Safety control system of outdoor inspection robot for offshore water hydrogen production platform

Abstract

The present invention provides a safety control system for an outdoor inspection robot at an offshore water hydrogen production platform, including a platform environment monitoring device, a robot body, and a computer monitoring system. The platform environment monitoring device monitors environmental information such as wind force and rainfall in real time. The robot body receives this information through a processor and combines it with its own sensor data to calculate the safe moving speed and direction, evaluate the inclination risk, and adjust the movement strategy according to the rainfall information. The computer monitoring system is connected to the platform environment monitoring device and the robot body through a network, monitors the operating status of the robot in real time, and sends control instructions when necessary. The present invention can ensure that the robot completes the inspection task safely and efficiently under complex environmental conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and in particular to a safety control system for an outdoor inspection robot at an offshore water hydrogen production platform. Background Art

[0002] The existing inspection robot safety control system monitors the movement of the inspection robot in real time by setting a safety zone, and performs safety control on the robot when the inspection robot enters the safety zone.

[0003] However, the weather outside the offshore water hydrogen production platform is different from that on land. In severe weather such as strong winds and heavy rains, the robot needs to stop moving. In addition, when accidents such as gas leaks occur on the water hydrogen production platform, the working state of the inspection robot is easily affected. In addition, the inspection robot itself will also affect the operational safety. Therefore, it is necessary to set up a more comprehensive safety control logic based on the platform weather, gas leaks and the inspection robot's own conditions.

[0004] Chinese patent CN112847356B invention patent discloses a safety control method for a substation foot-type inspection robot. By using the number of point clouds of the forward channel, the foot-type inspection robot can avoid obstacles in three-dimensional space by lifting its feet or squatting, solving the problem that wheeled inspection robots cannot overcome obstacles in space. The foot-type inspection robot can stop or bypass obstacles in the equipment area, broadening the operating range of the foot-type inspection robot and improving the robot's adaptability and flexibility.

[0005] Chinese patent CN113047205B invention patent discloses a control method and system for an inspection robot that integrates Internet of Things technology. By storing map inspection points, key path points and paths in a database, a calculation-simple, safe and effective path planning method is obtained. The shortest path is stored while calculating, so that it can be directly used as an inspection path in the same inspection sequence in the future, reducing calculations.

[0006] Although the above invention solves the problem of robot control due to the environment during operation, it does not provide a logical control of the inspection robot for different environments, especially the comprehensive safety control of the inspection robot for the water hydrogen production platform in the offshore environment. Therefore, in order to ensure the safety inspection of the inspection robot, a safety control method is needed that can be based on the platform weather, platform leakage and the inspection robot's own posture. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a safety control system for an outdoor inspection robot at an offshore water hydrogen production platform. Wind-related parameters are introduced to calculate the safe moving speed and direction under the premise of considering the sizes and weights of different inspection robots, and an alarm is issued when an abnormality is determined. At the same time, a center of gravity distance adjustment ratio and a speed adjustment ratio are introduced to consider the distance between the robot's own center of gravity and the horizontal ground under the influence of wind, and the speed of the robot's movement is adjusted according to the center of gravity distance adjustment ratio, thereby effectively improving the inspection safety of the inspection robot.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is: a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: the system includes a platform environment monitoring device, a robot body and a computer monitoring system;

[0009] The platform environment monitoring device comprises:

[0010] A wind monitor installed outside the offshore water hydrogen production platform is used to monitor the real-time wind speed of the outdoor platform;

[0011] A rainfall monitor installed outside the offshore water hydrogen production platform is used to monitor real-time rainfall;

[0012] Safety sensors installed outside the offshore water hydrogen production platform are used to trigger and alarm when the robot is abnormal;

[0013] The infrared sensing device installed outside the offshore water hydrogen production platform is used to control the robot to enter the room;

[0014] The robot body comprises:

[0015] The processor is used to receive the real-time wind and rainfall information of the platform obtained by the platform environment monitoring device, the alarm information triggered by the safety sensor, and the sensing signal sent by the infrared sensing device, and perform data processing and robot control according to the received information;

[0016] An acceleration sensor connected to the processor is used to obtain the movement parameters of the robot itself;

[0017] A level connected to the processor to obtain the current tilt information in the room;

[0018] The computer monitoring system is connected to the platform environment monitoring device and the robot body through a network, and is used to obtain the platform's real-time wind and rainfall information, alarm information triggered by safety sensors, and sensing signals sent by infrared sensing devices.

[0019] In a preferred solution, in the robot body, the processor collects the robot operation status information sent by the safety sensor in real time, calculates the current safe movement speed and direction of the robot, analyzes the risk level of the robot's current inclination, and issues an alarm in real time when a warning occurs.

[0020] In a preferred solution, the method for calculating the current safe moving speed and direction of the robot is:

[0021] 1) Calculate the wind safety factor;

[0022] The real-time wind force F is converted into the wind safety factor k1, and the conversion relationship is:

[0023] k1=α×(F-F0);

[0024] Among them, F0 is the maximum wind force that the robot can withstand during normal operation, and α is the conversion coefficient;

[0025] 2) Determine whether the movement can continue;

[0026] If the distance between the robot and the horizontal ground is h1, calculate the center of gravity distance adjustment ratio R1 under the wind safety factor;

[0027] Compare R1 with the first safety threshold Q1. If R1 ≥ Q1, the center of gravity of the robot cannot continue to move under the current wind safety factor and needs to stop moving.

[0028] 3) Calculate the safe moving speed during normal operation;

[0029] If there is no additional wind impact, the real-time wind safety factor k1=0, then the robot can move according to normal operating conditions;

[0030] According to the distance h1 between the robot and the ground and the safety speed coefficient a1 under normal operation, the safe moving speed V1 is calculated using the following formula:

[0031] V1=a1×h1;

[0032] 4) Calculate the safe moving speed when there is wind influence;

[0033] If the real-time wind safety factor k1>0, it is necessary to consider the impact of wind on the moving speed and calculate the inclination safety factor a2 according to the actual inclination adjustment ratio R2;

[0034] Calculate the safe moving speed V2 according to the inclination based on a2 and h1. The calculation formula is:

[0035] V2=a2×h1;

[0036] 5) Comprehensively calculate the safe moving speed;

[0037] The final safe moving speed V is calculated by combining the wind safety factor k1, the safe moving speed V1 during normal operation and the safe moving speed V2 due to inclination. The calculation formula is:

[0038] V = (1 + k1) × V1 + k1 × V2;

[0039] The calculated V is the safe moving speed that takes into account the influence of wind force and the tilt state of the robot.

[0040] In the preferred solution, in step 3), the safety speed factor a1 under normal operation is calculated based on historical environmental information;

[0041] In the step 4), the inclination safety factor a2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R2 is measured by a level meter.

[0042] In the preferred solution, the risk level analysis method of the current inclination of the robot is:

[0043] 1) Calculate the robot's operating safety factor;

[0044] The running time information in the robot running status information sent by the safety sensor is converted into the robot running safety factor k2. The conversion relationship is:

[0045] k2=f(T);

[0046] Wherein, T is the preset judgment reference time, and T>0; f is the conversion function, which is calculated based on historical data;

[0047] 2) Calculate the degree of tilt risk;

[0048] Based on the robot's operating safety factor k2, the risk level W of the current inclination is calculated using the following formula:

[0049] W = λ1 × k1 + λ2 × k2;

[0050] Among them, λ1 and λ2 are proportional coefficients, k1 is the wind safety factor, and k2 is the robot operation safety factor;

[0051] 3) Determine the degree of risk and decide on a course of action;

[0052] 3.1) When W>Q1, it means that the current robot's inclination is not suitable for movement and the robot should stop moving immediately;

[0053] 3.2) When Q1≥W>Q2, it means that the current adjustment speed has a serious impact, and the moving speed should be reduced;

[0054] 3.3) When Q2≥W>Q3, it means that the current adjustment speed has a general effect, and the moving speed should be gradually reduced in order;

[0055] 3.4) When W≤Q3, it means that the current adjustment speed has little impact and there is no need to adjust the moving speed;

[0056] Among them, Q1 is the first risk threshold, Q2 is the second risk threshold, and Q3 is the third risk threshold.

[0057] In a preferred solution, the actual inclination adjustment ratio R2 is calculated as follows:

[0058] 1) Calculate the safe moving speed V;

[0059] The safe moving speed V is calculated based on the real-time wind force F and the safety distance coefficient d. The calculation formula is:

[0060] V = F / d;

[0061] 2) Calculate the initial moving speed V0;

[0062] The initial moving speed V0 of the level is calculated based on the safe moving speed V and the time t from the start of the initial movement to the end of the acceleration. The calculation formula is:

[0063] V0=V×t;

[0064] 3) Record and calculate the measurement data of the level instrument;

[0065] During the period from the start of the initial movement to the end of the acceleration, the level meter's measurement data is recorded, and the average value V is calculated based on the recorded data 01 ;

[0066] 4) Calculate the deviation value V0´;

[0067] Calculate and measure the initial moving speed V0 and the average value V 01 The difference is taken as the deviation value V0´, and the calculation formula is:

[0068] V0´=V0-V 01 ;

[0069] 5) Calculate and adjust the speed V3;

[0070] The adjusted speed V3 is calculated according to the actual inclination adjustment ratio R2 and the deviation value V0´, and the calculation formula is: V3=(1+R2)×V0´.

[0071] In a preferred solution, the method for controlling the robot body based on the monitoring data of the rainfall monitor includes:

[0072] 1) Get real-time rainfall;

[0073] Get the current real-time rain through the rain monitor;

[0074] 2) Determine the impact of rainfall;

[0075] 2.1) If the real-time rainfall is less than the rainfall threshold q, it means that the current rainfall has no effect and the robot moves normally;

[0076] 2.2) If the real-time rainfall is greater than or equal to the rainfall threshold q, it means that the platform is affected by heavy rainfall, and proceed to step 3);

[0077] 3) Record real-time speed and determine fluctuations;

[0078] Record the real-time speed within the set acquisition period;

[0079] If the real-time speed fluctuation is greater than the allowed fluctuation range x, the robot stops moving;

[0080] Otherwise, go to step 4);

[0081] 4) Calculate the allowed movement time;

[0082] Calculate the allowed movement time T0 of the platform;

[0083] The allowable fluctuation range x is defined as the product of the acceleration time t and the maximum moving speed V0 during normal operation of the robot, that is, x=t×V0;

[0084] The allowed moving time T0 is set to (1+Z)×t, where Z is the allowed acceleration ratio;

[0085] 5) Calculate the acceleration ratio Z;

[0086] 5.1) Calculate the acceleration ratio based on the real-time rainfall and fluctuation range;

[0087] 5.1.1) If the real-time rainfall is equal to the rainfall threshold q and is not less than the allowed fluctuation range x, it means that there is heavy rainfall on the current platform, but the rainfall has no effect on the movement of the robot, and the robot moves normally;

[0088] 5.1.2) If the real-time rainfall is equal to the rainfall threshold q and less than the allowed fluctuation range x, it means that it may be caused by wind. The wind safety factor k1 is recorded. If the previous wind safety factor is less than k1, the acceleration ratio Z is the current value minus the previous value, and the corresponding allowed movement time T0 is calculated. Then the robot moves normally.

[0089] 5.1.3) If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowed fluctuation range x, the allowed movement time T0 is accumulated from the previous value until it exceeds the allowed movement time T0, and the movement is stopped;

[0090] 5.1.4) If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowed fluctuation range x, the allowed movement time T0 is 0 and the robot stops moving.

[0091] In a preferred solution, the robot body is connected to a computer monitoring system by wireless means, and the computer monitoring system realizes information exchange with the platform environment monitoring device through a network, and the initial parameter information of the robot during normal operation is input into the computer monitoring system, including the maximum speed, acceleration time, robot size and weight;

[0092] The computer monitoring system obtains the environmental information of the platform, and summarizes the real-time wind information and real-time rainfall information of the platform, and stores the summarized data in a database according to a period t. The computer monitoring system determines whether the robot triggers an alarm by receiving the robot operation status information sent by the safety sensor. When the alarm is triggered, the safety sensor is triggered to sound an alarm and the operation status of the robot is displayed on the computer monitoring system, including the operation time, speed and direction. The monitoring personnel send control instructions to the robot body as needed to make the robot body enter the room or stop moving.

[0093] In a preferred solution, in the robot body, the processor includes:

[0094] A mobile information collection module is used to collect the mobile data of the robot itself in real time, including the direction of travel and current moving speed of the inspection robot, and send it to the mobile information analysis module;

[0095] An environmental information receiving module is used to obtain environmental information on the platform in real time, including wind force level and inclination, and send it to the mobile information analysis module;

[0096] The mobile information analysis module connects the mobile information acquisition module and the environmental information receiving module, and combines the mobile data and environmental information to analyze the current safe travel direction of the robot and send the information to the risk assessment module;

[0097] The risk assessment module is connected to the mobile information analysis module and is used to calculate the inclination of the robot affected by gravity according to the environmental information and the weight of the robot, and issue a warning according to the inclination value. The risk assessment module also monitors the relative angle between the calculated safe travel direction and the current travel direction of the robot, and determines whether the absolute value of the relative angle exceeds a threshold. If the threshold is exceeded, a warning is issued;

[0098] The path planning module connects the mobile information analysis module and the risk assessment module, calculates the safe travel speed under the current wind force level, replans the path information according to the safe travel speed, and sends the information to the inspection robot;

[0099] The rainfall statistics module is used to receive the rainfall information and current travel speed in the environment, and count the number of times the continuous rainfall information exceeds the preset threshold, and determine whether a warning needs to be issued based on the number of times.

[0100] The invention provides an outdoor inspection robot safety control system for an offshore water hydrogen production platform, which has the following beneficial effects:

[0101] (1) The wind and rainfall information of the platform is monitored in real time through wind monitors and rainfall monitors to ensure that the robot can adjust its operation strategy in time under severe weather conditions to avoid safety accidents caused by environmental factors. In addition, the robot's inclination is monitored in real time through safety sensors and level gauges. The risk level of the inclination is calculated based on the wind and rainfall information, and an alarm is issued in time to prevent the robot from tipping over due to excessive inclination and other dangerous situations. Multiple risk thresholds can be set according to the different risk levels of the inclination, corresponding to different response measures, to ensure that appropriate protective measures can be taken at different risk levels.

[0102] (2) Through the path planning module, combined with the current wind speed and inclination information, the robot's moving speed and path are dynamically adjusted to ensure that the robot completes the inspection task in the shortest time, improving the inspection efficiency. In addition, the robot can combine environmental information and the robot's own movement data to adjust the travel direction in real time to avoid collisions and obstacles, ensuring the smooth progress of the inspection process.

[0103] (3) By dynamically adjusting the robot's movement speed and path, unnecessary energy consumption is reduced, battery life is extended, and operating costs are reduced. The system has a high degree of automation capabilities, which reduces the need for human intervention, reduces labor costs, and improves operation and maintenance efficiency;

[0104] (4) The computer monitoring system displays the robot's operating status in real time, including operating time, speed and direction, so that monitoring personnel can keep track of the inspection progress at any time. The system can also store and analyze historical data to help managers understand the environmental change trends of the platform and provide reference for future inspection plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0106] Figure 1 It is a structural block diagram of the present invention.

[0107] Figure 2 This is a module block diagram of the processor in the robot body of the present invention. DETAILED DESCRIPTION

[0108] Embodiment 1:

[0109] A safety control system for an outdoor inspection robot for an offshore water hydrogen production platform, the system comprising a platform environment monitoring device, a robot body and a computer monitoring system;

[0110] The platform environment monitoring device comprises:

[0111] A wind monitor installed outside the offshore water hydrogen production platform is used to monitor the real-time wind speed of the outdoor platform;

[0112] A rainfall monitor installed outside the offshore water hydrogen production platform is used to monitor real-time rainfall;

[0113] Safety sensors installed outside the offshore water hydrogen production platform are used to trigger and alarm when the robot is abnormal;

[0114] The infrared sensing device installed outside the offshore water hydrogen production platform is used to control the robot to enter the room;

[0115] The robot body comprises:

[0116] The processor is used to receive the real-time wind and rainfall information of the platform obtained by the platform environment monitoring device, the alarm information triggered by the safety sensor, and the sensing signal sent by the infrared sensing device, and perform data processing and robot control according to the received information;

[0117] An acceleration sensor connected to the processor is used to obtain the movement parameters of the robot itself;

[0118] A level connected to the processor to obtain the current tilt information in the room;

[0119] The computer monitoring system is connected to the platform environment monitoring device and the robot body through a network, and is used to obtain the platform's real-time wind and rainfall information, alarm information triggered by safety sensors, and sensing signals sent by infrared sensing devices.

[0120] In a preferred solution, in the robot body, the processor collects the robot operation status information sent by the safety sensor in real time, calculates the current safe movement speed and direction of the robot, analyzes the risk level of the robot's current inclination, and issues an alarm in real time when a warning occurs.

[0121] Embodiment 2:

[0122] Based on Example 1, the current safe moving speed and direction of the robot are calculated as follows:

[0123] 1) Calculate the wind safety factor;

[0124] The real-time wind force F is converted into the wind safety factor k1, and the conversion relationship is:

[0125] k1=α×(F-F0);

[0126] Among them, F0 is the maximum wind force that the robot can withstand during normal operation, α is the conversion coefficient, and the minimum value of (F-F0) is 0;

[0127] For the conversion coefficient α, α collects data on various wind conditions encountered by the robot during actual operation, including wind force F, the maximum wind force F0 that the robot can withstand during normal operation, and the safety status of the robot under different wind forces (such as whether it needs to slow down or stop, etc.), analyzes historical data, and finds out the relationship between wind force and safety status. The conversion coefficient α can be determined by drawing a relationship diagram between wind force and safety status;

[0128] 2) Determine whether the movement can continue;

[0129] If the distance between the robot and the horizontal ground is h1, calculate the center of gravity distance adjustment ratio R1 under the wind safety factor k1, R1= k 1× h1;

[0130] Compare R1 with the first safety threshold Q1. If R1 ≥ Q1, the center of gravity of the robot cannot continue to move under the current wind safety factor and needs to stop moving.

[0131] Among them, R1 represents the change ratio of the robot's center of gravity relative to the center of gravity position in the windless state under the current wind safety factor, and Q1 is used to determine whether the robot can move safely under the current wind safety factor. When R1 ≥ Q1, the robot's center position is considered unstable;

[0132] 3) Calculate the safe moving speed during normal operation;

[0133] If there is no additional wind impact, the real-time wind safety factor k1=0, then the robot can move according to normal operating conditions;

[0134] According to the distance h1 between the robot and the ground and the safety speed coefficient a1 under normal operation, the safe moving speed V1 is calculated using the following formula:

[0135] V1=a1×h1;

[0136] Among them, the safety speed coefficient a1 under normal operation is a preset coefficient used to adjust the safe moving speed of the robot under normal conditions. The safety speed coefficient a1 is usually determined by experiments, historical data, expert experience or simulation. It reflects the relationship between the maximum safe moving speed and height of the robot under normal conditions;

[0137] 4) Calculate the safe moving speed when there is wind influence;

[0138] If the real-time wind safety factor k1>0, it is necessary to consider the impact of wind on the moving speed and calculate the inclination safety factor a2 according to the actual inclination adjustment ratio R2;

[0139] The inclination is calculated based on a2 and h1. The safe moving speed V2 is calculated using the following formula:

[0140] V2=a2×h1;

[0141] Among them, a2 is usually determined by experiments, historical data, expert experience or simulation, and it reflects the relationship between the speed and height that the robot can safely move in a tilted state;

[0142] 5) Comprehensively calculate the safe moving speed;

[0143] The final safe moving speed V is calculated by combining the wind safety factor k1, the safe moving speed V1 during normal operation and the safe moving speed V2 due to inclination. The calculation formula is:

[0144] V = (1 + k) × V1 + k × V2;

[0145] The calculated V is the safe moving speed that takes into account the influence of wind force and the tilt state of the robot.

[0146] In step 3), the safety speed factor a1 under normal operation is calculated based on historical environmental information;

[0147] In the step 4), the inclination safety factor a2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R2 is measured by a level meter.

[0148] Embodiment 3:

[0149] Based on Example 1, the risk level analysis method of the current inclination of the robot is as follows:

[0150] 1) Calculate the robot's operating safety factor;

[0151] The running time information in the robot running status information sent by the safety sensor is converted into the robot running safety factor k2. The conversion relationship is:

[0152] k2=f(T);

[0153] Wherein, T is a preset reference time for judgment, and T>0, and the function f is determined according to historical data.

[0154] f is a linear function, k2=f(T) can be understood as: k2=aT+b;

[0155] Where a is the slope, which indicates the effect of each unit time on the safety factor; b is the intercept, which indicates that at T=0;

[0156] The determination of a and b is based on the collection of historical data, for example:

[0157] According to historical data:

[0158] When the running time T is 1 (h), the robot operation safety factor k2 is 0.1;

[0159] When the running time T is 2 (h), the robot operation safety factor k2 is 0.2;

[0160] When the running time T is 3 (h), the robot operation safety factor k2 is 0.3;

[0161] …

[0162] Based on the above historical data, k2=f(T) can be directly determined as:

[0163] k2=0.1×T.

[0164] 2) Calculate the slope risk level W;

[0165] Based on the robot's operating safety factor k2, the risk level W of the current inclination is calculated using the following formula:

[0166] W = λ1 × k1 + λ2 × k2;

[0167] Among them, λ1 and λ2 are proportional coefficients, k1 is the wind safety factor, and k2 is the robot operation safety factor;

[0168] λ1 is used to adjust the impact of wind safety factor k1 on the risk level of tilt, and is usually determined through experiments, historical data, expert experience, or simulation;

[0169] λ2 is used to adjust the impact of the robot's operating safety factor k2 on the risk level of inclination, and is usually determined through experiments, historical data, expert experience, or simulation;

[0170] 3) Determine the degree of risk and decide on a course of action;

[0171] 3.1) When W>Q1, it means that the current robot's inclination is not suitable for movement and the robot should stop moving immediately;

[0172] 3.2) When Q1≥W>Q2, it means that the current adjustment speed has a serious impact, and the moving speed should be reduced;

[0173] 3.3) When Q2≥W>Q3, it means that the current adjustment speed has a general effect, and the moving speed should be gradually reduced in order;

[0174] 3.4) When W≤Q3, it means that the current adjustment speed has little impact and there is no need to adjust the moving speed;

[0175] Among them, Q1 is the first risk threshold, Q2 is the second risk threshold, and Q3 is the third risk threshold.

[0176] This example is explained with examples:

[0177] Real-time wind force F = 12 m / s;

[0178] The maximum wind force that the robot can withstand during normal operation is F0 = 10 m / s;

[0179] Conversion coefficient α = 0.1;

[0180] Robot operation time T = 3 hours;

[0181] The conversion function k2=f(T) is defined as k2=0.1×T;

[0182] Proportional coefficient λ1=0.6;

[0183] Proportional coefficient λ2=0.4;

[0184] The first risk threshold Q1=0.5;

[0185] The second risk threshold Q2=0.3;

[0186] The third risk threshold Q3=0.1.

[0187] (1) Calculate the wind safety factor k1:

[0188] k1=α×(F-F0)=0.1×(12-10)=0.1×2=0.2;

[0189] (2) Calculate the robot operation safety factor k2:

[0190] k2=0.1×T=0.1×3=0.3;

[0191] (3) Calculate the slope risk level W;

[0192] W=λ1×k1+λ2×k2=0.6×0.2+0.4×0.3=0.12+0.12=0.24;

[0193] (4) Determine the risk level and decide on an action plan:

[0194] W=0.2 and Q2≥W>Q3 is satisfied, so the moving speed is gradually reduced in order according to the proportional relationship calculated in step 1).

[0195] Embodiment 4:

[0196] Based on Example 3, the calculation method of the actual inclination adjustment ratio R2 is:

[0197] 1) Calculate the safe moving speed V;

[0198] The safe moving speed V is calculated based on the real-time wind force F and the safety distance coefficient d. The calculation formula is:

[0199] V = F / d;

[0200] Where d is the safety distance factor, which is pre-set based on factors such as the robot's size and weight;

[0201] 2) Calculate the initial moving speed V0;

[0202] The initial moving speed V0 of the level is calculated based on the safe moving speed V and the time t from the start of the initial movement to the end of the acceleration. The calculation formula is:

[0203] V0=V×t;

[0204] 3) Record and calculate the measurement data of the level instrument;

[0205] During the period from the start of the initial movement to the end of the acceleration, the level meter's measurement data is recorded, and the average value V is calculated based on the recorded data 01 ;

[0206] 4) Calculate the deviation value V0´;

[0207] Calculate and measure the initial moving speed V0 and the average value V 01 The difference is taken as the deviation value V0´, and the calculation formula is:

[0208] V0´=V0-V 01 ;

[0209] 5) Calculate and adjust the speed V3;

[0210] The adjusted speed V3 is calculated according to the actual inclination adjustment ratio R2 and the deviation value V0´, and the calculation formula is: V3=(1+R2)×V0´.

[0211] Embodiment 5:

[0212] Based on Example 1, the method for controlling the robot body using the monitoring data of the rainfall monitor in the system includes:

[0213] 1) Get real-time rainfall

[0214] Get the current real-time rain through the rain monitor;

[0215] 2) Determine the impact of rainfall

[0216] 2.1) If the real-time rainfall is less than the rainfall threshold q, it means that the current rainfall has no effect and the robot moves normally;

[0217] 2.2) If the real-time rainfall is greater than or equal to the rainfall threshold q, it means that the platform is affected by heavy rainfall, and proceed to step 3);

[0218] 3) Record real-time speed and determine fluctuations

[0219] Record the real-time speed within the set acquisition period;

[0220] If the real-time speed fluctuation is greater than the allowed fluctuation range x, the robot stops moving;

[0221] Otherwise, go to step 4);

[0222] 4) Calculate the allowed movement time

[0223] Calculate the allowed movement time T0 of the platform;

[0224] The allowable fluctuation range x is defined as the product of the acceleration time t and the maximum moving speed V0 when the robot is operating normally, that is, x=t×V0, where x is the allowable range to measure whether the robot speed fluctuation is normal;

[0225] The allowed movement time T0 is set to (1+Z)×t, where Z is the allowed acceleration ratio calculated based on the real-time rainfall and fluctuation range;

[0226] 5) Calculate the acceleration ratio Z;

[0227] 5.1) Calculate the acceleration ratio based on the real-time rainfall and fluctuation range;

[0228] 5.1.1) If the real-time rainfall is equal to the rainfall threshold q and is not less than the allowed fluctuation range x, it means that there is heavy rainfall on the current platform, but the rainfall has no effect on the movement of the robot, and the robot moves normally;

[0229] 5.1.2) If the real-time rainfall is equal to the rainfall threshold q and less than the allowed fluctuation range x, it means that it may be caused by wind. Record the wind safety factor k1. If the previous wind safety factor is less than k1, the acceleration ratio Z is the current value minus the previous value (i.e. Z=k 当前 -k 前一次 ), and after calculating the corresponding allowed moving time T0, the robot moves normally;

[0230] 5.1.3) If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowed fluctuation range x, the allowed movement time T0 is accumulated from the previous value until it exceeds the allowed movement time T0, and the movement is stopped;

[0231] 5.1.4) If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowed fluctuation range x, the allowed movement time T0 is 0 and the robot stops moving.

[0232] Embodiment 6:

[0233] Based on Example 1, the robot body is connected to the computer monitoring system by wireless means, and the computer monitoring system realizes information exchange with the platform environment monitoring device through the network, and the initial parameter information of the robot during normal operation is input into the computer monitoring system, including the maximum speed, acceleration time, robot size and weight;

[0234] The computer monitoring system obtains the environmental information of the platform, and summarizes the real-time wind information and real-time rainfall information of the platform, and stores the summarized data in a database according to a period t. The computer monitoring system determines whether the robot triggers an alarm by receiving the robot operation status information sent by the safety sensor. When the alarm is triggered, the safety sensor is triggered to sound an alarm and the operation status of the robot is displayed on the computer monitoring system, including the operation time, speed and direction. The monitoring personnel send control instructions to the robot body as needed to make the robot body enter the room or stop moving.

[0235] In a preferred solution, in the robot body, the processing includes:

[0236] A mobile information collection module is used to collect the mobile data of the robot itself in real time, including the direction of travel and current moving speed of the inspection robot, and send it to the mobile information analysis module;

[0237] An environmental information receiving module is used to obtain environmental information on the platform in real time, including wind force level and inclination, and send it to the mobile information analysis module;

[0238] The mobile information analysis module connects the mobile information acquisition module and the environmental information receiving module, and combines the mobile data and environmental information to analyze the current safe travel direction of the robot and send the information to the risk assessment module;

[0239] The risk assessment module is connected to the mobile information analysis module and is used to calculate the inclination of the robot affected by gravity according to the environmental information and the weight of the robot, and issue a warning according to the inclination value. The risk assessment module also monitors the relative angle between the calculated safe travel direction and the current travel direction of the robot, and determines whether the absolute value of the relative angle exceeds a threshold. If the threshold is exceeded, a warning is issued;

[0240] The path planning module connects the mobile information analysis module and the risk assessment module, calculates the safe travel speed under the current wind force level, replans the path information according to the safe travel speed, and sends the information to the inspection robot;

[0241] The rainfall statistics module is used to receive the rainfall information and current travel speed in the environment, and count the number of times the continuous rainfall information exceeds the preset threshold, and determine whether a warning needs to be issued based on the number of times.

[0242] In this embodiment, specifically:

[0243] The mobile information acquisition module is used to collect the mobile data of the inspection robot itself in real time, the mobile data including the robot's current moving speed v1, the travel direction θ1 and the inspection robot's weight w1, and send it to the mobile information analysis module;

[0244] The environmental information receiving module is used to obtain the environmental information on the platform in real time, the environmental information including the wind force level a and the inclination θ2, and send it to the mobile information analysis module;

[0245] The mobile information analysis module is used to combine mobile data and environmental information to calculate the current robot's safe speed and safe direction of travel θ t and direction θ2, and sends the information to the risk assessment module.

[0246] The present invention collects the robot's own movement parameters and obtains the environmental information of the outdoor platform, calculates the current robot's safe movement speed, and analyzes the risk level of the robot's current inclination. It can monitor the robot's condition in real time and issue an alarm in time if there is an abnormality to improve the safety performance of the inspection robot. In addition, the center of gravity distance adjustment ratio and the speed adjustment ratio are introduced, so that the safe movement of inspection robots of different sizes and weights is taken into account when considering the influence of wind force. The system also plans a safe inspection path according to the wind force and inclination information, so that the inspection robot can quickly move to a safe area. In addition, based on the current rainfall and movement speed, the platform's wetness and slipperiness are judged, and the robot is controlled to continue or stop moving. That is, under heavy rain conditions, if the continuous sampling values ​​of the robot's movement speed fluctuate significantly, it is considered that the platform is wet and slippery, so the robot is stopped or controlled to enter the room, ensuring that the inspection robot moves safely while avoiding the impact of the wet platform on the safety of the inspection robot.

Claims

1. A safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The system includes a platform environment monitoring device, a robot body and a computer monitoring system; The platform environment monitoring device comprises: A wind monitor installed outside the offshore water hydrogen production platform is used to monitor the real-time wind speed of the outdoor platform; A rainfall monitor installed outside the offshore water hydrogen production platform is used to monitor real-time rainfall; Safety sensors installed outside the offshore water hydrogen production platform are used to trigger and alarm when the robot is abnormal; The infrared sensing device installed outside the offshore water hydrogen production platform is used to control the robot to enter the room; The robot body comprises: The processor is used to receive the real-time wind and rainfall information of the platform obtained by the platform environment monitoring device, the alarm information triggered by the safety sensor, and the sensing signal sent by the infrared sensing device, and perform data processing and robot control according to the received information; An acceleration sensor connected to the processor is used to obtain the movement parameters of the robot itself; A level connected to the processor to obtain the current tilt information in the room; The computer monitoring system is connected to the platform environment monitoring device and the robot body through the network to obtain the platform's real-time wind and rainfall information, alarm information triggered by safety sensors, and sensing signals sent by infrared sensing devices; In the robot body, the processor collects the robot operation status information sent by the safety sensor in real time, calculates the current safe movement speed and direction of the robot, analyzes the risk level of the current inclination of the robot, and issues an alarm in real time when a warning occurs; The method for analyzing the risk level of the current inclination of the robot is as follows: 1) Calculate the robot's operating safety factor; The running time information in the robot running status information sent by the safety sensor is converted into the robot running safety factor k2. The conversion relationship is: k2=f(T); Wherein, T is the preset judgment reference time, and T>0; f is the conversion function, which is calculated based on historical data; 2) Calculate the degree of tilt risk; Based on the robot's operating safety factor k2, the risk level R of the current inclination is calculated using the following formula: R = λ1 × k1 + λ2 × k2; Among them, λ1 and λ2 are proportional coefficients, k1 is the wind safety factor, and k2 is the robot operation safety factor; 3) Determine the degree of risk and decide on a course of action; 3.1) When R>Q1, it means that the current inclination of the robot is not suitable for movement and the movement should be stopped immediately; 3.2) When Q1≥R>Q2, it means that the current adjustment speed has a serious impact, and the moving speed should be reduced; 3.3) When Q2≥R>Q3, it means that the current adjustment speed has a general effect, and the moving speed should be gradually reduced in order; 3.4) When R≤Q3, it means that the current adjustment speed has little impact and there is no need to adjust the moving speed; Among them, Q1 is the first risk threshold, Q2 is the second risk threshold, and Q3 is the third risk threshold.

2. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The current safe moving speed and direction of the robot are calculated as follows: 1) Calculate the wind safety factor; The real-time wind force F is converted into the wind safety factor k1, and the conversion relationship is: k1=α×(F-F0); Among them, F0 is the maximum wind force that the robot can withstand during normal operation, and α is the conversion coefficient; 2) Determine whether the movement can continue; If the distance between the robot and the horizontal ground is h1, calculate the center of gravity distance adjustment ratio R1 under the wind safety factor; Compare R1 with the first safety threshold Q1. If R1 ≥ Q1, the center of gravity of the robot cannot continue to move under the current wind safety factor and needs to stop moving. 3) Calculate the safe moving speed during normal operation; If there is no additional wind impact, the real-time wind safety factor k1=0, then the robot can move according to normal operating conditions; According to the distance h1 between the robot and the ground and the safety speed coefficient a1 under normal operation, the safe moving speed V1 is calculated using the following formula: V1=a1×h1; 4) Calculate the safe moving speed when there is wind influence; If the real-time wind safety factor k1>0, it is necessary to consider the impact of wind on the moving speed and calculate the inclination safety factor a2 according to the actual inclination adjustment ratio R2; Calculate the safe moving speed V2 according to the inclination based on a2 and h1. The calculation formula is: V2=a2×h1; 5) Comprehensively calculate the safe moving speed; The final safe moving speed V is calculated by combining the wind safety factor k1, the safe moving speed V1 during normal operation and the safe moving speed V2 due to inclination. The calculation formula is: V = (1 + k1) × V1 + k1 × V2; The calculated V is the safe moving speed that takes into account the influence of wind force and the tilt state of the robot.

3. According to claim 2, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: In step 3), the safety speed factor a1 under normal operation is calculated based on historical environmental information; In the step 4), the inclination safety factor a2 is calculated based on the historical environmental information, and the actual inclination adjustment ratio R2 is measured by a level meter.

4. According to claim 2, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The calculation method of the actual inclination adjustment ratio R2 is: 1) Calculate the safe moving speed V; The safe moving speed V is calculated based on the real-time wind force F and the safety distance coefficient d. The calculation formula is: V = F / d; 2) Calculate the initial moving speed V0; The initial moving speed V0 of the level is calculated based on the safe moving speed V and the time t from the start of the initial movement to the end of the acceleration. The calculation formula is: V0=V×t; 3) Record and calculate the measurement data of the level instrument; During the period from the start of the initial movement to the end of the acceleration, the level meter's measurement data is recorded, and the average value V is calculated based on the recorded data 01 ; 4) Calculate the deviation value V0´; Calculate and measure the initial moving speed V0 and the average value V 01 The difference is taken as the deviation value V0´, and the calculation formula is: V0´=V0-V 01 ; 5) Calculate and adjust the speed V3; The adjusted speed V3 is calculated according to the actual inclination adjustment ratio R2 and the deviation value V0´, and the calculation formula is: V3=(1+R2)×V0´.

5. According to the safety control system of an outdoor inspection robot for an offshore water hydrogen production platform field in claim 1, it is characterized in that: the method for controlling the robot body based on the monitoring data of the rainfall monitor comprises: 1) Get real-time rainfall; Get the current real-time rain through the rain monitor; 2) Determine the impact of rainfall; 2.1) If the real-time rainfall is less than the rainfall threshold q, it means that the current rainfall has no effect and the robot moves normally; 2.2) If the real-time rainfall is greater than or equal to the rainfall threshold q, it means that the platform is affected by heavy rainfall, and proceed to step 3); 3) Record real-time speed and determine fluctuations; Record the real-time speed within the set acquisition period; If the real-time speed fluctuation is greater than the allowed fluctuation range x, the robot stops moving; Otherwise, go to step 4); 4) Calculate the allowed movement time; Calculate the allowed movement time T0 of the platform; The allowable fluctuation range x is defined as the product of the acceleration time t and the maximum moving speed V0 during normal operation of the robot, that is, x=t×V0; The allowed moving time T0 is set to (1+Z)×t, where Z is the allowed acceleration ratio; 5) Calculate the acceleration ratio Z; 5.1) Calculate the acceleration ratio based on the real-time rainfall and fluctuation range; 5.1.1) If the real-time rainfall is equal to the rainfall threshold q and is not less than the allowed fluctuation range x, it means that there is heavy rainfall on the current platform, but the rainfall has no effect on the movement of the robot, and the robot moves normally; 5.1.2) If the real-time rainfall is equal to the rainfall threshold q and less than the allowed fluctuation range x, it means that it may be caused by wind. The wind safety factor k1 is recorded. If the previous wind safety factor is less than k1, the acceleration ratio Z is the current value minus the previous value, and the corresponding allowed movement time T0 is calculated. Then the robot moves normally. 5.1.3) If the real-time rainfall is not equal to the rainfall threshold q and is not less than the allowed fluctuation range x, the allowed movement time T0 is accumulated from the previous value until it exceeds the allowed movement time T0, and the movement is stopped; 5.1.4) If the real-time rainfall is not equal to the rainfall threshold q and is greater than the allowed fluctuation range x, the allowed movement time T0 is 0 and the robot stops moving.

6. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The robot body is connected to the computer monitoring system by wireless means, and the computer monitoring system realizes information exchange with the platform environment monitoring device through the network, and the initial parameter information of the robot during normal operation is input into the computer monitoring system, including the maximum speed, acceleration time, robot size and weight; The computer monitoring system obtains the environmental information of the platform, and summarizes the real-time wind information and real-time rainfall information of the platform, and stores the summarized data in a database according to a period t. The computer monitoring system determines whether the robot triggers an alarm by receiving the robot operation status information sent by the safety sensor. When the alarm is triggered, the safety sensor is triggered to sound an alarm and the operation status of the robot is displayed on the computer monitoring system, including the operation time, speed and direction. The monitoring personnel send control instructions to the robot body as needed to make the robot body enter the room or stop moving.

7. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: In the robot body, the processor includes: A mobile information collection module is used to collect the mobile data of the robot itself in real time, including the direction of travel and current moving speed of the inspection robot, and send it to the mobile information analysis module; An environmental information receiving module is used to obtain environmental information on the platform in real time, including wind force level and inclination, and send it to the mobile information analysis module; The mobile information analysis module connects the mobile information acquisition module and the environmental information receiving module, and combines the mobile data and environmental information to analyze the current safe travel direction of the robot and send the information to the risk assessment module; The risk assessment module is connected to the mobile information analysis module and is used to calculate the inclination of the robot affected by gravity according to the environmental information and the weight of the robot, and issue a warning according to the inclination value. The risk assessment module also monitors the relative angle between the calculated safe travel direction and the current travel direction of the robot, and determines whether the absolute value of the relative angle exceeds a threshold. If the threshold is exceeded, a warning is issued; The path planning module connects the mobile information analysis module and the risk assessment module, calculates the safe travel speed under the current wind force level, replans the path information according to the safe travel speed, and sends the information to the inspection robot; The rainfall statistics module is used to receive the rainfall information and current travel speed in the environment, and count the number of times the continuous rainfall information exceeds the preset threshold, and determine whether a warning needs to be issued based on the number of times.

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