CN115857442A - Safety protection system for operation robot in centralized control room of thermal power plant - Google Patents
Safety protection system for operation robot in centralized control room of thermal power plant Download PDFInfo
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- CN115857442A CN115857442A CN202211459721.XA CN202211459721A CN115857442A CN 115857442 A CN115857442 A CN 115857442A CN 202211459721 A CN202211459721 A CN 202211459721A CN 115857442 A CN115857442 A CN 115857442A
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Abstract
A thermal power plant centralized control room operation robot safety protection system, a monitoring operation process of a thermal power plant generally sets a monitoring operation with a fixed flow, a clear judgment condition and high repeatability, and most of the monitoring operations can be perfectly applied to the scene by using the characteristic. The hardware system comprises an industrial control computer, the industrial control computer is connected with a server, the industrial control computer is connected with an image acquisition system installed in a centralized control room, the image acquisition system is loaded in an operator station host, and a touch screen of the operator station host and a mechanical arm of the industrial robot are of an integrated structure. The image acquisition system comprises a deconcentrator and a video acquisition card, the image acquisition system cannot return information to the DCS system, the VGA video acquisition card is connected to a DCS operator station host to directly acquire images from a system display card, and a robot participating in work adopts a structural design of integrating a mechanical arm and a touch screen so as to process various images. The robot is used for robot operation in the thermal power plant centralized control room.
Description
The technical field is as follows: the invention relates to the technical field of automatic monitoring of robots in thermal power plants, in particular to a safety protection system for an operating robot in a centralized control room of a thermal power plant.
Background art:
in the process of power plant power production, a centralized control room is a command center of power generation production and scheduling of the whole plant, information such as the running state of power plant equipment is gathered, and the condition in the production process is fed back to operators in the centralized control room in real time. At present, a relatively advanced thermal power plant can realize that a unit automatic start-stop control system is built in a Distributed Control System (DCS), and the automation of unit start-up and shutdown is realized. However, during the operation of the unit, the operations of starting and stopping the equipment except the sequence control system are manually completed by the operator.
However, one disc supervising person needs to monitor a plurality of screens at the same time, and therefore, in the case where such spirit needs to be highly concentrated, the pressure of the disc supervising person is large; meanwhile, the automation level of manual supervision is not high, and more manpower and capital investment are needed in a power plant.
In recent years, with the rapid development of artificial intelligence and the excellence and optimization of robot operation, intelligent robots are increasingly perfected, have more flexible control methods and control precision, can be applied to various complex scenes, and really go to practical use.
In the monitoring process of a factory, monitoring operations with fixed flow, clear judgment conditions and high repeatability are generally formulated, and most of the monitoring operations can perfectly apply the robot to the scene. Therefore, the intelligent operation robot of the thermal power plant centralized control room is generated according to the requirements of the monitoring panel of the power plant centralized control room. The whole hardware system of the remote intelligent monitoring robot in the thermal power plant centralized control room comprises an industrial personal computer, a server, an image acquisition system, an operator station host machine loaded with the system, a mechanical arm, a touch screen, functional components and the like, wherein the relationship of each part is shown in figure 1.
In order to ensure the safety of the production process, the design of the safety protection system of the operation robot in the centralized control room of the thermal power plant is an essential component.
Disclosure of Invention
The invention provides a safety protection system for an operating robot in a centralized control room of a thermal power plant, which ensures the personal safety, the system operation safety and the production process safety of the robot in the operating process of the centralized control room
A safety protection system for an operating robot in a centralized control room of a thermal power plant comprises a hardware system which comprises an industrial control computer, wherein the industrial control computer is connected with a server, the industrial control computer is connected with an image acquisition system installed in the centralized control room, the image acquisition system is loaded in an operator station host, and a touch screen of the operator host and a mechanical arm of the industrial robot are of an integrated structure.
According to the thermal power plant centralized control room operation robot safety protection system, the touch screen detects the position of a finger or other objects touching the touch screen arranged at the front end of the display through the touch detector, the coordinates of the position are calculated, and then the coordinates are sent to the host through the usb interface, so that input information is determined. In the design of a protection control circuit of a touch screen, the touch function of the DCS display interface touch screen is mainly controlled in two modes. One kind of touch screen control is to use a physical switch, and to bypass a relay to communicate a touch screen with a DCS operator station host computer in a short circuit mode, so as to control the on/off of the touch function of the touch screen; or the other mode is that the industrial personal computer program sends a pulse signal to control the relay to be switched on and off, so that the touch function of the touch screen is controlled to be switched on and switched off.
The safety protection system for the operation robot in the centralized control room of the thermal power plant comprises an image acquisition system of a hardware system, wherein the image acquisition system does not return information to a DCS, the deconcentrator is connected to a DCS operator station host, one path of the deconcentrator is transmitted to an operator station display, the other path of the deconcentrator is connected to an industrial control computer through a VGA image acquisition card, and the industrial control computer directly acquires images from a system display card and processes various images.
The safety protection system for the operation robot in the centralized control room of the thermal power plant is characterized in that the robot is in an integrated structural design of a mechanical arm and a touch screen, the touch screen adopts a double-display-screen scheme, and the robot operates the touch screen of the display interface of the DCS operator station by clicking and is used for simulating an operator to perform monitoring operation of the DCS; the human-computer interaction interface touch screen is arranged on the right side right in front of the robot and is used for displaying the current state, so that a worker can conveniently master the running condition of the robot and timely perform intervention operation, and misoperation of the robot is avoided; in order to obtain more accurate image information and improve the precision, an image acquisition card is used for directly acquiring monitoring picture information from a DCS operator station host.
A thermal power plant's centralized control room operation robot safety protection system, touch screen authorization system be used for guaranteeing to prevent personnel mistake touch the display screen and design at industrial computer implementation in-process, this system includes touch screen authorization control circuit board, receives the touch-off and the recovery signal of industrial computer through USB communication, this touch screen authorization control circuit board links to each other with the touch-control output interface of display screen for block touch-control output, link to each other with the DCS system simultaneously, the touch-control signal of retransmitting the display screen. Meanwhile, in order to ensure the intervention of the robot on the operation of the robot, a physical switch is arranged on the robot to control the switching on and off of the touch screen function of the DCS display interface; when the program sends high level, the relay is opened, the touch screen is communicated with the operator station host, the touch function is effective, and after the program is ended, the relay is disconnected, and the touch screen is disconnected with the operator station host. The robot is not operable in an unallowed time period, the situation of mistaken touch when the touch screen operation robot is in a standby state is prevented, and the operation safety of a power plant is ensured.
The touch function failure includes restricting the operating privileges of the robotic operator station equipment in the system. And (3) canceling a pop-up box of non-operation equipment of the robot aiming at a picture of the DCS, defining that only the equipment which allows the robot to operate is operable and other equipment is inoperable on the touch screen, and ensuring the safety of the operation equipment of the power plant.
According to the safety protection system for the operation robot in the centralized control room of the thermal power plant, the emergency processing module comprises an emergency stop switch, and when an accident occurs and the mechanical arm is required to stop moving immediately, a button is clicked; the emergency stop state can be relieved by rotating the button rightwards, and the mechanical arm continues to operate.
According to the safety protection system for the thermal power plant centralized control room operation robot, the far infrared control program for prohibiting mechanical arm operation is that an infrared sensor is additionally arranged on a support framework of the thermal power plant centralized control room remote intelligent monitoring robot to detect the conditions of surrounding people, and the mechanical arm operation is prohibited under the condition that people exist around;
because the mechanical arm strength is great, people come and go in the centralized control room, if the operators are too close to the centralized control room carelessly, the operators are likely to be hurt in the moving process of the mechanical arm, in order to prevent the situation, a plurality of infrared sensors are arranged around the box body of the robot, whether people are close to the box body of the robot or not is monitored, if the people are close to the box body of the robot, the sensors send signals to the industrial personal computer after receiving the signals, and the sensors send instructions for stopping the operation to the mechanical arm and report the task execution failure and the failure reason to the server.
Has the advantages that:
1. the invention improves the safety of the robot in the centralized control room, ensures the equipment, production process and personal safety of the unit and improves the automation level of the unit.
2. The robot adopts the scheme that the mechanical arm and the touch display screen form an integrated mechanism, and compared with the scheme that the mechanical arm and the screen are separated, the design can avoid the condition that the click precision is reduced and even fails due to the change of the relative position of the mechanical arm and the screen caused by equipment installation, artificial collision and the like. In order to achieve the purpose that the robot automatically operates a DCS system interface, on the basis of the overall structural design of the touch screen operation robot, the robot adopts a scheme that a mechanical arm and a touch display screen form an integrated mechanism, and compared with a scheme that the mechanical arm and the screen are separated, the design can avoid the situation that the click precision is reduced and even fails due to the change of the relative position of the mechanical arm and the screen caused by equipment installation, artificial collision and the like.
3. The method for acquiring the image by the image acquisition system has the following advantages:
A. the image is directly collected from the system, is not influenced by ambient illumination and sensor errors of a camera, has little image distortion and is clearer;
B. the acquired image is ensured to be more complete and is not limited by the size of the visual angle of the camera and the distance of the installation distance;
C. only image information is acquired, information return cannot be carried out on the DCS, and safety of the system is guaranteed.
4. The touch screen authorization system is defined to be operable only when the robot is allowed to operate on the touch screen, and the system can not be operated on a DCS display screen touch authorization control circuit and a physical switch in an unallowed time period, is used for controlling the touch function of the DCS display touch screen, prevents the occurrence of mistaken touch conditions when the robot is operated by the touch screen in a standby state, and ensures the operation safety of a power plant.
5. The safety protection system is arranged, only the equipment which allows the robot to operate can be operated, and other equipment cannot be operated at the operator station, so that the touch screen is prevented from being touched by mistake, and safety accidents are prevented.
6, in order to avoid computer accidents, because the mechanical arm has high strength, people come and go in the centralized control room, if the operation personnel are too close to the centralized control room carelessly, the operation personnel are likely to be hurt in the moving process of the mechanical arm, in order to prevent the situation, a plurality of infrared sensors are arranged around the box body of the robot, whether the personnel are close to the box body in the moving range of the mechanical arm is monitored, if the personnel are close to the box body, the sensors send signals to the industrial personal computer after receiving the signals, and the industrial personal computer sends out instructions for stopping the operation to the mechanical arm and reports the task execution failure and the failure reason to the server.
Drawings
FIG. 1 is a diagram of system operation and device signal connections;
fig. 2 is an external structural view of the robot; wherein 1 is an equipment shell, and 2 is an operation demonstration screen of the mechanical arm; 3 is a mechanical arm; 4, a centralized control system interface release screen; 5 is a scram switch; and 6 is a caster.
FIG. 3 is a flowchart of the image acquisition system operation;
fig. 4 is a touch function control schematic.
The specific implementation mode is as follows:
in order to make the technical solutions of the present invention better understood, 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. All other implementations made by those skilled in the art without any inventive step based on the embodiments of the present invention are within the scope of the present invention.
The whole hardware system of the remote intelligent monitoring robot in the thermal power plant centralized control room comprises an industrial personal computer, a server, an image acquisition system, an operator station host machine loaded with the system, a mechanical arm, a touch screen, functional components and the like, wherein the relationship of each part is shown in figure 1.
Thermal power plant's centralized control room operation robot safety protection system mainly includes: personal safety, system operation safety and production process safety in the operation process.
(1) The robot adopts the structural design of arm and touch-sensitive screen integral type, can effectively avoid because the change of the relative position of arm and screen, and lead to the system failure condition.
Structurally, as shown in fig. 2, two parts need to be designed with emphasis: firstly, need concentrate and place equipment such as industrial computer, controllers such as arm. And secondly, a bearing mechanical arm, a touch screen and the like need to be installed.
The design work of the structure mainly comprises the following aspects that the thickness of the designed shell is determined according to the ABS material property; under the condition of keeping the appearance design effect as much as possible, the shell is disassembled, so that the shell can be used for installation and installation debugging, and meanwhile, the heat dissipation performance is good; the mechanical arm is heavier on the touch screen, about 18.4kg of the mechanical arm and about 12kg of the touch screen, and meanwhile, the motion of the mechanical arm can generate acting force on the base, so that the base is expected to have certain mass, an internal metal supporting structure needs to be added, and the position for placing the industrial personal computer controller is also considered.
(2) In order to obtain more accurate image information and improve the precision, an image acquisition card is used for directly acquiring monitoring picture information from a DCS operator station host.
The design requirement of the image acquisition system cannot return information to the DCS, and meanwhile, the image quality of image acquisition is clear and stable and is less influenced by the external environment. As shown in FIG. 3, the image acquisition system designed by the present invention mainly comprises a splitter, a video acquisition card, etc. The VGA video capture card is connected to a DCS operator station host, and images are directly captured from a system display card to be used for processing various images.
(3) To avoid misoperation of the robot, the operating authority of the robot operator station equipment is limited.
Aiming at the fact that the DCS is an Emerson OVATION system, when an operation robot just starts to run in a trial mode, a pop-up window of non-robot operation equipment is deleted, the condition that only equipment allowing the robot to operate is operable is defined, other equipment does not have the pop-up window and cannot be operated, and the safety of the whole system is guaranteed.
(4) Touch screen authorization system
In order to prevent people from mistakenly touching the DCS display interface icon keys when the robot is in a standby state, the touch screen function authorization control system is designed, and the touch function of the DCS display interface can be switched on and off in a program. Meanwhile, in order to prevent the interference on the operation of the robot caused by manually clicking the touch screen, a physical switch is arranged on the robot for controlling the switching on and off of the touch screen function of the DCS display interface in a project group. Only when the robot executes an operation instruction or presses a physical switch, the touch screen function of the DCS display interface of the robot is effective, and the touch function of the DCS display interface of the robot is in an invalid state at other times, the touch screen function authorization system can effectively manage and control the touch screen function of the touch screen, the occurrence of mistaken touch during the work of the intelligent operation robot is prevented, and the safe operation of the monitoring system is ensured.
(5) Setting of emergency stop button
The operation robot adopts a six-degree-of-freedom mechanical arm to ensure that the mechanical arm can flexibly realize accurate clicking within the range of a main screen, the repetition precision of the robot reaches 0.1 mm, and the accuracy of clicking operation is ensured; meanwhile, joint torque is detected in real time, when the mechanical arm is subjected to larger resistance or collision, the mechanical arm can be alarmed to stop, and the safety of peripheral workers is fully guaranteed. In addition, a sudden stop switch is arranged, and when an accident occurs and the mechanical arm is required to stop moving immediately, a button is knocked down; the emergency stop state can be relieved by rotating the button rightwards, and the mechanical arm continues to operate.
(6) Install infrared sensor additional on thermal power plant's centralized control room remote intelligent supervision dish robot support framework, detect personnel's situation around, forbid the arm operation under the manned condition around.
Because the mechanical arm strength is great, people come and go in the centralized control room, if the operators are too close to the centralized control room carelessly, the operators are likely to be hurt in the moving process of the mechanical arm, in order to prevent the situation, a plurality of infrared sensors are arranged around the box body of the robot, whether people are close to the box body of the robot or not is monitored, if the people are close to the box body of the robot, the sensors send signals to the industrial personal computer after receiving the signals, and the sensors send instructions for stopping the operation to the mechanical arm and report the task execution failure and the failure reason to the server. And the mechanical arm adopts flexible control, and when the detection is received too big moment, the mechanical arm can suspend the motion and avoid colliding with the operator, so that the safety of the personnel monitoring the disk on site is ensured.
Claims (7)
1. The utility model provides a thermal power plant's centralized control room operation robot safety protection system which characterized by: the hardware system of the system comprises an industrial control computer, the industrial control computer is connected with a server, the industrial control computer is connected with an image acquisition system installed in a centralized control room, the image acquisition system is loaded in an operator station host, and a touch screen of the operator station host and a mechanical arm of the industrial robot are of an integrated structure.
2. The thermal power plant central control room operation robot safety protection system as claimed in claim 1, characterized in that: the touch screen detects the position of a finger or other objects touching the touch screen arranged at the front end of the display at the touch detector, calculates the coordinates of the position, and then sends the coordinates to the host through the usb interface so as to determine the input information; therefore, the designed control circuit comprises 2 touch screen control modes for the robot: one kind of touch screen control is to use a physical switch, and to bypass a relay to communicate a touch screen with a DCS operator station host computer in a short circuit mode, so as to control the on and off of the touch function of the touch screen; or the other mode is to send a pulse signal to control the on-off of the relay through an industrial personal computer program.
3. The thermal power plant central control room operation robot safety protection system as claimed in claim 2, characterized in that: the image acquisition system of the hardware system comprises a deconcentrator and a video acquisition card, the image acquisition system cannot return information to the DCS, the VGA video acquisition card is connected to a DCS operator station host, images are directly acquired from a system display card, the robot participating in work adopts a structural design of integrating a mechanical arm and a touch screen, the mechanical arm and the touch screen are used for processing various images, and an emergency processing module and a mechanical arm operation control program forbidden for far infrared control are arranged.
4. The safety protection system for the operating robot in the centralized control room of the thermal power plant as claimed in claim 3, wherein: the robot adopts an integrated structure design of a mechanical arm and a touch screen, the touch screen adopts a double-display-screen scheme, and the robot operates the display interface touch screen of the DCS operator station by clicking to simulate an operator to perform monitoring operation of the DCS; the human-computer interaction interface touch screen is arranged on the right side right in front of the robot and is used for displaying the current state, so that a worker can conveniently master the running condition of the robot and timely perform intervention operation, and misoperation of the robot is avoided; in order to obtain more accurate image information and improve the precision, an image acquisition card is used for directly acquiring monitoring picture information from a DCS operator station host.
5. The thermal power plant central control room operation robot safety protection system as claimed in claim 4, characterized in that: the touch screen authorization system is designed for preventing a person from mistakenly touching the display screen in the execution process of the industrial personal computer, and comprises a touch screen authorization control circuit board, wherein the touch screen authorization control circuit board receives touch breaking and recovery signals of the industrial personal computer through USB communication, is connected with a touch output interface of the display screen, is used for blocking touch output, and is connected with a DCS (distributed control system) system to forward touch signals of the display screen; meanwhile, in order to ensure the intervention of the robot on the operation of the robot, a physical switch is arranged on the robot to control the switching on and off of the touch screen function of the DCS display interface; when a program sends a high level, the relay is started, the touch screen is communicated with the operator station host, the touch function is effective, after the program is operated, the relay is disconnected, the touch screen is disconnected with the operator station host, the touch function failure comprises the limitation of the operation authority of the robot operator station equipment in the system, aiming at a DCS control system picture, a touch screen authorization system is arranged by defining a new operation module, only equipment which allows the robot to operate on the touch screen is defined to be operable, other equipment and an unallowed time period can not be operable on a DCS display screen touch authorization control circuit and a physical switch, the touch function of the DCS display touch screen is controlled, the occurrence of mistaken touch condition when the touch screen operation robot is in a standby state is prevented, and the operation safety of a power plant is ensured.
6. The thermal power plant central control room operation robot safety protection system as claimed in claim 5, characterized in that: the emergency processing module comprises an emergency stop switch, and when an accident occurs and the mechanical arm is required to stop moving immediately, a button is pressed down; the emergency stop state can be relieved by rotating the button rightwards, and the mechanical arm continues to operate.
7. The thermal power plant central control room operation robot safety protection system as claimed in claim 6, characterized in that: the far infrared control program for prohibiting mechanical arm operation is characterized in that an infrared sensor is additionally arranged on a support framework of a remote intelligent monitoring robot in a centralized control room of a thermal power plant to detect the conditions of surrounding people, and the mechanical arm operation is prohibited under the condition that people exist around;
because the mechanical arm strength is high, people come and go in a centralized control room, if the operators are too close to the centralized control room carelessly, the operators are likely to be hurt in the moving process of the mechanical arm, in order to prevent the situation, a plurality of infrared sensors are arranged around a robot box body, whether people approach the robot in the moving range of the mechanical arm or not is monitored, if the people approach the robot, the sensors send signals to an industrial personal computer after receiving the signals, and the industrial personal computer sends an instruction of stopping operation to the mechanical arm and reports the task execution failure and the failure reason to a server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459721.XA CN115857442A (en) | 2022-11-21 | 2022-11-21 | Safety protection system for operation robot in centralized control room of thermal power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459721.XA CN115857442A (en) | 2022-11-21 | 2022-11-21 | Safety protection system for operation robot in centralized control room of thermal power plant |
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| CN115857442A true CN115857442A (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211459721.XA Pending CN115857442A (en) | 2022-11-21 | 2022-11-21 | Safety protection system for operation robot in centralized control room of thermal power plant |
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