A robot for metering material handling in a natural gas plant

Abstract

The application discloses a kind of for natural gas workshop metering material handling robot, including: robot main body, robot main body includes handling department;Handling department is connected with detection module;Detection module includes acoustic wave detection module, acoustic wave detection module includes acoustic wave detector, acoustic wave detector is used to detect infrasonic wave and acoustic wave;Acoustic wave detector is connected with computing module, computing module is used to carry out filtering and classify calculation acoustic wave distribution;Computing module is connected with sound-sensitive resistance, sound-sensitive resistance is connected with alarm device;Sound-sensitive resistance array is arranged in the outer end surface of robot main body;Through acoustic wave detection module, not only acoustic wave detection can be carried out to goods, the leakage of natural gas workshop in the way of carrying goods is detected, leakage occurs through acoustic wave detection, and safety warning effect is played when some leakage sound is very small, improve the safety of natural gas workshop;Through computing module, the acoustic wave detected by robot is handled, and the fault information segment therein is extracted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of natural gas workshop handling, and particularly relates to a robot for natural gas workshop metering material handling. BACKGROUND

[0002] RGV is the English abbreviation of Rail Guided Vehicle, also known as rail shuttle car. The RGV car can be used in warehouses of various high-density storage modes. The car channel can be designed to be arbitrarily long, which can improve the storage capacity of the entire warehouse, and no forklift needs to enter the lane during operation, so that the safety is higher. The RGV car can be connected with an automatic production line to realize automatic material transfer and transfer. However, the handling robot first moves the material from the first station device, then moves and handles the material to the second station device, and then moves the material out. The loading and unloading operation of the handling robot in the first station device and the second station device still needs manual loading and unloading operation or additional loading and unloading equipment to complete. The manual loading and unloading operation has the disadvantages of requiring labor occupation and low operation efficiency, and the additional loading and unloading equipment also has the disadvantages of large occupation of operation space and increase of handling cost.

[0003] In addition, during the overall movement and handling of the material carried by the handling robot, jolting, sudden stop due to obstacles and other situations are prone to occur, which causes the material to shake. For the occasion of handling light, thin and fragile materials, the materials are prone to breakage or hidden cracks, which increases the material handling cost. Furthermore, the existing handling robot also has the disadvantages of complex structure and high production cost. SUMMARY

[0004] In order to solve the problem of inconvenient handling in the natural gas workshop in the prior art, the present application provides a robot for natural gas workshop metering material handling, which can automatically detect and handle the metering materials in the natural gas workshop, and can also alarm when danger occurs in the workshop.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0006] A robot for natural gas workshop metering material handling, comprising: a robot main body, the robot main body comprising a handling part;

[0007] The carrying part is connected with a detection module; the detection module comprises an acoustic wave detection module, the acoustic wave detection module comprises an acoustic wave detector, the acoustic wave detector is used for detecting infrasonic waves and acoustic waves; the acoustic wave detector is connected with a calculation module, the calculation module is used for filtering and classifying calculation of acoustic wave distribution, dividing an acoustic wave frequency diagram into a plurality of sampling intervals, and calculating the mean square deviation of an acoustic wave frequency picture segment in each sampling interval, collecting a plurality of mean square deviations into an acoustic wave sampling signal, and judging that the acoustic wave source is a metering material or a leakage point when the length of the acoustic wave sampling signal remains unchanged within a continuous time threshold; the calculation module is connected with a sound-sensitive resistor, the sound-sensitive resistor is connected with an alarm device, the alarm device comprises a first electromagnet, the first electromagnet is connected with a second permanent magnet, the first electromagnet is connected with a first spring, the second permanent magnet is connected with a relay switch, the relay switch is connected with a buzzer, the calculation module sends different acoustic wave signals and corresponding current signals to the sound-sensitive resistor, the sound-sensitive resistor alarms according to different acoustic wave sizes or current sizes, after the sound-sensitive resistor receives different acoustic wave signals, the resistance value is changed according to the strength of the acoustic wave signal, the current passing through the sound-sensitive resistor increases after the resistance value of the sound-sensitive resistor decreases, and the increased current is transmitted to the first electromagnet, the first electromagnet is electrified to generate magnetism that is attracted to the second permanent magnet, then the first electromagnet is attracted to the second permanent magnet by overcoming the spring tension, the second permanent magnet is conductive to the relay switch, the relay switch is closed to make the buzzer electrified to alarm; the sound-sensitive resistor array is arranged on the outer end face of the robot main body. The acoustic wave detector can collect acoustic waves, the calculation module sends different acoustic wave signals and corresponding current signals to the sound-sensitive resistor, the sound-sensitive resistor alarms according to different acoustic wave sizes or current sizes, and the alarm can be performed according to different acoustic wave signals and the size of the acoustic wave signal.

[0008] As preferred, the working mode of the calculation module is that the detected sound waves are filtered and a sound wave frequency diagram is obtained, the sampling interval is divided according to the sound wave frequency diagram, the sound wave sampling signal in the sampling interval is extracted, and it is judged whether the sound wave source is a metering material or a leakage point; the frequency threshold of the sound wave sampling signal is set, and after it is judged to be a metering material or a leakage point, it is judged to be a leakage point after the frequency of the sound wave sampling signal reaches the frequency threshold, and it is judged to be a metering material point after the frequency threshold is not reached. The detected sound waves are filtered to obtain a clear signal, the clear signal is amplified and made into a sound wave frequency diagram, the sound wave frequency diagram is judged and processed, the judgment and processing process includes dividing the sound wave frequency diagram into multiple sampling intervals, and the sound wave frequency picture segment in the multiple sampling intervals is twice sampled, the twice sampling includes calculating the mean square error, the representative number of the segment is determined according to the mean square error, and the multiple representative numbers are collected into a sound wave sampling signal; the length of the sound wave sampling signal is counted, a continuous time threshold is set, and when the length of the sound wave sampling signal remains unchanged within a continuous time threshold, it is judged that the sound source is a metering material or a leakage point, and further, a frequency threshold of the sound wave sampling signal is set, and after it is judged to be a metering material or a leakage point, it is judged to be a leakage point after the frequency of the sound wave sampling signal reaches the frequency threshold, and it is judged to be a metering material point after the frequency threshold is not reached. The position detected by the sound wave signal processing can be judged to belong to the material or the leakage point, and continuous detection is realized.

[0009] As preferred, the robot body is provided with a signal processing medium, the signal processing medium is provided with a first single-chip microcomputer and a second single-chip microcomputer connected electrically, the first single-chip microcomputer is used for task control, and the second single-chip microcomputer is used for action control. The signal processing medium includes a PCB board, the robot is controlled by the first single-chip microcomputer and the second single-chip microcomputer respectively, so that the robot has higher efficiency when completing multiple functions such as carrying, detection and scheduling, and the connection of additional electrical components is reduced on the same PCB board for different task processing, which not only reduces the volume of the robot, but also improves the safety of the robot in the natural gas workshop.

[0010] As preferred, the second single-chip microcomputer is connected with a multi-axis linkage controller, the multi-axis linkage controller is connected with a motor control module, and the motor control module is located on the signal processing medium. The movement of the robot body can be controlled by the second single-chip microcomputer controlling the multi-axis linkage controller, so that the robot body can move conveniently in the natural gas workshop with complex road conditions without being affected by obstacles such as pipelines. At the same time, the movement control and detection calculation are realized on one signal processing medium.

[0011] As preferred, the robot body side is provided with a guide rail wheel, the side adjacent to the side of the guide rail wheel is provided with a main rail wheel, and the guide rail wheel and the main rail wheel are electrically connected with the motor control module. The guide rail wheel is located on the side of the robot body, and the guide rail wheel is symmetrically arranged in two groups. The main rail wheel is located on the front end face of the robot body, and the main rail wheel is symmetrically arranged in two groups. The diameter of the main rail wheel is larger than that of the guide rail wheel. The wheels of the robot body are controlled by the motor control module to realize the free movement of the robot body in the natural gas workshop, and the multiple circuit connections caused by the use of multiple motors are reduced. The movement of the two groups of wheels in different directions can be realized through the motor control module and the multi-axis linkage controller, thereby improving the safety and reliability in the natural gas workshop.

[0012] As preferred, the carrying part includes a carrying support plate, and the carrying support plate is symmetrically arranged on the top surface of the robot body. The side of the robot body is provided with a control host, and the control host is provided with a display screen. The support plate is used for loading the measured materials, and the measured materials can be placed on the robot body for carrying through the support plate, thereby improving the space utilization and the stability during the carrying process, and further improving the reliability of carrying in the natural gas workshop. The control host is connected with the medium, and the control host is used for inputting the robot task. The display screen is used for displaying the task information of the robot body and the sound wave detection result. The measured materials can be carried through the top surface of the robot, and the working content of the robot can be arranged and monitored on the front end face of the robot body, thereby facilitating the use.

[0013] As preferred, after the alarm sound wave disappears, the first electromagnet loses power and separates from the second permanent magnet under the action of the first spring, and the alarm ends. When the sound wave signal is weak, the calculation module calculates that the alarm is needed, and a large current is configured for the weak sound wave signal that needs to alarm, and the large current is sent to the sound-sensitive resistor for alarm.

[0014] The present application has the following advantages:

[0015] (1) The sound wave detection module can not only detect the sound wave of the goods, but also detect the leakage of the natural gas workshop during the carrying of the goods. The leakage is detected through the sound wave, and the safety warning function is realized when the leakage sound is very small, thereby improving the safety of the natural gas workshop; (2) The calculation module processes the sound wave detected by the robot, extracts the fault information segment, and then sends an early warning signal, thereby improving the accuracy and timeliness of the leakage sound detection; (3) The goods can be positioned through the detection of ultrasonic waves, and the gas leakage can be monitored and positioned through the sound wave detection; (4) The accuracy of the alarm can be improved through the signal screening calculation of the sound wave detection. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings in the following description are only exemplary, and other embodiments can be derived from the drawings provided without paying any creative labor.

[0017] Figure 1 is the schematic diagram of the whole structure of the invention.

[0018] Figure 2 is the schematic diagram of the system control structure in the third embodiment.

[0019] Figure 3 is the control system block diagram of the second single-chip microcomputer in the third embodiment.

[0020] Figure 4 is the schematic diagram of the connection structure of the alarm device in the invention.

[0021] In the drawings:

[0022] 1 - robot body; 2 - carrying support plate; 3 - maintenance cover plate; 4 - control host; 5 - track wheel; 6 - main track wheel; 601 - first single-chip microcomputer; 602 - second single-chip microcomputer; 603 - mainboard; 604 - power supply; 605 - motor control module; 606 - motor input module; 607 - information identification module; 608 - time recording module; 609 - wireless communication module; 6010 - detection module; 7 - system bus; 8 - monitoring circuit; 9 - solid-state storage disk; 10 - multi-axis linkage controller; 1001 - closed-loop feedback motor module; 1002 - closed-loop steering motor module; 1003 - driving motor module; 1004 - closed-loop motor feedback module; 11 - first electromagnet; 12 - second permanent magnet; 13 - first spring; 14 - relay switch; 15 - sound-sensitive resistor; 16 - buzzer; 401 - display screen; 402 - power switch. DETAILED DESCRIPTION

[0023] The embodiments of the invention are illustrated by specific specific embodiments below, and all other embodiments obtained by those skilled in the art based on the embodiments in the invention without paying any creative labor are within the scope of protection of the invention.

[0024] As shown in FIG. 1, in a preferred embodiment, the application discloses a robot for natural gas plant metering material handling, comprising: a robot body, the robot body comprising a handling part, the handling part being connected with a detection module 6010; the detection module comprising a sound wave detection module, the sound wave detection module comprising a sound wave detector, the sound wave detector being used for detecting infrasound and sound waves; the sound wave detector being connected with a calculation module, the calculation module being used for filtering and classifying calculation of sound wave distribution; the calculation module being connected with a sound-sensitive resistor 15, the sound-sensitive resistor being connected with an alarm device; the sound-sensitive resistor array being arranged on the outer end face of the robot body. The calculation module sends different sound wave signals and corresponding current signals to the sound-sensitive resistor, and the sound-sensitive resistor alarms according to different sound wave sizes or current sizes. As shown in FIG. Figure 4 The alarm device comprises a first electromagnet 11, the first electromagnet being connected with a second permanent magnet 12, the first electromagnet being connected with a first spring 13; the second permanent magnet being connected with a relay switch 14, the relay switch being connected with a buzzer 16. The first electromagnet is used for generating a magnetic property opposite to the second permanent magnet after being powered on, and can distinguish different currents caused by different sound waves through the first electromagnet, and when the current is large enough, the first electromagnet overcomes the pulling force of the first spring and is attracted to the second permanent magnet, thereby realizing alarm, and at the same time, filtering the sound waves by filtering the current, so as to accurately alarm as needed. The array of sound-sensitive resistors arranged on the periphery of the robot body can also receive sound wave signals from the environment, so that safety monitoring can be realized in any direction of the sound wave detector or the environment.

[0025] In use, the metering material is handled through the handling part, and the sound wave is detected through the detection module, wherein the detection module is connected with an ultrasonic wave emitting end, the ultrasonic wave emits ultrasonic waves to the goods location to detect the metering material, the sound wave detector receives the returned ultrasonic waves and other sound waves, the sound wave detector sends the detected sound wave signals to the calculation module for calculation, and the calculation module sends the calculation results to the sound-sensitive resistor and the handling part after calculating the signals of the sound wave detector. The calculation results include sound wave signals and different sizes of currents. After receiving different sound wave signals, the sound-sensitive resistor changes the resistance value according to the strength of the sound wave signal, the resistance value of the sound-sensitive resistor decreases, the current passing through the sound-sensitive resistor increases, and the increased current is transmitted to the first electromagnet. The first electromagnet is powered to generate a magnetic property that is attracted to the second permanent magnet. Then, the first electromagnet is attracted to the second permanent magnet by overcoming the spring tension. The second permanent magnet conducts electricity to the relay switch, and the relay switch is closed to make the buzzer powered on to alarm. After the triggering sound wave disappears, the first electromagnet is disconnected from the second permanent magnet under the action of the first spring, thereby ending the alarm. When the sound wave signal is weak, the calculation module still calculates that the weak sound wave signal needs to be alarmed, and a large current is configured for the weak sound wave signal that needs to be alarmed, and the large current is sent to the sound-sensitive resistor to realize alarm.

[0026] The working mode of the calculation module is that the detected sound wave is filtered and a sound wave frequency diagram is obtained, the sampling interval is divided according to the sound wave frequency diagram, the sound wave sampling signal in the sampling interval is extracted, and it is judged whether the sound wave source is a measurement material or a leakage point according to the sampling signal. The detected sound wave is filtered to obtain a clear signal, the clear signal is amplified and made into a sound wave frequency diagram, the sound wave frequency diagram is judged and processed, the judgment and processing process includes dividing the sound wave frequency diagram into multiple sampling intervals, twice sampling the sound wave frequency picture segment in the multiple sampling intervals, the twice sampling includes calculating the mean square error, determining the representative number of the segment according to the mean square error, and collecting the multiple representative numbers into a sound wave sampling signal; the length of the sound wave sampling signal is counted, a continuous time threshold is set, and when the length of the sound wave sampling signal remains unchanged within a continuous time threshold, it is judged that the sound source is a measurement material or a leakage point, further, a frequency threshold of the sound wave sampling signal is set, after judging that it is a measurement material or a leakage point, it is judged that it is a leakage point when the frequency of the sound wave sampling signal reaches the frequency threshold, and it is judged that it is a measurement material point when the frequency threshold is not reached. The position detected by the processing of the sound wave signal is judged to belong to the material or the leakage point, and continuous detection is realized.

[0027] In use, after filtering the detected sound wave, only the sound wave in a certain frequency range is filtered out, the sampling interval is intercepted and the sound wave sampling signal is obtained, the influence of the interference noise is reduced, the sound wave which is not filtered out by filtering is twice sampled, the influence of the reflected wave in the sound wave transmission process is reduced, a plurality of continuous sound waves of different frequencies are obtained according to the representative number and are collected into a sound wave sampling signal, and whether the sound wave source is a measurement material or a leakage point is judged according to the length of the sound wave sampling signal and the time threshold.

[0028] In another embodiment, a robot for natural gas plant measurement material handling is disclosed, comprising a robot body 1, an upper end surface of the robot body 1 is provided with an inspection cover plate 3, the upper end surface of the robot body 1 is provided with symmetrically arranged handling support plates 2, the inspection cover plate 3 is located between the two symmetrically arranged handling support plates 2, the front end surface of the robot body 1 is provided with a control host 4, the control host 4 is provided with a display screen 401, a power switch 402 is located beside the display screen 401 on the control host 4, and the front end surface of the robot body 1 is rotatably connected with left and right symmetrically arranged main rail wheels 6, the right end surface of the robot body 1 is rotatably connected with rail wheels 5, and the rail wheels 5 are symmetrically arranged on the right end surface of the robot body 1. The control host includes a first single-chip microcomputer 601 and a second single-chip microcomputer 602, and the first single-chip microcomputer and the second single-chip microcomputer are electrically connected to the same mainboard 603. The mainboard is also provided with a power supply 604, and the power supply is connected with the first single-chip microcomputer and the second single-chip microcomputer.

[0029] When in use, the robot body 1 is placed in the natural gas truck workshop. During the transport process, the control host 603 sends a start signal to the closed-loop feedback motor module 1001, the closed-loop steering motor module 1002, the drive motor module 1003, and the closed-loop motor feedback module 1004, thereby controlling the movement of the robot body 1. The closed-loop feedback motor module and the closed-loop steering motor module respectively control the feedback and start signals for the main rail wheels 6; the drive motor module and the closed-loop motor feedback module respectively control the start and feedback signals for the rail wheels 5. The first single-chip microcomputer 601 uses a detection mechanism to determine whether the storage location is stocked. If not, it sends a pickup completion command to the second single-chip microcomputer to initiate movement.

[0030] like Figures 2-3 As shown, in the third embodiment, in the transport part, the first single-chip microcomputer and the second single-chip microcomputer are connected to a power supply 604, a motor control module 605, a motor input module 606, and are also connected to an information identification module 607, a time recording module 608 and a wireless communication module 609. The motor control module is used to control the start and stop and forward and reverse rotation of the motor, the motor input module is used to input the motor working signal to the second single-chip microcomputer, the wireless communication module is used to communicate the robot body with the outside world, the time recording module is used to record the time during the detection of the robot's working process, and the information identification module is used to identify the task information input during the robot's working process.

[0031] The second single-chip microcomputer is connected to the multi-axis linkage controller via a system bus 7, a monitoring circuit 8 and a solid-state storage disk 9. The multi-axis linkage controller is respectively connected to a closed-loop feedback motor module 1001, a closed-loop steering motor module 1002, a drive motor module 1003 and a closed-loop motor feedback module 1004.

[0032] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A robot for transporting metered materials in a natural gas workshop, characterized in that: include: The robot body includes a handling part; The transport unit is connected to a detection module; The detection module includes an acoustic wave detection module, which includes an acoustic wave detector for detecting infrasound waves and acoustic waves; The acoustic wave detector is connected to a calculation module, which is used to filter and classify the acoustic wave distribution, divide the acoustic wave frequency graph into multiple sampling intervals, and calculate the mean square error of the acoustic wave frequency graph segments within each sampling interval. The multiple mean square errors are aggregated into an acoustic wave sampling signal. When the length of the acoustic wave sampling signal remains unchanged within a continuous time threshold, it is determined that the source of the acoustic wave is a metered material or a leak point. The calculation module is connected to a sonic resistor, which is connected to an alarm device. The alarm device includes a first electromagnet, the first electromagnet is connected to a second permanent magnet, the first electromagnet is connected to a first spring, the second permanent magnet is connected to a relay switch, and the relay switch is connected to a buzzer. The calculation module sends different sound wave signals and corresponding current signals to the sonic resistor. The sonic resistor issues an alarm according to different sound wave sizes or current sizes. After receiving different sound wave signals, the sonic resistor changes its resistance value according to the strength of the sound wave signal. When the resistance value of the sonic resistor decreases, the current passing through increases, and the increased current is transmitted to the first electromagnet. The first electromagnet is energized to generate magnetism that attracts the second permanent magnet. Then, the first electromagnet overcomes the spring tension and is attracted to the second permanent magnet. The second permanent magnet conducts electricity to the relay switch. The relay switch is closed, so that the buzzer is energized and issues an alarm. The acoustic resistor array is arranged on the outer end surface of the robot body.

2. A robot for transporting metered materials in a natural gas workshop according to claim 1, characterized in that: The calculation module works as follows: filtering the detected sound waves and obtaining a sound wave frequency graph, dividing the sampling interval according to the sound wave frequency graph, extracting the sound wave sampling signal within the sampling interval, and judging whether the sound wave source is a metering material or a leakage point according to the sampling signal; setting a frequency threshold of the sound wave sampling signal, after judging it as a metering material or a leakage point, it is judged as a leakage point when the frequency of the sound wave sampling signal reaches the frequency threshold, and is judged as a metering material point when it does not reach the frequency threshold.

3. A robot for transporting metered materials in a natural gas workshop according to claim 1 or 2, characterized in that: The robot body is provided with a signal processing medium, and the signal processing medium is provided with a first single chip microcomputer and a second single chip microcomputer which are electrically connected. The first single chip microcomputer is used for task control; the second single chip microcomputer is used for action control.

4. The robot for transporting metered materials in a natural gas workshop according to claim 3, characterized in that: The second single-chip microcomputer is connected to a multi-axis linkage controller, the multi-axis linkage controller is connected to a motor control module, and the motor control module is located on the signal processing medium.

5. The robot for transporting measured materials in a natural gas workshop according to claim 4, characterized in that: A guide wheel is provided on the side of the robot body, and a main rail wheel is provided on the side adjacent to the side where the guide wheel is located. The guide wheel and the main rail wheel are both electrically connected to the motor control module.

6. The robot for transporting metered materials in a natural gas workshop according to claim 1, characterized in that: The transport part includes a transport support plate, which is symmetrically arranged on the top surface of the robot body; a control host is provided on the side of the robot body, and the control host is provided with a display screen.

7. The robot for transporting metered materials in a natural gas workshop according to claim 1, characterized in that: After the sound wave that triggers the alarm disappears, the first electromagnet loses power and separates from the second permanent magnet under the action of the first spring, ending the alarm; when the sound wave signal is weak, the calculation module calculates that an alarm is needed, and configures a large current for the weaker sound wave signal that needs to be alarmed, and sends the large current to the sonotrode to sound the alarm.

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