A petrochemical scene robot disposal operation simulation test platform and test method

Abstract

The present disclosure provides a petrochemical scene robot disposal operation simulation test platform and test method, which relates to the technical field of robot testing, and the test platform comprises a chassis and a test device arranged on the chassis, the test device comprises an oil tank and a circulating pipeline; a replaceable pipeline for simulating pipeline leakage is arranged on the circulating pipeline, and the replaceable pipeline is detachably arranged on the circulating pipeline, and the two ends of the replaceable pipeline are respectively connected with a first valve and a second valve, and the replaceable pipeline, the first valve and the second valve constitute a first pipe section; the two ends of the first pipe section are connected in parallel with a second pipe section, and a third valve is arranged on the second pipe section; the handles of the first valve, the second valve and the third valve are different in height; a fourth valve is further arranged on the circulating pipeline; and at least two different types of valves are included in the first valve, the second valve, the third valve and the fourth valve. The present disclosure can improve the disposal capability of the petrochemical scene robot in a real emergency scene.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robot testing, in particular to a petrochemical scene robot disposal operation simulation test platform and a test method. BACKGROUND

[0002] With the rapid development of the petrochemical industry, the scale and complexity of various factories and production facilities have significantly increased, and the resulting safety hazards have also increased. Common dangerous situations in petrochemical scenes include pipeline leaks, valve failures, fires, and toxic gas leaks. In order to effectively dispose of these dangerous situations, more and more emergency disposal operations begin to use robot technology. Such robots can perform tasks in high-temperature, toxic, and flammable environments without the need for rescue personnel to enter the scene, effectively reducing the risk to rescue personnel.

[0003] However, the existing test environment for petrochemical scene robots is often relatively simple and cannot fully simulate real petrochemical scenes, which can cause deviations in the performance data obtained in the laboratory from actual applications. Although there are simulation platforms for testing robot motion, perception, and operation, they are mostly designed for single functions, such as mechanical arm gripping force testing, navigation and obstacle avoidance simulation, etc., and cannot simultaneously simulate valve operation, pipeline leakage, instrument reading, and emergency situations. A real scene in a petrochemical plant typically includes a complex network of pipes, various types of valves, multiple monitoring instruments, and multiple threats from sudden situations such as leaks, fires, and explosions. There is a lack of a unified platform in the prior art that combines these functions and restores complex operation scenarios, resulting in robots often facing problems such as substandard performance, insufficient reaction speed, and limited adaptability when deployed in real-world scenarios. SUMMARY

[0004] To solve the problems existing in the prior art, the embodiments of the present disclosure provide a petrochemical scene robot disposal operation simulation test platform and a test method to improve the disposal capability of petrochemical scene robots in real emergency scenarios. The technical solution is as follows:

[0005] In a first aspect, a petrochemical scene robot disposal operation simulation test platform is provided, which includes a chassis and a test device arranged on the chassis. The test device includes an oil tank and a circulation pipeline connected to the oil tank at both ends.

[0006] A replaceable pipeline for simulating a pipeline leak is arranged on the circulation pipeline, and the replaceable pipeline is detachably arranged on the circulation pipeline. The replaceable pipeline is connected to a first valve and a second valve at both ends, respectively, and the replaceable pipeline, the first valve, and the second valve form a first pipe section. The first pipe section is connected in parallel to a second pipe section at both ends, and the second pipe section is provided with a third valve. The handles of the first valve, the second valve, and the third valve are at different heights.

[0007] The fourth valve is further arranged on the circulation pipeline; and at least two different types of valves are included in the first valve, the second valve, the third valve and the fourth valve.

[0008] Preferably, the circulation pipeline comprises a first pipe section, a second pipe section, a third pipe section and a fourth pipe section; a first end of the third pipe section is connected to an oil outlet of the oil tank through a hydraulic pump, a second end of the third pipe section is connected to a first end of the first pipe section and the second pipe section; a first end of the fourth pipe section is connected to a second end of the first pipe section and the second pipe section, and a second end of the fourth pipe section is connected to an oil inlet of the oil tank.

[0009] Preferably, an oil return port is arranged at a top of the oil tank, and the third pipe section is connected to the oil tank through the oil return port; a pressure relief valve and a hydraulic gauge are arranged at a connection position of the third pipe section and the oil return port.

[0010] Preferably, a flow gauge is arranged on the third pipe section, and the flow gauge and the hydraulic gauge are different in value display type.

[0011] Preferably, the fourth valve is arranged on the third pipe section, and the fourth valve is in a plurality of quantity, and handle directions of the plurality of fourth valves are different.

[0012] Preferably, a fifth valve is further arranged on the fourth pipe section, and a setting position of the fifth valve is different from planes in which the second pipe section and the third pipe section are located.

[0013] Preferably, among the first valve, the second valve, the third valve, the fourth valve and the fifth valve, a highest height of a handle is set according to a maximum arm span of the petrochemical scene robot.

[0014] Preferably, a universal wheel is arranged at a bottom of the chassis, a push rod is arranged at a side of the chassis, and the push rod is located outside the fourth valve.

[0015] In a second aspect, the petrochemical scene robot disposal operation simulation test platform provided in the first aspect further provides a petrochemical scene robot disposal operation simulation test method, which comprises a leakage plugging test method, and specifically comprises the following steps.

[0016] An analog leakage point is manufactured on the replaceable pipeline.

[0017] Valves at two ends of the replaceable pipeline are closed, and a petrochemical scene robot is used to plug the leakage point on the replaceable pipeline.

[0018] After the plugging is completed, the valves at the two ends of the replaceable pipeline are opened, a test device is started, and the hydraulic oil is circulated in the circulation pipeline to test the plugging effect.

[0019] Further technical solutions further comprise a valve closing disposal test method, which specifically comprises the following steps.

[0020] Inject hydraulic oil into the test device, start the test device, and make the hydraulic oil circulate in the circulating pipeline;

[0021] After the test device is normally operated, the petrochemical scene robot closes the corresponding valve according to the preset instruction;

[0022] According to the value change of the hydraulic table and the flow table, the closing effect of the valve is judged.

[0023] The technical scheme provided by the embodiments of the present disclosure has the following beneficial effects:

[0024] The petrochemical scene robot disposal operation simulation test platform and test method provided by the embodiments of the present disclosure are used for providing simulation of various emergency accidents for petrochemical scene robot disposal operation test, different types, different heights and different directions of valves are equipped on pipelines at different positions, diversified test requirements are met, and it is ensured that the valve closing operation test can be efficiently and accurately completed in different experimental and actual application scenes; through the replaceable pipeline and the double-end valve design, the leakage simulation test can be conveniently realized, the hydraulic oil leakage can be effectively avoided in the test, the waste is avoided, and the usability and economy of the device are improved.

[0025] The advantages of the additional aspects of the present disclosure will be partially given in the following description, partially will become obvious from the following description, or will be known by the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] Figure 1 is a top view of a petrochemical scene robot disposal operation simulation test platform provided by the embodiments of the present disclosure;

[0028] Figure 2 is a front view of a petrochemical scene robot disposal operation simulation test platform provided by the embodiments of the present disclosure;

[0029] Figure 3 is a structure schematic diagram of the petrochemical scene robot disposal operation simulation test platform under a first perspective provided by the embodiments of the present disclosure;

[0030] Figure 4 is a structure schematic diagram of the petrochemical scene robot disposal operation simulation test platform under a second perspective provided by the embodiments of the present disclosure;

[0031] Figure 5 is a rear view of a petrochemical scene robot disposal operation simulation test platform provided by an embodiment of the present disclosure;

[0032] Figure 6 is a structural schematic diagram of the petrochemical scene robot disposal operation simulation test platform under a third perspective provided by an embodiment of the present disclosure.

[0033] The reference signs represent, respectively: 1, first valve; 2, pressure relief valve; 3, oil return port; 4, fifth valve; 5, oil filling port; 6, oil tank; 7, chassis; 8, oil discharge port; 9, liquid level gauge; 10, hydraulic pump; 11, universal wheel; 12, fourth valve; 13, push rod; 14, third valve; 15, flange; 16, second valve; 17, replaceable pipeline; 18, hydraulic gauge; 19, flow meter; 20, chassis skirt; 21, U-shaped buckle; 22, pipeline support; 23, oil tank support. DETAILED DESCRIPTION

[0034] To make the objects, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the drawings.

[0035] The terms "first", "second", and the like in the specification and claims of the present disclosure and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0036] The embodiments of the present disclosure first provide a petrochemical scene robot disposal operation simulation test platform, as shown in Figures 1-6 The test device includes an oil tank 6 and a circulation pipeline connected to the oil tank 6 at both ends;

[0037] The circulation pipeline is provided with a replaceable pipeline 17 for simulating pipeline leakage, and the replaceable pipeline 17 is detachably arranged on the circulation pipeline. The replaceable pipeline is respectively connected with a first valve 1 and a second valve 16 at both ends. The replaceable pipeline 17, the first valve 1 and the second valve 16 constitute a first pipe section. The first pipe section is connected in parallel at both ends with a second pipe section, and the second pipe section is provided with a third valve 14. The handles of the first valve 1, the second valve 16 and the third valve 14 are different in height;

[0038] The circulating pipeline is further provided with a fourth valve 12; and at least two different types of valves are included in the first valve 1, the second valve 16, the third valve 14, and the fourth valve 12 to meet the diversified testing needs of the robot.

[0039] In the related art, although there are simulation platforms for testing the movement, perception, and operation of robots, most of them are single-function, such as the gripping force test of a mechanical arm, navigation and obstacle avoidance simulation, etc., and cannot simultaneously simulate valve operation, pipeline leakage, instrument reading, and emergency conditions, etc. Therefore, there is a lack of a unified platform that combines these functions and restores complex work scenarios, resulting in problems such as substandard performance, insufficient reaction speed, and limited adaptability of robots in actual deployment. Therefore, the embodiment provides an integrated simulation test platform that can accurately simulate various emergency operating conditions in petrochemical scenarios, comprehensively evaluate the adaptability and operating efficiency of robots, and provide effective data support and test environment for the research and development and field application of robot technology. The provided test platform not only helps to improve the safety and reliability of robot technology, but also shortens the research and development cycle and reduces the investment cost.

[0040] The circulating pipeline includes a first pipe section, a second pipe section, a third pipe section, and a fourth pipe section, wherein the first pipe section and the second pipe section are in parallel, and the two ends are connected to the oil tank through the third pipe section and the fourth pipe section, respectively, forming a closed circulating hydraulic oil pipeline. The first end of the third pipe section is connected to the oil outlet of the oil tank 6 through the hydraulic pump 10, and the second end of the third pipe section is connected to the first end of the first pipe section and the second pipe section. The first end of the fourth pipe section is connected to the second end of the first pipe section and the second pipe section, and the second end of the fourth pipe section is connected to the oil inlet of the oil tank.

[0041] The oil tank 6 is used to store hydraulic oil and is equipped with a liquid level gauge 9 to monitor the oil quantity. The oil tank 6 is provided with an oil filling port 5 at the top and an oil discharge port 8 at the bottom, respectively, for supplementing and discharging hydraulic oil. The oil tank 6 is provided with an oil outlet and an oil inlet on both sides, respectively. The oil outlet is arranged at the lower part of one side of the oil tank 6 and is connected to the third pipe section through the hydraulic pump; the oil inlet is arranged at the upper part of the other side of the oil tank 6 and is connected to the fourth pipe section; the hydraulic oil is circulated through the oil outlet, the circulating pipeline, and the oil inlet. The oil tank 6 is further provided with a return oil port 3 at the top for realizing the return flow of hydraulic oil. The bottom of the oil tank is supported on the chassis through an oil tank support 23.

[0042] The first end of the third pipe section is connected to the oil outlet at the bottom of the oil tank by a hydraulic pump, and then extends upward from the bottom of the oil tank to the top of the oil tank, and is divided into two branches; one branch is connected to the oil return port at the top of the oil tank, and a pressure relief valve 2 and a hydraulic gauge 18 are further arranged on the branch to monitor the oil pressure and ensure normal operation of the device to avoid overpressure; the other branch extends away from the oil tank and is connected to the subsequent first pipe section and second pipe section, and a flow meter 19 is arranged on the branch to monitor the flow of hydraulic oil in the circulating pipeline.

[0043] The hydraulic pump 10 provides power for the flow of hydraulic oil in the circulating pipeline, converting mechanical energy into hydraulic energy.

[0044] To meet the needs of automated detection, two types of instruments are designed: a pointer instrument and a digital instrument, to achieve flexible and efficient data acquisition and processing. In this embodiment, the hydraulic gauge 18 is a pointer instrument, and the flow meter 19 is a digital instrument. The pointer instrument indicates the pressure or flow parameter through a mechanical pointer, and the robot reads the dial information through a visual recognition system, accurately analyzes the pointer position using image recognition algorithms, and converts it to a numerical value to achieve real-time data acquisition. The digital instrument outputs accurate numerical values through an electronic display screen, and the robot can use optical reading or digital signal interface to directly obtain numerical data and transmit it to the monitoring system for processing and recording.

[0045] The combination of the two types of instruments enables the robot to flexibly adapt to various detection scenarios: the pointer instrument is suitable for environments with rapid dynamic changes, while the digital instrument provides high-precision data support. Through this design, not only can the numerical reading during the test process be fully automated, but also the accuracy and efficiency of the detection are improved.

[0046] A fourth valve 12 is further arranged on the third pipe section to quickly open and close the oil circuit. The number of fourth valves is multiple, and the handles of the multiple fourth valves are in different directions. In this embodiment, the fourth valve is a ball valve, and the number is 2. The handle of one ball valve is in a horizontal position and can rotate in the horizontal plane, and the handle of the other ball valve is in a vertical position and can rotate in the vertical plane. The design of adjacent valves of the same type but different directions can test the robot's ability to open and close valves in different positions, the robot's ability to recognize adjacent valves of the same type, and whether the robot can avoid accidental contact with adjacent valves during the valve opening and closing process.

[0047] The third pipe section is connected with the first pipe section and the second pipe section in parallel at one end not connected with the oil tank. The first pipe section is provided with a replaceable pipe 17 and a first valve 1 and a second valve 16 arranged at two ends of the replaceable pipe 17, wherein the first valve 1 is a gate valve for realizing the shutoff of the pipe, and the second valve 16 is a butterfly valve for adjusting the flow, and the handwheels (handles) of the two valves are oriented in different directions, the handwheel of the first valve is horizontal, and the handwheel of the second valve is vertical, so as to test the opening and closing ability of the robot for the valve handles in different directions. The replaceable pipe 17 can simulate the sudden situation of liquid leakage and the like, and is used for testing the detection, plugging and repairing ability of the robot for the pipe leakage. The replaceable pipe is designed in a modular manner, is convenient to replace, and makes the overall device layout flexible and easy to adjust. Flanges 15 are arranged at the positions where the replaceable pipe is connected with the two valves and at the positions where the two valves are connected with the main pipe in the third pipe section, so as to facilitate the disassembly and assembly of the structure.

[0048] The second pipe section is connected with the first pipe section in parallel, and the second pipe section is provided with a third valve 14. In the embodiment, the third valve 14 is a gate valve. The handwheel of the third valve is vertically arranged, and the size of the third valve is different from that of the first valve, so as to verify the opening and closing ability of the robot for the valve in different sizes. The first pipe section and the second pipe section designed in parallel, in cooperation with the design of the first valve, the second valve and the third valve, can realize the leakage test and replacement of the pipe without stopping the machine. During the test, first, the third valve can be closed, the first valve and the second valve can be opened, and the replaceable pipe can be used to simulate the hydraulic oil leakage, so as to simulate the plugging ability of the robot in the leakage state, if the plugging is invalid, the robot can rotate the related valve, open the second pipe section, and close the first pipe section, so as to isolate the replaceable pipe section with leakage in the state that the device does not stop, and perform the pipe replacement experiment and the like.

[0049] The first pipe section and the second pipe section not connected with the third pipe section are connected with a fourth pipe section, and the other end of the fourth pipe section is connected with the oil inlet of the oil tank. The fourth pipe section is provided with a fifth valve 4, and in the embodiment, the fifth valve 4 is a gate valve for realizing the opening and closing control of the circulating pipe. In addition, in order to test the identification and operation performance of the robot for the valve in different angles and different positions, in the embodiment, the circulating pipe adopts a similar rectangular arrangement mode in the horizontal direction (in the perspective view), the first valve, the second valve and the third valve are arranged in the same vertical plane (i.e. the plane where the second pipe section and the third pipe section are arranged), and the fourth valve and the fifth valve are arranged on the two sides of the vertical plane, so that the position of the oil tank is taken as the front, and the design of the first valve to the fifth valve can test the working ability of the robot on the back and the two sides.

[0050] The handwheel height of the fifth valve is different from those of the first, second, third, and fourth valves, so as to fully test the opening and closing ability of the robot for valves of different heights. The handle height of at least one valve should reach the height of the maximum arm span of the robot, so as to meet the testing requirements at different heights.

[0051] Push rods 13 are arranged on both sides of the chassis 7, and universal wheels 11 are arranged at the bottom, so as to facilitate the movement of the overall test platform. At the same time, the push rods 13 are arranged on both sides of the chassis, i.e., outside the fourth valve 12 and the fifth valve 4, which indirectly shields the pipelines and valves to a certain extent, so as to test the emergency operation ability of the robot in complex operation scenes such as obstacles and shields.

[0052] The chassis 7 has a chassis skirt 20 bent upward around the bottom, which provides support for the overall structure and facilitates the collection of hydraulic oil after leakage. The lower part of each pipeline is supported on the chassis by a pipeline support 22, and the pipeline is fixed on the pipeline support 22 by a U-shaped buckle 21.

[0053] The test platform provided by the embodiment can simulate different types and specifications of valves, and can be used for the robot to perform screwing, opening, and closing operations on the valves. The design of replaceable pipelines can simulate and test the detection, plugging, and repair capabilities of the robot for pipeline leakage in emergency situations such as liquid leakage. The platform has two types of display instruments (a pointer type hydraulic gauge and a digital type flow gauge), which can support the robot to detect and read various pressure and flow gauges in the simulated scene. The overall test device has a compact structure and high sealing performance, can simulate emergency situations such as smoke and water / oil leakage, and can improve the realism of the test.

[0054] Compared with the prior art, the test platform provided by the embodiment is equipped with valves of different types, heights, and directions, and can realize valve closing operation test in multiple scenes. Through this design, the platform can simulate and handle various complex hydraulic working conditions, including high pressure, low pressure, different flow requirements, and valve operation in special working conditions. Different types of valves (such as gate valves, ball valves, and butterfly valves) and different heights and directions of the layout make the platform flexible and adaptable to diversified testing requirements, ensuring efficient and accurate completion of valve closing operation test in different experimental and actual application scenarios.

[0055] The dual-instrument design combines flexibility and precision, with both analog and digital gauges, to meet various detection needs. The analog gauge is suitable for quick and intuitive monitoring, while the digital gauge provides high-precision numerical output, supporting automated analysis. Through visual recognition technology or digital signal interface, robots can read and process these data in real time, achieving fully automated operation and reducing manual intervention, thereby improving work efficiency and precision.

[0056] In addition, the replaceable pipeline design of the platform greatly enhances maintainability and experimental flexibility. Through modular pipeline and double-end valve design, leaking pipelines can be quickly replaced, while avoiding hydraulic oil leakage, improving the reusability and economy of the system. The platform also has reliable valve closing test function, which can monitor the closing state of the valve in real time through pressure gauge and flowmeter, ensuring accurate and safe operation.

[0057] The platform fully considers safety and environmental protection in the design process. Through pressure overload protection and hydraulic oil recovery design, the platform ensures quick shutdown in abnormal conditions, avoids equipment damage and safety hazards, and meets green environmental protection requirements. In summary, the platform provides an efficient, intelligent, and reliable solution for petroleum and chemical pipeline disposal simulation operation, with intelligent instrument reading, modular design, and efficient automation functions as the core.

[0058] Based on the above-mentioned petrochemical scene robot disposal operation simulation test platform, the embodiment of the present application further provides a petrochemical scene robot disposal operation simulation test method, including a leak stoppage test method, specifically comprising:

[0059] Manufacturing a simulated leakage point on the replaceable pipeline;

[0060] Closing the valves at both ends of the replaceable pipeline, and using a petrochemical scene robot to perform leak stoppage operation on the leakage point on the replaceable pipeline;

[0061] After the leak stoppage is completed, opening the valves at both ends of the replaceable pipeline, starting the test device, and making the hydraulic oil circulate in the circulating pipeline to test the leak stoppage effect.

[0062] The plugging test aims to simulate the pipeline leakage scene and verify the plugging scheme and equipment replacement capability. The experiment is completed on a replaceable pipeline. First, according to actual needs, different types of leakage situations (such as cracks, small holes or joint leaks, etc.) are manufactured on the pipeline to simulate possible problems that may occur during the operation of the hydraulic pipeline. In order to facilitate reuse, the section of the pipeline is designed as a modular structure, and valves are installed at both ends. Before the experiment starts, close the valves at both ends of the replaceable pipeline, isolate the leaking pipeline from the hydraulic system, and prevent hydraulic oil from leaking or further contaminating the experimental environment. Then, under the isolated state, the plugging operation is carried out on the leakage point, such as using special sealing materials, repair tools or special plugging equipment for repair. After completing the plugging, the valves at both ends can be reopened, and the hydraulic oil can be circulated by starting the hydraulic pump, and the leakage point can be observed to see if it is completely repaired. If the pipeline needs to be replaced, the leaking pipeline is removed after the valves at both ends are closed, and a new standardized pipeline is replaced. The replaced leaking pipeline can be retained for subsequent experiments or teaching research, and further analysis of the leakage cause and plugging effect can be carried out. During the entire test process, the system status is monitored through the hydraulic gauge and the flowmeter to ensure the stability of the pipeline sealing performance and the system operation.

[0063] In addition, the platform can also carry out valve closing disposal test, and the specific steps include:

[0064] Inject hydraulic oil into the test device, start the test device, and make the hydraulic oil circulate in the circulating pipeline;

[0065] After the test device is running normally, the petrochemical scene robot closes the corresponding valve according to the preset instruction;

[0066] According to the value change of the hydraulic gauge and the flowmeter, the valve closing effect is judged.

[0067] The valve closing disposal test is mainly used to verify the response ability of the hydraulic system to valve operation under simulated working conditions. First, hydraulic oil is injected into the oil tank through the oil filler, and the oil level gauge is observed to ensure that the oil level reaches more than two-thirds of the tank volume to meet the normal operation requirements of the hydraulic system. After the oil injection is completed, the power is turned on, the hydraulic pump is started, and the hydraulic oil circulates in the pipeline. After the hydraulic pump is started, the system operating state is monitored through the hydraulic pressure gauge and flowmeter, and it is confirmed that the hydraulic oil is flowing normally in the pipeline and the system pressure is maintained within a safe range. If there is an abnormality (such as insufficient flow, excessive pressure, or abnormal equipment noise), the machine should be stopped immediately for inspection and problem elimination. When the system is running normally, the valve closing disposal simulation test can be performed. In the simulation operation, the relevant valves (such as the first valve or the second valve) are gradually closed, and the changes in the hydraulic pressure gauge and flowmeter are observed to confirm the response of the system to the valve closing operation. When the pressure gauge and flowmeter values gradually decrease to 0, it indicates that the flow in the hydraulic system pipeline has completely stopped, and the valve has been closed in place. During the test, attention should be paid to the operating force and speed when closing the valve to avoid hydraulic impact caused by too fast operation. At the same time, system operation data should be recorded in a timely manner after the test to evaluate the performance and sealing of the equipment.

[0068] In addition, to meet the needs of automated detection, the platform designs two types of instruments: analog and digital instruments, to achieve flexible and efficient data acquisition and processing.

[0069] Analog instruments indicate pressure or flow parameters through mechanical pointers. The robot reads the dial information through the visual recognition system carried on the robot, accurately analyzes the pointer position using image recognition algorithms, and converts it to numerical values to achieve real-time data acquisition.

[0070] Digital instruments output precise numerical values through electronic displays. The robot can use optical reading or digital signal interfaces to directly obtain numerical data and transmit it to the monitoring system for processing and recording.

[0071] The combination of the two types of instruments enables the robot to flexibly adapt to various detection scenarios: analog instruments are suitable for environments with rapid dynamic changes, while digital instruments provide high-precision data support. Through this design, not only is the numerical reading fully automated, but the accuracy and efficiency of detection are also improved.

[0072] The above only describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A petrochemical scene robot handling operation simulation test platform, characterized in that, The test device comprises an oil tank and a circulation pipeline connected with the oil tank at both ends; The circulation pipeline is provided with a replaceable pipeline for simulating pipeline leakage, and the replaceable pipeline is detachably arranged on the circulation pipeline. The replaceable pipeline is connected with a first valve and a second valve at both ends respectively, and the replaceable pipeline, the first valve and the second valve constitute a first pipe section. The first pipe section is connected with a second pipe section in parallel at both ends, and the second pipe section is provided with a third valve. The handles of the first valve, the second valve and the third valve are different in height. The circulation pipeline is further provided with a fourth valve, and at least two different types of valves are included in the first valve, the second valve, the third valve and the fourth valve. The circulation pipeline comprises a first pipe section, a second pipe section, a third pipe section and a fourth pipe section. The first end of the third pipe section is connected with the oil outlet of the oil tank through a hydraulic pump, and the second end of the third pipe section is connected with the first end of the first pipe section and the second pipe section. The first end of the fourth pipe section is connected with the second end of the first pipe section and the second pipe section, and the second end of the fourth pipe section is connected with the oil inlet of the oil tank. An oil return port is formed in the top of the oil tank, and the third pipe section is connected with the oil tank through the oil return port. A pressure relief valve and a hydraulic gauge are arranged at the connection between the third pipe section and the oil return port. A flow meter is arranged on the third pipe section, and the numerical value display types of the flow meter and the hydraulic gauge are different. The fourth valve is arranged on the third pipe section, and the number of the fourth valves is multiple. The handle directions of the multiple fourth valves are different. A fifth valve is further arranged on the fourth pipe section, and the arrangement position of the fifth valve is different from the planes in which the second pipe section and the third pipe section are located.

2. The petrochemical scene robot disposal operation simulation test platform according to claim 1, wherein, The height of the handle of the first valve, the second valve, the third valve, the fourth valve and the fifth valve is set according to the maximum arm span of the petrochemical scene robot.

3. The petrochemical scene robot disposal operation simulation test platform according to claim 1, wherein, Universal wheels are arranged at the bottom of the chassis, and a push rod is arranged on the side of the chassis, and the push rod is located outside the fourth valve.

4. A petrochemical scene robot handling job simulation test method, characterized in that, Based on the petrochemical scene robot disposal operation simulation test platform of any one of claims 1-3, a leak stoppage test method is provided, which specifically comprises: A simulated leakage point is manufactured on the replaceable pipeline; The valves at both ends of the replaceable pipeline are closed, and the petrochemical scene robot is used to stop the leakage at the leakage point on the replaceable pipeline; After the leakage is stopped, the valves at both ends of the replaceable pipeline are opened, the test device is started, and the hydraulic oil is circulated in the circulation pipeline to test the leakage stopping effect.

5. The petrochemical scene robot handling job simulation test method according to claim 4, wherein, Further, a valve closing disposal test method is provided, which specifically comprises: Hydraulic oil is injected into the test device, and the test device is started to circulate the hydraulic oil in the circulation pipeline; After the test device is normally operated, the petrochemical scene robot is used to close the corresponding valve according to the preset instruction; The valve closing effect is judged according to the numerical value changes of the hydraulic gauge and the flow meter.

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