CN114670171B - Explosion-proof intelligent track robot door control system for offshore oil platform and control method - Google Patents
Explosion-proof intelligent track robot door control system for offshore oil platform and control method Download PDFInfo
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- CN114670171B CN114670171B CN202210415062.3A CN202210415062A CN114670171B CN 114670171 B CN114670171 B CN 114670171B CN 202210415062 A CN202210415062 A CN 202210415062A CN 114670171 B CN114670171 B CN 114670171B
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- door opening
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000007689 inspection Methods 0.000 claims abstract description 13
- 238000004880 explosion Methods 0.000 claims description 21
- 238000003860 storage Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Classifications
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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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
An explosion-proof intelligent track robot gate control system and a control method for an offshore oil platform are provided, wherein the system consists of an explosion-proof intelligent track robot, a gate control system, a network switch and wireless signal receiving and transmitting equipment; the automatic control of opening and closing the door is completed through the communication between the door control system and the robot, and the control method comprises the following steps: when the explosion-proof intelligent track robot reaches a door opening position through the sliding rail, the door control system automatically opens and closes the door, then the movable rail stretches out, the rail folds, and the explosion-proof intelligent track robot opens and closes the door through the door; when the explosion-proof intelligent track robot reaches a door closing position through the sliding rail, the track is retracted, and the door control system automatically closes the door. The door is automatically controlled by the door control system, so that the intelligent level of the offshore platform and the inspection efficiency of the robot are improved.
Description
Technical Field
The invention relates to an explosion-proof robot for an offshore oil platform. In particular to an explosion-proof intelligent track robot door control system and a control method for an offshore oil platform.
Background
The offshore oil production platform is an important oil exploitation facility, and at present, most offshore oil platforms at home and abroad adopt a manned mode of on-site video monitoring and personnel inspection or an unmanned mode of remote video monitoring, and the two modes have certain defects; the unattended platform has the defects of higher operation cost, increased personnel operation risk and the like; in recent years, unmanned platforms are gradually increasing, and inspection work of part of infrastructure is gradually replaced by robots. Considering unmanned platform's characteristics, in order to reduce the cost of patrolling and examining, enlarge the scope of patrolling and examining, need overcome the difficulty that the robot can't pass through ordinary door.
At present, part of offshore unmanned platforms are provided with indoor non-explosion-proof area inspection robots, the inspection area of the robots is limited in the indoor, the robots cannot automatically open and close doors and cannot enter the outdoor to carry out inspection tasks, and therefore the robots cannot finish indoor and outdoor whole-area inspection.
Disclosure of Invention
The invention aims to solve the technical problem of providing an anti-explosion intelligent track robot gating system for an offshore oil platform and a control method thereof, wherein the intelligent track robot gating system can finish indoor and outdoor full-area inspection.
The technical scheme adopted by the invention is as follows: the system comprises an explosion-proof intelligent track robot, a first network switch, wireless signal receiving and transmitting equipment and a gating system, wherein the explosion-proof intelligent track robot, the first network switch, the wireless signal receiving and transmitting equipment and the gating system are arranged on an offshore unmanned platform and are used for conducting inspection, the monitoring display storage platform and the second network switch are arranged in a remote control room and are connected through cables, the first network switch is respectively connected with the second network switch and the wireless signal receiving and transmitting equipment through cables, the explosion-proof intelligent track robot is in wireless connection with the wireless signal receiving and transmitting equipment, the gating system is connected with the first network switch through cables and is mutually used for conducting information related to door opening and closing through the first network switch and the wireless signal receiving and transmitting equipment and is used for receiving control signals sent by the explosion-proof intelligent track robot and controlling a door opening and closing motor to drive the door opening or closing or stopping after the control signals are processed; meanwhile, the explosion-proof intelligent track robot also receives signals of a gating system through wireless signal receiving and transmitting equipment, and the gating system is also communicated with a monitoring display storage platform through a first network switch and a second network switch, and relevant information of the explosion-proof intelligent track robot is transmitted to the monitoring display storage platform for storage and display.
The explosion-proof intelligent track robot comprises an explosion-proof robot body: the system comprises a robot controller for controlling the operation of an explosion-proof robot, a positioning sensor, an anti-collision sensor and a wireless communication module, wherein the positioning sensor, the anti-collision sensor and the wireless communication module are respectively connected with the robot controller, the robot controller is in wireless communication with the door control system through the wireless communication module and the wireless signal receiving and transmitting equipment and is used for sending a door opening and closing control signal to the control system and receiving a signal of the door control system, and the positioning sensor is arranged on the explosion-proof robot and is used for detecting whether the explosion-proof robot reaches a door opening or door closing position or not and sending a detection result to the robot controller; the anti-collision sensor is arranged on the anti-explosion robot and used for detecting whether an obstacle exists in the running direction of the anti-explosion robot and sending a detection result to the robot controller, and the anti-collision sensor is used for controlling the running of the anti-explosion robot by the robot controller.
The door control system comprises a door opening and closing controller, a door opening and closing motor and a track motor, wherein the door opening and closing motor and the track motor are respectively connected with a cable of the door opening and closing controller, the door opening and closing motor is connected with a door opening and closing, and the track motor is connected with a telescopic track; the retractable track comprises a track, a movable rail folding in-place switch and a movable rail separating in-place switch, wherein the movable rail folding in-place switch is arranged at the end part of the track and connected with the cable of the door opening and closing controller; the door opening and closing controller receives door opening and closing control signals sent by the robot controller in the explosion-proof intelligent track robot, the door opening and closing controller controls the door opening and closing motor to drive the door opening and closing and stopping actions according to the control instructions and signals of the upper limit switch and the lower limit switch, and meanwhile, the door opening and closing controller controls the track motor to drive the telescopic track to close and separate according to the door opening and closing control signals sent by the robot controller in the explosion-proof intelligent track robot and signals of the movable track closing in-place switch and the movable track separating in-place switch, the telescopic track is connected between discontinuous track breaks provided with the door opening and closing, when the explosion-proof robot needs to enter and exit a room, the telescopic track stretches out simultaneously, the track breaks are communicated to form a track for the explosion-proof robot to pass, and when the explosion-proof robot does not pass, the telescopic track is retracted.
A control method of an explosion-proof intelligent track robot gating system of an offshore oil platform comprises the following steps:
s101: the explosion-proof intelligent track robot reaches a door opening position through a sliding rail;
s102: a robot controller in the explosion-proof intelligent track robot sends a door opening instruction to a door control system;
s103: a door opening and closing controller in the door control system sends a command for driving the door opening and closing motor to open the door;
s104: after receiving the information of opening the door in place, a door opening and closing controller in the door control system does not receive barrier information sent by the anti-collision sensor through the robot controller, and sends a command for driving the telescopic rail to extend to the rail motor, so that the telescopic rail extends;
s105: a door opening and closing controller in the door control system receives a moving rail closing in-place signal sent by a moving rail closing in-place switch and sends a passing instruction to a robot controller in the explosion-proof intelligent track robot;
s106: the explosion-proof intelligent track robot reaches a door closing position through the telescopic track;
s107: a door opening and closing controller in the door control system sends a command for driving the telescopic rail to shrink to the rail motor;
s108: the telescopic rail is contracted, the movable rail is separated in place, and the door opening and closing controller sends a door opening and closing command to the door opening and closing motor;
s109: the switch door is closed;
s110: and (5) ending.
When the switch door is not opened in step S103, the following process is performed:
s1031: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1032: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
When the switch door is not opened in step S109, the following process is performed:
s1091: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1092: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
According to the explosion-proof intelligent track robot door control system and the control method for the offshore oil platform, the robot controller is communicated with the door control system, so that automatic control of opening and closing of the door is realized, and the inspection efficiency is improved; through adding track flexible technique, can guarantee that the door need not be for fixed track trompil, reduce unmanned platform's security risk. And further the purposes of intelligent, efficient and full-area inspection of the unmanned platform are realized.
Drawings
FIG. 1 is a block diagram of an explosion-proof intelligent rail robot gating system for an offshore oil platform;
fig. 2 is a control flow chart of the explosion-proof intelligent track robot gating system of the offshore oil platform.
In the figure
1: explosion-proof intelligent track robot 1.1: robot controller
1.2: positioning sensor 1.3: anti-collision sensor
1.4: wireless communication module 2: gating system
2.1: door opening and closing 2.1.1: upper limit switch
2.1.2: lower limit switch 2.2: telescopic rail
2.2.1: moving rail close in place switch 2.2.1: switch with movable rail separated in place
2.3: door opening and closing motor 2.4: rail motor
2.5: door opening and closing controller 3: wireless signal receiving and transmitting equipment
4: the first network switch 5: second network switch
6: monitoring display storage platform
Detailed Description
The invention provides an anti-explosion intelligent track robot gating system for an offshore oil platform and a control method thereof, which are described in detail below with reference to the embodiment and the accompanying drawings.
As shown in fig. 1, the explosion-proof intelligent track robot gating system for the offshore oil platform comprises an explosion-proof intelligent track robot 1, a first network switch 4, wireless signal receiving and transmitting equipment 3 and a gating system 2 which are arranged on an offshore unmanned platform and used for inspection, wherein a monitoring display storage platform 6 and a second network switch 5 which are connected through cables are arranged in a remote control room, the first network switch 4 is respectively connected with the second network switch 5 and the wireless signal receiving and transmitting equipment 3 through cables, the explosion-proof intelligent track robot 1 is in wireless connection with the wireless signal receiving and transmitting equipment 3, and the gating system 2 is connected with the first network switch 4 through cables to realize signal interaction between the explosion-proof intelligent track robot 1 and the gating system 2. The door control system 2 is used for mutually carrying out information related to door opening and closing with the explosion-proof intelligent track robot 1 through the first network switch 4 and the wireless signal receiving and transmitting equipment 3, receiving a control signal sent by the explosion-proof intelligent track robot 1, processing the control signal, and controlling a door opening and closing motor to drive the door opening or closing or stopping; meanwhile, the explosion-proof intelligent track robot 1 also receives signals of the gating system 2 through the wireless signal receiving and transmitting equipment 3, the gating system 2 also communicates with the monitoring display storage platform 6 through the first network switch 4 and the second network switch 5, and relevant information of the explosion-proof intelligent track robot 1 is transmitted to the monitoring display storage platform 6 for storage and display. The wireless signal transceiver 3 is of an explosion-proof structure, and is communicated with the door control system 2 through the Ethernet, so that the wireless signal transceiver can be in wireless communication with a wireless communication module in the explosion-proof intelligent track robot 1.
The explosion-proof intelligent track robot 1 comprises an explosion-proof robot body: the anti-explosion robot comprises a robot controller 1.1 for controlling the operation of an anti-explosion robot, a positioning sensor 1.2, an anti-collision sensor 1.3 and a wireless communication module 1.4, wherein the positioning sensor 1.2 is respectively connected with the robot controller 1.1, the robot controller 1.1 is in wireless communication with a door control system 2 through the wireless communication module 1.4 and the wireless signal receiving and transmitting equipment 3, and is used for sending a door opening and closing control signal to the control system 2 and receiving a signal of the door control system 2, and the positioning sensor 1.2 is arranged on the anti-explosion robot and can accurately detect whether the anti-explosion robot reaches a door opening or door closing position or not and send a detection result into the robot controller 1.1; the anti-collision sensor 1.3 is arranged on the anti-explosion robot and used for detecting whether an obstacle exists in the running direction of the anti-explosion robot, sending a detection result to the robot controller 1.1 and controlling the running of the anti-explosion robot by the robot controller 1.1, and feeding back to the robot controller 1.1 to control the anti-explosion robot to stop running when the obstacle is detected.
The door control system 2 comprises a door opening and closing controller 2.5, a door opening and closing motor 2.3 and a track motor 2.4, wherein the door opening and closing motor 2.3 and the track motor 2.4 are respectively connected with a cable of the door opening and closing controller 2.5, the door opening and closing motor 2.3 is an explosion-proof motor and is connected with the door opening and closing 2.1, and the track motor 2.4 is an explosion-proof motor and is connected with the telescopic track 2.2; the door opening and closing device is characterized in that the door opening and closing device 2.1 comprises a door, an upper limit switch 2.1.1 and a lower limit switch 2.1.2 which are arranged at two ends of a door stroke and connected with a door opening and closing controller 2.5 cable, and the telescopic rail 2.2 comprises a rail, a moving rail folding in-place switch 2.2.1 and a moving rail separating in-place switch 2.2.1 which are arranged at the end part of the rail and connected with the door opening and closing controller 2.5 cable; wherein,,
the door opening and closing controller 2.5 is an explosion-proof controller, and when the door opening and closing controller 2.5 receives a door opening and closing control signal sent by the robot controller 1.1 in the explosion-proof intelligent track robot 1, the door opening and closing controller 2.5 controls the door opening and closing motor 2.3 to drive the door opening and closing motor 2.1 to open, close and stop according to the control command and the signals of the upper limit switch 2.1.1 and the lower limit switch 2.1.2. The door opening and closing controller detects signals of the upper limit switch 2.1.1, the lower limit switch 2.1.2, the movable rail closing in-place switch 2.2.1 and the movable rail separating in-place switch 2.2.1 and controls the door opening and closing motor, when the door opening and closing controller sends a door opening command to the door opening and closing motor, the door opening and closing motor drives the door opening and closing motor to open, the upper limit switch is triggered, and when the door opening and closing controller sends a stop command, the door opening and closing motor stops rotating, and the door opening and closing stops moving; when the door opening and closing controller sends a door opening and closing instruction to the door opening and closing motor, the door opening and closing motor drives the door opening and closing motor to be closed, the lower limit switch is triggered, and the door opening and closing motor stops rotating when the door opening and closing controller sends a stop command, so that the door opening and closing stops moving.
The door opening and closing controller 2.5 controls the track motor 2.4 to drive the folding and separating of the telescopic track 2.2 according to the door opening and closing control signal sent by the robot controller 1.1 in the explosion-proof intelligent track robot 1 and the signals of the movable track folding in-place switch 2.2.1 and the movable track separating in-place switch 2.2.1; the movable rail folding in-place switch 2.2.1 and the movable rail separating in-place switch 2.2.1 detect whether the telescopic rail 2.2 is telescopic in place or not, and upload state signals to the switch door controller 2.5 and the robot controller in the explosion-proof intelligent rail robot 1.
The telescopic rail 2.2 is connected between discontinuous rail breaks provided with the switch door 2.1, when the explosion-proof robot needs to enter and exit a room, the switch door 2.1 is opened, meanwhile, the telescopic rail 2.2 stretches out, the rail breaks are communicated to form a rail for the explosion-proof robot to pass through, and when the explosion-proof robot does not pass through, the telescopic rail 2.2 retracts, so that the room door can be ensured not to be opened for a fixed rail.
As shown in fig. 2, the control method of the explosion-proof intelligent track robot gating system for the offshore oil platform comprises the following steps:
s101: the explosion-proof intelligent track robot reaches a door opening position through a sliding rail;
s102: a robot controller in the explosion-proof intelligent track robot sends a door opening instruction to a door control system;
s103: a door opening and closing controller in the door control system sends a command for driving the door opening and closing motor to open the door; when the switch door is not opened, the following process is performed:
s1031: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1032: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
S104: after receiving the information of opening the door in place, a door opening and closing controller in the door control system does not receive barrier information sent by the anti-collision sensor through the robot controller, and sends a command for driving the telescopic rail to extend to the rail motor, so that the telescopic rail extends;
s105: a door opening and closing controller in the door control system receives a moving rail closing in-place signal sent by a moving rail closing in-place switch and sends a passing instruction to a robot controller in the explosion-proof intelligent track robot;
s106: the explosion-proof intelligent track robot reaches a door closing position through the telescopic track;
s107: a door opening and closing controller in the door control system sends a command for driving the telescopic rail to shrink to the rail motor;
s108: the telescopic rail is contracted, the movable rail is separated in place, and the door opening and closing controller sends a door opening and closing command to the door opening and closing motor;
s109: the switch door is closed; when the switch door is not opened, the following process is performed:
s1091: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1092: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
S110: and (5) ending.
Claims (5)
1. The system is characterized by comprising an explosion-proof intelligent track robot (1), a first network switch (4), wireless signal receiving and transmitting equipment (3) and a door control system (2) which are arranged on an offshore unmanned platform and used for inspection, a monitoring display storage platform (6) and a second network switch (5) which are connected through cables are arranged in a remote control room, the first network switch (4) is respectively connected with the second network switch (5) and the wireless signal receiving and transmitting equipment (3) through cables, the explosion-proof intelligent track robot (1) is in wireless connection with the wireless signal receiving and transmitting equipment (3), the door control system (2) is connected with the first network switch (4) through cables and is used for mutually carrying out information on opening and closing the door through the first network switch (4) and the wireless signal receiving and transmitting equipment (3) and is used for receiving control signals sent by the explosion-proof intelligent track robot (1) and controlling the opening and closing the door or driving the door after the control signals are processed; meanwhile, the explosion-proof intelligent track robot (1) also receives signals of a gating system (2) through wireless signal receiving and transmitting equipment (3), the gating system (2) also communicates with a monitoring display storage platform (6) through a first network switch (4) and a second network switch (5), and relevant information of the explosion-proof intelligent track robot (1) is transmitted to the monitoring display storage platform (6) for storage and display;
the door control system (2) comprises a door opening and closing controller (2.5), a door opening and closing motor (2.3) and a track motor (2.4), wherein the door opening and closing motor (2.3) and the track motor (2.4) are respectively connected with the door opening and closing controller (2.5) through cables, the door opening and closing motor (2.3) is connected with the door opening and closing motor (2.1), and the track motor (2.4) is connected with the telescopic track (2.2); the door opening and closing device is characterized in that the door opening and closing device comprises a door, an upper limit switch (2.1.1) and a lower limit switch (2.1.2) which are arranged at two ends of a door stroke and connected with a door opening and closing controller (2.5) cable, wherein the telescopic rail (2.2) comprises a rail, a movable rail folding in-place switch (2.2.1) and a movable rail separating in-place switch (2.2.1) which are arranged at the end of the rail and connected with the door opening and closing controller (2.5) cable; after the door opening and closing controller (2.5) receives door opening and closing control signals sent by the robot controller (1.1) in the explosion-proof intelligent track robot (1), the door opening and closing controller (2.5) controls the door opening and closing motor (2.3) to drive the door opening and closing motor (2.1) to open, close and stop according to control instructions and signals of the upper limit switch (2.1.1) and the lower limit switch (2.1.2), the door opening and closing controller (2.5) simultaneously also controls the track motor (2.4) to drive the telescopic track (2.2) according to signals of the door opening and closing control signals sent by the robot controller (1.1) in the explosion-proof intelligent track robot (1), and the moving track is separated from the moving track, the telescopic track (2.2) is connected between discontinuous track breaks provided with the door opening and closing motor (2.1), when the explosion-proof track (2.1) is required to be opened, the explosion-proof track is not opened, and the explosion-proof track is not opened through the explosion-proof track (2.1), and the explosion-proof intelligent track robot (1) is not opened, and the explosion-proof track is not opened.
2. The intelligent rail robot door control system for the offshore oil platform explosion protection according to claim 1, wherein the intelligent rail robot (1) comprises a door control device arranged on the intelligent rail robot: the anti-explosion robot comprises a robot controller (1.1) for controlling the operation of an anti-explosion robot, a positioning sensor (1.2), an anti-collision sensor (1.3) and a wireless communication module (1.4) which are respectively connected with the robot controller (1.1), wherein the robot controller (1.1) is in wireless communication with a door control system (2) through the wireless communication module (1.4) and the wireless signal transceiver (3) and is used for sending a door opening and closing control signal to the control system (2) and receiving a signal of the door control system (2), and the positioning sensor (1.2) is arranged on the anti-explosion robot and is used for detecting whether the anti-explosion robot reaches a door opening or door closing position or not and sending a detection result to the robot controller (1.1); the anti-collision sensor (1.3) is arranged on the anti-explosion robot and used for detecting whether an obstacle exists in the running direction of the anti-explosion robot and sending a detection result to the robot controller (1.1) so as to control the running of the anti-explosion robot by the robot controller (1.1).
3. A control method of the offshore oil platform explosion-proof intelligent track robot gating system as claimed in claim 1, which is characterized by comprising the following steps:
s101: the explosion-proof intelligent track robot reaches a door opening position through a sliding rail;
s102: a robot controller in the explosion-proof intelligent track robot sends a door opening instruction to a door control system;
s103: a door opening and closing controller in the door control system sends a command for driving the door opening and closing motor to open the door;
s104: after receiving the information of opening the door in place, a door opening and closing controller in the door control system does not receive barrier information sent by the anti-collision sensor through the robot controller, and sends a command for driving the telescopic rail to extend to the rail motor, so that the telescopic rail extends;
s105: a door opening and closing controller in the door control system receives a moving rail closing in-place signal sent by a moving rail closing in-place switch and sends a passing instruction to a robot controller in the explosion-proof intelligent track robot;
s106: the explosion-proof intelligent track robot reaches a door closing position through the telescopic track;
s107: a door opening and closing controller in the door control system sends a command for driving the telescopic rail to shrink to the rail motor;
s108: the telescopic rail is contracted, the movable rail is separated in place, and the door opening and closing controller sends a door opening and closing command to the door opening and closing motor;
s109: the switch door is closed;
s110: and (5) ending.
4. A control method according to claim 3, wherein when the switch door is not opened in step S103, the following process is performed:
s1031: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1032: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
5. A control method according to claim 3, wherein when the switch door is not opened in step S109, the following process is performed:
s1091: a door opening and closing controller in the door control system sends a warning signal for the in-situ standby of the explosion-proof intelligent track robot to a robot controller in the explosion-proof intelligent track robot;
s1092: and a door opening and closing controller in the door control system sends alarm information to the monitoring display storage platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210415062.3A CN114670171B (en) | 2022-04-20 | 2022-04-20 | Explosion-proof intelligent track robot door control system for offshore oil platform and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210415062.3A CN114670171B (en) | 2022-04-20 | 2022-04-20 | Explosion-proof intelligent track robot door control system for offshore oil platform and control method |
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| Publication Number | Publication Date |
|---|---|
| CN114670171A CN114670171A (en) | 2022-06-28 |
| CN114670171B true CN114670171B (en) | 2023-10-20 |
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| CN202210415062.3A Active CN114670171B (en) | 2022-04-20 | 2022-04-20 | Explosion-proof intelligent track robot door control system for offshore oil platform and control method |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114670171A (en) | 2022-06-28 |
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