CN115903621A - Intelligent security control method and system for oil exploration robot and electronic equipment - Google Patents
Intelligent security control method and system for oil exploration robot and electronic equipment Download PDFInfo
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Abstract
The invention provides an intelligent security control method of an oil exploration robot, a system and electronic equipment thereof, wherein an acceleration sensor and a pressure sensor which are arranged on the robot are used for acquiring an acceleration signal of the robot and a pressure signal borne by the robot in real time; the robot is subjected to real-time stress analysis according to the acceleration signal of the robot and the pressure signal received by the robot, and the operation signal of the security device arranged on the robot is output according to the analysis result, so that the petroleum exploration robot is subjected to independent stress analysis, avoids and limits the movement of petroleum thieves when being attacked by the petroleum thieves, the intelligent degree of the petroleum exploration robot in the prior art is greatly improved, and the application scene of the invention is greatly expanded.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an intelligent security control method and system of an oil exploration robot and electronic equipment.
Background
The national development can not drive energy sources, and the petroleum-related industry still has great market space. The petroleum industry plays an irreplaceable role as a great driving force for the economic growth of China. Meanwhile, the economic overall scale of China is large, the possession quantity and the technical level of the robot are extremely low, and the quantity of the demands of various industries on the robot is considerable with the coming of the artificial intelligence era. In the prior art, the research on the petroleum robot is mostly limited to drill rod connection, jacket installation, underwater valve opening and closing, well drilling and the like, and the research content in the field of petroleum exploration and development is deficient. Before carrying out formal oil exploitation tasks, oil exploration personnel need to practice in the field in person, which generates high labor cost. Meanwhile, because interests drive oil theft to be rampant day by day, nevertheless because the research and development blank of oil gas security robot for the oil field needs to invest in a large amount of manpower and materials costs, causes serious wasting of resources. Therefore, a robot capable of autonomously completing security tasks is urgently needed.
When the petroleum exploration robot in the prior art is attacked by petroleum thieves, autonomous stress analysis cannot be performed, and the petroleum exploration robot avoids and limits the movement of the petroleum thieves, so that the intelligent degree and the function of the petroleum exploration robot in the prior art still need to be improved.
Therefore, the prior art is subject to further development.
Disclosure of Invention
The invention aims to overcome the technical defects and provides an intelligent security control method and system of an oil exploration robot and electronic equipment, so as to solve the problems in the prior art.
In order to achieve the technical object, according to a first aspect of the present invention, there is provided an intelligent security control method for an oil exploration robot, the method including:
acquiring an acceleration signal of the robot and a pressure signal borne by the robot in real time by using an acceleration sensor and a pressure sensor which are arranged on the robot; performing real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal applied to the robot; and outputting an operation signal of a security device arranged on the robot according to the analysis result.
Specifically, the acceleration sensor is a three-axis acceleration sensor, and the center of gravity of the robot is used as an origin, the advancing direction of the robot is set as an X axis, the direction 90 degrees to the right of the advancing direction of the robot is set as a Y axis, and the direction perpendicular to a plane formed by the X axis and the Y axis and pointing upward of the robot is set as a Z axis.
Specifically, the pressure sensors are arranged in a plurality, the pressure sensors are uniformly arranged on the surface of the robot, and the detection direction of the pressure sensors is the same as the direction indicated by the X axis, the Y axis or the Z axis.
Specifically, the security device includes net rifle, wolf tooth stick and flashing light, be provided with fort module and fort platform module on the robot, fort module and fort platform module are independent each other, fort module and fort platform module all can be around Z axle direction rotation, the wolf tooth stick fixed set up in on the fort platform module, the net rifle set up in on the fort platform module.
Specifically, the analysis of the robot stress by using the acceleration sensor and the pressure sensor arranged on the robot is specifically as follows:
acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period, obtaining acceleration data of the robot in the directions of an X axis, a Y axis and a Z axis, respectively calculating to obtain absolute values of acceleration amplification data of the robot in the directions of the X axis, the Y axis and the Z axis according to the acceleration data of the robot in the directions of the X axis, the Y axis and the Z axis, judging whether the absolute value of the acceleration amplification data of the robot in the directions of the X axis, the Y axis or the Z axis is larger than or equal to a first preset threshold value or not, if so, outputting an alarm signal, controlling a flashing light to flash, and controlling the robot to move a first preset distance in the direction opposite to the axis direction.
Specifically, the robot stress analysis by using the acceleration sensor and the pressure sensor which are arranged on the robot further comprises:
and acquiring and analyzing pressure signals obtained by a plurality of pressure sensors uniformly arranged on the surface of the robot according to a second monitoring period to obtain a plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating to obtain the average stress data of the robot in the X-axis, Y-axis and Z-axis directions according to the plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the average stress data of the robot in the X-axis, Y-axis or Z-axis directions is greater than or equal to a second preset threshold value, and if so, controlling the gun platform module to rotate at a first preset angular velocity.
Specifically, the controlling the turret block to rotate at the preset angular velocity further includes:
and judging the maximum value of the absolute value of the amplification data of the acceleration of the robot on the X axis, the Y axis or the Z axis, and controlling the robot to move forward at a second preset speed in the direction opposite to the direction indicated by the acceleration.
Specifically, the controlling the robot to advance at a second preset speed in a direction opposite to the direction indicated by the acceleration further includes:
and controlling the gun platform module to rotate until the direction of the gun mouth of the net gun is the same as the direction opposite to the direction indicated by the acceleration, and starting the net gun.
According to a second aspect of the invention, there is provided a system comprising:
the acquisition module comprises an acceleration sensor and a pressure sensor which are arranged on the robot and is used for acquiring an acceleration signal of the robot and a pressure signal received by the robot in real time;
the analysis module is used for carrying out real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal applied to the robot and outputting an operation signal of a security device arranged on the robot according to an analysis result;
and the execution module is used for responding to the operation signal of the analysis module and controlling the operation of the security device.
According to a third aspect of the present invention, there is provided an electronic apparatus comprising:
a memory; and a processor, the memory having stored thereon computer readable instructions which, when executed by the processor, implement the intelligent security control method of a petroleum exploration robot according to any one of claims 1 to 8.
The invention has the beneficial effects that:
the invention utilizes an acceleration sensor and a pressure sensor which are arranged on a robot to acquire an acceleration signal of the robot and a pressure signal suffered by the robot in real time; performing real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal applied to the robot; the operation signal of the security device arranged on the robot is output according to the analysis result, so that the petroleum exploration robot can perform autonomous stress analysis, avoid and limit the movement of petroleum thieves when being attacked by the petroleum thieves, the intelligent degree of the petroleum exploration robot in the prior art is greatly improved, and the application scene of the invention is expanded to a great extent.
Drawings
FIG. 1 is a flow chart of an intelligent security control method of a petroleum exploration robot provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an intelligent security control system of a petroleum exploration robot provided in an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustrating the present invention and not for limiting the present invention.
The invention is further described below with reference to the drawings and the preferred embodiments.
Referring to fig. 1, the present embodiment provides a method, including:
and S100, acquiring an acceleration signal of the robot and a pressure signal received by the robot in real time by using an acceleration sensor and a pressure sensor which are arranged on the robot.
Specifically, the acceleration sensor is a three-axis acceleration sensor, and the center of gravity of the robot is used as an origin, the advancing direction of the robot is set as an X axis, the direction of 90 degrees on the right side of the advancing direction of the robot is set as a Y axis, and the direction perpendicular to the plane formed by the X axis and the Y axis and pointing to the upper side of the robot is set as a Z axis.
It should be noted here that the X-axis, the Y-axis, and the Z-axis are provided with respect to the advancing direction of the robot, and when the advancing direction of the robot changes, the X-axis, the Y-axis, and the Z-axis change with the change of the advancing direction of the robot.
Specifically, the pressure sensors are arranged in a plurality, the pressure sensors are uniformly arranged on the surface of the robot, and the detection direction of the pressure sensors is the same as the direction indicated by the X axis, the Y axis or the Z axis.
Here, the pressure sensors are uniformly covered on the surface of the robot, and the direction of the detected stress is the same as the direction of the X axis, the Y axis, the Z axis, or the opposite direction of the X axis, the opposite direction of the Y axis, or the opposite direction of the Z axis. The comprehensive judgment of the pressure on the surface of the robot is realized, and a part of data basis is provided for the attack analysis of the robot.
And S200, carrying out real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal received by the robot.
And S300, outputting an operation signal of a security device arranged on the robot according to the analysis result.
Specifically, the security device includes net rifle, wolf tooth stick and flashing light, be provided with fort module and fort platform module on the robot, fort module and fort platform module are independent each other, fort module and fort platform module all can be around Z axle direction rotation, the wolf tooth stick fixed set up in on the fort platform module, the net rifle set up in on the fort platform module.
It should be noted here that the gun platform module may be fixed in the advancing direction of the robot, and may also rotate around the Z-axis direction, and the muzzle of the net gun extends in the direction forming an included angle of 45 degrees with the axis direction, so as to increase the coverage area and coverage effect of the capture net under the action of gravity and inertia after the net gun is started.
Specifically, the operation signal that utilizes acceleration sensor and pressure sensor that set up on the robot to carry out robot atress analysis and export the security device that sets up on the robot according to the analysis result specifically is:
acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period, obtaining acceleration data of the robot in the directions of an X axis, a Y axis and a Z axis, respectively calculating to obtain absolute values of acceleration amplification data of the robot in the directions of the X axis, the Y axis and the Z axis according to the acceleration data of the robot in the directions of the X axis, the Y axis and the Z axis, judging whether the absolute value of the acceleration amplification data of the robot in the directions of the X axis, the Y axis or the Z axis is larger than or equal to a first preset threshold value or not, if so, outputting an alarm signal, controlling a flashing light to flash, and controlling the robot to move a first preset distance in the direction opposite to the axis direction.
According to the invention, through setting a first preset threshold value, whether the absolute value of acceleration amplification data of the robot in the X-axis or Y-axis or Z-axis direction is larger than or equal to the first preset threshold value or not is judged, whether the robot suddenly generates acceleration displacement or not is judged, if the absolute value of the acceleration amplification data of the robot in the X-axis or Y-axis or Z-axis direction is larger than or equal to the first preset threshold value, the possibility that the robot is attacked by external force in the shaft or the reverse direction of the shaft is preliminarily judged, the robot is controlled to output an alarm signal and control a flashing light to flash, and the robot is controlled to move a first preset distance in the reverse direction of the acceleration direction.
Specifically, the acceleration has positive and negative values, if an attack condition exists, if the acceleration is positive, the stress direction is proved to be the rear of the advancing direction of the robot, namely the rear of the X axis, at the moment, the robot is controlled to advance for a first preset distance, the robot is controlled to actively avoid when the attack condition possibly exists, the robot is prevented from being further damaged, further analysis is carried out according to subsequent data, and the intelligent degree of the intelligent robot is improved to a great extent.
Specifically, the operation signal that utilizes acceleration sensor and the pressure sensor that sets up on the robot to carry out robot atress analysis and according to the security device of analysis result output setting on the robot still includes:
and acquiring and analyzing pressure signals obtained by a plurality of pressure sensors uniformly arranged on the surface of the robot according to a second monitoring period to obtain a plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating to obtain the average stress data of the robot in the X-axis, Y-axis and Z-axis directions according to the plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the average stress data of the robot in the X-axis, Y-axis or Z-axis directions is greater than or equal to a second preset threshold value, and if so, controlling the gun platform module to rotate at a first preset angular velocity.
Specifically, when the average force data of the robot in the X-axis or Y-axis or Z-axis direction is greater than or equal to the second preset threshold, it is preliminarily determined that the robot may be attacked by an external force in the opposite direction of the axis or the axis, and at this time, the external force applied to the robot is large, and a target thief is likely to be near the robot, at this time, the turret module is controlled to rotate at the first preset angular velocity, and since the wolf tooth stick is fixed to the turret module, the wolf tooth stick is controlled to rotate at the first preset angular velocity, so that self-defense of the robot is realized, safety of the robot is improved, a higher possibility is provided for a subsequent robot to continuously send an alarm signal and follow or expel the thief, and the intelligence degree of the present invention is greatly improved.
Specifically, the controlling the turret block to rotate at the preset angular velocity further includes:
and judging the maximum value of the absolute value of the amplification data of the acceleration of the robot on the X axis, the Y axis or the Z axis, and controlling the robot to move forward at a second preset speed in the direction opposite to the direction indicated by the acceleration.
It should be noted that, in the present invention, the second preset speed is set to be greater than the first preset speed, and the maximum value of the absolute value of the amplification data of the acceleration of the robot in the X axis, the Y axis, or the Z axis is determined to be the direction in which the force that the robot may be subjected is most likely to be mainly concentrated.
Specifically, the controlling the robot to advance at a second preset speed in a direction opposite to the direction indicated by the acceleration further includes:
and controlling the gun platform module to rotate until the direction of the gun mouth of the net gun is the same as the direction opposite to the direction indicated by the acceleration, and starting the net gun.
After the direction of the thief is determined according to the direction indicated by the acceleration corresponding to the maximum value of the absolute value of the acceleration, the rotation angle and the rotation direction of the gun platform module are obtained through calculation according to the angle indicated by the net gun muzzle of the gun platform module at the moment and the direction indicated by the acceleration corresponding to the maximum value of the absolute value of the acceleration, the rotation direction is forward rotation or reverse rotation, at the moment, the gun platform module is controlled to rotate by the angle in the rotation direction, the net gun is started, the movement of the thief is limited by using the capture net, and the arrival of a guard receiving an alarm signal is waited. The intelligent degree and the reliability of the invention are further improved, and the application scene of the invention is greatly expanded.
Referring to fig. 2, the present invention provides another embodiment, which provides an intelligent security control system for an oil exploration robot, the system comprising:
the acquisition module 1 comprises an acceleration sensor and a pressure sensor which are arranged on the robot and is used for acquiring an acceleration signal of the robot and a pressure signal received by the robot in real time;
the analysis module 2 is used for carrying out real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal applied to the robot and outputting an operation signal of a security device arranged on the robot according to an analysis result;
and the execution module 3 is used for responding to the operation signal of the analysis module and controlling the operation of the security device.
In a preferred embodiment, the present application further provides an electronic device comprising:
a memory; and the processor is used for storing computer readable instructions, and the computer readable instructions are executed by the processor to realize the intelligent security control method of the oil exploration robot. The computer device may broadly be a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, a network interface, a communication interface, etc., connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which when executed by a processor performs the steps of the method of the invention.
The invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of a method of an embodiment of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or two or more method steps/operations.
It will be appreciated by those of ordinary skill in the art that the method steps of the present invention may be directed to associated hardware, such as a computer device or processor, for performing the steps of the present invention by a computer program, which may be stored in a non-transitory computer readable storage medium, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An intelligent security control method for an oil exploration robot is characterized by comprising the following steps:
acquiring an acceleration signal of the robot and a pressure signal borne by the robot in real time by using an acceleration sensor and a pressure sensor which are arranged on the robot; and carrying out real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal received by the robot, and outputting an operation signal of a security device arranged on the robot according to an analysis result.
2. The intelligent security control method of the oil exploration robot as claimed in claim 1, wherein the acceleration sensor is a three-axis acceleration sensor, the center of gravity of the robot is used as an origin, the advancing direction of the robot is set as an X-axis, the direction 90 degrees to the right of the advancing direction of the robot is set as a Y-axis, and the direction perpendicular to a plane formed by the X-axis and the Y-axis and pointing to the upper side of the robot is set as a Z-axis.
3. The intelligent security control method for the oil exploration robot as claimed in claim 1 or 2, wherein the pressure sensors are arranged in a plurality, the pressure sensors are uniformly arranged on the surface of the robot, and the detection direction of the pressure sensors is the same as the direction indicated by the X axis, the Y axis or the Z axis.
4. The intelligent security control method of the oil exploration robot as claimed in claim 3, wherein the security device comprises a net gun, a wolf tooth rod and a flashing light, the robot is provided with a fort module and a butt platform module, the fort module and the butt platform module are independent of each other, the fort module and the butt platform module can rotate around the Z-axis direction, the wolf tooth rod is fixedly arranged on the fort platform module, and the net gun is arranged on the butt platform module.
5. The intelligent security control method of the oil exploration robot as claimed in claim 4, wherein the analyzing of the robot stress by the acceleration sensor and the pressure sensor arranged on the robot and the outputting of the operation signal of the security device arranged on the robot according to the analysis result are specifically:
acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period, obtaining acceleration data of the robot in the directions of an X axis, a Y axis and a Z axis, respectively calculating to obtain absolute values of acceleration amplification data of the robot in the directions of the X axis, the Y axis and the Z axis according to the acceleration data of the robot in the directions of the X axis, the Y axis and the Z axis, judging whether the absolute value of the acceleration amplification data of the robot in the directions of the X axis, the Y axis or the Z axis is larger than or equal to a first preset threshold value or not, if so, outputting an alarm signal, controlling a flashing light to flash, and controlling the robot to move a first preset distance in the direction opposite to the acceleration direction.
6. The intelligent security control method of the oil exploration robot as claimed in claim 5, wherein the analyzing the stress of the robot by the acceleration sensor and the pressure sensor installed on the robot and outputting the operation signal of the security device installed on the robot according to the analysis result further comprises:
and acquiring and analyzing pressure signals obtained by a plurality of pressure sensors uniformly arranged on the surface of the robot according to a second monitoring period to obtain a plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating to obtain the average stress data of the robot in the X-axis, Y-axis and Z-axis directions according to the plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the average stress data of the robot in the X-axis, Y-axis or Z-axis directions is greater than or equal to a second preset threshold value, and if so, controlling the gun platform module to rotate at a first preset angular velocity.
7. The intelligent security control method of a petroleum exploration robot as recited in claim 6, wherein said controlling the turret block module to rotate at a preset angular velocity further comprises:
and judging the maximum value of the absolute value of the amplification data of the acceleration of the robot on the X axis, the Y axis or the Z axis, and controlling the robot to move forward at a second preset speed in the direction opposite to the direction indicated by the acceleration.
8. The intelligent security control method of oil exploration robots according to claim 7, wherein said controlling robots to advance at a second preset speed in a direction opposite to the direction indicated by the acceleration further comprises:
and controlling the gun platform module to rotate until the direction of the gun mouth of the net gun is the same as the direction opposite to the direction indicated by the acceleration, and starting the net gun.
9. An intelligent security control system of an oil exploration robot is characterized by comprising:
the acquisition module comprises an acceleration sensor and a pressure sensor which are arranged on the robot and is used for acquiring an acceleration signal of the robot and a pressure signal received by the robot in real time;
the analysis module is used for carrying out real-time stress analysis on the robot according to the acceleration signal of the robot and the pressure signal applied to the robot and outputting an operation signal of a security device arranged on the robot according to an analysis result;
and the execution module is used for responding to the operation signal of the analysis module and controlling the operation of the security device.
10. An electronic device, comprising:
a memory; and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions when executed by the processor realize the intelligent security control method of the oil exploration robot according to any one of claims 1 to 8.
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| RU2602638C1 (en) * | 2015-07-27 | 2016-11-20 | Геннадий Александрович Бидеев | Self-defense weapons |
| CN106514677A (en) * | 2017-01-20 | 2017-03-22 | 山东西部智能科技有限公司 | Security system and method based on tactical defending robot |
| CN106697088A (en) * | 2017-01-20 | 2017-05-24 | 山东西部智能科技有限公司 | Tactical defense security robot |
| CN106903689A (en) * | 2017-02-28 | 2017-06-30 | 深圳市笨笨机器人有限公司 | The method and a kind of robot of a kind of robot self-adaptative adjustment |
| CN206588959U (en) * | 2017-03-14 | 2017-10-27 | 青岛银捷电子信息工程有限公司 | A kind of financial safety protection robot |
| CN107175692A (en) * | 2017-06-06 | 2017-09-19 | 上海未来伙伴机器人有限公司 | Domestic robot and its control method with defense function |
| CN207342200U (en) * | 2017-09-06 | 2018-05-11 | 滨州学院 | A kind of intelligent soccer robot |
| CN108340382A (en) * | 2018-03-16 | 2018-07-31 | 赵建和 | A kind of police safety protection robot |
| CN109029473A (en) * | 2018-08-13 | 2018-12-18 | 中国石油大学(华东) | A kind of intelligent oil exploration robot system and its oil exploration method |
| CN109381125A (en) * | 2018-09-04 | 2019-02-26 | 广东美的厨房电器制造有限公司 | Sweeping robot and its control system and control method |
| CN213828992U (en) * | 2020-12-07 | 2021-07-30 | 青岛通产智能科技股份有限公司 | Security robot |
| CN114019955A (en) * | 2021-10-12 | 2022-02-08 | 科沃斯机器人股份有限公司 | Self-moving robot and motion control method |
| CN113847841A (en) * | 2021-11-29 | 2021-12-28 | 南京润景丰创信息技术有限公司 | Laser confrontation training robot target system and control method thereof |
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