CN119247860B - Outdoor inspection robot safety control system for offshore water hydrogen production platform field - Google Patents
Outdoor inspection robot safety control system for offshore water hydrogen production platform field Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
本发明提供了一种海上水制氢平台场室外巡检机器人安全控制系统，包括平台环境监测装置、机器人本体和计算机监控系统。平台环境监测装置实时监测风力、雨量等环境信息，机器人本体通过处理器接收这些信息并结合自身传感器数据，计算安全移动速度和方向，评估倾斜度风险，根据雨量信息调整移动策略。计算机监控系统通过网络与平台环境监测装置和机器人本体连接，实时监控机器人的运行状态，并在必要时发送控制指令。本发明能够确保机器人在复杂环境条件下安全、高效地完成巡检任务。
The present invention provides a safety control system for an outdoor inspection robot at an offshore water hydrogen production platform, including a platform environment monitoring device, a robot body, and a computer monitoring system. The platform environment monitoring device monitors environmental information such as wind force and rainfall in real time. The robot body receives this information through a processor and combines it with its own sensor data to calculate the safe moving speed and direction, evaluate the inclination risk, and adjust the movement strategy according to the rainfall information. The computer monitoring system is connected to the platform environment monitoring device and the robot body through a network, monitors the operating status of the robot in real time, and sends control instructions when necessary. The present invention can ensure that the robot completes the inspection task safely and efficiently under complex environmental conditions.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a safety control system of an outdoor inspection robot of a marine water hydrogen production platform field.
Background
The existing inspection robot safety control system monitors the movement of the inspection robot in real time by setting a safety area, and when the inspection robot enters the safety area, the inspection robot is safely controlled.
However, the outdoor weather of the offshore water hydrogen production platform field is different from land, and under severe weather such as strong wind and heavy rain, the robot is required to stop moving, and when accidents such as air leakage and the like occur on the water hydrogen production platform, the working state of the inspection robot is easily influenced, and in addition, the operation safety of the inspection robot is also influenced. Therefore, more comprehensive safety control logic needs to be set according to the platform weather, the air leakage event and the self condition of the inspection robot.
The invention patent CN112847356B discloses a safety control method of a foot-type inspection robot of a transformer substation, which utilizes the number of point clouds of an advancing channel to realize obstacle avoidance of the foot-type inspection robot in a three-dimensional space in a foot lifting or squatting mode, solves the problem that a wheel-type inspection robot cannot surmount an obstacle in space, realizes the obstacle stopping or obstacle winding function of the foot-type inspection robot in an equipment area, widens the operation range of the foot-type inspection robot, and improves the adaptability and flexibility of the robot.
The invention patent CN113047205B discloses a control method and a system of a patrol robot integrating the internet of things technology, a path planning method which is simple and convenient to calculate and safe and effective is obtained by storing map patrol points, key path points and paths in a database, and the obtained shortest paths are stored in a mode of calculating and storing simultaneously, so that the method is convenient to be used as patrol paths directly in the same patrol sequence, and the calculation is reduced.
The invention solves the problem that the inspection robot controls the robot in work because of the environment, but does not provide how to logically control the inspection robot aiming at different environments, and particularly comprehensively and safely control the inspection robot by a water hydrogen production platform in an offshore environment. Therefore, in order to ensure the safe inspection of the inspection robot, a safe control capable of detecting the platform air leakage and the posture of the inspection robot itself according to the platform weather is required.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an outdoor inspection robot safety control system for an offshore water hydrogen production platform field, which introduces parameters related to wind power, calculates the safety moving speed and direction on the premise of considering the sizes and weights of different inspection robots, gives an alarm when judging that the inspection robots are abnormal, simultaneously introduces a gravity center distance adjustment ratio and a speed adjustment ratio, considers the distance between the gravity center of the robot and the horizontal ground under the influence of wind power, adjusts the moving speed of the robot according to the gravity center distance adjustment ratio, and effectively improves the inspection safety of the inspection robots.
In order to solve the technical problems, the technical scheme adopted by the invention is that the outdoor inspection robot safety control system for the offshore water hydrogen production platform field is characterized by comprising a platform environment monitoring device, a robot body and a computer monitoring system;
the platform environment monitoring device comprises:
the wind power monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time wind power of an outdoor platform;
the rainfall monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time rainfall;
the safety sensor is arranged outside the offshore water hydrogen production platform field and is used for triggering and alarming by the alarm when the robot is abnormal;
the infrared sensing device is arranged outside the offshore water hydrogen production platform field and is used for controlling the robot to enter the room;
The robot body includes:
the processor is used for receiving the real-time wind power and rainfall information of the platform, the alarm information triggered by the safety sensor and the induction signal sent by the infrared induction device, and carrying out data processing and robot control according to the received information;
the acceleration sensor is connected with the processor and used for acquiring the movement parameters of the robot;
the level meter is connected with the processor and is used for acquiring indoor current inclination information;
The computer monitoring system is connected with the platform environment monitoring device and the robot body through a network and is used for acquiring real-time wind power and rainfall information of the platform, alarm information triggered by the safety sensor and induction signals sent by the infrared induction device.
In the preferred scheme, in the robot body, the processor gathers the robot running state information that the safety sensor sent in real time, calculates current robot safety movement speed and direction, analyzes the risk degree of current gradient of robot, sends out the alarm in real time when the early warning appears.
In a preferred scheme, the current safe moving speed and direction calculation method of the robot comprises the following steps:
1) Calculating a wind safety coefficient;
converting the real-time wind power F into a wind power safety coefficient k 1, wherein the conversion relation is as follows:
k1=α×（F－F0);
wherein F 0 is the maximum wind power which can be born by the robot during normal operation, and alpha is a conversion coefficient;
2) Judging whether the movement can be continued or not;
If the distance between the robot and the horizontal ground is h 1, calculating a gravity center distance adjustment ratio R 1 under the wind safety coefficient;
Comparing the R 1 with a first safety threshold Q 1, if R 1≥Q1, the gravity center position of the robot cannot move continuously under the current wind safety coefficient, and stopping moving;
3) Calculating the safe moving speed in normal operation;
If the real-time wind safety coefficient k 1 =0 under the condition of no additional wind influence, the robot can move according to the normal running condition;
According to the distance h 1 between the robot and the ground and the safety speed coefficient a 1 under normal operation, the safety moving speed V 1 is calculated according to the following calculation formula:
V1=a1×h1;
4) Calculating the safe moving speed under the influence of wind power;
If the real-time wind safety coefficient k 1 is more than 0, considering the influence of wind power on the moving speed, and calculating an inclination safety coefficient a 2 according to the actual inclination adjustment ratio R 2;
According to a 2 and h 1, the gradient safety moving speed V 2 is calculated by the following calculation formula:
V2=a2×h1;
5) Comprehensively calculating the safe moving speed;
The final safe moving speed V is calculated by combining the wind safety coefficient k 1 and the safe moving speed V 1 and the safe moving speed V 2 of the gradient in normal operation, and the calculation formula is as follows:
V=(1+ k1）×V1+ k1×V2;
The calculated V is the safe moving speed under the comprehensive consideration of the wind influence and the inclined state of the robot.
In a preferred scheme, in the step 3), a safe speed coefficient a 1 under normal operation is calculated based on historical environment information;
In the step 4), the inclination safety factor a 2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R 2 is measured by a level meter.
In a preferred scheme, the method for analyzing the risk degree of the current inclination of the robot comprises the following steps:
1) Calculating the operation safety coefficient of the robot;
The operation time information in the robot operation state information sent by the safety sensor is used for converting the operation time information into a robot operation safety coefficient k 2, and the conversion relation is as follows:
k2=f(T);
wherein T is a preset judging reference time, T >0;f is a conversion function, and the T is calculated according to historical data;
2) Calculating the gradient risk degree;
Based on the robot operation safety coefficient k 2, calculating the risk degree W of the current gradient, wherein the calculation formula is as follows:
W=λ1×k1+λ2×k2;
wherein lambda 1 and lambda 2 are proportionality coefficients, k 1 is a wind power safety coefficient, and k 2 is a robot operation safety coefficient;
3) Judging the risk degree and determining an action scheme;
3.1 When W > Q 1, then the inclination of the current robot is not suitable for movement, and the movement should be stopped immediately;
3.2 When Q 1≥W＞Q2, it means that the current adjustment speed has serious influence, and the moving speed is reduced at this time;
3.3 Q 2≥W＞Q3, the current adjustment speed is generally influenced, and the moving speed is gradually reduced in order at this time;
3.4 When W is less than or equal to Q 3, the influence of the current adjustment speed is small, and the movement speed is not required to be adjusted;
Wherein Q 1 is a first risk threshold, Q 2 is a second risk threshold, and Q 3 is a third risk threshold.
In a preferred embodiment, the calculation method of the actual inclination adjustment ratio R 2 is as follows:
1) Calculating a safe moving speed V;
According to the real-time wind force F and the safety distance coefficient d, the safety moving speed V is calculated, and the calculation formula is as follows:
V=F/d;
2) Calculating an initial moving speed V 0;
the measured initial movement speed V 0 of the level is calculated according to the safe movement speed V and the time t spent from the initial movement start to the acceleration end, and the calculation formula is as follows:
V0=V×t;
3) Recording and calculating measurement data of the level;
recording measurement data of the level during the period from the beginning of the initial movement to the end of the acceleration, and calculating an average value V 01 according to the recorded data;
4) Calculating a deviation value V 0 ́;
The difference between the measured initial moving speed V 0 and the average value V 01 is calculated as a deviation value V 0 ́, and the calculation formula is as follows:
V0´=V0－V01;
5) Calculating an adjustment speed V 3;
The adjusted speed V 3 is calculated according to the actual inclination adjustment proportion R 2 and the deviation value V 0 ́, and the calculation formula is V 3=（1+R2）×V0 ́.
In a preferred embodiment, the method for controlling the robot body based on the monitoring data of the rainfall monitor includes:
1) Acquiring real-time rainfall;
Acquiring current real-time rain through a rainfall monitor;
2) Judging the influence of rainfall;
2.1 If the real-time rainfall is smaller than the rainfall threshold q, the current rainfall is not influenced, and the robot moves normally;
2.2 If the real-time rainfall is greater than or equal to the rainfall threshold q), the platform is indicated to have larger rainfall influence, and the step 3) is entered;
3) Recording the real-time speed and judging the fluctuation;
recording real-time speed in a set acquisition period;
If the fluctuation of the real-time speed is larger than the allowable fluctuation range x, stopping moving the robot;
otherwise, entering step 4);
4) Calculating the allowable movement time;
calculating the allowable movement time T 0 of the platform;
the allowable fluctuation range x is defined as the product of the acceleration time t and the maximum movement speed V 0 during normal operation of the robot, i.e., x=t×v 0;
the allowable movement time T 0 is set to (1+z) ×t, where Z is an allowable acceleration ratio;
5) Calculating an acceleration proportion Z;
5.1 Calculating an acceleration ratio according to the real-time rainfall and the fluctuation range;
5.1.1 If the real-time rainfall is equal to the rainfall threshold q and is not smaller than the allowable fluctuation range x, indicating that the current platform has larger rainfall, but the rainfall has no influence on the movement of the robot, and the robot moves normally;
5.1.2 If the real-time rainfall is equal to the rainfall threshold q and is smaller than the allowable fluctuation range x, the real-time rainfall is possibly caused by wind power, the wind power safety coefficient k 1 is recorded, if the previous wind power safety coefficient is smaller than k 1, the acceleration ratio Z is the current value minus the previous value, and after the corresponding allowable movement time T 0 is calculated, the robot moves normally;
5.1.3 If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowable fluctuation range x, accumulating the allowable movement time T 0 from the previous value until the allowable movement time T 0 is exceeded, and stopping movement;
5.1.4 If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowable fluctuation range x, the allowable movement time T 0 is 0, and the robot stops moving.
In the preferred scheme, the robot body is connected with a computer monitoring system in a wireless mode, the computer monitoring system realizes information interaction with a platform environment monitoring device through a network, and initial parameter information including maximum speed, acceleration time, size and weight of the robot is input into the computer monitoring system when the robot normally operates;
The computer monitoring system acquires the environment information of the platform, gathers the acquired real-time wind power information of the platform and the real-time rainfall information of the platform, stores summarized data in a database according to a period t, judges whether the robot triggers an alarm or not by receiving the running state information of the robot sent by the safety sensor, triggers the safety sensor to send out the alarm when triggering the alarm, displays the running state of the robot on the computer monitoring system, including running time, speed and direction, and monitors send control instructions to the robot body according to the needs, so that the robot body enters the room or stops moving.
In a preferred aspect, in the robot body, the processor includes:
the mobile information acquisition module is used for acquiring the mobile data of the robot in real time, wherein the mobile data comprise the advancing direction and the current moving speed of the inspection robot, and the mobile data are sent to the mobile information analysis module;
The environment information receiving module is used for acquiring environment information on the platform in real time, wherein the environment information comprises wind power stages and inclination and is sent to the mobile information analysis module;
The mobile information analysis module is connected with the mobile information acquisition module and the environment information receiving module, analyzes the current safe advancing direction of the robot by combining the mobile data and the environment information, and sends the information to the risk assessment module;
The risk assessment module is connected with the mobile information analysis module and is used for calculating the inclination of the robot affected by gravity according to the environmental information and the weight of the robot and sending out a warning according to the inclination value, and the risk assessment module is also used for monitoring the calculated relative angle between the safe advancing direction and the current advancing direction of the robot, judging whether the absolute value of the relative angle exceeds a threshold value or not, and sending out a warning if the absolute value exceeds the threshold value;
The path planning module is connected with the mobile information analysis module and the risk assessment module, calculates the safe traveling speed under the current wind level, re-plans path information according to the safe traveling speed, and sends the information to the inspection robot;
The rainfall statistics module is used for receiving the rainfall information and the current travelling speed in the environment, counting the times that the continuous rainfall information exceeds a preset threshold value, and determining whether a warning needs to be sent or not according to the times.
The safety control system for the outdoor inspection robot of the offshore water hydrogen production platform field has the following beneficial effects:
(1) The wind power and rainfall information of the platform is monitored in real time through the wind power monitor and the rainfall monitor, so that the robot can timely adjust the operation strategy under severe weather conditions, safety accidents caused by environmental factors are avoided, the inclination of the robot is monitored in real time through the safety sensor and the level meter, the inclination risk degree is calculated by combining the wind power and the rainfall information, an alarm is timely sent out, the dangerous situations such as overturning and the like of the robot caused by overlarge inclination are prevented, a plurality of risk thresholds can be set according to different inclination risk degrees, different countermeasures are respectively corresponding, and proper protection measures can be adopted under different risk levels;
(2) The path planning module is used for dynamically adjusting the moving speed and the path of the robot by combining the current wind power and the inclination information, so that the robot is ensured to finish the inspection task in the shortest time, the inspection efficiency is improved, the traveling direction can be adjusted in real time by combining the environment information and the moving data of the robot, the collision and the obstacle are avoided, and the smooth inspection process is ensured;
(3) By dynamically adjusting the moving speed and the path of the robot, unnecessary energy consumption is reduced, the service life of a battery is prolonged, the operation cost is reduced, the system has high automation capability, the requirement for manual intervention is reduced, the labor cost is reduced, and the operation and maintenance efficiency is improved;
(4) The computer monitoring system displays the running state of the robot in real time, including running time, speed and direction, so that monitoring personnel can conveniently master the inspection progress at any time, the system can also store and analyze historical data, help management personnel know the environmental change trend of the platform, and provide reference for future inspection plans.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a block diagram of the structure of the present invention.
Fig. 2 is a block diagram of a processor in a robot body according to the present invention.
Detailed Description
Example 1:
A safety control system of an outdoor inspection robot of a marine water hydrogen production platform field comprises a platform environment monitoring device, a robot body and a computer monitoring system;
the platform environment monitoring device comprises:
the wind power monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time wind power of an outdoor platform;
the rainfall monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time rainfall;
the safety sensor is arranged outside the offshore water hydrogen production platform field and is used for triggering and alarming by the alarm when the robot is abnormal;
the infrared sensing device is arranged outside the offshore water hydrogen production platform field and is used for controlling the robot to enter the room;
The robot body includes:
the processor is used for receiving the real-time wind power and rainfall information of the platform, the alarm information triggered by the safety sensor and the induction signal sent by the infrared induction device, and carrying out data processing and robot control according to the received information;
the acceleration sensor is connected with the processor and used for acquiring the movement parameters of the robot;
the level meter is connected with the processor and is used for acquiring indoor current inclination information;
The computer monitoring system is connected with the platform environment monitoring device and the robot body through a network and is used for acquiring real-time wind power and rainfall information of the platform, alarm information triggered by the safety sensor and induction signals sent by the infrared induction device.
In the preferred scheme, in the robot body, the processor gathers the robot running state information that the safety sensor sent in real time, calculates current robot safety movement speed and direction, analyzes the risk degree of current gradient of robot, sends out the alarm in real time when the early warning appears.
Example 2:
On the basis of embodiment 1, the current safe moving speed and direction calculation method of the robot comprises the following steps:
1) Calculating a wind safety coefficient;
converting the real-time wind power F into a wind power safety coefficient k 1, wherein the conversion relation is as follows:
k1=α×（F－F0);
Wherein F 0 is the maximum wind power which can be born by the robot during normal operation, alpha is a conversion coefficient, and the minimum value of (F-F 0) is 0;
For the conversion coefficient alpha, the relation between wind power and a safety state is found out by collecting data of the robot under various wind power conditions in the actual operation process, wherein the data comprise wind power F, maximum wind power F 0 which can be born by the robot in normal operation and safety states of the robot under different wind power (such as whether the robot needs to be decelerated, stopped and the like), analyzing historical data, and determining the conversion coefficient alpha by drawing a relation diagram of the wind power and the safety state;
2) Judging whether the movement can be continued or not;
If the distance between the robot and the horizontal ground is h 1, calculating a gravity center distance adjustment ratio R 1,R1= k1×h1 under a wind safety coefficient k 1;
Comparing the R 1 with a first safety threshold Q 1, if R 1≥Q1, the gravity center position of the robot cannot move continuously under the current wind safety coefficient, and stopping moving;
wherein R 1 represents the change proportion of the gravity center of the robot relative to the gravity center position in the windless state under the current wind safety coefficient, Q 1 is used for judging whether the robot can safely move under the current wind safety coefficient, and when R 1≥Q1, the central position of the robot is considered to be unstable;
3) Calculating the safe moving speed in normal operation;
If the real-time wind safety coefficient k 1 =0 under the condition of no additional wind influence, the robot can move according to the normal running condition;
According to the distance h 1 between the robot and the ground and the safety speed coefficient a 1 under normal operation, the safety moving speed V 1 is calculated according to the following calculation formula:
V1=a1×h1;
The safety speed coefficient a 1 under normal operation is a preset coefficient, and is used for adjusting the safety moving speed of the robot under normal conditions. The safety speed coefficient a 1 is usually determined by experiments, historical data, expert experience or simulation methods. The relation between the maximum safe moving speed and the height of the robot under the normal condition is reflected;
4) Calculating the safe moving speed under the influence of wind power;
If the real-time wind safety coefficient k 1 is more than 0, considering the influence of wind power on the moving speed, and calculating an inclination safety coefficient a 2 according to the actual inclination adjustment ratio R 2;
Calculating the gradient according to a 2 and h 1, and calculating the gradient safety moving speed V 2 by the following calculation formula:
V2=a2×h1;
Wherein, a 2 is usually determined by methods such as experiments, historical data, expert experience or simulation, and reflects the relation between the speed and the height of the robot which can safely move in an inclined state;
5) Comprehensively calculating the safe moving speed;
The final safe moving speed V is calculated by combining the wind safety coefficient k 1 and the safe moving speed V 1 and the safe moving speed V 2 of the gradient in normal operation, and the calculation formula is as follows:
V=(1+k)×V1+k×V2;
The calculated V is the safe moving speed under the comprehensive consideration of the wind influence and the inclined state of the robot.
In the step 3), a safe speed coefficient a 1 under normal operation is calculated based on historical environment information;
In the step 4), the inclination safety factor a 2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R 2 is measured by a level meter.
Example 3:
based on embodiment 1, the method for analyzing the risk level of the current inclination of the robot is as follows:
1) Calculating the operation safety coefficient of the robot;
The operation time information in the robot operation state information sent by the safety sensor is used for converting the operation time information into a robot operation safety coefficient k 2, and the conversion relation is as follows:
k2=f(T);
Wherein T is a preset judging reference time, T is more than 0, and the function f is determined according to historical data.
F is a linear function, k 2 =f (T) can be understood as k 2 =at+b;
Wherein a is the slope, which represents the effect of the safety factor per unit time, b is the intercept, which is represented at t=0;
and the determination of a and b is based on collected historical data, such as:
from the historical data, the following is obtained:
When the running time T is1 (h), the running safety coefficient k 2 of the robot is 0.1;
When the running time T is 2 (h), the running safety coefficient k 2 of the robot is 0.2;
when the running time T is 3 (h), the running safety coefficient k 2 of the robot is 0.3;
......
Then, based on the above history data, k 2 =f (T) can be directly determined as:
k2=0.1×T。
2) Calculating the gradient risk degree W;
Based on the robot operation safety coefficient k 2, calculating the risk degree W of the current gradient, wherein the calculation formula is as follows:
W=λ1×k1+λ2×k2;
wherein lambda 1 and lambda 2 are proportionality coefficients, k 1 is a wind power safety coefficient, and k 2 is a robot operation safety coefficient;
the lambda 1 is used for adjusting the influence of the wind power safety coefficient k 1 on the gradient risk degree, and is usually determined by methods such as experiments, historical data, expert experience or simulation;
The lambda 2 is used for adjusting the influence of the robot operation safety coefficient k 2 on the gradient risk degree, and is usually determined by methods such as experiments, historical data, expert experience or simulation;
3) Judging the risk degree and determining an action scheme;
3.1 When W > Q 1, then the inclination of the current robot is not suitable for movement, and the movement should be stopped immediately;
3.2 When Q 1≥W＞Q2, it means that the current adjustment speed has serious influence, and the moving speed is reduced at this time;
3.3 Q 2≥W＞Q3, the current adjustment speed is generally influenced, and the moving speed is gradually reduced in order at this time;
3.4 When W is less than or equal to Q 3, the influence of the current adjustment speed is small, and the movement speed is not required to be adjusted;
Wherein Q 1 is a first risk threshold, Q 2 is a second risk threshold, and Q 3 is a third risk threshold.
Description of the examples this example:
real-time wind force f=12 meters/second;
maximum wind force F 0 =10 m/s that the robot can bear when operating normally;
conversion coefficient α=0.1;
robot run time t=3 hours;
The transfer function k 2 =f (T) is defined as k 2 =0.1×t;
The proportionality coefficient λ 1 =0.6;
the proportionality coefficient λ 2 =0.4;
First risk threshold Q 1 =0.5;
a second risk threshold Q 2 =0.3;
Third risk threshold Q 3 =0.1.
(1) Calculating a wind safety coefficient k 1:
k1=α×（F－F0)=0.1×(12-10)=0.1×2=0.2;
(2) Calculating a robot operation safety coefficient k 2:
k2=0.1×T=0.1×3=0.3;
(3) Calculating the gradient risk degree W;
W=λ1×k1+λ2×k2=0.6×0.2+0.4×0.3=0.12+0.12=0.24;
(4) Judging the risk degree and determining an action scheme:
W=0.2 and Q 2≥W＞Q3 is satisfied, so the moving speed is gradually decreased in order according to the proportional relationship calculated in step 1).
Example 4:
on the basis of embodiment 3, the calculation method of the actual inclination adjustment ratio R 2 is as follows:
1) Calculating a safe moving speed V;
According to the real-time wind force F and the safety distance coefficient d, the safety moving speed V is calculated, and the calculation formula is as follows:
V=F/d;
D is a safety distance coefficient, and is preset based on factors such as the size and the weight of the robot;
2) Calculating an initial moving speed V 0;
the measured initial movement speed V 0 of the level is calculated according to the safe movement speed V and the time t spent from the initial movement start to the acceleration end, and the calculation formula is as follows:
V0=V×t;
3) Recording and calculating measurement data of the level;
recording measurement data of the level during the period from the beginning of the initial movement to the end of the acceleration, and calculating an average value V 01 according to the recorded data;
4) Calculating a deviation value V 0 ́;
The difference between the measured initial moving speed V 0 and the average value V 01 is calculated as a deviation value V 0 ́, and the calculation formula is as follows:
V0´=V0－V01;
5) Calculating an adjustment speed V 3;
The adjusted speed V 3 is calculated according to the actual inclination adjustment proportion R 2 and the deviation value V 0 ́, and the calculation formula is V 3=（1+R2）×V0 ́.
Example 5:
based on embodiment 1, the method for controlling the robot body by using the monitoring data of the rainfall monitor in the system comprises the following steps:
1) Acquiring real-time rainfall
Acquiring current real-time rain through a rainfall monitor;
2) Judging influence of rainfall
2.1 If the real-time rainfall is smaller than the rainfall threshold q, the current rainfall is not influenced, and the robot moves normally;
2.2 If the real-time rainfall is greater than or equal to the rainfall threshold q), the platform is indicated to have larger rainfall influence, and the step 3) is entered;
3) Recording real-time speed and judging fluctuation
Recording real-time speed in a set acquisition period;
If the fluctuation of the real-time speed is larger than the allowable fluctuation range x, stopping moving the robot;
otherwise, entering step 4);
4) Calculating allowed movement time
Calculating the allowable movement time T 0 of the platform;
The allowable fluctuation range x is defined as the product of the acceleration time t and the maximum moving speed V 0 when the robot operates normally, namely x=t×V 0, and x is the allowable range for measuring whether the fluctuation of the speed of the robot is normal or not;
the allowable movement time T 0 is set to (1+z) ×t, where Z is an allowable acceleration ratio calculated based on the real-time rainfall and fluctuation range;
5) Calculating an acceleration proportion Z;
5.1 Calculating an acceleration ratio according to the real-time rainfall and the fluctuation range;
5.1.1 If the real-time rainfall is equal to the rainfall threshold q and is not smaller than the allowable fluctuation range x, indicating that the current platform has larger rainfall, but the rainfall has no influence on the movement of the robot, and the robot moves normally;
5.1.2 If the real-time rainfall is equal to the rainfall threshold q and is smaller than the allowable fluctuation range x, the possible wind force is indicated, the wind force safety coefficient k 1 is recorded, if the previous wind force safety coefficient is smaller than k 1, the acceleration proportion Z is the current value minus the previous value (namely Z=k Currently, the method is that -k Last time ), and after the corresponding allowable movement time T 0 is calculated, the robot moves normally;
5.1.3 If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowable fluctuation range x, accumulating the allowable movement time T 0 from the previous value until the allowable movement time T 0 is exceeded, and stopping movement;
5.1.4 If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowable fluctuation range x, the allowable movement time T 0 is 0, and the robot stops moving.
Example 6:
On the basis of the embodiment 1, the robot body is connected with a computer monitoring system in a wireless mode, the computer monitoring system realizes information interaction with a platform environment monitoring device through a network, and initial parameter information including maximum speed, acceleration time, size and weight of the robot when the robot normally operates is input into the computer monitoring system;
The computer monitoring system acquires the environment information of the platform, gathers the acquired real-time wind power information of the platform and the real-time rainfall information of the platform, stores summarized data in a database according to a period t, judges whether the robot triggers an alarm or not by receiving the running state information of the robot sent by the safety sensor, triggers the safety sensor to send out the alarm when triggering the alarm, displays the running state of the robot on the computer monitoring system, including running time, speed and direction, and monitors send control instructions to the robot body according to the needs, so that the robot body enters the room or stops moving.
In a preferred embodiment, in the robot body, the processing includes:
the mobile information acquisition module is used for acquiring the mobile data of the robot in real time, wherein the mobile data comprise the advancing direction and the current moving speed of the inspection robot, and the mobile data are sent to the mobile information analysis module;
The environment information receiving module is used for acquiring environment information on the platform in real time, wherein the environment information comprises wind power stages and inclination and is sent to the mobile information analysis module;
The mobile information analysis module is connected with the mobile information acquisition module and the environment information receiving module, analyzes the current safe advancing direction of the robot by combining the mobile data and the environment information, and sends the information to the risk assessment module;
The risk assessment module is connected with the mobile information analysis module and is used for calculating the inclination of the robot affected by gravity according to the environmental information and the weight of the robot and sending out a warning according to the inclination value, and the risk assessment module is also used for monitoring the calculated relative angle between the safe advancing direction and the current advancing direction of the robot, judging whether the absolute value of the relative angle exceeds a threshold value or not, and sending out a warning if the absolute value exceeds the threshold value;
The path planning module is connected with the mobile information analysis module and the risk assessment module, calculates the safe traveling speed under the current wind level, re-plans path information according to the safe traveling speed, and sends the information to the inspection robot;
The rainfall statistics module is used for receiving the rainfall information and the current travelling speed in the environment, counting the times that the continuous rainfall information exceeds a preset threshold value, and determining whether a warning needs to be sent or not according to the times.
In this embodiment, specifically:
The mobile information acquisition module is used for acquiring the mobile data of the inspection robot in real time, wherein the mobile data comprise the current mobile speed v 1 of the robot, the travelling direction theta 1 and the weight w 1 of the inspection robot, and the mobile data are sent to the mobile information analysis module;
The environment information receiving module is used for acquiring environment information on the platform in real time, wherein the environment information comprises a wind power level number a and an inclination angle theta 2 and is sent to the mobile information analysis module;
The mobile information analysis module is used for combining mobile data and environment information, calculating the safe advancing direction theta t and the safe advancing direction theta 2 of the current robot safety speed, and sending the information to the risk assessment module.
According to the invention, the safe moving speed of the current robot is calculated by collecting the moving parameters of the robot and the acquired environmental information of the outdoor platform, the risk degree of the current gradient of the robot is analyzed, the condition of the robot can be monitored in real time, an alarm can be timely given out once an abnormality exists, so that the safety performance of the inspection robot is improved, in addition, the gravity center distance adjustment proportion and the speed adjustment proportion are introduced, the safe running of the inspection robot with different sizes and weights is considered when the influence of wind power is considered, the system also plans a safe inspection path according to the wind power and the gradient information, so that the inspection robot can quickly run to a safe area, in addition, the wet-skid degree of the platform is judged based on the current rainfall and the moving speed, the robot is controlled to continue or stop moving, namely, under the heavy rain condition, if the continuous sampling value of the moving speed of the robot obviously fluctuates, the wet-skid degree of the platform is considered to be larger, the movement is stopped or the robot is controlled to enter the room, and the safety of the inspection robot is ensured to be prevented from being influenced by the wet-skid of the platform when the safe movement of the inspection robot is ensured.
Claims (7)
1. The safety control system of the outdoor inspection robot of the offshore water hydrogen production platform field is characterized by comprising a platform environment monitoring device, a robot body and a computer monitoring system;
the platform environment monitoring device comprises:
the wind power monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time wind power of an outdoor platform;
the rainfall monitor is arranged outside the offshore water hydrogen production platform field and is used for monitoring real-time rainfall;
the safety sensor is arranged outside the offshore water hydrogen production platform field and is used for triggering and alarming by the alarm when the robot is abnormal;
the infrared sensing device is arranged outside the offshore water hydrogen production platform field and is used for controlling the robot to enter the room;
The robot body includes:
the processor is used for receiving the real-time wind power and rainfall information of the platform, the alarm information triggered by the safety sensor and the induction signal sent by the infrared induction device, and carrying out data processing and robot control according to the received information;
the acceleration sensor is connected with the processor and used for acquiring the movement parameters of the robot;
the level meter is connected with the processor and is used for acquiring indoor current inclination information;
The computer monitoring system is connected with the platform environment monitoring device and the robot body through a network and is used for acquiring real-time wind power and rainfall information of the platform, alarm information triggered by the safety sensor and induction signals sent by the infrared induction device;
In the robot body, a processor collects the running state information of the robot, which is sent by a safety sensor in real time, calculates the safety moving speed and direction of the current robot, analyzes the risk degree of the current inclination of the robot, and gives an alarm in real time when early warning occurs;
The method for analyzing the risk degree of the current inclination of the robot comprises the following steps:
1) Calculating the operation safety coefficient of the robot;
The operation time information in the robot operation state information sent by the safety sensor is used for converting the operation time information into a robot operation safety coefficient k 2, and the conversion relation is as follows:
k2=f(T);
wherein T is a preset judging reference time, T >0;f is a conversion function, and the T is calculated according to historical data;
2) Calculating the gradient risk degree;
Based on the robot operation safety coefficient k 2, calculating the risk degree R of the current gradient, wherein the calculation formula is as follows:
R=λ1×k1+λ2×k2;
wherein lambda 1 and lambda 2 are proportionality coefficients, k 1 is a wind power safety coefficient, and k 2 is a robot operation safety coefficient;
3) Judging the risk degree and determining an action scheme;
3.1 When R > Q 1, the inclination of the current robot is not suitable for movement, and the movement should be stopped immediately;
3.2 When Q 1≥R＞Q2, it means that the current adjustment speed has serious influence, and the moving speed is reduced at this time;
3.3 Q 2≥R＞Q3, the current adjustment speed is generally influenced, and the moving speed is gradually reduced in order at this time;
3.4 When R is less than or equal to Q 3, the influence of the current adjustment speed is small, and the movement speed is not required to be adjusted;
Wherein Q 1 is a first risk threshold, Q 2 is a second risk threshold, and Q 3 is a third risk threshold.
2. The safety control system of the outdoor inspection robot for the offshore water hydrogen production platform field, as set forth in claim 1, is characterized in that the current safe moving speed and direction calculation method of the robot is as follows:
1) Calculating a wind safety coefficient;
converting the real-time wind power F into a wind power safety coefficient k 1, wherein the conversion relation is as follows:
k1=α×（F－F0);
wherein F 0 is the maximum wind power which can be born by the robot during normal operation, and alpha is a conversion coefficient;
2) Judging whether the movement can be continued or not;
If the distance between the robot and the horizontal ground is h 1, calculating a gravity center distance adjustment ratio R 1 under the wind safety coefficient;
Comparing the R 1 with a first safety threshold Q 1, if R 1≥Q1, the gravity center position of the robot cannot move continuously under the current wind safety coefficient, and stopping moving;
3) Calculating the safe moving speed in normal operation;
If the real-time wind safety coefficient k 1 =0 under the condition of no additional wind influence, the robot can move according to the normal running condition;
According to the distance h 1 between the robot and the ground and the safety speed coefficient a 1 under normal operation, the safety moving speed V 1 is calculated according to the following calculation formula:
V1=a1×h1;
4) Calculating the safe moving speed under the influence of wind power;
If the real-time wind safety coefficient k 1 is more than 0, considering the influence of wind power on the moving speed, and calculating an inclination safety coefficient a 2 according to the actual inclination adjustment ratio R 2;
According to a 2 and h 1, the gradient safety moving speed V 2 is calculated by the following calculation formula:
V2=a2×h1;
5) Comprehensively calculating the safe moving speed;
The final safe moving speed V is calculated by combining the wind safety coefficient k 1 and the safe moving speed V 1 and the safe moving speed V 2 of the gradient in normal operation, and the calculation formula is as follows:
V=(1+ k1）×V1+ k1×V2;
The calculated V is the safe moving speed under the comprehensive consideration of the wind influence and the inclined state of the robot.
3. The safety control system for the outdoor inspection robot of the offshore water hydrogen production platform farm according to claim 2, wherein in the step 3), a safety speed coefficient a 1 under normal operation is calculated based on historical environment information;
In the step 4), the inclination safety factor a 2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R 2 is measured by a level meter.
4. The safety control system of the outdoor inspection robot for the offshore water hydrogen production platform farm according to claim 2, wherein the calculation method of the actual inclination adjustment ratio R 2 is as follows:
1) Calculating a safe moving speed V;
According to the real-time wind force F and the safety distance coefficient d, the safety moving speed V is calculated, and the calculation formula is as follows:
V=F/d;
2) Calculating an initial moving speed V 0;
the measured initial movement speed V 0 of the level is calculated according to the safe movement speed V and the time t spent from the initial movement start to the acceleration end, and the calculation formula is as follows:
V0=V×t;
3) Recording and calculating measurement data of the level;
recording measurement data of the level during the period from the beginning of the initial movement to the end of the acceleration, and calculating an average value V 01 according to the recorded data;
4) Calculating a deviation value V 0 ́;
The difference between the measured initial moving speed V 0 and the average value V 01 is calculated as a deviation value V 0 ́, and the calculation formula is as follows:
V0´=V0－V01;
5) Calculating an adjustment speed V 3;
The adjusted speed V 3 is calculated according to the actual inclination adjustment proportion R 2 and the deviation value V 0 ́, and the calculation formula is V 3=（1+R2）×V0 ́.
5. The outdoor inspection robot safety control system for the offshore water hydrogen production platform farm according to claim 1, wherein the method for controlling the robot body based on the monitoring data of the rainfall monitor comprises the following steps:
1) Acquiring real-time rainfall;
Acquiring current real-time rain through a rainfall monitor;
2) Judging the influence of rainfall;
2.1 If the real-time rainfall is smaller than the rainfall threshold q, the current rainfall is not influenced, and the robot moves normally;
2.2 If the real-time rainfall is greater than or equal to the rainfall threshold q), the platform is indicated to have larger rainfall influence, and the step 3) is entered;
3) Recording the real-time speed and judging the fluctuation;
recording real-time speed in a set acquisition period;
If the fluctuation of the real-time speed is larger than the allowable fluctuation range x, stopping moving the robot;
otherwise, entering step 4);
4) Calculating the allowable movement time;
calculating the allowable movement time T 0 of the platform;
the allowable fluctuation range x is defined as the product of the acceleration time t and the maximum movement speed V 0 during normal operation of the robot, i.e., x=t×v 0;
the allowable movement time T 0 is set to (1+z) ×t, where Z is an allowable acceleration ratio;
5) Calculating an acceleration proportion Z;
5.1 Calculating an acceleration ratio according to the real-time rainfall and the fluctuation range;
5.1.1 If the real-time rainfall is equal to the rainfall threshold q and is not smaller than the allowable fluctuation range x, indicating that the current platform has larger rainfall, but the rainfall has no influence on the movement of the robot, and the robot moves normally;
5.1.2 If the real-time rainfall is equal to the rainfall threshold q and is smaller than the allowable fluctuation range x, the real-time rainfall is possibly caused by wind power, the wind power safety coefficient k 1 is recorded, if the previous wind power safety coefficient is smaller than k 1, the acceleration ratio Z is the current value minus the previous value, and after the corresponding allowable movement time T 0 is calculated, the robot moves normally;
5.1.3 If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowable fluctuation range x, accumulating the allowable movement time T 0 from the previous value until the allowable movement time T 0 is exceeded, and stopping movement;
5.1.4 If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowable fluctuation range x, the allowable movement time T 0 is 0, and the robot stops moving.
6. The outdoor inspection robot safety control system for the offshore water hydrogen production platform field of claim 1, wherein the robot body is connected with a computer monitoring system in a wireless mode, the computer monitoring system is in information interaction with a platform environment monitoring device through a network, and initial parameter information including maximum speed, acceleration time, size and weight of the robot is input into the computer monitoring system when the robot normally operates;
The computer monitoring system acquires the environment information of the platform, gathers the acquired real-time wind power information of the platform and the real-time rainfall information of the platform, stores summarized data in a database according to a period t, judges whether the robot triggers an alarm or not by receiving the running state information of the robot sent by the safety sensor, triggers the safety sensor to send out the alarm when triggering the alarm, displays the running state of the robot on the computer monitoring system, including running time, speed and direction, and monitors send control instructions to the robot body according to the needs, so that the robot body enters the room or stops moving.
7. The outdoor inspection robot safety control system for an offshore water hydrogen production platform farm according to claim 1, wherein the robot body comprises a processor comprising:
the mobile information acquisition module is used for acquiring the mobile data of the robot in real time, wherein the mobile data comprise the advancing direction and the current moving speed of the inspection robot, and the mobile data are sent to the mobile information analysis module;
The environment information receiving module is used for acquiring environment information on the platform in real time, wherein the environment information comprises wind power stages and inclination and is sent to the mobile information analysis module;
The mobile information analysis module is connected with the mobile information acquisition module and the environment information receiving module, analyzes the current safe advancing direction of the robot by combining the mobile data and the environment information, and sends the information to the risk assessment module;
The risk assessment module is connected with the mobile information analysis module and is used for calculating the inclination of the robot affected by gravity according to the environmental information and the weight of the robot and sending out a warning according to the inclination value, and the risk assessment module is also used for monitoring the calculated relative angle between the safe advancing direction and the current advancing direction of the robot, judging whether the absolute value of the relative angle exceeds a threshold value or not, and sending out a warning if the absolute value exceeds the threshold value;
The path planning module is connected with the mobile information analysis module and the risk assessment module, calculates the safe traveling speed under the current wind level, re-plans path information according to the safe traveling speed, and sends the information to the inspection robot;
The rainfall statistics module is used for receiving the rainfall information and the current travelling speed in the environment, counting the times that the continuous rainfall information exceeds a preset threshold value, and determining whether a warning needs to be sent or not according to the times.
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| KR102783730B1 (en) * | 2022-11-28 | 2025-03-19 | 남동현 | Water surface drone for collecting marine debris, method and system thereof |
| CN117842293B (en) * | 2024-01-23 | 2024-07-19 | 广州航海学院 | Offshore charging system |
| CN118585781B (en) * | 2024-08-05 | 2024-10-18 | 哈船通航(三亚)技术服务合伙企业(有限合伙) | A rapid identification method for capsizing of an active self-righting unmanned ship |
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| CN117060839A (en) * | 2023-07-04 | 2023-11-14 | 杭州大造机器人科技有限公司 | Control method of photovoltaic robot |
| CN117163344A (en) * | 2023-08-31 | 2023-12-05 | 中国华能集团清洁能源技术研究院有限公司 | Self-adaptive adjusting system and method for unmanned aerial vehicle parking platform of offshore wind turbine |
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