CN109397236A - A kind of oil depot global function crusing robot - Google Patents
A kind of oil depot global function crusing robot Download PDFInfo
- Publication number
- CN109397236A CN109397236A CN201811048323.2A CN201811048323A CN109397236A CN 109397236 A CN109397236 A CN 109397236A CN 201811048323 A CN201811048323 A CN 201811048323A CN 109397236 A CN109397236 A CN 109397236A
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- China
- Prior art keywords
- monitoring
- control system
- monitoring module
- global function
- oil depot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of oil depot global function crusing robots, including control system, voluntarily system and monitoring system.Control system includes being operated by operator on duty for the person on duty station of displaying scene monitoring information and for sending job instruction and receiving the data platform that on-site supervision content and being compared makes respective reaction；Voluntarily system is used to provide coordinate setting and voluntarily planning path goes to target position；Monitoring system is used to carry out sound, video and infrared monitoring and combustible gas monitoring to scene and monitoring content is transmitted to control system.The present invention can round-the-clock full landform dynamic and static monitoring is carried out to operating area, and find operation field abnormal conditions in time, it is unmanned, intelligent to realize operation.Have the characteristics that high degree of automation, round-the-clock, global function, real time monitoring, is particularly suitable for the dynamic and static operating equipment monitoring of oil depot.
Description
Technical field
The invention belongs to oil depot dynamic and static operating equipment monitoring technology field more particularly to a kind of oil depot global functions
Crusing robot.
Background technique
The dynamic and static inspection of oil depot and operating equipment monitoring are important one of the ongoing operations contents of oil depot, can be right
Reservoir area field operation content, operating equipment and operating environment are monitored and find wherein existing abnormal.For a long time, petroleum
Library, as the inspection main force, carries out tours of inspection by setting the inspection frequency in specific time interval by personnel, to ensure to move,
Safety in static place.By long-term accumulation, oil depot tours of inspection method can be summarized as " listen, hear, surveying, seeing ", " listening " i.e.
Listening, ear listen equipment rotary part, whether have abnormal noise inside static equipment；" news " hears taste, and whether nasil scene deposits
In the taste of abnormal taste especially pumped (conveying) medium；" survey " i.e. testing temperature measures the temperature of key part such as dynamic equipment axle portion, it is ensured that
It is within the specified scope；It sees and sees details, the positions such as visual inspection mechanical seal, flange face have checked whether media leaks.It is logical
Listening is crossed, taste, testing temperature is heard, sees that the means of details check field device facility, can effectively help operation
Personnel's discovering device facility is abnormal, it is ensured that operation safety.But often storage tank quantity is more for commercial oil-depot, takes up a large area, operation
Amount is big, operating personnel's limited amount, and reservoir area tours of inspection is usually timing inspection (such as 2 hours primary), the operation during which occurred
It is abnormal that it is often difficult to find cause the accident generation and expansion.And to scene continuously monitored, need to put into a large amount of manpower at
This, operability is not strong.Therefore, it is necessary to provide a kind of " listen, hear, survey, see " global function to can be achieved for oil depot operating environment
Monitor the crusing robot equipment of simultaneously initiative alarming in real time.
Summary of the invention
The object of the present invention is to provide a kind of oil depot global function crusing robots, can voluntarily be gone to based on satellite positioning
Operating area, and using picture recognition and comparison, audio comparison, infrared monitoring and oil gas monitoring technology to operation field equipment into
The round-the-clock global function monitoring of row, especially suitable for the dynamic and static operating equipment monitoring of oil depot.
The present invention provides a kind of oil depot global function crusing robots, including control system, voluntarily system and monitoring system
System；
Voluntarily system includes signal receiver and motorized cart, and signal receiver is used for the satellite of real-time reception motorized cart
Positioning signal, motorized cart are used to receive the setting coordinate of control system transmission, and go to operating area by planning path；
Monitoring system includes video monitoring module, Voice Surveillance module, the oil gas monitoring set on motorized cart housing forward end
Module, infrared monitoring module；
Video monitoring module for control system and stablizes operation shape for real-time transmission operation field picture to control system
The picture of state is compared；
Voice Surveillance module for real-time transmission operation field equipment sound spectrum to being control system, for control system with
The sound spectrum for stablizing job state is compared；
Oil gas monitoring module is for real-time monitoring operation field combustable gas concentration and is sent to control system, is for control
System is compared with combustable gas concentration setting value；
Infrared monitoring module is for monitoring operating equipment temperature in real time and being sent to control system, for control system and stabilization
The thermal infrared images temperature field of job state is compared；
Control system is for issuing warning note after comparing out difference；Wherein, difference includes: live view and stablizes operation
Status screen content occur non-overlapping item, there are continued jitters in sound spectrum curve, thermal infrared images temperature field shifts,
Combustable gas concentration reaches setting value；
Video monitoring module, Voice Surveillance module, oil gas monitoring module and infrared monitoring module are by being set to motorized cart
The wireless signal transmitter and control system radio communication of housing tip.
Further, video monitoring module is also used to identify the aobvious of operation field pointer pressure and dial thermometer
Registration value is simultaneously sent to control system, is compared for control system with the display numerical value for stablizing job state.
Further, control system includes data platform and person on duty station, and data platform is recorded for sending job instruction
The monitoring data that video monitoring module, Voice Surveillance module, oil gas monitoring module, infrared monitoring module transmit, and will monitoring
Data are compared with the reference data for stablizing job state；Person on duty station is for operating displaying scene monitoring number by operator on duty
According to, and operation intercepts the time data as the reference data for stablizing job state after stablizing at the scene.
Further, video monitoring module is wide-angle camera.
Further, Voice Surveillance module is matrix form microphone.
Further, oil gas monitoring module is combustible gas detector.
Further, infrared monitoring module is infrared radiation thermometer.
Further, motorized cart is equipped with solar power supply apparatus, and solar power supply apparatus includes being installed on from luggage
Set side and solar panels that are deployable and folding, and the battery connecting with solar panels.
Further, motorized cart is equipped with charging interface, and charging interface is connect with battery.
According to the above aspect of the present invention, stood using person on duty and operated by operator on duty by oil depot global function crusing robot, it can
Displaying scene monitoring information, data platform, which can be transmitted job instruction and receive on-site supervision content and be compared, makes phase
It should react；Coordinate setting is provided by voluntarily system and voluntarily planning path goes to target position；Monitoring system is used for scene
It carries out sound, video, thermal infrared images and combustible gas monitoring and monitoring content is transmitted to control system.With the degree of automation
The characteristics of high, round-the-clock, global function, real time monitoring, is particularly suitable for the dynamic and static operating equipment monitoring of oil depot.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of oil depot global function crusing robot control system of the present invention；
Fig. 2 is a kind of main view of oil depot global function crusing robot of the present invention；
Fig. 3 is a kind of side view of oil depot global function crusing robot of the present invention.
Figure label:
11- data platform；12- person on duty station；
21- signal receiver；22- motorized cart；23- solar panels；24- battery；25- charging interface；
31- wireless signal transmitter；32- video monitoring module；33- Voice Surveillance module；34- infrared monitoring module；35-
Oil gas monitoring module.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Join shown in Fig. 1 to Fig. 3, present embodiments provides a kind of oil depot global function crusing robot, including control system,
Voluntarily system and monitoring system.
Voluntarily system includes signal receiver 21 and motorized cart 22, and signal receiver 21 is used for real-time reception motorized cart
22 satellite positioning signal, motorized cart 22 are used to receive the setting coordinate of control system transmission, and go to by planning path
Operating area；22 monolithic case of motorized cart (shell) is Explosion-proof Design, and explosion-proof criteria is ExIIB grades, meets oil depot operation
Field application requirement.The present embodiment motorized cart 22 uses cuboid housing.It should be noted that the motorized cart of the present embodiment
It can be realized by programme path voluntarily using the prior art.
Monitoring system includes the video monitoring module 32 set on 22 housing forward end of motorized cart, Voice Surveillance module 33, oil
Gas monitoring module 35, infrared monitoring module 34.
Video monitoring module 32 for control system and stablizes operation for real-time transmission operation field picture to control system
The picture of state is compared；
Voice Surveillance module 33 is used for real-time transmission operation field equipment sound spectrum to being control system, for control system
It is compared with the sound spectrum for stablizing job state；
Oil gas monitoring module 35 is for real-time monitoring operation field combustable gas concentration and is sent to control system, for control
System is compared with combustable gas concentration setting value；
Infrared monitoring module 34 is for monitoring operating equipment temperature in real time and being sent to control system, for control system and surely
The thermal infrared images temperature field for determining job state is compared；
Control system is for issuing warning note after comparing out difference；Wherein, difference includes: live view and stablizes operation
Status screen content occur non-overlapping item, there are continued jitters in sound spectrum curve, thermal infrared images temperature field shifts,
Combustable gas concentration reaches setting value.
Video monitoring module 32, Voice Surveillance module 33, oil gas monitoring module 35 and infrared monitoring module 34 are by being set to
The wireless signal transmitter 31 and control system radio communication of 22 housing tip of motorized cart.User can set in the controls
The time interval of collection in worksite information comparison.
In the present embodiment, video monitoring module 32 is also used to identify operation field pointer pressure and pointer temperature
The display numerical value of table is simultaneously sent to control system, is compared for control system with the display numerical value for stablizing job state.
In the present embodiment, control system includes data platform 11 and person on duty station 12, and data platform 11 is made for sending
Industry instructs (such as setting coordinate), records video monitoring module 32, Voice Surveillance module 33, oil gas monitoring module 35, infrared prison
The monitoring data that module 34 transmits is controlled, and monitoring data is compared with the reference data for stablizing job state；Person on duty
12 are stood for by operator on duty operate displaying scene monitoring data, and after operation stabilization intercept the time data conduct at the scene
Stablize the reference data of job state.
In the present embodiment, wide-angle camera can be used in video monitoring module 32；Matrix can be used in Voice Surveillance module 33
Formula microphone；Combustible gas detector can be used in oil gas monitoring module 35；Infrared monitoring module 34 is infrared radiation thermometer.
It is provided in this embodiment by control system, the crusing robot that voluntarily system, monitoring system form, pass through control system
The person on duty of system, which stands, operates displaying scene monitoring information by operator on duty, sends job instruction by the data platform of control system
With receive on-site supervision content and be compared and make respective reaction, provide coordinate setting by voluntarily system and from professional etiquette
It draws path and goes to target position, sound, video and infrared monitoring and combustible gas monitoring are carried out to scene by monitoring system and incite somebody to action
Monitoring content is transmitted to control system, can round-the-clock full landform dynamic and static monitoring is carried out to operating area, and discovery is made in time
Industry scene abnormal conditions, it is unmanned, intelligent to realize operation.
In the present embodiment, motorized cart 22 is equipped with solar power supply apparatus, as power source, solar powered dress
It sets including being installed on motorized cart side and solar panels 23 that are deployable and folding, and the electric power storage connecting with solar panels 23
Pond 24.Electric power storage can be carried out in sunshine, can be discharged when bad into sunshine conditions such as restricted clearance or nights, really
Protect motorized cart power supply.
In the present embodiment, motorized cart 22 is equipped with charging interface 25, and charging interface 25 is connect with battery 24.Work as the sun
When can meet electricity consumption and needing, charger can be used to charge battery 24.
The course of work of the crusing robot is as follows:
Control system sends job instruction to crusing robot, and the signal receiver 21 in robot receives position signal,
Go to operating area automatically by motorized cart 22 according to navigator fix, be coated on robot outer wall solar panels 23 be unfolded into
Row charge and discharge process is that motorized cart 22 provides kinetic energy by battery 24, if battery 24 cannot provide sufficient electric energy, operation
Member can be that motorized cart 22 charges by charging interface 25.
After reaching operation field, wide-angle camera 32 is opened, and collection site video monitoring picture is simultaneously passed by wireless signal
Defeated device 31 is sent to control system；Wide-angle camera 32 can also be in real time on collection site pointer pressure and dial thermometer
Shown Pressure/Temperature value is sent to control system 1 by wireless signal transmitter 31 and refers to for monitoring personnel；Matrix form
Microphone 33 is opened, and collection site audible spectrum is simultaneously sent to control system by wireless signal transmitter 31；Infrared radiation thermometer
34 acquisition device temperature information are simultaneously sent to control system by wireless signal transmitter 31；The monitoring of combustible gas detector 35 is existing
Field combustable gas concentration is simultaneously sent to control system by wireless signal transmitter 31.
The information such as image, audible spectrum, thermal infrared images, the combustable gas concentration that scene is transmitted are recorded in by control system
Data platform 11.Data platform 11 identifies Pressure/Temperature table numerical value in image and shows Pressure/Temperature value at person on duty station 12
On；After field operation is stablized, person on duty station 12 confirmation interception the moment live image, audible spectrum, thermal infrared images conduct
Reference is recorded in data platform 11.Data platform 11 by scene transmit in real time image, audible spectrum, infrared image and this when
Quarter is compared, and occurs issuing warning note operator on duty on person on duty station 12 after exception and pays attention to.
The oil depot global function crusing robot is stood using person on duty and is operated by operator on duty, can displaying scene monitoring letter
Breath, data platform, which can be transmitted job instruction and receive on-site supervision content and be compared, makes respective reaction；By certainly
Row system provides coordinate setting and voluntarily planning path goes to target position；Monitoring system is used to carry out sound, video, heat to scene
Monitoring content is simultaneously transmitted to control system by infrared image and combustible gas monitoring.The crusing robot has the degree of automation
The characteristics of high, round-the-clock, global function, real time monitoring, is particularly suitable for the dynamic and static operating equipment monitoring of oil depot.
The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and
Modification, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of oil depot global function crusing robot, which is characterized in that including control system, voluntarily system and monitoring system；
The voluntarily system includes signal receiver and motorized cart, and the signal receiver is used for described in real-time reception from luggage
The satellite positioning signal set, the motorized cart are used to receive the setting coordinate that the control system is sent, and by planning road
Diameter goes to operating area；
The monitoring system includes video monitoring module, the Voice Surveillance module, oil gas set on the motorized cart housing forward end
Monitoring module, infrared monitoring module；
The video monitoring module is for real-time transmission operation field picture to the control system, for the control system and surely
The picture for determining job state is compared；
The Voice Surveillance module is used for real-time transmission operation field equipment sound spectrum to being control system, is for the control
It unites and is compared with the sound spectrum for stablizing job state；
The oil gas monitoring module is for real-time monitoring operation field combustable gas concentration and is sent to the control system, for institute
Control system is stated to be compared with combustable gas concentration setting value；
The infrared monitoring module is for monitoring operating equipment temperature in real time and being sent to the control system, for control system
It unites and is compared with the thermal infrared images temperature field for stablizing job state；
The control system is for issuing warning note after comparing out difference；Wherein, the difference includes: live view and stabilization
There is non-overlapping item in job state image content, continued jitters occurs in sound spectrum curve, thermal infrared images temperature field occurs
Offset, combustable gas concentration reach setting value；
The video monitoring module, Voice Surveillance module, oil gas monitoring module and infrared monitoring module by be set to it is described voluntarily
The wireless signal transmitter on device housing top and the control system radio communication.
2. a kind of oil depot global function crusing robot according to claim 1, which is characterized in that the video monitoring mould
Block is also used to identify the display numerical value of operation field pointer pressure and dial thermometer and is sent to control system, for institute
It states control system and is compared with the display numerical value for stablizing job state.
3. a kind of oil depot global function crusing robot according to claim 2, which is characterized in that the control system packet
Data platform and person on duty station are included, the data platform records video monitoring module, Voice Surveillance mould for sending job instruction
The monitoring data that block, oil gas monitoring module, infrared monitoring module transmit, and by the monitoring data and stablize job state
Reference data is compared；Person on duty station is for operating displaying scene monitoring data by operator on duty, and operation is steady at the scene
The time data is intercepted as the reference data for stablizing job state after fixed.
4. a kind of oil depot global function crusing robot according to claim 1, which is characterized in that the video monitoring mould
Block is wide-angle camera.
5. a kind of oil depot global function crusing robot according to claim 4, which is characterized in that the Voice Surveillance mould
Block is matrix form microphone.
6. a kind of oil depot global function crusing robot according to claim 5, which is characterized in that the oil gas monitors mould
Block is combustible gas detector.
7. a kind of oil depot global function crusing robot according to claim 6, which is characterized in that the infrared monitoring mould
Block is infrared radiation thermometer.
8. a kind of oil depot global function crusing robot according to claim 1, which is characterized in that the motorized cart peace
Equipped with solar power supply apparatus, the solar power supply apparatus includes being installed on the motorized cart side and deployable and folding
Solar panels, and the battery being connect with the solar panels.
9. a kind of oil depot global function crusing robot according to claim 8, which is characterized in that the motorized cart is set
There is charging interface, the charging interface is connect with the battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048323.2A CN109397236A (en) | 2018-09-10 | 2018-09-10 | A kind of oil depot global function crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048323.2A CN109397236A (en) | 2018-09-10 | 2018-09-10 | A kind of oil depot global function crusing robot |
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| CN109397236A true CN109397236A (en) | 2019-03-01 |
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| CN201811048323.2A Pending CN109397236A (en) | 2018-09-10 | 2018-09-10 | A kind of oil depot global function crusing robot |
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