Apparatus and method for environment modeling and map construction of petrochemical plant inspection robot

Abstract

The invention discloses a petrochemical plant inspection robot environment modeling and map building device and method. The device comprises an anti-explosion shell which internally comprises a mastercontrol cavity, a wiring cavity and a power supply cavity. The master control cavity is internally provided with an industrial personal computer, a differential GPS module, an inertia measurement module, a signal isolation safety barrier module, a communication module and a power supply conversion module. The wiring cavity is used for connection of all the power supply and communication cables. The power supply cavity is internally provided with a power supply module. The anti-explosion shell is externally provided with a visual module, a laser radar, a differential GPS module antenna and a mileage measurement module. The industrial personal computer implements high-precision positioning of automatic environment adaptation of the robot according to the acquired visual information, the laser radar information, the differential GPS information, the mileage information and the inertia information and builds the environmental model and the map of the plant based on the positioning result.The high-precision environmental model and map are acquired through the method of different attitude information of multiple types of sensors so that the environmental adaptability and the accuracy of the system can be enhanced and the system also meets the anti-explosion safety requirements.

Description

technical field [0001] The invention belongs to the field of positioning and navigation of special robots, and in particular relates to a device and method for environment modeling and map construction of inspection robots in petrochemical plants. Background technique [0002] The working areas of petrochemical enterprises, oil depots, storage and transportation companies and other factories are usually large, and it is difficult to troubleshoot potential safety hazards. At present, it is only possible to conduct on-site inspections of instruments and meters in various workplaces such as tank farms, pump farms, and substations manually. Check valves, instruments and equipment one by one. Manual patrol inspection is intensive and complex, and the areas that need to be inspected are complicated and easy to miss, which poses a great safety hazard. The use of autonomous inspection robots instead of manual inspection tasks can greatly reduce the work intensity of workers and re...

AI Technical Summary

Problems solved by technology

The equipment used in this method is expensive, and it is not conducive to the real-time update of the map after the environment of the factory area changes.

[0007] (3) Using satellite imagery or UAV surveying and mapping to obtain regional geographic information to construct an environmental map: This method is expensive and has a large error. The obtained map is only suitable for robot positioning using global positioning methods such as GPS, and cannot cope with a large number of indoor and sheltered environments

This type of method is usually suitable for indoor environments, requiring simple scenes with flat ground, and poor application effect for slopes and bumpy scenes

[0009] At the same time, the above-mentioned modeling method only includes the description information of the scope of the environment, without accurate identification information of equipment and instruments, and has no substantial help for the heavy workload of petrochemical plant inspection robots to perform specific inspection tasks, and still can only rely on Other sensors such as cameras, etc. for instrumentation target recognition and monitoring in large scenes

Another important point is that the equipment used in petrochemical plants also needs to meet the explosion-proof safety requirements. It is difficult for all kinds of measuring equipment used at this stage to be directly applied to such environmental areas.

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