CN113696176A - Remote control device of explosion-proof wheel type inspection robot of oil transportation station - Google Patents
Remote control device of explosion-proof wheel type inspection robot of oil transportation station Download PDFInfo
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- CN113696176A CN113696176A CN202110826682.1A CN202110826682A CN113696176A CN 113696176 A CN113696176 A CN 113696176A CN 202110826682 A CN202110826682 A CN 202110826682A CN 113696176 A CN113696176 A CN 113696176A
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- explosion
- remote control
- inspection robot
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- wifi
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a remote control device of an explosion-proof wheel type inspection robot of an oil delivery station, relates to remote control, and solves the technical problem that the control mode of the inspection robot at present is easy to interfere with station equipment or control signals of the inspection robot are interfered. The system comprises a remote control upper computer, a remote control unit and a control unit, wherein the remote control upper computer sends a control signal according to a planned routing inspection path; and the explosion-proof base stations are used for receiving the control signals and forwarding the control signals to the inspection robot through the directional WiFi signals so that the inspection robot can inspect the inspection path. The invention is practical and reliable, and the wireless communication equipment can not cause interference to the field equipment, and also ensures the communication control requirement of the wireless communication equipment, thereby having strong practicability.
Description
Technical Field
The invention relates to remote control, in particular to a remote control device of an explosion-proof wheel type inspection robot of an oil transportation station.
Background
Industrial-grade robots are currently in widespread use. However, the petrochemical operation site, such as an oil transportation station, belonging to a hazardous chemical region has a high explosion-proof requirement, and various precise detection devices are installed in the middle of complex pipelines, so that the requirement on external communication signals is very strict. Aiming at the current inspection robot, the main problems still exist in the interference problem of remote control signals to equipment and the problem that the control signals are difficult to receive easily. The main reason is that the inspection robot and the control equipment are directly transmitted through remote communication signals, but the frequency of the remote communication signals is generally low, and the equipment in a station is easily interfered. And because the long-range transmission of signal, it also receives external interference easily at the in-process of conveying, is unfavorable for patrolling and examining the accurate control of robot.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, provides an explosion-proof wheel type inspection robot remote control device for an oil delivery station, and solves the problem that the control mode of the inspection robot is easy to interfere with station equipment or the control signal of the inspection robot is interfered at present.
The invention relates to an explosion-proof wheel type inspection robot remote control device for an oil transportation station, which comprises a remote control upper computer, a remote control unit and a remote control unit, wherein the remote control upper computer sends out a control signal according to a planned inspection path;
the communication looped netowrk of setting on patrolling and examining the route is used for retransmitting through directional wiFi signal control signal extremely patrols and examines the robot to make and examine the robot with patrol and examine the route and patrol and examine.
The communication looped netowrk mainly comprises a plurality of explosion-proof basic stations, explosion-proof basic station sends received control signal to patrolling and examining the robot through directional wiFi signal transmission, just it receives all explosion-proof basic station's directional wiFi signal simultaneously to patrol and examine the robot, and right directional wiFi signal detects, selects the explosion-proof basic station that the signal is optimal to connect.
The explosion-proof base station comprises a first switch, a WiFi base station and a directional antenna; the first switch is connected with the WiFi base station, and the WiFi base station is electrically connected with the directional antenna through a coaxial shielding cable.
The outer side of the coaxial shielding cable is sleeved with a shielding pipe sleeve, and an interface of the shielding pipe sleeve is filled with explosion-proof daub.
The explosion-proof base station sends directional WiFi signals of at least two frequencies.
The frequency of the directional WiFi signal is 5GHz-6 GHz.
The remote control upper computer is connected with an explosion-proof base station closest to the remote control upper computer through a network cable, and two adjacent explosion-proof base stations are connected through optical fibers.
The inspection robot comprises a WiFi client, an omnidirectional antenna, a second switch, a microprocessor and a visual holder; visual cloud platform, microprocessor all are connected with the second switch, the second switch is connected with the wiFi customer end, the wiFi customer end passes through coaxial shielded cable and is connected with omnidirectional antenna.
The inspection robot sends a path feedback signal to the remote control upper computer in real time, and the remote control upper computer judges whether the inspection robot reaches a set inspection point in real time; if the inspection robot reaches a set inspection point, the inspection robot continues to inspect; otherwise, the remote control upper computer sends out an alarm signal and a stop signal so as to stop the inspection robot.
Advantageous effects
The invention has the advantages that:
1. through arranging a plurality of explosion-proof basic stations on patrolling and examining the route, utilize directional wiFi signal to realize patrolling and examining the communication between robot and the remote control host computer, can effectual reduction to the interference of oil transportation field station equipment. And the WiFi signal has good communication characteristic, and the inspection robot and the remote control upper computer are brought into the application scope of WiFi communication, so that communication and control between each other can be more effectively realized, and inspection of pipe network equipment in the station by the robot is realized. In addition, the setting of a plurality of explosion-proof basic stations can ensure to patrol and examine the robot and be in the coverage of wiFi signal all the time, avoids the problem of signal interruption, guarantees to patrol and examine the normal function of robot, ensures robot remote control's reliability.
2. The explosion-proof base station sends the WiFi signals through the directional antenna, so that the WiFi signals can be more concentrated in one direction, signal transmission between the inspection robot and the explosion-proof base station is facilitated, and meanwhile interference of the WiFi signals to other equipment is also reduced. The inspection robot utilizes the omnidirectional antenna, can receive a plurality of explosion-proof base stations simultaneously in the walking process of patrolling and examining, and the explosion-proof base station with the best detection signal is connected and switched, so that the stability of wireless communication is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a remote control device according to the present invention;
FIG. 2 is a schematic structural diagram of an explosion-proof base station according to the present invention;
fig. 3 is a schematic structural view of the inspection robot of the present invention.
Wherein: the system comprises a 1-inspection robot, a 2-explosion-proof base station, a 3-remote control upper computer, a 4-WiFi client, a 5-omnidirectional antenna, a 6-second switch, a 7-robot power supply, an 8-microprocessor, a 9-visual cloud deck, a 10-base station power supply, an 11-first switch, a 12-WiFi base station and a 13-directional antenna.
Detailed Description
The invention is further described below with reference to examples, but not to be construed as being limited thereto, and any number of modifications which can be made by anyone within the scope of the claims are also within the scope of the claims.
Referring to fig. 1-3, the explosion-proof wheel type inspection robot remote control device for the oil transportation station comprises a remote control upper computer 3 and a communication ring network arranged on an inspection path. And the remote control upper computer 3 sends out a control signal according to the planned routing inspection path. The communication looped netowrk is used for retransmitting control signal to patrolling and examining robot 1 through directional wiFi signal to make patrolling and examining robot 1 patrol and examine in order to patrol and examine the route. The invention utilizes the directional WiFi signal on the routing inspection path to reduce the interference on the oil transportation station equipment, and the WiFi signal has good communication characteristic, brings the explosion-proof wheeled routing inspection robot and the remote control upper computer 3 into the application range of WiFi communication, and finally realizes the communication and control between the explosion-proof wheeled routing inspection robot and the remote control upper computer. In addition, the setting of a plurality of explosion-proof basic stations 2 can ensure to patrol and examine robot 1 and be in the coverage of wiFi signal all the time, avoids the problem of signal interruption, guarantees to patrol and examine robot 1's normal operating. And the directional WiFi signal is beneficial to the receiving of the patrol robot 1 to the signal, and meanwhile, the interference of the WiFi signal to other equipment is also reduced.
It should be noted that, in order to ensure that the used remote control device can meet the use requirements of the oil transportation station, the shells of the inspection robot 1 and the explosion-proof base station 2 are made of carbon steel, and the appearance design meets the explosion-proof requirements.
The communication looped netowrk of this embodiment mainly comprises a plurality of explosion-proof basic stations 1, and explosion-proof basic station 1 sends received control signal to patrolling and examining robot 1 through directional wiFi signal, and patrols and examines robot 1 and receive all explosion-proof basic station 2's directional wiFi signal simultaneously to detect directional wiFi signal, select the explosion-proof basic station 2 that the signal is optimal and connect. The robot 1 of patrolling and examining promptly is patrolling and examining the in-process of walking, detects a plurality of explosion-proof basic station 2's signal strength simultaneously, then selects the best explosion-proof basic station 2 of signal strength to connect to the stability that need not the communication is guaranteed. Moreover, if the explosion-proof base station 2 is interfered by the outside, the arrangement of the explosion-proof base stations 2 can ensure the reliability of the remote control of the inspection robot 1 in the most stable and rapid communication mode.
The inspection robot 1 sends a path feedback signal to the remote control upper computer 3 in real time in the process of traveling, and the remote control upper computer 3 judges whether the inspection robot 1 reaches a set inspection point or not according to the path feedback signal. It should be noted that maps of the inspection sites are stored in both the remote control upper computer 3 and the inspection robot 1. In the process of advancing, the position information of the inspection robot 1 is synchronized on a built-in inspection site map and is also fed back to the remote control upper computer 3 to be synchronized. And a corresponding set inspection point is arranged in the inspection site map of the remote control upper computer 3. And if the inspection robot 1 reaches the set inspection point, the inspection robot 1 continues to inspect. Otherwise, the remote control upper computer 3 sends out an alarm signal and a stop signal so as to stop the inspection robot 1. That is, while the inspection robot 1 is traveling, the positional information is updated simultaneously on the inspection robot 1 and the remote control upper computer 3, but the judgment as to whether the position of the inspection robot 1 is correct or not is made only when the inspection robot 1 travels to a predetermined inspection point. The advantage that sets up like this lies in the condition that can effectual avoidance remote control host computer 3 frequently reported to the police, and does benefit to the initiative of patrolling and examining robot 1 and keeps away the barrier.
In the process of traveling, the inspection robot 1 inevitably has a traveling error on the path. And on the routing inspection path, obstacles are inevitably met. If the inspection robot 1 carries out active obstacle avoidance, the inspection robot 1 is easy to deviate from the path, and the error exceeds the set range. However, in most cases, the inspection robot 1 returns to the original path after obstacle avoidance is completed. If the remote control upper computer 3 gives an alarm when the inspection robot 1 deviates, the situation of false alarm can occur. Therefore, the inspection robot 1 is provided with the inspection point, and the condition of error report due to obstacle avoidance is avoided in a fixed-point monitoring mode, so that the inspection robot can finish inspection operation more efficiently.
After the inspection robot 1 stops running, the inspection robot needs to return to an inspection path in a manual control mode.
The remote control upper computer 3 is connected with the explosion-proof base station 2 closest to the remote control upper computer through a network cable so as to reduce the arrangement of the network cable. Two adjacent explosion-proof base stations 2 are connected through optical fibers, so that networks between the explosion-proof base stations 2 form a whole, and a stable communication network is provided for the inspection robot 1 in the inspection walking process. Wherein, explosion-proof basic station 2 distributes on patrolling and examining the route. And in the walking process of the inspection robot 1, the communication switching with the explosion-proof base station 2 is realized. And the number of the explosion-proof base stations 2 is determined according to the length of the routing inspection path.
And the explosion-proof base station 2 is used as a medium to realize data exchange between the inspection robot 1 and the remote control upper computer 3. And patrol and examine robot 1, explosion-proof basic station 2, remote control host computer 3 and all can not produce the interference to oil transportation station internal plant at the in-process of signal transmission, and ensured the communication control demand of device self, had very strong practicality.
The explosion-proof base station 2 comprises a first switch 11, a WiFi base station 12 and a directional antenna 13. Wherein, first switch 11, wiFi basic station 12 are installed in explosion-proof basic station 2, and directional antenna 13 installs outside explosion-proof basic station 2. The first exchanger 11 is used for receiving network signals of other explosion-proof base stations 2 or remote control upper computers 3. The first switch 11 is connected to the WiFi base station 12, and the WiFi base station 12 is electrically connected to the directional antenna 13 through a coaxial shielding cable. The explosion-proof base station 2 also comprises a base station power supply 10. The base station power supply 10 uses an external power supply outside the explosion-proof base station 2 nearby, and converts an externally introduced AC220V power supply into DC24V to supply power to the first switch 11 and the WiFi base station 12 through power cables. The first switch 11 of this embodiment is used as the interface that the data of the WiFi base station 12 extends, supports two forms of optical fiber series connection and electric port direct connection to satisfy the requirements of network deployment and communication between the explosion-proof base stations 2. The first switch 11 is connected with the WiFi base station 12 through a network cable to realize data communication. The antenna interface of the WiFi base station 12 is connected with the directional antenna 13 through a coaxial shielding cable, so that signals of the WiFi base station 12 radiate outwards in a directional mode, and finally, communication with the inspection robot 1 is achieved.
The outer side sleeve of coaxial shielding cable is equipped with the shielding pipe box, and the kneck of shielding pipe box is filled with explosion-proof clay to satisfy reduction interference, explosion-proof sealed requirement. Wherein, the shielding pipe sleeve is a stainless steel bushing pipe.
Preferably, the explosion-proof base station 2 sends directional WiFi signals of at least two frequencies to ensure that the inspection robot 1 can always receive control signals, and the reliability of the device is improved.
The frequency of the directional WiFi signal is 5GHz-6 GHz. It should be noted that the most used signals are signals in the 2.4G band. Therefore, in this frequency band, the signals are particularly complex and easily interfere with each other. The signal frequency channel adjustment that this embodiment will patrol and examine robot 1 is 5.8G, adopts the automatic frequency modulation function simultaneously, and when the signal was comparatively complicated, automatic frequency modulation staggers the interference frequency channel. The setting can be carried out by using the frequency which is not used on the spot, the reliability and stability of the wireless signal when the robot runs are ensured, and the interference to other equipment can be avoided.
The inspection robot 1 comprises a WiFi client 4, an omnidirectional antenna 5, a second switch 6, a microprocessor 8 and a visual cloud deck 9. Wherein, wiFi customer end 4, second switch 6, microprocessor 8 all install in patrolling and examining robot 1, and omnidirectional antenna 5 and visual cloud platform 9 are installed outside patrolling and examining robot 1. Visual cloud platform 9, microprocessor 8 all are connected with second switch 6 through the net twine, and second switch 6 passes through the net twine to be connected with wiFi customer end 4 to realize visual cloud platform 9 and microprocessor 8 and carry out the communication through wiFi customer end 4 and remote control host computer 3. The visual cloud platform 9 and the remote control upper computer 3 are communicated according to a TCP/IP protocol, so that the field working condition can be monitored in real time on the remote control upper computer 3, and the practicability of the inspection robot 1 is improved. It should be noted that the communication process needs to be forwarded through the explosion-proof base station 2. The WiFi client 4 is connected with the omnidirectional antenna 5 through a coaxial shielded cable, so that reliable communication between the WiFi client 4 and the explosion-proof base station 2 is guaranteed.
The remote control upper computer 3 of this embodiment communicates with the microprocessor 8 in the inspection robot 1 through the MODBUS TCP protocol. And the microprocessor 8 is the control core of the whole inspection robot 1 and can control the inspection robot 1 to act according to the control signal.
The inspection robot 1 further includes a robot power supply 7. The robot power supply 7 is a storage battery and supplies power for the WiFi client 4, the second switch 6, the microprocessor 8 and the visual holder 9 in a centralized manner through a power cable.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various changes and modifications without departing from the structure of the invention, which will not affect the effect of the invention and the practicability of the patent.
Claims (9)
1. An explosion-proof wheeled inspection robot remote control device for an oil transportation station is characterized by comprising
The remote control upper computer (3) sends out a control signal according to the planned routing inspection path;
the communication looped netowrk on the route of patrolling and examining is arranged for forward through directional wiFi signal control signal extremely patrols and examines robot (1), so that patrol and examine robot (1) with patrol and examine the route and patrol and examine.
2. The remote control device for the oil transportation station explosion-proof wheel type inspection robot according to claim 1 is characterized in that the communication looped network mainly comprises a plurality of explosion-proof base stations (1), the explosion-proof base stations (1) send received control signals to the inspection robot (1) through directional WiFi signals, the inspection robot (1) simultaneously receives directional WiFi signals of all the explosion-proof base stations (2), the directional WiFi signals are detected, and the explosion-proof base station (2) with the optimal signals is selected for connection.
3. The remote control device for the explosion-proof wheeled inspection robot of the oil delivery station according to claim 2, wherein the explosion-proof base station (2) comprises a first switch (11), a WiFi base station (12) and a directional antenna (13); the first switch (11) is connected with a WiFi base station (12), and the WiFi base station (12) is electrically connected with a directional antenna (13) through a coaxial shielding cable.
4. The remote control device for the explosion-proof wheel type inspection robot of the oil transportation yard station according to claim 3, wherein a shielding pipe sleeve is sleeved outside the coaxial shielding cable, and an interface of the shielding pipe sleeve is filled with explosion-proof cement gum.
5. The remote control device for the explosion-proof wheeled inspection robot of the oil delivery yard station as claimed in claim 2, wherein the explosion-proof base station (2) sends directional WiFi signals of at least two frequencies.
6. The remote control device for the explosion-proof wheel type inspection robot of the oil transportation station according to claim 5, wherein the frequency of the directional WiFi signal is 5GHz-6 GHz.
7. The remote control device for the explosion-proof wheel type inspection robot of the oil delivery station according to claim 1, wherein the remote control upper computer (3) is connected with one explosion-proof base station (2) closest to the remote control upper computer through a network cable, and two adjacent explosion-proof base stations (2) are connected through an optical fiber.
8. The remote control device for the explosion-proof wheel type inspection robot of the oil delivery station according to claim 1, wherein the inspection robot (1) comprises a WiFi client (4), an omnidirectional antenna (5), a second switch (6), a microprocessor (8) and a visual cloud deck (9); visual cloud platform (9), microprocessor (8) all are connected with second switch (6), second switch (6) are connected with wiFi customer end (4), wiFi customer end (4) are connected with omnidirectional antenna (5) through coaxial shielded cable.
9. The remote control device for the explosion-proof wheel type inspection robot of the oil delivery station according to claim 1, wherein the inspection robot (1) sends a path feedback signal to the remote control upper computer (3) in real time, and the remote control upper computer (3) judges whether the inspection robot (1) reaches a set inspection point according to the path feedback signal; if the inspection robot (1) reaches a set inspection point, the inspection robot (1) continues to inspect; otherwise, the remote control upper computer (3) sends out an alarm signal and a stop signal so as to stop the inspection robot (1).
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| CN202110826682.1A CN113696176B (en) | 2021-07-21 | 2021-07-21 | Remote control device of explosion-proof wheel type inspection robot for oil transportation station |
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| CN202110826682.1A CN113696176B (en) | 2021-07-21 | 2021-07-21 | Remote control device of explosion-proof wheel type inspection robot for oil transportation station |
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| CN113696176B CN113696176B (en) | 2023-06-13 |
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