CN113021295A - Intelligent explosion-proof inspection robot for offshore oil and gas fields - Google Patents
Intelligent explosion-proof inspection robot for offshore oil and gas fields Download PDFInfo
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- CN113021295A CN113021295A CN202110264353.2A CN202110264353A CN113021295A CN 113021295 A CN113021295 A CN 113021295A CN 202110264353 A CN202110264353 A CN 202110264353A CN 113021295 A CN113021295 A CN 113021295A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- 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
- B25J19/02—Sensing devices
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses an intelligent explosion-proof inspection robot for offshore oil and gas fields, which comprises a robot body, wherein a SICK laser radar is arranged on one side of the upper end of the robot body, an audible and visual alarm and a communication antenna are arranged on the other side of the upper end of the robot body, and an ultrasonic obstacle avoidance mechanism and an anti-collision induction bumper are arranged on the front side of the robot body. The invention takes a unified data intelligent analysis platform as a center, analyzes the mass data of the oil and gas field through the technologies of artificial intelligence, automation, big data, computer cloud and the like, completes the real-time allocation of resources, automatic production operation, fault pre-judgment and processing, and risk prompt and early warning, really realizes the intelligent management of the offshore oil and gas field platform, simultaneously adopts an intelligent robot to patrol and examine as a supplement mode of daily patrol and examine of the platform and a sea pipe, reduces the labor intensity of basic level staff to the maximum extent, reduces the safety risk of manual patrol and examine, realizes effective and reliable patrol and examine, and improves the intrinsic safety and the practicability.
Description
Technical Field
The invention relates to the technical field of oil and gas field inspection, in particular to an intelligent anti-explosion inspection robot for an offshore oil and gas field.
Background
The exploration and development of offshore oil and gas fields are different from onshore oil fields, the offshore oil development covers all science and technology mastered by human beings so far, the construction and the building of an offshore platform are a difficult task, the sea condition is more complex when the ocean depth is larger, the requirement on platform equipment is higher, in addition, underwater oil and gas pipelines are laid, underwater wellhead facilities, a floating production platform, underwater three-dimensional exploration and various drilling operations are challenged to the field of shipbuilding capability, geophysical, ocean engineering and oil equipment of a country, and therefore, the inspection and the maintenance of the built oil and gas platform are particularly important.
At present, the conventional inspection and maintenance mode of the offshore oil and gas field mainly adopts manual inspection, the mode is high in danger and low in efficiency, and rapid progress and development of an oil and gas platform are influenced, so that an intelligent explosion-proof inspection and maintenance robot for the offshore oil and gas field is provided to solve the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an intelligent explosion-proof inspection robot for an offshore oil and gas field.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an explosion-proof robot of patrolling and examining of offshore oil gas field intelligence, includes the robot, upper end one side of robot is equipped with SICK laser radar, the other one side in upper end of robot is equipped with audible-visual annunciator and communication antenna, the ultrasonic wave is installed to the front side of robot and is kept away barrier mechanism and anticollision response bumper, group battery and four-wheel drive mechanism are installed to the lower extreme of robot, four-wheel drive mechanism is last to install the four-wheel drive wheel, the rear end of robot is equipped with reputation gas dust sensing monitoring module, the upper end middle part of robot is equipped with elevating system, elevating system's upper end is connected with rotary mechanism, install visible light camera and thermal infrared imager on the rotary mechanism.
Preferably, the lifting mechanism comprises an electric lifting platform fixed at the upper end of the robot body, and an output shaft of the electric lifting platform is connected to the rotating mechanism.
Preferably, rotary mechanism is including setting up the protection box in electric lift platform upper end, install the mounting bracket in the protection box, install first reduction gears and second reduction gears on the mounting bracket, install first servo motor on the first reduction gears, first servo motor's output shaft is on first reduction gears, run through on the first reduction gears and install the dwang, the both ends of dwang all run through the lateral wall of protection box and fix the one side at visible light camera and thermal infrared imager respectively, install second servo motor on the second reduction gears, second servo motor's output shaft and second reduction gears connect, install the connecting rod on the second reduction gears, the lower extreme of connecting rod runs through the lateral wall of protection box and connects on electric lift platform's output shaft.
Preferably, two front lighting lamps are installed on the front side of the robot body.
Preferably, two laser guidance automatic charging ports are arranged on one side of the battery pack.
Preferably, the robot body is provided with an emergency stop button.
The invention takes a unified data intelligent analysis platform as a center, analyzes the mass data of the oil and gas field through the technologies of artificial intelligence, automation, big data, computer cloud and the like, completes the real-time allocation of resources, automatic production operation, fault pre-judgment and processing, and risk prompt and early warning, really realizes the intelligent management of the offshore oil and gas field platform, simultaneously adopts an intelligent robot to patrol and examine as a supplement mode of daily patrol and examine of the platform and a sea pipe, reduces the safety risk of manual patrol and examine while reducing the labor intensity of basic level staff to the maximum extent, realizes effective and reliable patrol and examine, and improves the intrinsic safety and practicability.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent explosion-proof inspection robot for offshore oil and gas fields, which is provided by the invention;
FIG. 2 is a side view of an intelligent explosion-proof inspection robot for offshore oil and gas fields, which is provided by the invention;
FIG. 3 is a schematic diagram of the internal structure of the protection box according to the present invention;
fig. 4 is a diagram of a wireless charging state of a robot according to the present invention.
In the figure: the intelligent control system comprises a visible light camera 1, a protection box 2, an electric lifting platform 3, a SICK laser radar 4, a robot body 5, a headlamp 6, an ultrasonic obstacle avoidance mechanism 7, a four-wheel drive wheel 8, an anti-collision induction bumper 9, an audible and visual alarm 10, a thermal infrared imager 11, a communication antenna 12, an audible and visual air dust sensing and monitoring module 13, a battery pack 14, a laser guidance automatic charging port 15, a first servo motor 16, a first speed reducing mechanism 17, a second servo motor 18, an installation rack 19, a second speed reducing mechanism 20, a connecting rod 21 and an emergency stop button 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-4, in the invention, 2 intelligent inspection explosion-proof robots respectively run on a main deck and a bottom deck of an offshore oil and gas field platform, wherein 4 fixed cameras need to be installed on interlayers of the bottom deck, and the design and operation requirements of the intelligent inspection robot for the offshore oil and gas field are as follows:
the platform is flat in ground, but the inspection channel is provided with a water leakage net of 25cm by 50cm, and the width of a gap is 2.5cm, so that the width of the robot walking wheel is designed to be not less than 5 cm;
the transverse gap of the platform safety fence is 151cm, the longitudinal gap of the platform safety fence is 38cm, the diameter of a fence column is 5cm, the minimum inspection channel width of the robot is 73cm, therefore, the repeated positioning precision of the robot is not more than 1cm, and a laser light reflecting strip can be pasted in auxiliary positioning;
the robot patrols 175cm at the highest position and 53cm at the lowest position of an object, so that the robot needs to integrate a tripod head and three sections of electric push rods, the tripod head is required to rotate 360 degrees left and right, and the upper and lower pitch angles are-45 degrees to +45 degrees; the closing height of the robot is not higher than 1.2 m, and the height of the push rod after being lifted is not lower than 180 cm;
the inspection area of each layer of platform of the robot is about 500 square meters, and the inspection is performed once every 2 hours, so that the robot needs to adopt an automatic charging design, the single full-charging time is less than 2 hours, and the running time after full-charging is not less than 6 hours; meanwhile, a charging house needs to be built on the platform expansion deck.
The main equipment on the platform comprises a compressor, an air compressor, a pump, a control panel, a natural gas tank and the like, more than 300 equipment instruments are provided, the equipment instruments have reflection and backlight phenomena with different degrees, the illumination is strong in daytime, and light supplementing equipment is required to be added at night, so that the robot needs to have the capability of monitoring and patrolling the running state of the equipment uninterruptedly day and night;
the noise of the equipment operation on the platform is large, the maximum decibel is close to 98dB, and the natural gas types are more, including methane (CH)4) Ethane (C)2H6) Propane (C)3H8) Ethylene (C)2H4) Propylene (C)3H6) Acetylene (C)2H2) Propyne (C)3H4) For this reason, the robot needs to have the capability of sound pickup monitoring, natural gas leakage and concentration detection;
the number of running devices and circuits on the platform is large, particularly a motor shaft of the rotating device is easy to heat, and heating alarm needs to be carried out in time;
a large number of storage batteries are stored in a battery room on the platform, the storage batteries have the phenomena of liquid leakage, abnormal heating, peculiar smell and the like, and a robot needs to automatically open a fireproof door between the batteries when entering the battery room;
wind conditions on the platform: more than 5 grades in winter; the other seasons are more than 3 grades; the typhoon is more than 12 grades, and is approximately 3-4 times per year; the corrosion phenomenon on the platform is serious, the main source of the corrosion is humid air, and the phenomena of salinization, humidity and fog are common. In view of this, the robot needs to have certain wind-proof capability and corrosion-proof capability, and the protection grade is not lower than IP 56;
the risk of natural gas leakage exists on the platform, and discharge phenomena such as static electricity and electric arc cannot occur, so that the robot needs to have explosion-proof capability meeting the requirements of the oil and gas industry;
on each deck of the platform, 2-3 firewalls are arranged, and the firewalls have a certain interference effect on signals of the wireless base station.
Before the typhoon comes, the robot enters a charging room to stand by; when natural gas leakage occurs on the platform, the robot is immediately powered off and stops in place.
The intelligent inspection robot body comprises a control system, a driving system, a sensing system, a vision holder, a power system and the like.
The control system is the core of the intelligent inspection robot, and the whole control system coordinately controls the driving system, the power system, the sensing system, the communication system and the alarm system.
The vision cloud platform is high definition camera and thermal imaging's the carrier of taking, and the cloud platform is installed and is patrolled and examined the robot top in intelligence, possesses 360 turnability, and the vertical direction possesses 45 turnability, realizes horizontal vertical direction's rotary motion, is convenient for realize each position control, and the camera of coordinating simultaneously zooms, can effectively guarantee to patrol and examine the robot and effectively monitor the on-the-spot detail of each direction in 30m to intelligence. Meanwhile, the cloud deck is provided with a damping device, so that vibration can be reduced in the running process of the intelligent inspection robot, and the video observation stability and observability are greatly improved. The high-definition camera realizes remote real-time monitoring and image acquisition. The thermal imaging realizes the infrared thermal analysis and the thermal image acquisition of the equipment. In order to improve the monitoring effect of the low-illumination environment, the tripod head part is provided with a light supplementing device, and can move synchronously with the tripod head, so that high-quality field monitoring under the low-illumination condition is ensured. In order to ensure the motion performance of the tripod head and have excellent heat conduction and radiation performance and corrosion resistance, the tripod head body and the shell are both made of aluminum alloy materials.
The parameters of the invention are as follows:
size: 650mmx500mmx (1100-: 150kg, navigation mode: SLAM laser radar navigation, duration: more than or equal to 6 hours, charging time: super quick charge is less than or equal to 2 hours, and the driving mode is as follows: mecanum wheels, four-wheel drive, direction of travel: forward and backward movement, turning radius: zero degree pivot turn, climbing ability: 30 degrees, positioning accuracy: ± 1cm, electric putter: three section push rods, stroke 800mm, open length and be not less than 1.5 meters, cloud platform home range: horizontal rotation is 360 degrees, the pitch angle is-45 degrees to +45 degrees, and the transmission distance is as follows: 5km (no occlusion), working range: offshore oil and gas field, temperature range: -25 ° to +80 °, maximum rain: heavy rain, maximum wind: 28m/s, maximum wading: wading depth 100mm, operational environment: and (4) resisting electromagnetic interference.
1. Robot structure and appearance
The surface of the shell is provided with a protective coating or an anti-corrosion design, the appearance is smooth and uniform, and other defects such as scars, burrs and the like do not exist;
the shell adopts necessary anti-static and anti-electromagnetic field interference measures;
the shell and the shell of the electrical component are not electrified;
the internal electric circuits are orderly arranged, firmly fixed, reasonable in trend, convenient to install and maintain and distinguished by striking colors and marks; the electric system must not have the leakage phenomenon.
The intelligent inspection robot or the charging equipment considers the explosion-proof requirement of the key area.
The intelligent robot body, the charging pile, the battery, the matched tools used along with the task site and the like are all boxed, stored and transported. The storage and transportation box is convenient to carry and meets the requirement of long-distance transportation.
2. Self-checking function
The robot has a self-checking function, the self-checking content comprises the working states of components such as a power supply, a drive, communication and detection equipment, and the robot can indicate on the spot when an abnormality occurs and can upload fault information.
3. Control function
The system should support fully autonomous and remote inspection modes.
The fully autonomous mode includes two modes, example mode and special tour mode. In a routine mode, the system automatically starts and finishes a patrol task according to preset parameter information such as patrol content, time, period, route and the like; in the special inspection mode, an operator selects inspection contents and manually starts inspection, and the robot can independently complete an inspection task.
In the remote inspection mode, an operator manually controls the robot to finish inspection.
4. Automatic navigation and obstacle avoidance
The intelligent inspection robot adopts a laser navigation mode to carry out mobile navigation without laying a track. The intelligent inspection robot is characterized in that laser sensors are respectively installed at the front end and the rear end of the intelligent inspection robot, so that the distance between the road surfaces can be accurately detected, laser signals are transmitted to a laser sensor module, the laser radar navigation function is mainly realized, the posture of the inspection robot is obtained, the posture is matched with the robot control, the posture of the intelligent inspection robot in the direction perpendicular to the inspection path is adjusted, the posture of a vehicle body can be dynamically adjusted and kept straight, the deviation of the operation from the inspection path is avoided, and the inspection robot can run according to a pre-planned route.
Simultaneously, the laser radar has the function of ditch detection, and when a ditch generated on the road surface in front is judged to be opened due to the well cover and the ditch cover plate through ranging, the robot automatically triggers to protect the parking. In addition, ultrasonic ranging radars are arranged in front of and behind the robot, and through the preset distance of the obstacles, when the obstacles in front of the routing inspection route are found, the robot starts to protect and stops, or through an algorithm, map matching is carried out again, and the route is planned to achieve obstacle avoidance.
The method comprises the steps of performing laser navigation based on environmental natural navigation, calculating by an encoder and an IMU (inertial measurement Unit) in the moving process of a robot to obtain odometer information, performing initial estimation on the pose of the robot by using a moving model of the robot, accurately correcting the pose of the robot by using laser data obtained by a laser sensor loaded on the robot and an observation model (scanning and matching of laser) to obtain accurate positioning of the robot, adding the laser data into a grid map on the basis of the accurate positioning, repeating the steps, moving the robot in the environment, and finally completing construction of a whole scene map.
The robot adopts a mobile robot multi-sensing fusion positioning method combining relative positioning and absolute positioning. The robot is relatively positioned by adopting the odometer and the gyroscope, the robot is absolutely positioned by adopting the laser radar, and the accurate pose of the robot in the map is continuously obtained in real time by matching laser data acquired by combining the odometer information and the laser sensor with the map. An environment map, a sensor and a robot motion model are established, extended Kalman filtering is used as a multi-sensor fusion technology, a multi-sensor information fusion model is established, and accurate positioning of the mobile robot is achieved.
5. Automatic charging
The intelligent inspection robot adopts a power supply mode of contact charging of a battery and a ground charging system. Besides charging the inspection robot, the charging room is also a parking place of the inspection robot in the states of wind prevention, rain sheltering and non-operation.
The robot adopts the lithium ion battery to supply power, uses a special electricity meter chip to calculate the electric quantity, has the function of autonomous charging, and does not need manual intervention. And in the automatic control mode, the robot returns to the charging room for charging and standby after executing the inspection task. The robot can be controlled to return to the charging chamber to be charged through the platform or the operating handle by one key at any time. After the communication connection is disconnected, the charging room is automatically returned to for charging. The battery power and the voltage and current are monitored in real time, and dual threshold settings of a working charging threshold and a protection charging threshold are adopted. The working charging threshold value can be flexibly set, if the electric quantity is lower than the set threshold value, the robot can suspend the inspection task and immediately return to the charging room to prevent the power failure (the design size of the charging room is 2 meters x2 meters x2 meters).
6. Visual recognition
Utilize the high definition visible light camera that the robot carried on, combine the video image recognition technology, to the table gaugember in production area, including the manometer, the thermometer, the digital display table, the level gauge, the bearing oil level, indicating value and the data reading that carries on of position such as electric switch and valve state, to jar body, container, pipeline carry out the comparison of outward appearance deformation and differentiate, automatic recording and generation report form, and through calculating, send the warning after the judgement, shoot simultaneously in real time and record a video to the backstage, satisfy the function that the operating personnel call at any time and look over and automatic filing. The high-definition visible light camera carried by the robot has an SVPattern Max image registration technology, is used for intelligent discrimination and analysis of instrument and appearance shape contrast images, and can effectively deal with interference generated by illumination change, shadow, shielding, low contrast, low resolution, view angle change, scale scaling and the like.
High-level recognition rate and accuracy can be achieved for key components of the equipment, the intelligent analysis processes of target recognition locking and target reading are achieved by combining a visual recognition technology, high-quality pictures are obtained through subsequent zooming and amplification, and the recognition accuracy is improved.
By adding the center detection parameter and the parameters of the pointer, interference straight lines can be well filtered, error detection of the pointer is avoided, and accurate meter reading is obtained.
7. Far infrared temperature measurement
The robot adopts the automatic temperature measurement working method of patrolling and examining, through on-vehicle far infrared thermal imager, can carry out temperature measurement and discernment to equipment such as rotor bearing temperature, motor housing and terminal box temperature, pipeline temperature, each connects temperature of transformer. The intelligent robot temperature measurement system can perform infrared general measurement (surface temperature measurement) and accurate temperature measurement (point temperature measurement) of equipment, and human-computer interaction is realized through the intelligent analysis and identification system of the robot. And the deviation ratio is only + -1%.
8. Environmental vibration measurement and pickup monitoring
Through work such as equipment modification (cloud platform, mainboard, power), compatibility development, vibration meter is carried on to intelligence inspection robot realizes vibration measurement and sound pickup functions such as production area commentaries on classics quick-witted shafting pipeline. Compared with the traditional moving coil and piezoelectric transducer, the non-contact vibration measurement has the advantages of non-contact measurement, non-additional mass, high anti-interference performance, high measurement precision, micro measurement, wide frequency range, low overall cost and additional sound pickup function.
The core of the vibration measurer is a high-precision laser interferometer and a signal processor. Polarized light (with frequency of F0) emitted by a He-Ne laser in a high-precision laser interferometer is divided into two paths by a spectroscope, wherein one path is used for measurement, and the other path is used for reference. The measuring light has certain frequency shift (F) through the acousto-optic modulator and is focused on the surface of a measured object, and Doppler frequency shift (F) is caused by object vibration. The system collects reflected light and converges the reflected light and reference light on the sensor, so that two beams of light generate interference on the surface of the sensor, the frequency of an interference signal is F + F and carries vibration information of a measured object, and the signal processor converts a frequency shift signal into vibration information of speed, displacement and the like. By using the doppler effect of the laser, the change in velocity/displacement caused by the vibration causes a change in the frequency of the received laser, and then the velocity/displacement is calculated by detecting the change in the frequency of the received laser.
The detection process is as follows: the robot reaches a vibration measuring point, vibration measuring point information is sent to a vibration measuring instrument, the vibration measuring instrument obtains a serial number, a name and a correction value and focuses parameters, the vibration measuring instrument automatically configures according to the obtained parameters, the vibration measuring instrument finishes measurement, the vibration measuring instrument returns a result to the robot and compares a threshold value to generate an alarm, and an operator can check related data, an alarm, a report, a chart and a curve through background software after the measurement is finished.
In addition, the vibration meter utilizes the generation and transmission principle of sound, has the sound high-fidelity reproduction function, can replace the traditional listening needle to realize non-contact monitoring of the sound inside equipment such as a bearing and the like, and is not interfered by the noise of peripheral equipment. And the sound automatic analysis function is realized through subsequent database modeling and secondary development, so that the occurrence of the fault of the rotating equipment is pre-judged in advance.
9. Dust gas monitoring
The gas sensor and the dust sensor are mounted, the sensor information is analyzed, the environment state information of the oil-gas field is obtained, the real-time detection of combustible gas with 0-50% LEL concentration in the environment is met, and the detection gas comprises methane (CH4), ethane (C2H6), propane (C3H8), ethylene (C2H4), propylene (C3H6), acetylene (C2H2), propyne (C3H4) and the like.
10. Automatic opening and closing fireproof door
Install automatic door opener additional on preventing fire door between the battery, make it become the electrically operated gate, and the intelligence patrols and examines the integrated linkage operation that the robot can realize with the electrically operated gate, when the robot wants the electrically operated gate that passes, can independently control the electrically operated gate and open/close. The specific scheme is as follows:
according to the scheme, a door closer is arranged above the fireproof door, and an anti-pinch light sensor, a relay controller and a wireless network server are arranged at the same time, wherein the wireless network server and the robot are in the same wireless network. The access control system may be used independently or may not require an access control system.
The process is as follows: when the robot moves to the front of the door, the industrial personal computer sends a door opening instruction, the door opening instruction is transmitted to the relay controller through the wireless network server to control the door closer to automatically open the door, and after the robot passes through the relay controller, the door is controlled to be closed through the same process.
11. Software management system
The software management system is the core of the intelligent inspection robot project, is based on SOA technology architecture, is highly loosely coupled and can be managed in a modularized mode, and can be seamlessly integrated with any system.
The software management system has complete functions of data acquisition, report forms, alarming, trend, analysis and the like except for self state detection and routing inspection task configuration, is favorable for improving the capabilities of maintenance guidance, defect analysis and the like of production personnel through subsequent deep data development and utilization, thereby opening a configuration function, and continuously improving the self-diagnosis function of equipment abnormity through subsequent database supplement, modeling and secondary development.
The robot software monitoring platform is developed by combining C + + language and JAVA language, the database is Oracle10g, and the functions of the platform system comprise: the system comprises an artificial intelligence module, an environment detection module, an inspection real-time monitoring module, an inspection task management module, a robot state display module, a robot remote control module, an alarm management module, a user management module, a data analysis and display system and the like.
Artificial intelligence identification module: processing the visible light image and the infrared image, identifying abnormal equipment and judging the abnormal type of the equipment;
an environment detection module: the device has the functions of gas detection and analysis, dust analysis, sound analysis and the like of the oil and gas field, and can complete the detection function of the environment of the oil and gas field;
patrol and examine real-time monitoring module: the real-time monitoring mainly comprises robot high-definition camera monitoring, far infrared monitoring, robot real-time position display and the like. The high-definition camera monitoring mainly realizes that the high-definition visible light camera monitoring field condition is transmitted to the robot software monitoring platform external network subsystem for displaying in real time; the far infrared monitoring mainly realizes that the monitoring field condition of the infrared camera is transmitted to an external network subsystem of the robot software monitoring platform in real time for displaying, and the heating condition of the monitored equipment and the circuit is analyzed in real time; the real-time position display of the robot mainly realizes that the administrator can see the real-time position of the robot in the inspection process of the oil and gas field, and is favorable for monitoring the inspection process of the robot.
And the polling task management module: the method mainly comprises functional modules of scanning and drawing establishment, routing inspection point configuration, task issuing, automatic charging and the like. The method comprises the steps of scanning and drawing, wherein the drawing construction function is mainly used for constructing a two-dimensional map of an oil-gas field through a laser radar and SLAM algorithm before the robot runs in the oil-gas field for the first time, and initializing the position of the robot and the position of a charging pile; the configuration function of the inspection point is mainly used for calibrating the parking monitoring position of the robot, the rising height of the push rod, the rotating angle of the holder, the zooming value of the camera, the calibration of the monitoring point of the equipment and the like according to the position of the equipment and the line to be inspected in the oil-gas field; the task issuing function mainly realizes that all configured inspection points generate inspection tasks according to needs and issue the inspection tasks manually or automatically; the automatic charging function mainly realizes that the robot automatically returns to charge the charging pile, and the starting condition is that an administrator manually issues a charging instruction, or the robot automatically triggers to return to charge when the electric quantity of the robot is lower than 20%.
Robot state display module: the method mainly comprises the steps of displaying real-time monitoring data of various sensors of an oil and gas field and the running state of the robot. The sensor data includes: the method comprises the following steps of (1) measuring temperature and humidity values of an oil-gas field, dust monitoring data, gas concentration values such as CO/CH4/H2S, noise monitoring values, current infrared highest temperature and the like; the robot running state monitoring data comprises the residual electric quantity of the battery, the running state of the robot and the like.
The robot remote control module: the robot mainly comprises robot advancing control, push rod lifting control, holder rotation control, camera zooming, focusing setting and the like. The robot traveling control mainly comprises forward control, backward control, left turning control, right turning control and the like, 4 Mecanum wheels are loaded on the robot, and the robot can turn at zero degree; the push rod lifting control mainly divides the 800mm stroke of the push rod into 8 sections, and an administrator can independently select the lifting height; the rotation control of the tripod head mainly comprises the control of the vertical angle and the horizontal angle of the tripod head, the horizontal rotation angle is 360 degrees, and the vertical rotation angle is +/-45 degrees; the camera zooming and focusing setting comprises the adjustment of the focal length of the camera and the adjustment of the focusing definition.
An alarm management module: the method mainly comprises two functions of alarm data display and alarm classification processing. The data displayed by the alarm data comprises inspection time, equipment name, equipment position, equipment classification, equipment type, alarm details, alarm state, defect and processing state and the like. The alarm classification processing comprises the inquiry of alarm data, the processing of common alarms and the processing of defect alarms. Wherein, the ordinary alarm can be processed directly by the manager and then the alarm is finished, and then the alarm is converted into processed alarm; and a defect alarm, wherein a manager uploads the automatic operation and maintenance platform, and the automatic operation and maintenance platform automatically generates a defect list and initiates a defect processing flow after receiving the defect alarm.
A user management module: the method mainly comprises the steps of registering a new user, initializing a password, distributing administrator authority and the like.
The data analysis and display module: the method mainly comprises the steps of classifying and displaying alarm data, defect data and routing inspection data, displaying data statistics in a chart mode, inquiring according to time, displaying alarm data column diagrams according to year and month, displaying alarm data pie diagrams according to classification and type, and having the function of exporting a data Excel table.
12. Information exchange and communication network
(1) The robot can perform bidirectional information interaction with the software system, the software system can perform bidirectional information interaction with the remote centralized control background, and the information interaction content comprises detection data and robot body state data.
(2) The network topology should meet the actual engineering requirements.
(3) The system should have a communication alarm function, and send alarm information when communication is interrupted and the content of a received message is abnormal.
(4) The system should meet national standards or documentation requirements regarding information security.
13. Robot protection design
According to the requirement of the offshore oil and gas field on the protection level of the robot, the robot and the wireless base station are protected and transformed, and the protection level is not lower than IP 56.
The level 5 indicates that the invasion of foreign objects is completely prevented, and although the invasion of dust cannot be completely prevented, the invasion amount of dust does not influence the normal operation of the electric appliance.
Rating 6 indicates the degree of moisture and water intrusion resistance of the electric appliance, and can be installed on the deck
14. Robot explosion-proof design
According to the requirement of the offshore oil and gas field on the protection grade of the robot, the robot and the wireless base station are subjected to explosion-proof transformation, the explosion-proof grade is not lower than EXDIIBT4, and the method is suitable for one area of a dangerous area.
(1) Explosion protection rating not lower than EXDIIBT4
The explosion-proof products all have an explosion-proof grade, and the explosion-proof form and the applicable occasion of the products can be seen from the explosion-proof grade. ExdIIBT4 this explosion protection rating has the following implications:
ex: an explosion-proof sign;
d: the explosion-proof form is explosion-proof;
II: refer to type II explosion-proof electrical equipment. The explosion-proof electrical appliance is suitable for other explosive gas environments except for coal mines;
b: a stage IIB gas;
t4: the temperature is T4, and the highest surface temperature of the equipment is less than 135 ℃;
(2) robot carries out explosion-proof repacking position
Firstly, the motor is modified into an explosion-proof motor which meets the requirements of national standards;
secondly, a maintenance-free storage battery is arranged in the explosion-proof box, and various operating switches at the wiring position in the circuit are arranged in the explosion-proof box (a power supply control box);
explosion-proof products (LED explosion-proof lamps) are adopted for the illumination and signal lamps;
fourthly, antistatic measures are taken for the nonmetal parts which are easy to generate static accumulation;
the robot is provided with a natural gas detection alarm, when the concentration of natural gas in the working environment reaches a certain proportion, the gas alarm gives an audible and visual alarm, and the robot is immediately powered off and stops.
15. Performance index of robot
16. Robot inspection advantages
Any equipment accident occurs in a process from quantitative change to qualitative change, and the equipment is subjected to three stages from normal equipment, accident potential occurrence and accident occurrence. The gradual change process from normal equipment to accident potential is a quantitative change gathering process, and in the process, quantitative changes of the equipment are shown by specific characteristics. For example, a high-pressure pipeline bursts, and a leakage and deformation process is certainly realized, the process is characterized by air leakage, appearance change and vibration, abnormal sounds are simultaneously generated, the louder sounds are louder and louder as the air leakage is larger, the pipe wall becomes thinner and bulges, and the process is a quantitative change process.
Compare the manual work and patrol and examine, the advantage of robot is comparatively obvious is patrolled and examined to intelligence:
the intelligent inspection robot has the functions of video image identification, infrared temperature measurement, ultrasonic wave, laser vibration measurement, pickup monitoring, leakage and leakage real-time detection and the like, enriches inspection means, makes fault pre-judgment intelligent and enhances inspection effect.
The intelligent inspection robot can replace human beings to inspect high-risk areas such as high-temperature and high-pressure pipeline leakage and underground closed pipe ditches, and the intrinsic safety level of a production field can be improved.
The intelligent inspection robot has the advantages that inspection efficiency is high, uninterrupted inspection within 7x24 hours can be realized, inspection quality is not affected by subjective factors, inspection quality can be guaranteed no matter a large amount of inspection work or severe environments such as cable channels, wind blowing and rain falling, and problems such as missing inspection and wrong inspection cannot occur.
The intelligent inspection robot background software system has the functions of image, sound and video recording and equipment degradation trend analysis, can discover the abnormal state of equipment in advance, provides a basis for equipment state maintenance, and ensures the long-period safe and stable operation of the equipment in a monitoring range.
Therefore, the robot is assigned with the 'things the robot can do' and 'better things than the human' and the demand of 24-hour uninterrupted automatic inspection for the oil and gas field through the intelligent inspection robot is very urgent.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (6)
1. The utility model provides an explosion-proof robot of patrolling and examining of offshore oil gas field intelligence, includes robot body (5), its characterized in that: the utility model discloses a robot, including robot body (5), ultrasonic wave, barrier mechanism (7) and anticollision response bumper (9), battery pack (14) and four-wheel drive mechanism are installed to the lower extreme of robot body (5), four-wheel drive wheel (8) are installed to the front side of robot body (5), the rear end of robot body (5) is equipped with reputation gas dirt sensing monitoring module (13), the upper end middle part of robot body (5) is equipped with elevating system, elevating system's upper end is connected with rotary mechanism, install visible light camera (1) and thermal infrared imager (11) on the rotary mechanism, the other one side in upper end of robot body (5) is equipped with audible-visual annunciator (10) and communication antenna (12), the ultrasonic wave is installed to the front side of robot body (5).
2. The intelligent explosion-proof inspection robot for offshore oil and gas fields according to claim 1, wherein the lifting mechanism comprises an electric lifting platform (3) fixed at the upper end of the robot body (5), and an output shaft of the electric lifting platform (3) is connected to the rotating mechanism.
3. The intelligent explosion-proof inspection robot for offshore oil and gas fields according to claim 1, which is characterized in that the rotating mechanism comprises a protection box (2) arranged at the upper end of the electric lifting platform (3), a mounting frame (19) is installed in the protection box (2), a first speed reducing mechanism (17) and a second speed reducing mechanism (20) are installed on the mounting frame (19), a first servo motor (16) is installed on the first speed reducing mechanism (17), an output shaft of the first servo motor (16) is connected onto the first speed reducing mechanism (17), a rotating rod is installed on the first speed reducing mechanism (17) in a penetrating manner, two ends of the rotating rod all penetrate through the side wall of the protection box (2) and are respectively fixed on one side of the visible light camera (1) and the infrared thermal imager (11), a second servo motor (18) is installed on the second speed reducing mechanism (20), an output shaft of the second servo motor (18) is connected with a second speed reducing mechanism (20), a connecting rod (21) is installed on the second speed reducing mechanism (20), and the lower end of the connecting rod (21) penetrates through the side wall of the protection box (2) and is connected to an output shaft of the electric lifting platform (3).
4. The intelligent explosion-proof inspection robot for offshore oil and gas fields according to claim 1, wherein two front lighting lamps (6) are installed on the front side of the robot body (5).
5. The intelligent explosion-proof inspection robot for offshore oil and gas fields according to claim 1, wherein two laser-guided automatic charging ports (15) are arranged on one side of the battery pack (14).
6. The intelligent explosion-proof inspection robot for offshore oil and gas fields according to claim 1, wherein an emergency stop button (22) is arranged on the robot body (5).
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Application publication date: 20210625 |