by fixing the relation between the liquid level height and the liquid level accumulation time. At present, oil measurement and production measurement are mainly manually completed by an oil extraction worker, meanwhile, in order to ensure the accuracy of oil measurement, the liquid level of oil measurement needs to reach more than two thirds of the total amount of a separator liquid level meter, and under the condition that the liquid output of a single well is low, the liquid level needs to reach 40 minutes to several hours.
Such solutions have the following drawbacks: the oil extraction worker needs to monitor the liquid level all the time, the working efficiency is low, and mistakes are easy to make.
Disclosure of Invention
The invention mainly solves the defects of low working efficiency and easy error of manual oil measurement and production measurement in the prior art, and provides the metering room robot, the metering room robot system and the metering room oil measurement and production measurement method.
In order to solve the technical problems, the invention adopts the following technical scheme:
a metrology room robot, comprising: the device comprises a movable chassis, a driving mechanism, a valve opening and closing device and a camera device; the driving mechanism is fixedly connected with the movable chassis and is used for enabling the camera device and the valve opening and closing device to reach working positions; the camera device and the valve opening and closing device are both arranged at the tail end of the driving mechanism, the camera device is used for acquiring image information of the valve and the instrument, and the valve opening and closing device adjusts the valve according to control information.
Optionally, the driving mechanism is at least one of a three-axis driving mechanism and a six-axis driving mechanism, the three-axis driving mechanism comprises a first RV reducer with a base, an angular base, a first motor installed on the horizontal plane of the angular base, a second RV reducer and a second motor assembled on the vertical plane of the angular base, a big arm with one end connected with the second RV reducer, a third RV reducer and a third motor connected with the other end of the big arm, and a small arm, one end of the small arm is connected with the third RV reducer, the three-axis driving mechanism is fixedly connected with the mobile chassis through the base of the first RV reducer, and the camera device, the camera device supplementary light source and the valve opening and closing device are all installed at the other end of the small arm.
Optionally, the six-shaft driving mechanism comprises a first RV reducer with a base, an angular base, a first motor installed on the horizontal plane of the angular base, a second RV reducer and a second motor assembled on the vertical surface of the angular base, a first rocker arm with one end connected with the second RV reducer, a third RV reducer and a third motor connected with the other end of the first rocker arm, a first rotating arm with one end connected with the third RV reducer, a fourth RV reducer and a fourth motor connected with the other end of the first rotating arm, a second rocker arm with one end connected with the fourth RV reducer, a fifth RV reducer and a fifth motor connected with the other end of the second rocker arm, a second rotating arm with one end connected with the fifth RV reducer, a sixth RV reducer and a sixth motor connected with the other end of the second rotating arm, and a third rocker arm, the third rocker arm is connected with the sixth RV reducer, the six-shaft driving mechanism is fixedly connected with the movable chassis through a base of the first RV reducer, and the camera device, the camera device supplementary light source and the valve opening and closing device are all installed at the other end of the third rocking arm.
Optionally, the robot further comprises a camera device supplementary light source, the camera device supplementary light source is installed at the tail end of the driving mechanism, and the camera device supplementary light source is used for supplementing the light source for the robot when the brightness of the metering room is low, so that the brightness in the metering room is improved, and the camera device is ensured to obtain a stable and clear image.
Optionally, the mobile chassis further comprises a collision sensor and a collision-prevention switch; the collision sensor is used for detecting whether the mobile chassis collides with an object when moving, and the collision prevention switch is used for stopping the robot to move when the mobile value of the collision sent by the robot is larger than a preset value.
Optionally, the valve opening and closing device comprises a valve opening and closing transmission mechanism, a limit compensator and a wrench with a jaw structure, and the valve opening and closing transmission mechanism is connected with the other end of the small arm;
the valve opening and closing transmission mechanism consists of a telescopic driving mechanism, a rotary driving mechanism and a cylinder body supported between the telescopic driving mechanism and the rotary driving mechanism; the telescopic driving mechanism and the rotary driving mechanism are used for controlling the valve opening and closing transmission structure to slide along the axial direction in the cylinder body and synchronously rotate around the central line parallel to the rotary shaft, the limiting compensator drives the jaw type structure wrench to slide along the axial direction and simultaneously rotate, and the opening, closing and adjusting of the valve are completed.
Optionally, the limiting compensator is composed of a first position sensor and a second position sensor, the first position sensor is used for marking an initial position of the valve opening and closing transmission mechanism, the second position sensor is used for marking a longest extending position of the valve opening and closing transmission mechanism, and when the first position sensor and the second position sensor sense that the extension length of the valve opening and closing transmission mechanism exceeds a preset value, the valve opening and closing transmission mechanism is stopped from moving.
Optionally, the robot further comprises a gas sensor and an infrared camera device, the gas sensor is mounted on the horizontal plane of the angle base, and the gas sensor can measure the concentration of gases such as hydrogen, methane and the like in the metering room in real time; the infrared camera device is arranged at the other end of the small arm and used for monitoring the temperature in the pipeline in the metering room by shooting an image of an object to obtain the temperature gradient of the target object in the image.
The invention also provides a robot system between measurement rooms, which comprises: the above-described measurement room robot and robot control system; the robot control system controls the robot in a wired mode or a wireless mode;
the camera device reads states of the valve and the instrument in the metering room by photographing, and sends images to the robot control system, the robot control system reads corresponding information of the instrument in the images, state information of the valve in the images and coordinate information of relative positions, and the valve opening and closing device is controlled to adjust the valve based on the information.
The invention also provides a measuring room oil production measuring method adopting the measuring room robot system, which comprises the following steps:
the camera device obtains images of the separator liquid level meter in the metering room in real time and sends the images to the robot control system;
the robot control system reads the reading of the separator liquid level meter in the image, and when the reading of the separator liquid level meter reaches a certain scale of the maximum measuring range of the separator liquid level meter, the liquid outlet amount of the oil well in the measuring room is obtained according to the relation between the liquid level height and the liquid level accumulation time;
the camera device obtains images of a valve hand wheel in the metering room in real time and sends the images to the robot control system;
the robot control system reads the state of a valve hand wheel and the relative position coordinates of the valve in the image, and controls the valve opening and closing device to perform opening and closing operation and/or position adjusting operation of the valve based on the information;
and the robot control system records all information of the last valve operation and carries out the operation of the next group of valve groups in sequence.
The invention adopts the technical scheme, and has the following beneficial effects:
1. the invention discloses a camera device, which is used for reading the state and data of an instrument in a metering room, so that an oil extraction worker is not required to monitor the liquid level all the time, and the working efficiency is improved.
2. The invention discloses a collision sensor and a gas sensor, which can avoid hidden troubles possibly generated in the process of measuring oil and producing by sensing whether a robot collides in the working process through the collision sensor and sensing the concentration of gases such as hydrogen, methane and the like in the working environment of the robot through the gas sensor.
3. The invention discloses an infrared camera device, which can be used for shooting images through the infrared camera device to obtain the temperature gradient of a target object in the images and monitoring the temperature in a pipeline in a metering room in real time.
4. The invention discloses a valve opening and closing device, which can automatically complete the opening and closing operation or position adjustment operation of each valve of a pipeline through the valve opening and closing device, can carry out operations such as water mixing, oil metering and the like without the operation of an oil extraction worker, and improves the production rate of a plurality of oil wells in a metering room.
5. The invention discloses a method for measuring oil and production in a measuring room, which can save the time for measuring oil and production by obtaining the liquid outlet amount of an oil well in the measuring room through the relation between the liquid level height and the liquid level accumulation time when the liquid level of the oil well in the measuring room reaches a certain scale of a liquid level meter of a separator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a metrology room robotic system.
Fig. 2 is a schematic structural diagram of a three-axis driving mechanism of a metrology room robot.
Fig. 3 is a schematic structural diagram of a valve opening and closing transmission mechanism of a metering room robot.
Fig. 4 is a schematic configuration diagram of a metrology room robotic system employing a six-axis drive mechanism.
FIG. 5 is a schematic flow diagram of a method of measuring production between measurements.
The sequence numbers in the figures illustrate: 1. the robot comprises a robot, 2, a robot control system, 3, a mobile chassis, 4, a driving mechanism, 5, a valve opening and closing device, 6, a camera device, 7, a camera device supplementary light source, 8, a gas sensor, 9, an infrared camera device, 10, an anti-collision switch, 11, a first RV reducer, 12, a base, 13, an angle machine base, 14, a second motor, 15, a first motor, 16, a second RV reducer, 17, a big arm, 18, the device comprises a third motor, 19, a third RV reducer, 20, a small arm, 21, a valve opening and closing transmission mechanism, 22, a limit compensator, 23, a wrench, 24, a telescopic driving mechanism, 25, a rotary driving mechanism, 26, a cylinder body, 27, a first position sensor, 28, a second position sensor, 30, a first swing arm, 31, a first rotating arm, 32, a second swing arm, 33, a second rotating arm, 34 and a third swing arm.
Detailed Description
To make the objects, aspects and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following detailed description and the accompanying drawings, it being understood that the description is illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, second speed for well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.
The first embodiment is as follows:
to solve the above problems, an embodiment of the present invention provides a metrology room robot system, as shown in fig. 1, including:
a measurement room robot 1 and a robot control system 2; the robot control system 2 controls the robot 1 in a wired or wireless manner; the robot control system 2 may be a PC end controlling the robot through a wireless communication mode or through a cable, or may be a part of the robot 1 embedded inside the robot 1.
The robot 1 comprises a mobile chassis 3, a driving mechanism 4, a valve opening and closing device 5, a camera device 6, a camera device supplementary light source 7, a gas sensor 8 and an infrared camera device 9; the driving mechanism 4 is fixedly connected with the movable chassis 3, and the camera device 6, the camera device complementary light source 7 and the valve opening and closing device 5 are all arranged at the tail end of the driving mechanism 4;
the camera device 6 reads states of a valve and an instrument in the metering room by photographing, sends images to the robot control system 2, reads corresponding information of the instrument in the images, state information of the valve in the images and coordinate information of relative positions by the robot control system 2, and controls the valve opening and closing device 5 to adjust the valve based on the information; when the liquid level of the oil well in the metering room reaches a certain scale of the liquid level meter of the separator, the liquid output of the oil well can be obtained by the robot control system 2 according to the relation between the liquid level height and the liquid level accumulation time; the robot control system 2 is also used for controlling the camera device to supplement the light source 7, and when the brightness in the metering room is low, the camera device to supplement the light source 7 is controlled to improve the brightness in the metering room, so that the camera device 6 is ensured to obtain a stable and clear image.
The bottom of the moving chassis 3 is provided with moving wheels, the moving wheels adopt rolling wheels driven by a motor or grooved wheels running on a guide rail, and the moving chassis 3 also comprises collision sensors and four anti-collision switches 10 which are arranged on four vertical surfaces of the moving chassis 3;
the collision sensor is used for detecting whether the mobile chassis 3 collides with an object when moving, when the moving value of the collision of the mobile chassis 3 is larger than a preset value, the collision sensor sends a signal to the anti-collision switch 10, the anti-collision switch 10 sends an alarm signal to the robot control system 2, and the robot control system 2 immediately stops the movement of the whole robot 1 and sends the alarm signal.
In the embodiment, the robot control system 2 is used for controlling the motion logic of each motor of the working arm of the robot 1, completing the autonomous motion of the operating device in the measuring room, recording the absolute position in the measuring room, and processing the signals collected by each sensor, and the robot control system 2 is installed in the environment without dangerous gas outside the measuring room and is connected with the robot 1 in the measuring room in the environment with dangerous gas through a cable; the collision sensors are arranged behind four vertical faces of the chassis and can detect whether the chassis collides with an object when moving, abnormal collision is prevented, when the collision generates movement exceeding 4mm, the movement can be detected through the collision prevention switches 10, four collision prevention switches 10 are arranged, when the collision generates, the output end of the collision prevention switch 10 is input into the robot control system 2 through the safety relay, and when the robot control system 2 detects that a collision signal is input, the motion of the whole robot 1 is immediately and emergently stopped, and an alarm signal is sent.
As shown in fig. 2, in the present embodiment, a three-axis driving mechanism is adopted, the three-axis driving mechanism includes a first RV reducer 11 with a base 12, an angular base 13, a first motor 15 installed on a horizontal surface of the angular base 13, a second RV reducer 16 and a second motor 14 assembled on a vertical surface of the angular base 13, a boom 17 having one end connected to the second RV reducer 16, a third RV reducer 19 and a third motor 18 connected to the other end of the boom 17, and a boom 20, one end of the boom 20 is connected to the third RV reducer 19, the three-axis driving mechanism is fixedly connected to the mobile chassis 3 through the base 12 of the first RV reducer 11, and the camera 6, the camera light-supplementing source 7 and the valve opening and closing device 5 are all installed at the other end of the boom 20.
The first motor 15 drives the output transmission shaft of the first RV reducer 11 to rotate around the center line of the vertical rotating shaft and simultaneously drives the three-shaft driving mechanism to rotate around the center line of the vertical rotating shaft, the second motor 14 drives the output transmission shaft of the second RV reducer 16 to rotate around the center line of the parallel rotating shaft and simultaneously drives the big arm 17 assembled with the output transmission shaft of the second RV reducer 16 to swing around the center line of the parallel rotating shaft, and the third motor 18 drives the output transmission shaft of the third RV reducer 19 to rotate around the center line of the parallel rotating shaft and simultaneously drives the small arm 20 assembled with the output transmission shaft of the third RV reducer 19 to swing around the center line of the parallel rotating shaft;
the robot control system 2 is further configured to control the motion logic of the first motor 15, the second motor 14, and the third motor 18 in the three-axis driving mechanism, complete the motion of the three-axis driving mechanism in the measurement room, and record the absolute position of the three-axis driving mechanism in the measurement room.
In the present embodiment, the first RV reducer 11, the second RV reducer 16, and the third RV reducer 19 are all common reducers consisting of one planetary gear reduction mechanism and one differential gear reduction mechanism. The RV reducer structurally comprises a shell, an input transmission shaft with a gear and an output transmission shaft with a flange, wherein the input transmission shaft and the output transmission shaft are assembled in the shell and are positioned on the same rotary axis. The input transmission shaft of each RV reducer drives the output transmission shaft to rotate through the corresponding motor, and when the output transmission shaft is fixed, the shell of the RV reducer becomes the output transmission side. The output transmission shaft of the first RV reducer 11 is fixedly connected with the base 12 through a flange, and the housing of the first RV reducer 11 is fixedly connected with the horizontal plane of the angular base 13. An output transmission shaft of the second RV reducer 16 is fixedly connected with one end of the large arm 17 through a flange, and a shell of the second RV reducer 16 is fixedly connected with a vertical surface of the angle-shaped base 13.
The center line of the rotating shaft of the first RV reducer 11 assembled on the horizontal plane of the angle frame 13 is perpendicular to the upper plane of the movable chassis 3 and serves as the vertical rotating shaft of the three-shaft driving mechanism. The first motor 15 drives the output transmission shaft of the first RV reducer 11 to rotate around the center line of the vertical rotating shaft, and simultaneously drives the three-shaft driving mechanism to rotate around the center line of the vertical rotating shaft, and the rotating angle of the vertical rotating shaft is 0-360 degrees. The first RV reducer 11 preferably has a hollow structure so as to facilitate the passage of a cable pipeline from the middle and is not easy to wear and wind.
The center line of the rotation axis of the second RV reducer 16 assembled on the vertical face of the angle frame 13 is parallel to the upper plane of the mobile chassis 3, and serves as the parallel rotation axis of the three-axis drive mechanism. The second motor 14 drives the output drive shaft of the second RV reducer 16 to rotate about the center line of the parallel rotation axis, and at the same time, drives the large arm 17 assembled with the output drive shaft of the second RV reducer 16 to swing about the center line of the parallel rotation axis, and the other end of the large arm 17 is connected to one end of the small arm 20 through the third RV reducer 19. The swing angle is limited to-150 to +150 in order to prevent the collision of the self-structure.
The center line of the rotation axis of the third RV reducer 19 assembled at the other end of the boom 17 is parallel to the upper plane of the traveling chassis 3, and serves as a parallel rotation axis of the three-axis drive mechanism. The third motor 18 drives the output transmission shaft of the third RV reducer 19 to rotate around the center line of the parallel rotating shaft, and simultaneously drives the small arm 20 assembled with the output transmission shaft of the third RV reducer 19 to swing around the center line of the parallel rotating shaft, and the other end of the small arm 20 is connected with the camera device 6, the camera device supplementary light source 7 and the valve opening and closing transmission mechanism 21. The swing angle is also limited to-150 ° +150 ° from the viewpoint of preventing the self-structure collision.
In the present embodiment, the gas sensor 8 is mounted on the horizontal plane of the angle base 13; the infrared camera device 9 is arranged at the other end of the small arm 20, the gas sensor 8 transmits the concentration of hydrogen and methane in the air to the robot control system 2 in real time in the working process of the robot system, and when the concentration of hydrogen and methane in the air exceeds a preset value, the robot control system 2 stops the movement of the operation device and sends alarm information in a wired or wireless mode; in the working process of the robot system, the infrared camera device 9 drives the infrared camera device 9 to move by means of the movement of the three-axis driving mechanism, so as to align different preset target objects, and the monitoring of the temperature in the pipeline in the measuring room is completed by photographing the object to measure the temperature gradient of the target object in the image; according to the emissivity difference of different materials, the liquid leakage in the metering room can be rapidly distinguished; the overrun alarm information may be sent to the robot control system 2.
As shown in fig. 3, the valve opening and closing device 5 includes a valve opening and closing transmission mechanism 21, a limit compensator 22 and a wrench 23 with a jaw structure, wherein the valve opening and closing transmission mechanism 21 is connected with the other end of the small arm 20;
the valve opening and closing transmission mechanism 21 consists of a telescopic driving mechanism 24, a rotary driving mechanism 25 and a cylinder 26 supported between the telescopic driving mechanism 24 and the rotary driving mechanism 25; the telescopic driving mechanism 24 and the rotary driving mechanism 25 are used for controlling the valve opening and closing transmission structure to slide along the axial direction in the cylinder 26 and synchronously rotate around the central line parallel to the rotary shaft, the limiting compensator 22 drives the jaw type structure wrench 23 to slide along the axial direction and simultaneously rotate, and the opening, closing and adjustment of the valve are completed;
the robot control system 2 is also used for controlling the motion logic of the valve opening and closing device 5, and controlling the valve opening and closing device 5 to complete opening, closing and adjusting of the valve.
The limit compensator 22 is composed of a first position sensor 27 and a second position sensor 28, the first position sensor 27 is used for marking the initial position of the valve opening and closing transmission mechanism 21, the second position sensor 28 is used for marking the longest extending position of the valve opening and closing transmission mechanism 21, when the first position sensor 27 and the second position sensor 28 sense that the valve opening and closing transmission mechanism extends and retracts beyond the limited stroke, a signal is sent to the robot control system 2, and the robot control system 2 controls the valve opening and closing transmission mechanism 21 to stop moving.
In this embodiment, the valve opening and closing device 5 adopts a structure of parallel rotating shafts in the same direction, and is used in a dense valve application place, occupies less radial space of a valve shaft than the existing common wrench, and facilitates operation of a plurality of valves arranged in the same direction. The central line directions of all parallel rotating shafts of the three-axis driving mechanism are parallel, and the envelope space of the motion trail is in the shape of a half of a ring. Wherein, the annular outer radius is the sum of the length of the large arm 17 and the length of the small arm 20 of the three-axis driving mechanism, the annular inner radius is the difference between the length of the large arm 17 and the length of the small arm 20 of the three-axis driving mechanism, and if the length of the large arm 17 is 650mm and the length of the small arm 20 is 450mm, the annular outer radius is 1100mm, and the inner radius is 200 mm.
Example two:
as shown in fig. 4, to solve the above problem, an embodiment of the present invention provides a robot system between metrology rooms, which is different from the first embodiment in that the driving mechanism in the present embodiment adopts a six-axis driving mechanism instead of a three-axis driving mechanism, and the rest of the driving mechanisms are the same as the first embodiment, specifically:
the six-shaft driving mechanism comprises a first RV reducer with a base, an angular base 13, a first motor arranged on the horizontal plane of the angular base, a second RV reducer and a second motor assembled on the vertical surface of the angular base, a first swing arm 30 with one end connected with the second RV reducer, a third RV reducer and a third motor connected with the other end of the first swing arm 30, a first rotating arm 31 with one end connected with the third RV reducer, a fourth RV reducer and a fourth motor connected with the other end of the first rotating arm 31, a second swing arm 32 with one end connected with the fourth RV reducer, a fifth RV reducer and a fifth motor connected with the other end of the second swing arm 32, a second rotating arm 33 with one end connected with the fifth RV reducer, a sixth RV reducer and a sixth motor connected with the other end of the second rotating arm 33, a third swing arm 34, and the third swing arm 34 connected with the sixth RV reducer, the six-axis driving mechanism is fixedly connected with the movable chassis through a base of the first RV reducer, and the camera device 6, the camera device complementary light source 7 and the valve opening and closing device 5 are all installed at the other end of the third rocking arm.
In addition, the invention also discloses a measuring room oil production measuring method adopting the measuring room robot system, which comprises the following steps:
the camera device obtains images of the separator liquid level meter in the metering room in real time and sends the images to the robot control system;
the robot control system reads the reading of the separator liquid level meter in the image, and when the reading of the separator liquid level meter reaches a certain scale of the maximum measuring range of the separator liquid level meter, the liquid outlet amount of the oil well in the measuring room is obtained according to the relation between the liquid level height and the liquid level accumulation time;
the camera device obtains images of a valve hand wheel in the metering room in real time and sends the images to the robot control system;
the robot control system reads the state of a valve hand wheel and the relative position coordinates of the valve in the image, and controls the valve opening and closing device to perform opening and closing operation and/or position adjusting operation of the valve based on the information;
and the robot control system records all information of the last valve operation and carries out the operation of the next group of valve groups in sequence.
The method flow of the present invention corresponds to the working process of the system structure, and is not described herein again.
Case (2):
when the metering room robot system works, the robot control system 2 controls the robot 1 to autonomously move to the front of a corresponding valve group in the metering room, at the moment, the moving chassis 3 of the robot 1 stops moving, the driving mechanism 4 controls autonomous movement by the robot control system 2, so that the camera device 6 is aligned with an instrument on the valve group, when the brightness of the measuring room is low, the robot control system 2 controls the camera device to supplement the light source 7 to improve the brightness in the measuring room, so as to ensure that the camera device 6 obtains a stable and clear image, after the camera device 6 obtains the image, the image is transmitted to the robot control system 2, the robot control system 2 reads the information of the instrument in the image and records the information into the robot control system 2, when the liquid level of the oil well in the metering room reaches one third of the liquid level of the separator, the liquid output of the oil well can be obtained through the robot control system 2; the driving mechanism 4 is controlled by the robot control system 2 to move autonomously, so that the camera device 6 aims at a valve hand wheel on a valve group, after the camera device 6 obtains an image, the image is transmitted to the robot control system 2, the control system reads the state of the valve hand wheel and the relative position coordinate of the valve in the image, the robot control system 2 controls the driving mechanism 4 to drive the valve opening and closing transmission mechanism 21 to move to the front of the valve hand wheel according to the relative position coordinate read from the image, the valve opening and closing transmission mechanism 21 is controlled to stretch out and rotate to drive the wrench 23, the valve hand wheel is rotated to realize the opening and closing and position adjustment of the valve, after the valve operation is finished, the robot control system 2 records all information of the valve operation into the control system, and the operation of the next valve group is sequentially carried out.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that:
while preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A metrology room robot, comprising:
the device comprises a movable chassis, a driving mechanism, a valve opening and closing device and a camera device;
the driving mechanism is fixedly connected with the movable chassis and is used for enabling the camera device and the valve opening and closing device to reach working positions;
the camera device and the valve opening and closing device are both arranged at the tail end of the driving mechanism, the camera device is used for acquiring image information of the valve and the instrument, and the valve opening and closing device adjusts the valve according to control information.
2. The metrology room robot of claim 1,
the driving mechanism is at least one of a three-axis driving mechanism and a six-axis driving mechanism, the three-axis driving mechanism comprises a first RV speed reducer with a base, an angular base, a first motor installed on the horizontal plane of the angular base, a second RV speed reducer and a second motor assembled on the vertical plane of the angular base, a big arm with one end connected with the second RV speed reducer, a third RV speed reducer connected with the other end of the big arm, a third motor and a small arm, one end of the small arm is connected with the third RV speed reducer, the three-axis driving mechanism is fixedly connected with a movable chassis through the base of the first RV speed reducer, and the camera device, the camera device supplementary light source and the valve opening and closing device are all installed at the other end of the small arm.
3. The metrology room robot of claim 2,
the six-shaft driving mechanism comprises a first RV reducer with a base, an angular base, a first motor arranged on the horizontal plane of the angular base, a second RV reducer and a second motor assembled on the vertical surface of the angular base, a first swing arm with one end connected with the second RV reducer, a third RV reducer and a third motor connected with the other end of the first swing arm, a first rotating arm with one end connected with the third RV reducer, a fourth RV reducer and a fourth motor connected with the other end of the first rotating arm, a second swing arm with one end connected with the fourth RV reducer, a fifth RV reducer and a fifth motor connected with the other end of the second swing arm, a second rotating arm with one end connected with the fifth RV reducer, a sixth RV reducer and a sixth motor connected with the other end of the second rotating arm, and a third swing arm, wherein the third swing arm is connected with the sixth RV reducer, the six-shaft driving mechanism is fixedly connected with the movable chassis through a base of the first RV reducer, and the camera device, the camera device supplementary light source and the valve opening and closing device are all installed at the other end of the third rocking arm.
4. The metrology room robot of claim 1 further comprising:
the camera device supplements the light source, the camera device supplements the light source and installs in the end of actuating mechanism, the camera device supplements the light source and is used for supplementing the light source for the robot when the measurement room luminance is lower, improves the luminance in the measurement room, guarantees that camera device obtains stable clear image.
5. The metrology room robot of claim 1,
the mobile chassis further comprises a collision sensor and an anti-collision switch; the collision sensor is used for detecting whether the mobile chassis collides with an object when moving, and the collision prevention switch is used for stopping the robot to move when the mobile value of the collision sent by the robot is larger than a preset value.
6. The metrology room robot of claim 2,
the valve opening and closing device comprises a valve opening and closing transmission mechanism, a limiting compensator and a spanner with a jaw type structure, and the valve opening and closing transmission mechanism is connected with the other end of the small arm;
the valve opening and closing transmission mechanism consists of a telescopic driving mechanism, a rotary driving mechanism and a cylinder body supported between the telescopic driving mechanism and the rotary driving mechanism; the telescopic driving mechanism and the rotary driving mechanism are used for controlling the valve opening and closing transmission structure to slide along the axial direction in the cylinder body and synchronously rotate around the central line parallel to the rotary shaft, the limiting compensator drives the jaw type structure wrench to slide along the axial direction and simultaneously rotate, and the opening, closing and adjusting of the valve are completed.
7. The metrology room robot of claim 6,
the limiting compensator is composed of a first position sensor and a second position sensor, the first position sensor is used for marking the initial position of the valve opening and closing transmission mechanism, the second position sensor is used for marking the longest extending position of the valve opening and closing transmission mechanism, and when the first position sensor and the second position sensor sense that the telescopic length of the valve opening and closing transmission mechanism exceeds a preset value, the valve opening and closing transmission mechanism stops moving.
8. The metrology room robot of claim 1,
the robot also comprises a gas sensor and an infrared camera device, wherein the gas sensor is arranged on the horizontal plane of the angular base and can measure the concentration of gases such as hydrogen, methane and the like in the measuring room in real time; the infrared camera device is arranged at the other end of the small arm and used for monitoring the temperature in the pipeline in the metering room by shooting an image of an object to obtain the temperature gradient of the target object in the image.
9. A metrology room robotic system, comprising:
a metrology room robot and robot control system as claimed in any one of claims 1 to 8; the robot control system controls the robot in a wired mode or a wireless mode;
the camera device reads states of the valve and the instrument in the metering room by photographing, and sends images to the robot control system, the robot control system reads corresponding information of the instrument in the images, state information of the valve in the images and coordinate information of relative positions, and the valve opening and closing device is controlled to adjust the valve based on the information.
10. A method for measuring oil production in a measuring room using a robot system for measuring oil production in a measuring room according to claim 9, comprising the steps of:
the camera device obtains images of the separator liquid level meter in the metering room in real time and sends the images to the robot control system;
the robot control system reads the reading of the separator liquid level meter in the image, and when the reading of the separator liquid level meter reaches a certain scale of the maximum measuring range of the separator liquid level meter, the liquid outlet amount of the oil well in the measuring room is obtained according to the relation between the liquid level height and the liquid level accumulation time;
the camera device obtains images of a valve hand wheel in the metering room in real time and sends the images to the robot control system;
the robot control system reads the state of a valve hand wheel and the relative position coordinates of the valve in the image, and controls the valve opening and closing device to perform opening and closing operation and/or position adjusting operation of the valve based on the information;
and the robot control system records all information of the last valve operation and carries out the operation of the next group of valve groups in sequence.
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| CN110653834B (en) | 2021-05-11 |
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