CN211979507U - Petrochemical multi-dimensional sensing inspection robot and power supply system thereof - Google Patents
Petrochemical multi-dimensional sensing inspection robot and power supply system thereof Download PDFInfo
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- CN211979507U CN211979507U CN202020560809.0U CN202020560809U CN211979507U CN 211979507 U CN211979507 U CN 211979507U CN 202020560809 U CN202020560809 U CN 202020560809U CN 211979507 U CN211979507 U CN 211979507U
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Abstract
The utility model relates to a robot technical field is patrolled and examined in industry, discloses robot is patrolled and examined in multidimensional perception of petrochemical and power supply system thereof, and power supply system includes main power source and stand-by power supply, and the vary voltage board is coupled to the main power source, stand-by power supply with the vary voltage board all is coupled in a voltage selection unit, well accuse platform and communication unit coupling in voltage selection unit, detecting element, drive control unit, laser radar, GPS navigation and range unit all are coupled in the vary voltage board. Through setting up stand-by power supply to well accuse platform and communication unit pass through voltage selection unit and main power supply and stand-by power supply are coupled, and in emergency, stand-by power supply still can supply power for well accuse platform and communication unit, thereby is convenient for send to remote control center and patrols and examines robot trouble place, waits for the rescue.
Description
Technical Field
The utility model relates to an industry patrols and examines robot technical field, especially relates to a petrochemical multidimensional perception patrols and examines robot and power supply system thereof.
Background
With the development progress of petrochemical enterprises, the concern on safety is more and more extensive. Explosion protection is at the forefront in the safety of oil field production. The petrochemical industry is often in open areas, has high-precision instruments and equipment, and has complicated and severe hidden dangers such as petroleum and toxic gas leakage. Most of the devices are in dangerous explosive gas environments, and if an emergency occurs, the result that the quantity is difficult to estimate can be generated, so that safety accidents of petrochemical enterprises can be effectively prevented, and the working environment needs to be detected regularly.
Some enterprises carry out manual inspection at will, but when carrying out on-the-spot inspection with the manual work, can cause the difference of result and actual conditions because of limitations such as work load is big, inefficiency and subjective factor to and the artifical sensor that brings is limited, in addition, also can't guarantee staff's personal safety in inflammable and explosive environment for a long time. In order to protect the personal safety of staff and reduce the production cost, the explosion-proof inspection robot is widely welcomed and applied in the petrochemical industry. The explosion-proof inspection robot comprises a detection unit (such as a camera, a laser radar, infrared imaging and the like) for performing inspection work, a driving unit for driving the inspection robot to move, an inspection robot central control platform for controlling the inspection robot to work and performing data processing, and an inspection robot power supply system.
At present, the power supply mode of the explosion-proof inspection robot on the market is as follows: the voltage with higher output voltage value of the main power supply is reduced by the switching power supply or the DC/DC converter, and then different voltages meeting requirements are output to respectively supply power for key devices such as a motor driving circuit, each sensor, a control platform and the like.
The problems with this power mode are: the main power supply voltage is generally reduced by a switching power supply or a DC/DC converter and then supplied to a weak current part circuit on the vehicle, so that the power and loss which the switching power supply or the DC/DC converter needs to bear are large, and a power supply system is generally installed in a sealed and waterproof environment, so that the heat dissipation effect is insufficient, the long-time operation is realized, and the fault of the switching power supply or the DC/DC converter is easy to occur; in addition, the inspection robot inevitably has jolt vibration in the working process, if the shockproof effect is not good enough, the fault or the unstable work of the switching power supply or the DC/DC converter is easy, if the switching power supply or the DC/DC converter is unstable or fails, the power failure of the whole power supply system can be caused, and therefore the operation of the whole robot personal part is influenced, the robot comprises a control platform and a communication unit part, the communication between the robot and a control station is influenced, and the inconvenience is caused to the obstacle removing work.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art exists, one of the purposes of the utility model is to provide a stand-by power supply can take over the petrochemical multidimensional perception of main power supply rapidly and patrol and examine the robot when the main power supply trouble to be convenient for patrol and examine the robot partial part and still can normally function.
The utility model provides a robot is patrolled and examined in petrochemical multidimensional perception is realized through following technical scheme:
robot is patrolled and examined to petrochemical multidimensional perception, including explosion-proof automobile body, be located well accuse platform, drive control unit, communication unit and power supply system in the explosion-proof automobile body cavity to and be located the detecting element on the explosion-proof automobile body, detecting element with well accuse platform is connected, power supply system is connected with well accuse platform, drive control unit, communication unit and detecting element, power supply system includes main power source and stand-by power supply.
Through adopting above-mentioned technical scheme, through being provided with stand-by power supply, stand-by power supply can take over the main power supply rapidly and supply power for patrolling and examining robot partial unit when the main power supply trouble to be convenient for patrol and examine robot partial unit still can normal operating.
The utility model discloses can further configure to in a preferred example, detecting element includes TDLAS gaseous detection device of spectrum, infrared imaging device and camera device, explosion-proof automobile body top is equipped with the cloud platform, TDLAS gaseous detection device of spectrum, infrared imaging device and camera device all install in the cloud platform, the cloud platform connect in well accuse platform.
Through adopting above-mentioned technical scheme, gaseous detection device of TDLAS spectrum is used for detecting whether methane gas leaks, and infrared imaging device is used for acquireing on-the-spot infrared image, and camera device is used for acquireing on-the-spot video image, and camera device includes high definition digtal camera and wide angle camera, and gaseous detection device of TDLAS spectrum, infrared imaging device and camera device are connected with well accuse platform, and the data transmission who detects is to the fusion processing of data in well accuse platform realization, output gas leakage dynamic image.
The utility model discloses can further configure to in a preferred example, detecting element including install in four unification gas detection device on the explosion-proof automobile body, four unification gas detection device with well accuse platform is connected.
Through adopting above-mentioned technical scheme, four unification gaseous detection device are arranged in oxygen, hydrogen sulfide, carbon monoxide and combustible gas of detection gas.
The utility model discloses can further configure to in a preferred example, detecting element including install in adapter on the explosion-proof automobile body, the adapter all with well accuse platform is connected.
Through adopting above-mentioned technical scheme, the adapter is used for acquireing on-the-spot sound, for example explosion sound.
The utility model discloses can further configure to in a preferred example, install laser radar, GPS navigation and range unit on the explosion-proof automobile body, GPS navigation with well accuse platform is connected, laser radar and range unit with GPS navigation connects.
By adopting the technical scheme, the target point data of each target object in the working space is acquired through the laser radar scanning and is sent to the GPS navigation system so as to formulate a navigation line, then the inspection robot is driven to walk according to the navigation line through the driving control unit, and obstacle avoidance is realized through the matching of the distance measuring device in the walking process.
A second object of the utility model is to provide a power supply system of robot is patrolled and examined in above-mentioned petrochemical multidimensional perception, it can replace the main power supply rapidly when the main power supply trouble and be well accuse platform and communication unit, and well accuse platform and communication unit normally work in being convenient for, and then in time establish communication with remote control center, and the robot equipment state is patrolled and examined in the feedback.
The utility model provides a petrochemical multidimensional perception patrols and examines robot power supply system is realized through following technical scheme:
petrochemical multidimension perception patrols and examines robot power supply system, main power coupling have the variable pressure board, stand-by power supply with the variable pressure board all is coupled in a voltage selection unit, well accuse platform and communication unit are coupled in voltage selection unit, detecting element, drive control unit, laser radar, GPS navigation and range unit all are coupled in the variable pressure board.
Through adopting above-mentioned technical scheme, in the emergence emergency, for example patrol and examine robot main power supply and damage suddenly, stand-by power supply still can give well accuse platform and communication unit power supply to be convenient for send to remote control center and patrol and examine robot trouble place, wait for the rescue.
The present invention may be further configured in a preferred example that the pressure changing plate includes a 5V voltage unit, a 24V voltage unit and a 12V voltage unit, and the voltage selecting unit is coupled to the 12V voltage unit.
The utility model discloses can further configure to in a preferred example, TDLAS spectral gas detection device is coupled in 5V voltage unit, and drive control unit, GPS navigation, four unification gaseous detection device, cloud platform, laser radar, camera device all are coupled in 24V voltage unit, and infrared imaging device, adapter, range unit all are coupled in 12V voltage unit.
Through adopting above-mentioned technical scheme, form independent power supply design, not only avoided each to use the power pollution between the electrical apparatus, also can be directed against the customization of the task of patrolling and examining of customization and open different kinds of sensor simultaneously to reduce the consumption.
The utility model discloses can further configure to in a preferred example, TDLAS spectral gas detection device pass through the relay with 5V voltage unit is coupled, drive control unit, GPS navigation, four unification gaseous detection device, cloud platform, laser radar, camera device all through the relay with 24V voltage unit is coupled, infrared imaging device, adapter, range unit all through the relay with 12V voltage unit is coupled, the relay connect in well accuse platform.
By adopting the technical scheme, hardware hard restart of different electrical appliances can be realized through the central control platform, and mutual interference is avoided.
To sum up, the utility model provides a petrochemical multidimensional perception patrols and examines robot and power supply system includes following at least one useful technological effect:
1. by arranging the standby power supply, and coupling the central control platform and the communication unit with the main power supply and the standby power supply through the voltage selection unit, the standby power supply can still supply power to the central control platform and the communication unit when an emergency occurs, so that the remote control center can conveniently send a fault place of the inspection robot to wait for rescue;
2. by forming an independent power supply design, power supply pollution among all electric appliances is avoided, and meanwhile, different types of sensors can be started in a customized mode according to a customized routing inspection task to reduce power consumption; meanwhile, hardware hard restart of different electrical appliances is realized through the central control platform, and mutual interference is avoided.
Drawings
Fig. 1 is a schematic structural view of a petrochemical multidimensional sensing inspection robot provided by the utility model;
fig. 2 is the utility model provides a petrochemical multidimensional perception patrols and examines robot power supply system's schematic structure.
In the figure: 1. an explosion-proof vehicle body; 11. an explosion-proof wagon box; 12. a wheel; 2. a central control platform; 3. a drive control unit; 32. a laser radar; 33. a GPS navigation system; 34. a distance measuring device; 4. a communication unit; 41. a TDLAS spectrum gas detection device; 42. an infrared imaging device; 43. a camera device; 44. a four-in-one gas detection device; 5. a power supply system; 50. an air switch; 51. a main power supply; 511. a charging device; 510. a pressure-changing plate; 5101. a 5V voltage unit; 5102. a 24V voltage unit; 5103. a 12V voltage unit; 52. a standby power supply; 520. a voltage selection unit; 6. a holder; 7. an audible and visual alarm; 8. a sound pickup; 9. a relay; 91. provided is an interphone.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The utility model discloses a petrochemical multidimensional perception inspection robot, as shown in figure 1, which comprises an explosion-proof vehicle body 1, wherein the explosion-proof vehicle body 1 comprises an explosion-proof wagon box 11 and wheels 12 positioned at the bottom of the explosion-proof wagon box 11; the explosion-proof compartment 11 is provided with a hollow cavity, as shown in fig. 1 and fig. 2, a driving control unit 3 for driving the inspection robot to walk, a communication unit 4 for realizing the communication connection between the inspection robot and the remote control center, and a central control platform 2 for realizing navigation and data fusion processing are installed in the central control cavity, and the driving control unit 3 and the communication unit 4 are both connected to the central control platform 2; the explosion-proof vehicle body 1 is provided with a detection element which is connected with the central control platform 2 so as to feed back each detected data to the central control platform 2, thus realizing the fusion processing of each data, and in addition, the explosion-proof vehicle box 11 is also provided with a power supply system 5, and the power supply system 5 supplies power for each element part of the inspection robot.
As shown in figure 1, a cloud platform 6 is installed at the top of the explosion-proof vehicle body 1, the cloud platform is connected with the central control platform 2, the cloud platform 6 is controlled to move through the central control platform 2, and the cloud platform 6 supplies power through a power supply system 5. The detecting element includes that the gaseous detection device 41 of TDLAS spectrum that detects methane gas and whether leak, the infrared imaging device 42 that acquires on-the-spot infrared image and the camera device 43 who acquires on-the-spot video image, camera device 43 include high definition digtal camera and wide angle camera, and high definition digtal camera installs in cloud platform 6, and wide angle camera installs in explosion-proof automobile body 1 front side locomotive position. The TDLAS spectrum gas detection device 41, the infrared imaging device 42 and the camera device 43 are connected with the central control platform 2, detected data are sent to the central control platform 2, fusion processing of the three data is achieved, and a gas leakage dynamic image is output. Gaseous detection device 41 of TDLAS spectrum, infrared imaging device 42 and camera device 43 all install in cloud platform 6, and cloud platform 6 passes through central control platform 2 control action to the information of control gaseous detection device 41 of TDLAS spectrum, infrared imaging device 42 and camera device 43 obtains the target position.
As shown in fig. 1, the detecting element further includes a four-in-one gas detecting device 44 and a sound pick-up 8 mounted on the explosion-proof vehicle body 1, the four-in-one gas detecting device 44 is used for detecting oxygen, hydrogen sulfide, carbon monoxide and combustible gas in the gas, the sound pick-up 8 is used for acquiring field sound such as explosion sound, and the four-in-one gas detecting device 44 and the sound pick-up 8 are both connected to the central control platform 2 so as to feed back possible information to the central control platform 2. As shown in figure 1, an audible and visual alarm 7 is further mounted on the explosion-proof vehicle body 1, and the audible and visual alarm 7 is connected with the central control platform 2.
As shown in fig. 1, a laser radar 32 and a distance measuring device 34 are installed at the front end of the explosion-proof vehicle body 1, a GPS navigation system 33 is installed in the explosion-proof vehicle box 11 and connected with the central control platform 2, and both the laser radar 32 and the distance measuring device 34 are connected with the GPS navigation system 33. Target point data of each target object in the working space is acquired through a scanning of the laser radar 32 and sent to the GPS navigation system 33 so as to make a navigation line, then the inspection robot is driven to walk according to the navigation line through the driving control unit 3, and obstacle avoidance is achieved through the matching of the distance measuring device 34 in the walking process. In this embodiment of the present invention, the distance measuring device 34 is an ultrasonic obstacle avoidance device.
The petrochemical multi-dimensional perception inspection robot obtains gas data, image data, sound data and the like of field detection through the detection elements and feeds the gas data, the image data, the sound data and the like back to the central control platform 2 for data fusion processing, when the detection data of a target position exceed a preset safety value, an audible and visual alarm 7 gives an alarm, and meanwhile, the inspection robot is driven to the target position through the GPS navigation system 33 and the drive control unit for further inspection, so that manual field inspection is replaced. In order to facilitate the communication between the remote control center and the field workers, the explosion-proof vehicle body 1 is further provided with an interphone 91.
As shown in fig. 1 and 2, the power supply system 5 includes a main power supply 51 and a backup power supply 52. The utility model also discloses a petrochemical multidimension perception patrols and examines specific structure of robot power supply system, as shown in fig. 2, main power 51 is 48V lithium cells, and is connected with charging device 511, main power 51 is coupled with voltage transformation board 510, air switch 50 is coupled between main power 51 and the voltage transformation board 510, voltage transformation board 510 includes 5V voltage unit 5101, 24V voltage unit 5102 and 12V voltage unit 5103, voltage transformation board 510 is step-down circuit promptly (it is the conventional technique in the art, therefore no longer describe here). As shown in fig. 2, the TDLAS spectral gas detection device 41 is coupled to the 5V voltage unit 5101, the driving control unit 3, the GPS navigation system 33, the four-in-one gas detection device 44, the console 6, the lidar 32, the audible and visual alarm 7, and the camera 43 are all coupled to the 24V voltage unit 5102, and the infrared imaging device 42, the sound pickup 8, the distance measuring device 34, and the intercom 91 are all coupled to the 12V voltage unit 5103. Above-mentioned independent power supply design has not only avoided each to use the power pollution between the electrical apparatus, also can be directed against the customization of the task of patrolling and examining simultaneously and open different kinds of sensors to reduce the consumption. In addition, as shown in fig. 2, the TDLAS spectral gas detection device 41 is coupled to the 5V voltage unit 5101 through the relay 9, the driving control unit 3, the GPS navigation system 33, the four-in-one gas detection device 44, the cradle head 6, the laser radar 32, the audible and visual alarm 7, and the camera device 43 are coupled to the 24V voltage unit 5102 through the relay 9, the infrared imaging device 42, the sound pickup 8, and the distance measurement device 34 are coupled to the 12V voltage unit 5103 through the relay 9, and the relay 9 is connected to the central control platform 2, so that hardware hard restart of different electrical appliances can be realized through the central control platform 2, and mutual interference can be avoided.
As shown in fig. 2, the standby power source 52 and the 12V voltage unit 5103 of the transformer board 510 are coupled to a voltage selection unit 520, and the console 2 and the communication unit 4 are coupled to the voltage selection unit 520. When the 12V voltage unit 5103 is powered off, the central control platform 2 and the communication unit 4 are powered by the standby power supply 52, so that in an emergency, such as sudden damage of the main power supply 51 of the inspection robot, the standby power supply 52 can still power the central control platform 2 and the communication unit 4, and the inspection robot can conveniently send the inspection robot fault site to a remote control center to wait for rescue.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (9)
1. Robot is patrolled and examined to multidimension perception of petrochemical, include explosion-proof automobile body (1), be located well accuse platform (2), drive control unit (3), communication unit (4) and power supply system (5) in explosion-proof automobile body (1) cavity to and be located the detecting element on the explosion-proof automobile body, detecting element with well accuse platform (2) are connected, its characterized in that, detecting element with well accuse platform (2) are connected, power supply system (5) are connected with well accuse platform (2), drive control unit (3), communication unit (4) and detecting element, power supply system (5) include main power source (51) and stand-by power supply (52).
2. The petrochemical multidimensional sensing inspection robot according to claim 1, wherein the detection elements comprise a TDLAS spectral gas detection device (41), an infrared imaging device (42) and a camera device (43), a cloud deck (6) is arranged at the top of the explosion-proof vehicle body (1), the TDLAS spectral gas detection device (41), the infrared imaging device (42) and the camera device (43) are all mounted on the cloud deck (6), and the cloud deck (6) is connected to the central control platform (2).
3. The petrochemical multidimensional sensing inspection robot according to claim 2, wherein the detection element comprises a four-in-one gas detection device (44) mounted on the explosion-proof vehicle body (1), and the four-in-one gas detection device (44) is connected with the central control platform (2).
4. The petrochemical industry multidimensional sensing inspection robot according to claim 1, wherein the detection element comprises a sound pickup (8) mounted on the explosion-proof vehicle body (1), and the sound pickup (8) is connected with the central control platform (2).
5. The petrochemical multidimensional sensing inspection robot according to claim 1, wherein a laser radar (32), a GPS navigation system (33) and a distance measuring device (34) are mounted on the explosion-proof vehicle body (1), the GPS navigation system (33) is connected with the central control platform (2), and the laser radar (32) and the distance measuring device (34) are connected with the GPS navigation system (33).
6. Petrochemical industry multidimension perception patrols and examines robot power supply system, its characterized in that, vary voltage board (510) are coupled to main power supply (51), stand-by power supply (52) with vary voltage board (510) all are coupled in a voltage selection unit (520), and well accuse platform (2) and communication unit (4) are coupled in voltage selection unit (520), detecting element, drive control unit (3), laser radar (32), GPS navigation (33) and range unit (34) all are coupled in vary voltage board (510).
7. The petrochemical multi-dimensional perception inspection robot power supply system according to claim 6, wherein the pressure changing plate (510) comprises a 5V voltage unit (5101), a 24V voltage unit (5102), and a 12V voltage unit (5103), and the voltage selection unit (520) is coupled to the 12V voltage unit (5103).
8. The petrochemical multidimensional sensing inspection robot power supply system according to claim 7, wherein the TDLAS spectral gas detection device (41) is coupled to a 5V voltage unit (5101), the driving control unit (3), the GPS navigation system (33), the four-in-one gas detection device (44), the holder (6), the laser radar (32) and the camera device (43) are coupled to a 24V voltage unit (5102), and the infrared imaging device (42), the sound pickup (8) and the distance measurement device (34) are coupled to a 12V voltage unit (5103).
9. The petrochemical multidimensional sensing inspection robot power supply system according to claim 8, wherein the TDLAS spectral gas detection device (41) is coupled with the 5V voltage unit (5101) through a relay (9), the drive control unit (3), the GPS navigation system (33), the four-in-one gas detection device (44), the pan-tilt (6), the lidar (32) and the camera device (43) are coupled with the 24V voltage unit (5102) through the relay (9), the infrared imaging device (42), the sound pickup (8) and the distance measurement device (34) are coupled with the 12V voltage unit (5103) through the relay (9), and the relay (9) is connected with the central control platform (2).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506065A (en) * | 2020-04-15 | 2020-08-07 | 海隆石油集团(上海)信息技术有限公司 | Petrochemical multi-dimensional sensing inspection robot and power supply system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506065A (en) * | 2020-04-15 | 2020-08-07 | 海隆石油集团(上海)信息技术有限公司 | Petrochemical multi-dimensional sensing inspection robot and power supply system thereof |
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