CN115903621B - Intelligent security control method and system for petroleum exploration robot and electronic equipment - Google Patents
Intelligent security control method and system for petroleum exploration robot and electronic equipment Download PDFInfo
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Abstract
The application provides an intelligent security control method of a petroleum exploration robot, a system and electronic equipment thereof, wherein an acceleration sensor and a pressure sensor arranged on the robot are utilized to collect acceleration signals of the robot and pressure signals received by the robot in real time; according to the method, the real-time stress analysis of the robot is carried out 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 when the petroleum exploration robot is attacked by petroleum thieves, the autonomous stress analysis is carried out, the petroleum thieves are avoided and limited to move, the intelligent degree of the petroleum exploration robot in the prior art is greatly improved, and the application scene of the application is greatly expanded.
Description
Technical Field
The application relates to the technical field of robot control, in particular to an intelligent security control method for an oil exploration robot, a system and electronic equipment thereof.
Background
The national development is not separated from energy sources, and the petroleum related industry still has a great market space. The petroleum industry plays an irreplaceable role as a great motive force for the economic growth of China. Meanwhile, the economic overall scale of China is large, the possession and the technical level of robots are extremely low, and the quantity of robots required by each industry is considerable along with the coming of the artificial intelligence era. The research on petroleum robots at the present stage is mostly limited to drill rod connection, jacket installation, underwater valve opening and closing, drilling and the like, and the research content for the petroleum exploration and development field is relatively deficient. Prior to performing formal oil extraction tasks, oil exploration personnel are physically practicing in the field, which creates high labor costs. Meanwhile, the petroleum theft is driven to be increasingly rampant by benefits, but the development of the oil gas security robot is blank, so that a great deal of manpower and material resource cost is required to be input into an oil field, and serious resource waste is caused. Therefore, a robot capable of autonomously completing a security task is urgently needed.
When being attacked by petroleum thieves, the petroleum exploration robot in the prior art cannot perform autonomous stress analysis, avoid and limit the movement of the petroleum thieves, and the intelligent degree and the function of the petroleum exploration robot in the prior art are still to be improved.
Accordingly, the prior art is subject to further development.
Disclosure of Invention
The application aims to overcome the technical defects and provide an intelligent security control method of a petroleum exploration robot, a system and electronic equipment thereof, so as to solve the problems in the prior art.
To achieve the above technical object, according to a first aspect of the present application, there is provided an intelligent security control method for an oil exploration robot, the method comprising:
acquiring acceleration signals of the robot and pressure signals received by the robot in real time by using an acceleration sensor and a pressure sensor which are arranged on the robot; 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 the analysis result.
Specifically, the acceleration sensor is a three-axis acceleration sensor, the center of gravity of the robot is taken 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 which is perpendicular to a plane formed by the X axis and the Y axis and points to the upper side 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 directions of the pressure sensors are the same as the directions indicated by the X axis or the Y axis or the Z axis.
Specifically, the security device comprises a net gun, a spike rod and a bursting flash lamp, wherein a gun platform module and a gun platform module are arranged on the robot and are mutually independent, the gun platform module and the gun platform module can rotate around the Z-axis direction, the spike rod is fixedly arranged on the gun platform module, and the net gun is arranged on the gun platform module.
Specifically, the robot stress analysis by using an acceleration sensor and a pressure sensor arranged on the robot specifically comprises the following steps:
and acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period to obtain acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating absolute values of acceleration amplification data of the robot in the X-axis, Y-axis and Z-axis directions according to the acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the absolute values of the acceleration amplification data of the robot in the X-axis, Y-axis or Z-axis directions are larger than or equal to a first preset threshold value, if so, outputting an alarm signal and controlling the explosion of the explosion flash lamp, and controlling the robot to move a first preset distance in the opposite direction of the axis direction.
Specifically, the performing the robot force analysis by using the acceleration sensor and the pressure sensor provided on the robot further 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, obtaining a plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating to obtain 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 larger than or equal to a second preset threshold value, and if so, controlling the turret module to rotate at a first preset angular speed.
Specifically, the controlling the rotation of the turret module 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 in the X axis, the Y axis or the Z axis, and controlling the robot to advance 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 muzzle direction of the net gun is the same as the opposite direction of the direction indicated by the acceleration, and starting the net gun.
According to a second aspect of the present application, 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 acceleration signals of the robot and pressure signals 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 received by 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 security device to operate.
According to a third aspect of the present application, there is provided an electronic device comprising:
a memory; and the processor is used for storing computer readable instructions on the memory, and the intelligent security control method of the petroleum exploration robot is realized when the computer readable instructions are executed by the processor.
The beneficial effects of the application are as follows:
the application utilizes an acceleration sensor and a pressure sensor which are arranged on the robot to collect acceleration signals of the robot and pressure signals received by the robot in real time; 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; according to the analysis result, the operation signal of the security device arranged on the robot is output, so that when the petroleum exploration robot is attacked by petroleum thieves, autonomous stress analysis is carried out, the petroleum thieves are avoided and limited to move, the intelligent degree of the petroleum exploration robot in the prior art is greatly improved, and the application scene of the application is greatly expanded.
Drawings
FIG. 1 is a flow chart of an intelligent security control method for a petroleum exploration robot provided in a specific embodiment of the application;
fig. 2 is a schematic diagram of an intelligent security control system for a petroleum exploration robot provided in an embodiment of the present application.
Detailed Description
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present application, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the application.
The application will be further described with reference to the drawings and preferred embodiments.
Referring to fig. 1, the present embodiment provides a method, which includes:
s100, acquiring acceleration signals of the robot and pressure signals received by the robot in real time by using an acceleration sensor and a pressure sensor arranged on the robot.
Specifically, the acceleration sensor is a three-axis acceleration sensor, the center of gravity of the robot is taken 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 which is perpendicular to a plane formed by the X axis and the Y axis and points to the upper side of the robot is set as a Z axis.
Here, the X-axis, Y-axis, and Z-axis are set with respect to the advancing direction of the robot, and are changed with the change of the advancing direction of the robot when the advancing direction of the robot is changed.
Specifically, the pressure sensors are arranged in a plurality, the pressure sensors are uniformly arranged on the surface of the robot, and the detection directions of the pressure sensors are the same as the directions indicated by the X axis or the Y axis or the Z axis.
The plurality of pressure sensors are uniformly covered on the surface of the robot, and the direction of detecting the stress is the same as the direction of the X-axis or the Y-axis or the Z-axis or the opposite direction of the X-axis or the opposite direction of the Y-axis or the opposite direction of the Z-axis. The method is used for comprehensively judging the pressure born by the surface of the robot and providing a part of data basis for realizing the attack analysis of the robot.
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.
S300, outputting an operation signal of a security device arranged on the robot according to the analysis result.
Specifically, the security device comprises a net gun, a spike rod and a bursting flash lamp, wherein a gun platform module and a gun platform module are arranged on the robot and are mutually independent, the gun platform module and the gun platform module can rotate around the Z-axis direction, the spike rod is fixedly arranged on the gun platform module, and the net gun is arranged on the gun platform module.
It should be noted that, the gun platform module can be fixed towards the advancing direction of robot, also can rotate around the Z axle direction, the muzzle of net rifle is along stretching to the direction that is 45 degrees contained angles with the axle direction to increase net rifle starts the back, under the effect of gravity and inertia, increase the coverage area and the coverage effect of catching the net.
Specifically, the method for carrying out robot stress analysis by using the acceleration sensor and the pressure sensor arranged on the robot and outputting the operation signals of the security device arranged on the robot according to the analysis result specifically comprises the following steps:
and acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period to obtain acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating absolute values of acceleration amplification data of the robot in the X-axis, Y-axis and Z-axis directions according to the acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the absolute values of the acceleration amplification data of the robot in the X-axis, Y-axis or Z-axis directions are larger than or equal to a first preset threshold value, if so, outputting an alarm signal and controlling the explosion of the explosion flash lamp, and controlling the robot to move a first preset distance in the opposite direction of the axis direction.
According to the application, whether 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 is judged, whether the robot suddenly generates acceleration displacement 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 robot is primarily judged to possibly be attacked by external force in the axis or the opposite direction of the axis, the robot is controlled to output an alarm signal and control the explosion flash lamp to perform explosion flash, and the robot is controlled to move a first preset distance in the opposite direction of the acceleration direction.
Specifically, if the acceleration is positive or negative, if the acceleration is positive, the stress direction is proved to be the rear of the forward direction of the robot, namely the rear of the X axis, and at the moment, the robot is controlled to advance for a first preset distance, so that the robot is controlled to actively avoid when the situation of being attacked possibly exists, the robot is prevented from being further damaged, and further analysis is carried out according to the follow-up data, so that the intelligent degree of the robot is greatly improved.
Specifically, the method for performing robot stress analysis by using the acceleration sensor and the pressure sensor arranged on the robot and outputting the operation signal of the security device arranged on the robot according to the analysis result further comprises the following steps:
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, obtaining a plurality of stress data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating to obtain 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 larger than or equal to a second preset threshold value, and if so, controlling the turret module to rotate at a first preset angular speed.
Specifically, when the average stress data of the robot in the X-axis or Y-axis or Z-axis direction is larger than or equal to a second preset threshold value, the robot is primarily judged to be possibly attacked by external force in the axis or the opposite direction of the axis, and at the moment, the external force suffered by the robot is larger, the target thief is likely to be near the robot, at the moment, the fort module is controlled to rotate at a first preset angular velocity, and the wolfskin is fixed on the fort module, so that the wolfskin is controlled to rotate at the first preset angular velocity, thereby realizing self defense of the robot, improving the safety of the robot, providing higher possibility for the subsequent robot to continuously send alarm signals and follow or expel the thief, and greatly improving the intelligent degree of the application.
Specifically, the controlling the rotation of the turret module 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 in the X axis, the Y axis or the Z axis, and controlling the robot to advance at a second preset speed in the direction opposite to the direction indicated by the acceleration.
It should be noted that, the second preset speed is set to be greater than the first preset speed, and the maximum value of the absolute value of the amplified data of the acceleration of the robot in the X axis, the Y axis or the Z axis is judged to be the direction in which the force possibly applied to the robot is most likely to be concentrated, and it can be understood that the robot is controlled to advance at the second preset speed in the opposite direction to the direction indicated by the acceleration, that is, the robot is controlled to approach the suspected theft person at a faster speed, and the wolf's teeth stick rotates at the first preset angular speed, so that the automatic driving of the theft person is realized, and the intelligent degree and usability of the application are further improved.
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 muzzle direction of the net gun is the same as the opposite direction of the direction indicated by the acceleration, and starting the net gun.
After determining the direction of the thief according to the direction indicated by the acceleration corresponding to the maximum value of the absolute value of the acceleration, calculating the rotation angle and the rotation direction of the gun platform module according to the angle indicated by the net gun muzzle of the gun platform module and the direction indicated by the acceleration corresponding to the maximum value of the absolute value of the acceleration, wherein the rotation direction is forward rotation or reverse rotation, at the moment, controlling the gun platform module to rotate the angle in the rotation direction, starting the net gun, limiting the movement of the thief by using the capturing net, and waiting for the arrival of guard personnel receiving the alarm signal. The intelligent degree and reliability of the application are further improved, and the application scene of the application is greatly expanded.
Referring to fig. 2, the present application provides another embodiment, which provides an intelligent security control system for an oil exploration robot, the system includes:
the acquisition module 1 comprises an acceleration sensor and a pressure sensor which are arranged on the robot and is used for acquiring acceleration signals of the robot and pressure signals 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 received by 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 security device to operate.
In a preferred embodiment, the present application also provides an electronic device, including:
a memory; and the processor is used for storing computer readable instructions on the memory, and the intelligent security control method of the petroleum exploration robot is realized when the computer readable instructions are executed by the processor. The computer device may be broadly 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, network interface, 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 a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the application.
The present application may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes steps of a method of an embodiment of the present application to be performed. In one embodiment, the computer program is distributed over 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.
Those of ordinary skill in the art will appreciate that the method steps of the present application may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the present application to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile 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 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 description provided that such combinations are not inconsistent.
The above-described embodiments of the present application do not limit the scope of the present application. Any other corresponding changes and modifications made in accordance with the technical idea of the present application shall be included in the scope of the claims of the present application.
Claims (4)
1. An intelligent security control method for an oil exploration robot is characterized by comprising the following steps:
acquiring acceleration signals of the robot and pressure signals received by the robot in real time by using an acceleration sensor and a pressure sensor which are arranged on the robot; 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;
the security device comprises a net gun, a wolf tooth stick and a bursting flash lamp, wherein a gun platform module and a gun platform module are arranged on the robot, the gun platform module and the gun platform module are mutually independent, the gun platform module and the gun platform module can rotate around the Z-axis direction, the wolf tooth stick is fixedly arranged on the gun platform module, and the net gun is arranged on the gun platform module;
the acceleration sensor is a triaxial acceleration sensor, the gravity center of the robot is taken 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 which is perpendicular to a plane formed by the X axis and the Y axis and points to the upper side of the robot is set as a Z axis;
the operation signal of the security device arranged on the robot is specifically:
acquiring and analyzing acceleration signals obtained by an acceleration sensor arranged on the robot according to a first monitoring period to obtain acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, respectively calculating absolute values of acceleration amplification data of the robot in the X-axis, Y-axis and Z-axis directions according to the acceleration data of the robot in the X-axis, Y-axis and Z-axis directions, judging whether the absolute values of the acceleration amplification data of the robot in the X-axis, Y-axis or Z-axis directions are larger than or equal to a first preset threshold value, if so, outputting an alarm signal and controlling the explosion of the explosion lamp, and controlling the robot to move a first preset distance in the opposite direction of the acceleration direction;
the method for carrying out the stress analysis of the robot by using the acceleration sensor and the pressure sensor arranged on the robot and outputting the operation signal of the security device arranged on the robot according to the analysis result further comprises the following steps:
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 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 larger than or equal to a second preset threshold value, and if so, controlling the turret module to rotate at a first preset angular speed;
the controlling the rotation of the fort module at a preset angular velocity further comprises:
judging the maximum value of the absolute value of the amplified data of the acceleration of the robot in the X axis, the Y axis or the Z axis, and controlling the robot to advance at a second preset speed in the direction opposite to the direction indicated by the acceleration;
the controlling the robot to advance in a direction opposite to the direction indicated by the acceleration at a second preset speed further includes:
and controlling the gun platform module to rotate until the muzzle direction of the net gun is the same as the opposite direction of the direction indicated by the acceleration, and starting the net gun.
2. The intelligent security control method of the petroleum exploration robot according to claim 1, wherein a plurality of pressure sensors are arranged, the plurality of pressure sensors are uniformly arranged on the surface of the robot, and the detection direction of the plurality of pressure sensors is the same as the direction indicated by an X axis or a Y axis or a Z axis.
3. An intelligent security control system for a petroleum exploration robot, characterized in that the intelligent security control method for the petroleum exploration robot according to any one of claims 1-2 is adopted, and the system comprises:
the acquisition module comprises an acceleration sensor and a pressure sensor which are arranged on the robot and is used for acquiring acceleration signals of the robot and pressure signals 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 received by 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 security device to operate.
4. An electronic device, comprising:
a memory; and a processor having stored thereon computer readable instructions which when executed by the processor implement the oil exploration robot intelligent security control method according to any one of claims 1 to 2.
Priority Applications (1)
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| CN202211650993.8A CN115903621B (en) | 2022-12-21 | 2022-12-21 | Intelligent security control method and system for petroleum exploration robot and electronic equipment |
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| CN202211650993.8A CN115903621B (en) | 2022-12-21 | 2022-12-21 | Intelligent security control method and system for petroleum exploration robot and electronic equipment |
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| 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 |
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