KR20240021128A - Automatic sealing apparatus for gas production facility and automatic sealing method for gas production facility using the same - Google Patents

Abstract

An automatic gas production equipment sealing device for sealing a leaked part of a gas production equipment according to an aspect of the present invention includes a traveling part that has a plurality of driving wheels and is capable of traveling, a lifting tower erected on the driving part, and It may include a multi-joint arm installed to be capable of being lifted up and down on a lifting tower, and a nozzle that is fixed to the multi-joint arm and discharges a sealing member.

Description

Automated sealing device for gas production facilities and automated sealing method for gas production facilities using the same {AUTOMATIC SEALING APPARATUS FOR GAS PRODUCTION FACILITY AND AUTOMATIC SEALING METHOD FOR GAS PRODUCTION FACILITY USING THE SAME}

The present invention relates to an automobile sealing device and automated sealing method for sealing leaks in gas production facilities.

Generally, gas production facilities produce high-temperature, high-pressure gas by heating raw materials, and a plurality of doors are installed in the gas production facility. Leakage may occur between the frame and the door due to high temperature and pressure.

A gas production facility may have a plurality of combustion chambers into which fuel is charged, and a gas production chamber is installed between each combustion chamber. The gas produced in the gas production facility is purified and then reused as a combustion gas and a heat source. To prevent these gases from leaking to the outside, a sealing strip is attached between the frame and the door.

As the usage time of gas production equipment increases, the sealing strip is deformed or damaged, causing the problem that gas generated in the chamber is discharged from the door frame into the atmosphere. Accordingly, problems of environmental pollution and emission of hazardous substances are emerging, so it is required to seal the door and frame using a sealant to solve these problems.

If a leak occurs, the worker moves to the leak location and performs sealing work. However, if the gas production facility is large, work must be performed at a high altitude in a high area, and the risk of safety accidents is very high in a high-temperature work environment.

Korean Patent No. 10-0215200 (December 18, 2000)

Based on the technical background described above, the present invention provides an automated sealing device for gas production facilities and an automated sealing method for gas production facilities that can easily and quickly perform sealing work.

An automatic gas production equipment sealing device for sealing a leaked part of a gas production equipment according to an aspect of the present invention includes a traveling part that has a plurality of driving wheels and is capable of traveling, a lifting tower erected on the driving part, and It may include a multi-joint arm installed to be capable of being lifted up and down on a lifting tower, and a nozzle that is fixed to the multi-joint arm and discharges a sealing member.

A tip frame is fixed to the articulated arm according to one aspect of the present invention, and a marker recognition module that recognizes the marker installed in the nozzle and the gas production facility may be installed on the tip frame.

A tilting axis supporting the marker recognition module and a tilting motor coupled to the tilting axis to rotate the marker recognition module may be installed on the tip frame according to one aspect of the present invention.

The automated sealing device for gas production facilities according to one aspect of the present invention may further include a control unit that corrects the position of the nozzle based on information transmitted from the marker recognition module.

The marker recognition module according to one aspect of the present invention may include a camera and a laser scanner.

The camera according to one aspect of the present invention is comprised of a 3D depth camera, and the control unit may receive information from the 3D depth camera to derive the inclination angle of the door of the gas production facility and the sealing robot.

The laser scanner according to one aspect of the present invention measures the first side of the marker while moving, and measures the second side of the marker while moving in a direction intersecting the first side at the vertex of the ma, so that the laser scanner is diagonal to each other. The vertex located in the direction is derived, the distance between the diagonal vertex and the laser scanner is measured, and the control unit determines the vertical angle between the door of the gas production facility and the laser scanner based on the information transmitted from the laser scanner. and the horizontal angle can be derived.

The nozzle according to one aspect of the present invention is installed with a force sensor that measures the force acting on the nozzle, and the gas production facility automated sealing device performs position correction by receiving information on changes in the force acting on the nozzle. It may further include a control unit.

A scraper that pressurizes the sealing material discharged from the nozzle may be installed in the nozzle according to one aspect of the present invention.

The automated sealing device for gas production facilities according to one aspect of the present invention may further include a control unit that receives information on changes in force acting on the scraper and performs position correction.

A nozzle holder supporting the nozzle is installed in the nozzle according to one aspect of the present invention, and the nozzle holder may be made of a hyperelastic material.

The automated sealing device for gas production facilities according to one aspect of the present invention further includes a sealing material supply unit that supplies sealing material to the nozzle, and the sealing material supply unit is coupled to a storage tank in which the sealing material is stored and an upper part of the sealing material storage tank, and the nozzle is inserted. It may include a coupling part in which a hole is formed, a supply piston installed inside the storage tank, a cylinder for moving the supply piston, and a linear encoder connected to the supply piston to measure the moving distance of the supply piston.

The automated sealing device for gas production equipment according to one aspect of the present invention further includes a nozzle cleaning unit that removes sealing material remaining in the nozzle, and the nozzle cleaning unit includes a box-shaped cleaning tank, rotatable inside the cleaning tank. It may include an inserted brush, and a washing nozzle that is inserted into the washing tank and sprays washing water.

The automated sealing method for gas production facilities according to an aspect of the present invention includes a command receiving step of receiving leakage location information, moving a moving part with wheels to the location where the leak occurs, and using a lifting tower installed on the driving part to lift the multi-joint arm. It may include a moving step of moving in the vertical direction, and a sealing material application step of discharging the sealing material while moving the nozzle using the multi-joint arm.

The automated sealing method for gas production equipment according to an aspect of the present invention supplies sealing material to the nozzle using a sealing material supply unit, inserting the tip of the nozzle into a storage tank storing the sealing material and forming a negative pressure in the nozzle, It may further include a sealing material filling step for moving the piston inside the storage tank.

In the sealing material charging step according to one aspect of the present invention, the supply amount of the sealing material can be controlled while measuring the position of the piston using a linear encoder connected to the piston.

The automated sealing method for gas production equipment according to one aspect of the present invention inserts the nozzle into the cleaning tank, creates positive pressure in the nozzle, discharges the sealing material remaining inside the nozzle, and sprays cleaning water while rotating the brush to remove the remaining sealant in the nozzle. A nozzle cleaning step of removing the sealing material may be further included.

The automated sealing method for gas production equipment according to one aspect of the present invention includes a marker recognition step of recognizing a marker installed in the gas production facility, and a position correction step of correcting the position of the nozzle based on the information transmitted in the marker recognition step. More may be included.

The marker recognition step according to an aspect of the present invention derives the vertices of the marker using a laser scanner, measures the distance between the vertices and the laser scanner, and derives the vertical and horizontal angles of the door and the sealing robot. can do.

The marker recognition step according to one aspect of the present invention may photograph the marker using a 3D depth camera, and the position correction step may derive the inclination angle of the door and the nozzle of the gas production facility.

The sealing material application step according to one aspect of the present invention may be performed by pressing the discharged sealing material using a scraper attached to the nozzle.

The sealing material application step according to one aspect of the present invention may perform position correction by receiving change information in force transmitted from a force sensor installed in the nozzle.

The sealing material application step according to one aspect of the present invention applies pressure to the pneumatic system inside the nozzle using a pressure regulator, recognizes the point in time at which the sealing material is discharged to the outside when detecting a pressure change in the pneumatic system through real-time pressure measurement, and , the nozzle can be moved.

As described above, the automated sealing device for gas production equipment and the automated sealing method for gas production equipment according to one aspect of the present invention are provided with a moving part so that the sealing device can easily move to the location where the leak occurs and quickly perform sealing work. In addition, the multi-joint arm and nozzle automatically perform sealing work, preventing worker injury.

In addition, not only can the marker installed in the gas production facility be recognized and the coordinates corrected to move to the exact location, but the sealing material can be quickly pressed using a scraper fixed to the nozzle, and the force acting on the nozzle can be used to determine force and position. Control and sealing can be carried out in precise positions.

In addition, by providing a sealing material supply unit, the amount of sealing material to be discharged to the nozzle can be precisely supplied in the correct amount, and by providing a nozzle cleaning unit, the sealing material remaining in the nozzle and scraper can be easily removed.

Figure 1 is a perspective view showing an automated sealing device for gas production facilities according to an embodiment of the present invention.
Figure 2 is a diagram showing a portion of an automated sealing device for gas production facilities according to an embodiment of the present invention.
Figure 3 is a diagram showing a nozzle of an automated sealing device for gas production equipment according to an embodiment of the present invention.
Figure 4 is a diagram showing the sealing material supply unit and the nozzle cleaning unit of the automated sealing device for gas production equipment according to an embodiment of the present invention.
Figure 5 is a diagram showing a state in which a nozzle is coupled to a sealing material supply unit according to an embodiment of the present invention.
Figure 6 is a diagram showing a marker recognition module and a marker installed on a door according to an embodiment.
Figure 7 is a diagram showing a sealing material supply unit and a nozzle cleaning unit of an automated sealing device for gas production equipment according to another embodiment of the present invention.
Figure 8 is a flow chart for explaining the automated sealing method of gas production equipment according to an embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Hereinafter, an automated sealing device for gas production facilities according to an embodiment of the present invention will be described.

Figure 1 is a perspective view showing an automated sealing device for gas production facilities according to an embodiment of the present invention, Figure 2 is a diagram showing a portion of an automated sealing device for gas production facilities according to an embodiment of the present invention, and Figure 3 is a diagram showing a nozzle of an automated sealing device for gas production facilities according to an embodiment of the present invention, and Figure 4 is a view showing a sealing material supply unit and a nozzle cleaning unit of an automated sealing device for gas production facilities according to an embodiment of the present invention. 5 is a diagram showing a state in which a nozzle is coupled to a sealing material supply unit according to an embodiment of the present invention, and FIG. 6 is a diagram showing a marker recognition module and a marker installed on a door according to an embodiment of the present invention.

1 to 6, the automated sealing device 100 according to this embodiment is a device that seals the part where a leak occurs in the gas production facility 200, recognizes the occurrence of a leak in the situation room, and provides location information. When transmitted, it moves to the area where the leak occurred and automatically performs sealing.

To this end, the automated sealing device 100 according to this embodiment includes a traveling unit 110, a lifting tower 112, an articulated arm 130, a nozzle 171, a scraper 172, a marker recognition module (MD), It may include an environmental recognition module 120.

The gas production facility 200 may be comprised of a facility that produces gas at high temperature and high pressure, and a door frame and a door 220 coupled to the door frame are installed in the gas production facility 200.

The driving part consists of a vehicle capable of autonomous driving and may include wheels and outriggers. A power supply device, a motor, a hydraulic device, a communication module 128, etc. may be installed in the traveling unit. The communication module 117 may receive information about the point where a leak occurs in the situation room and transmit sealing process information.

A plurality of wheels 114 are installed on the traveling unit 110, and the wheels 114 can be rotated by a motor or the like. Additionally, a plurality of outriggers 116 for fixation may be installed on the traveling unit 110. The outrigger 116 moves downward after the traveling part 110 moves to the point where the leak occurs and fixes the traveling part so that it does not shake.

The lifting tower 112 is erected and installed with respect to the traveling unit 110, and a plurality of guide rails 113 connected in the height direction of the lifting tower 112 may be installed on the lifting tower 112. A lifting frame 115 that moves along the guide rail 113 may be installed on the guide rail 113.

An environmental recognition module 120 is installed on the upper part of the lifting tower 112, and the environmental recognition module 120 recognizes surrounding objects when the traveling unit 110 travels. The environmental recognition module 120 may include an environmental camera 121, a lidar sensor 123, and a module control unit 125. The environmental camera 121 may be made of a 3D camera or the like, and photographs surrounding objects when the driving unit 110 drives. The LiDAR sensor 123 scans obstacles located around the traveling unit 110. The module control unit 125 can tilt the environmental camera 121 and the lidar sensor 123 and control them at a desired angle.

A multi-joint arm 130 is fixed to the lifting frame 115. The multi-joint arm 130 consists of a robot arm that can move in more than 6 degrees of freedom, and supports the nozzle 171 and the marker recognition module (MD). and move it.

A tip frame 145 is installed at the tip of the articulated arm 130, and a nozzle 171 and a marker recognition module (MD) are installed on the tip frame 145. The marker recognition module (MD) recognizes the marker 250 installed on the door 220 and transmits information to the control unit 140. The marker recognition module (MD) may include a camera 177 and a laser scanner 174. The camera 177 moves to the sealing position, photographs the marker 250, and transmits image information to the control unit. The camera 177 may be a vision camera or a 3D depth camera.

The camera 177 and the laser scanner 174 are coupled to the tilting axis 142, and the tilting axis 142 rotatably supports the camera 177 and the laser scanner 174. A tilting motor 143 is connected to the tilting axis 142, and the camera 177 and the laser scanner 174 can rotate with respect to the tip frame 145 by the tilting motor 143. The camera 177 and the laser scanner 174 can rotate around an axis parallel to the y-axis by the tilting motor 143. When the articulated arm moves in various directions to control the nozzle 171, the camera 177 and the laser scanner 174 can be controlled to face forward by the tilting motor 143.

As shown in Figure 6, various types of markers 250 are installed on the door 220. The markers 250 can be made of various colors as well as 3X3 cells, and the color and shape of each cell changes. You can specify location coordinates through .

The control unit 140 corrects the position of the nozzle 171 based on information transmitted from the marker recognition module (MD). The control unit distinguishes the object from the background by preprocessing the image and extracting coordinates within the image from the image information transmitted from the camera 177, calculates the error between the center of the object and the center of the image, and moves the camera in a direction that reduces the error. , if the pixel value of the error after movement is greater than the preset standard, the robot is moved again in the direction of reducing the error, and if the pixel value of the error is less than the preset standard, the laser scanner 174 is moved in the direction of the marker to measure the precise depth value. move

The laser scanner 174 measures the first side of the marker 250 while moving, measures the second side of the marker 250 while moving in a direction intersecting the first side from the vertex of the marker 250, and measures the second side of the marker 250 while moving. Using the first and second sides, vertices located diagonally from each other are derived. Additionally, the laser scanner 174 measures the distance between the diagonal vertex and the laser scanner. The control unit 140 may derive the vertical and horizontal angles of the door 220 and the laser scanner 174 based on information transmitted from the laser scanner 174.

In addition, the camera 177 may be a 3D depth camera, and the control unit 140 receives information from the 3D depth camera 177 and controls the door 220 of the gas production facility 200 and the camera 177. The inclination angle can be derived.

The nozzle 171 is fixed to the tip frame 158 via a nozzle holder 178, and the nozzle holder 178 may be made of a superelastic material. The nozzle holder 178 may be formed so that its thickness gradually increases from the outer longitudinal direction to the center. Accordingly, during the sealing operation, the nozzle 171 can be tilted by inducing a change in the rigidity of the nozzle holder 178, and not only can it prevent shock from being applied to the nozzle 171, but also enable precise positioning.

The nozzle 171 is formed in the shape of a long pipe, and a nozzle container 176 in which the sealing material is stored is formed in the nozzle 171, and the sealing material can be supplied to the nozzle container 176 in an amount to be ejected at one time. Different amounts of sealing material may be supplied to the nozzle container 176 depending on the length of the area to be sealed. The sealing material may be made of mortar, but the present invention is not limited thereto.

A pressure regulator is connected to the nozzle 171, and the control unit 140 uses the pressure regulator to apply pressure to the pneumatic system inside the nozzle 171, and when a pressure change in the pneumatic system is detected through real-time pressure measurement, the sealing material is applied. The point of discharge to the outside can be recognized and the nozzle 171 can be moved. The nozzle 171 can move along a preset path by the first axis transfer member and the second axis transfer member.

A scraper 172 that pressurizes the sealing material is installed in the nozzle 171. The scraper 172 is fixed to the nozzle 171 via a support 173 and may be shaped like a ball. The scraper 172 is located next to the nozzle 171 and pressurizes the discharged sealing material so that it is fixed to the leakage area.

A force sensor 179 is installed in the nozzle 171, and the force sensor 179 detects changes in force acting on the nozzle 171. The control unit 140 may receive change information in the force acting on the nozzle 171 and perform position coordinate correction.

The control unit 140 sets the sealing path based on the received command and the information transmitted from the marker recognition module (MD), receives force change information, corrects the position coordinates of the nozzle 171, and moves the nozzle along the sealing path. (171) can be moved.

When the nozzle 171 comes into contact with a corner, protrusion, etc., a change in the force acting on the nozzle 171 occurs. If the position information measured by this change in force does not match the preset path information, the change in force occurs. The position information of the nozzle 171 can be corrected using the measured position information.

As shown in FIGS. 4 and 5, a sealing material supply unit 160 that supplies a sealing material may be installed in the automated sealing device 100. The sealing material may be made of a material that hardens at high temperatures, such as mortar. The sealing material supply unit 160 and the nozzle cleaning unit 180 may be installed on the traveling unit 110.

The sealing material supply unit 160 may include a storage tank 161, a supply cylinder 163, and a linear encoder 165. The storage tank 161 has a cylindrical shape and a sealing material is stored therein. A coupling portion 162 having a hole into which the nozzle 171 is inserted may be installed at the top of the storage tank 161. A stopper 169 that seals the hole may be installed in the coupling portion 162.

A supply piston 167 is installed inside the storage tank 161, and a linear encoder 165 that measures the moving distance of the supply piston 167 is installed on the supply piston 167. The supply cylinder 163 may be a pneumatic cylinder and is connected to the supply piston 167 to move the supply piston 167.

When the tip of the nozzle 171 is inserted into the coupling portion 162 formed in the storage tank 161, vacuum pressure is applied to the nozzle 171 by the valve, and pneumatic pressure is applied to the supply cylinder 163 to form a supply piston 167. ) moves, the sealing material may be supplied from the storage tank 161 to the nozzle. At this time, the supply amount of the sealing material is measured in real time using the linear encoder 165, and the amount of sealing material to be ejected at one time can be accurately supplied to the nozzle 171.

The nozzle cleaning unit 180 removes the sealing material remaining in the nozzle 171 and the scraper 172 after the application of the sealing material is completed. The nozzle cleaning unit 180 may include a cleaning tank 181, a water tank 184, a brush 182, a cleaning nozzle 183, a drain valve 185, a cleaning water pump 187, and a pneumatic motor 186. You can.

The cleaning tank 181 has a box shape, and a brush 182 and a cleaning nozzle 183 are installed inside. An opening into which a nozzle is inserted is formed in the upper part of the cleaning tank 181, and a cover 188 with a plurality of slits may be installed in the opening. The nozzle 171 may be inserted into the cleaning tank 181 through the opening, and at this time, the nozzle 171 and the scraper 172 may be inserted into the cleaning tank 181 together.

Two brushes 182 are rotatably installed inside the washing tank 181, and a washing nozzle 183 may be installed to spray washing water from the top of the brushes 182 toward the brushes 182. The pneumatic motor 186 is connected to the brush 182 and rotates the brush 182, and the brush 182 may be in the form of a sponge, brush, etc. Washing water is stored in the water tank 184. The water stored in the water tank 184 is supplied to the washing nozzle 183 through a tube by the washing water pump 187, and the washing water is supplied at high pressure from the washing nozzle 183 to the nozzle. It can be sprayed toward (171).

When high pressure is applied to the inside of the nozzle 171 while the nozzle 171 is inserted, the sealing material remaining inside the nozzle 171 is discharged, and the brush 182 rotates in contact with the nozzle 171 to seal the nozzle 171. and the water sprayed from the cleaning nozzle 183 can clean the nozzle 171. Meanwhile, a drain valve 185 is installed at the bottom of the cleaning tank 181, and the washed contaminated water can be discharged through the drain valve 185.

If the sealing material remains inside the nozzle 171, the sealing material hardens and the nozzle 171 is blocked. If the sealing material remains outside the nozzle 171, it is difficult for the nozzle 171 to discharge the sealing material at the correct location. Additionally, if the sealing material remains on the outside of the scraper 172, there is a problem in that it is difficult to press the sealing material uniformly. However, according to this embodiment, the nozzle cleaning unit 180 is installed to automatically clean the nozzle 171 and the scraper 172, so this problem is solved and the sealing operation can be performed continuously.

Figure 7 is a diagram showing a sealing material supply unit and a nozzle cleaning unit of an automated sealing device for gas production facilities according to another embodiment of the present invention.

As shown in FIG. 7, a different type of sealing material supply unit 190 may be installed in the lifting tower 112. The sealing material supply unit 190 supplies the sealing material to the nozzle 171 by electronic scanning, and may be connected to the nozzle 171 through a tube.

The sealing material supply unit 190 is connected to a pressurized tank 191 in which the sealing material is stored, a piston 192 movably installed in the pressurized tank 191, and a lead connected to the piston 192 along the longitudinal direction of the pressurized tank 191. A transfer nut 196 coupled to the screw 195 and the lead screw 195 and fixed to the upper part of the pressurized tank 191, a drive belt 194 coupled to the transfer nut 196, and connected to the drive belt 194. It may include an injection motor 193.

As the injection motor 193 rotates, the lead screw rotates and moves with respect to the transfer nut 196, thereby lowering the piston 192 to supply the sealing material to the nozzle. The sealing material supply unit 190 may supply the discharged amount of sealing material to the nozzle 171. The sealing material may not be stored in the nozzle 171 but may be pressurized by the sealing material supply unit and discharged through the nozzle. When the sealing material is stored in the nozzle 171, a negative pressure is formed inside the nozzle 171 to supply the sealing material to the nozzle 171, and the sealing material can be temporarily accommodated in the nozzle container 176.

As described above, according to this embodiment, the gas production facility automated sealing device 100 can easily and quickly move to the point where the traveling part 110 leaks, and the multi-joint arm 130 is operated by the lifting tower 112. It can rise or fall stably.

In addition, not only can the marker 250 installed in the gas production facility 200 be recognized and its coordinates corrected to move to an accurate location, but the sealing material can be quickly pressed using the scraper 172 fixed to the nozzle 171. , force-position control can be performed using the force acting on the nozzle 171 and sealing work can be performed at an accurate location.

In addition, by providing a sealing material supply unit 160, the amount of sealing material to be discharged to the nozzle 171 can be precisely supplied in a fixed amount, and by providing a nozzle cleaning unit 180, the remaining sealing material in the nozzle 171 and the scraper 172 can be removed. The sealing material can be easily removed.

Hereinafter, a method for automating gas production equipment according to an embodiment of the present invention will be described.

Figure 8 is a flow chart for explaining the automated sealing method of gas production equipment according to an embodiment of the present invention.

1 to 8, the automated sealing method for gas production facilities according to this embodiment includes a command reception step (S101), a movement step (S102), a sealing material filling step (S103), a marker recognition step (S104), It may include a position correction step (S105), a sealing material application step (S106), and a nozzle cleaning step (S107).

In the command reception step (S101), leakage location information is received using the communication module 128. In the situation room, leak information generated from the gas production facility 200 is collected, and if it is determined that a leak has occurred, the leak location information is transmitted to the automated sealing device 100, and the communication module 128 receives the leak information. .

In the moving step (S102), the traveling part is moved to the location where the leak occurs. In the moving step (S102), when the traveling part 110 moves to the designated position, the traveling part 110 is fixed using the outrigger 116, and the multi-joint arm 130 is moved up and down using the lifting tower 112. It can be moved in any direction, but can be moved to the location coordinates where the leak occurred.

In the sealing material filling step (S103), the sealing material is supplied to the nozzle container 176 formed in the nozzle 171 using the sealing material supply unit 160. In the sealing material filling step (S103), the amount of sealing material to be discharged once can be supplied considering the length of the leakage area. If the sealing material is not stored in the nozzle container 176 but is directly discharged by the sealing material supply unit 190, the sealing material filling step may be omitted.

The sealing material charging step (S103) involves inserting the tip of the nozzle 171 into the storage tank 161, forming negative pressure in the nozzle 171, and inserting the supply piston 167 inside the storage tank 161 into the supply cylinder. It may include a step of moving to (163) and a step of controlling the supply amount of the sealing material supplied from the storage tank 161 to the nozzle 171 while measuring the position of the supply piston 167 with a linear encoder 165.

In the marker recognition step (S104), the marker 250 installed in the gas production facility 200 is recognized using a marker recognition module (MD). In the marker recognition step (S104), the marker 250 installed on the door of the gas production facility 200 is photographed using the camera 177 and the laser scanner 174.

The position correction step (S105) corrects the position of the nozzle 171 based on the information transmitted in the marker recognition step (S104). The position correction step (S105) determines the current position of the nozzle 171 through the marker 250 recognized in the marker recognition step (S104), determines whether it matches the preset position, and matches the preset position and marker ( If the positions derived through 250) do not match, move the nozzle to correct the position.

In the position correction step (S105), the object is distinguished from the background through image preprocessing and coordinate extraction in the image from the image information transmitted from the camera 177, and the error between the center of the object and the image center is calculated to reduce the error. moves the camera 177, and if the pixel value of the error after movement is more than a preset value, the robot is moved again in the direction of reducing the error, and if the error pixel value is less than the preset value, a laser scanner is used to measure the precise depth. Move (174) in the direction of marker (250).

In addition, in the position correction step (S105), one side of the marker 250 is measured by moving the laser scanner 174, the other side is measured by lowering it again from the vertex, and the laser scanner 174 is connected to the vertex at a diagonal position. ) Measure the distance. In the position correction step (S105), the vertical and horizontal angles of the door 220 and the laser scanner 174 can be derived based on the information transmitted from the laser scanner 174.

In addition, the marker recognition step (S104) photographs the marker using a 3D depth camera, and the position correction step (S105) can derive the inclination angle of the door 220 and the nozzle 171 of the gas production facility 200. there is.

In the sealing material application step (S106), the sealing material is discharged while moving the nozzle 171 using the multi-joint arm 130. In the sealing material application step (S106), sealing can be performed by pressurizing the discharged sealing material using the scraper 172 attached to the nozzle 171, and information on the change in force transmitted from the force sensor installed in the nozzle 171 is used. By receiving the information, position correction can be performed. When the nozzle 171 comes into contact with a corner, protrusion, etc., a change in the force acting on the nozzle 171 occurs. If the position information measured by this change in force does not match the preset path information, the change in force occurs. The position information of the nozzle 171 can be corrected using the measured position information.

In the sealing material application step (S106), pressure is applied to the pneumatic system inside the nozzle 171 using a pressure regulator, and when a pressure change in the pneumatic system is detected through real-time pressure measurement, the time when the sealing material is discharged to the outside is recognized, and the nozzle 171 is applied. (171) can be moved.

The nozzle cleaning step (S107) includes inserting the nozzle 171 into the cleaning tank 181, forming a positive pressure on the nozzle 171, and discharging the sealing material remaining inside the nozzle 171, and the brush 182. It may include removing the sealing material remaining in the nozzle 171 and the scraper 172 by spraying washing water while rotating, and discharging the contaminated water inside the washing tank 181 through the drain valve 185. .

Above, an embodiment of the present invention has been described, but those skilled in the art can add, change, delete or add components without departing from the spirit of the present invention as set forth in the patent claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of the present invention.

100: Automated sealing device
110: Running unit
112: lifting tower
113: Guide rail
114: wheel
115: lifting frame
116: Outrigger
117: communication module
120: Environmental awareness module
121: Environmental camera
123: Lidar sensor
125: module control unit
130: Multi-joint arm
140: control unit
142: Tilting axis
143: Tilting motor
145: tip frame
160, 190: Sealing material supply unit
161: storage tank
162: coupling part
163: supply cylinder
165: Linear encoder
167: supply piston
171: nozzle
172: scraper
173: support
174: Laser scanner
176: nozzle container
177: Camera
178: nozzle holder
179: Force sensor
180: Nozzle cleaning unit
181: Washing tank
182: Brushes
183: Washing nozzle
184: water tank
185: drain valve
186: Pneumatic motor
187: Washing water pump
191: Pressurized tank
192: Piston
193: injection motor
194: Drive belt
195: lead screw
196: transfer nut
200: Gas production equipment
220: door
250: marker

Claims (22)

In the gas production facility automated sealing device that seals the leaked portion of the gas production facility,
A driving unit configured to travel with a plurality of driving wheels;
A lifting tower erected and installed on the traveling unit;
A multi-joint arm installed on the lifting tower to be capable of being raised and lowered; and
a nozzle fixed to the multi-joint arm and discharging a sealing member;
An automated sealing device for gas production facilities, comprising: According to claim 1,
An automated sealing device for gas production equipment, characterized in that a tip frame is fixed to the articulated arm, and a marker recognition module is installed on the tip frame to recognize the nozzle and a marker installed in the gas production equipment. According to clause 2,
An automated sealing device for gas production facilities, characterized in that a tilting axis supporting the marker recognition module and a tilting motor coupled to the tilting axis and rotating the marker recognition module are installed on the tip frame. According to clause 2,
An automated sealing device for gas production facilities, further comprising a control unit that corrects the position of the nozzle based on the information transmitted from the marker recognition module. According to clause 4,
The marker recognition module is an automated sealing device for gas production facilities, characterized in that it includes a camera and a laser scanner. According to clause 5,
The camera is comprised of a 3D depth camera, and the control unit receives information from the 3D depth camera to derive an inclination angle of the door of the gas production facility and the sealing robot. An automated sealing device for gas production facilities. According to clause 5,
The laser scanner measures the first side of the marker while moving, and measures the second side of the marker while moving in a direction that intersects the first side at the vertex of the marker, thereby deriving vertices located diagonally from each other. And, the distance between the vertex of the diagonal position and the laser scanner is measured, and the control unit derives the vertical angle and horizontal angle of the door of the gas production facility and the laser scanner based on the information transmitted from the laser scanner. Features an automated sealing device for gas production facilities. According to claim 1,
A force sensor is installed in the nozzle to measure the force acting on the nozzle,
The automated sealing device for gas production facilities further includes a control unit that receives information on changes in force acting on the nozzle and performs position correction. According to clause 8,
An automated sealing device for gas production facilities, characterized in that a scraper is installed in the nozzle to pressurize the sealing material discharged from the nozzle. According to claim 1,
An automated sealing device for gas production facilities, wherein a nozzle holder supporting the nozzle is installed on the nozzle, and the nozzle holder is made of a hyperelastic material. According to claim 1,
It further includes a sealing material supply unit that supplies sealing material to the nozzle,
The sealing material supply unit includes a storage tank in which the sealing material is stored, a coupling portion coupled to the upper part of the sealing material storage tank and having a hole into which a nozzle is inserted, a supply piston installed inside the storage tank, a cylinder for moving the supply piston, and the supply piston. An automated sealing device for gas production facilities, characterized in that it includes a linear encoder that is connected to and measures the moving distance of the supply piston. According to claim 1,
Further comprising a nozzle cleaning unit for removing sealing material remaining in the nozzle,
The nozzle cleaning unit is an automated sealing device for gas production equipment, comprising a box-shaped cleaning tank, a brush rotatably inserted inside the cleaning tank, and a cleaning nozzle inserted into the cleaning tank and spraying cleaning water. . A command receiving step of receiving leakage location information;
A moving step of moving the traveling unit having wheels to the location where the leak occurs and moving the multi-joint arm in the vertical direction using a lifting tower installed on the running unit; and
A sealing material application step of discharging the sealing material while moving the nozzle using the multi-joint arm;
An automated sealing method for gas production equipment, comprising: According to claim 13,
A sealing material is supplied to the nozzle using a sealing material supply unit, and the tip of the nozzle is inserted into a storage tank in which the sealing material is stored, and a sealing material filling step of moving the piston inside the storage tank while creating negative pressure in the nozzle is further performed. An automated sealing method for gas production equipment, comprising: According to claim 14,
The sealing material charging step is an automated sealing method for gas production equipment, characterized in that the supply amount of the sealing material is controlled by measuring the position of the piston using a linear encoder connected to the piston. According to claim 13,
A nozzle cleaning step of inserting the nozzle into the cleaning tank, forming a positive pressure on the nozzle to discharge the sealing material remaining inside the nozzle, and spraying washing water while rotating the brush to remove the sealing material remaining in the nozzle. Automated sealing method for gas production facilities. According to claim 13,
An automated sealing method for a gas production facility, further comprising a marker recognition step of recognizing a marker installed in the gas production facility, and a position correction step of correcting the position of the nozzle based on the information transmitted in the marker recognition step. . According to claim 17,
In the marker recognition step, the vertices of the marker are derived using a laser scanner, and the distance between the vertices and the laser scanner is measured to derive the vertical and horizontal angles of the door and the sealing robot. Gas production Automated sealing method for equipment. According to claim 17,
The marker recognition step is to photograph the marker using a 3D depth camera, and the position correction step is to derive the inclination angle of the door of the gas production facility and the nozzle. An automated sealing method for a gas production facility, characterized in that. According to claim 13,
The sealing material application step is an automated sealing method for gas production equipment, characterized in that the discharged sealing material is pressed and sealed using a scraper attached to the nozzle. According to claim 13,
The sealing material application step is an automated sealing method for gas production facilities, characterized in that position correction is performed by receiving information on change in force transmitted from a force sensor installed in the nozzle. According to claim 13,
The sealing material application step applies pressure to the pneumatic system inside the nozzle using a pressure regulator, recognizes when the sealing material is discharged to the outside when a pressure change in the pneumatic system is detected through real-time pressure measurement, and moves the nozzle. An automated sealing method for gas production facilities.

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