A smart valve shut-off and material cutting-off robot system for emergency rescue in chemical industrial parks

Abstract

This invention relates to an intelligent valve shut-off and material cutting robot system for emergency rescue in chemical industrial parks, aiming to solve the problems of poor environmental adaptability, insufficient temperature resistance and explosion protection, low intelligence, weak valve compatibility, and lack of collaborative logic in existing technologies. The system of this invention includes a tracked mobile chassis, an integrated control system (including a multi-layer high-temperature resistant explosion-proof shell, an explosion-proof electrical system, a power management submodule, and an emergency rescue submodule), a multi-functional six-degree-of-freedom manipulator, an active thermal management system (including heat conduction cooling components), an environmental monitoring system (including explosion-proof sensors), a communication system, and a cloud control platform. The system of this invention is suitable for chemical industrial parks, hazardous material storage tank areas, and petrochemical plants. It can replace manual labor in high-risk environments such as fires and toxic leaks, with an emergency response time of ≤5 minutes. It combines routine safety inspections with emergency rescue, significantly reducing the risk of personnel casualties and improving handling efficiency.

Description

Technical Field

[0001] This invention relates to the field of special robot technology, and more specifically to an intelligent valve shut-off and material cutting-off robot system for emergency rescue in high-risk scenarios such as chemical industrial parks, hazardous material storage tank areas, and petrochemical plants. Background Technology

[0002] In chemical industrial parks, hazardous materials storage tank areas, and other similar locations, monitoring the status of pipeline valves and ensuring emergency closure are crucial for preventing the spread of accidents. Currently, the industry still faces the following technical challenges:

[0003] 1. Environmental adaptation deficiencies of manual operation and existing robots

[0004] High risk to personal safety: In emergency situations (high temperature ≥800℃, leakage of toxic gases such as hydrogen sulfide / chlorine, obstructed vision), manual operation of valves can easily lead to burns and poisoning. According to statistics, about 30% of injuries and fatalities in chemical accidents occur during valve operation.

[0005] Insufficient environmental adaptability: Existing robots are mostly ≤800℃ in temperature resistance, which cannot cope with the extreme high temperature of over 1000℃ in the core area of ​​a fire; the explosion-proof design only covers the outer shell, and the electrical system (such as controller and motor) has a low explosion-proof rating, which can easily cause an explosion in a flammable gas environment;

[0006] Weak adaptability to terrain and valves: Fixed operating devices cannot adapt to complex terrains with dense pipelines and uneven ground; robotic arms are only compatible with a single type of valve, with an accuracy rate of ≤90% and an operation success rate of less than 95%.

[0007] 2. The problem of system collaboration versus single function

[0008] Loose module coordination: The existing system does not clearly define the "perception-decision-execution" link. For example, environmental monitoring data is not associated with path planning, causing the robot to mistakenly enter high-risk areas; the robotic arm and temperature control system work independently, and are prone to jamming due to joint overheating at high temperatures.

[0009] Lack of collaborative logic: There is no visual and torque dual confirmation after the valve is closed, which can easily lead to secondary leakage due to incomplete closure; the multi-robot scheduling capability is weak and cannot cope with large-scale accidents;

[0010] Functional limitations: Existing equipment focuses only on emergency rescue and does not integrate daily inspection functions (such as regular environmental monitoring and valve status recording), resulting in high operation and maintenance costs and waste of resources.

[0011] 3. Design flaws in high temperature resistance and cooling.

[0012] Material and structural deficiencies: Existing outer shells mostly use ordinary stainless steel (temperature resistance ≤600℃), lacking multi-layer heat insulation design; sealing materials have a temperature resistance ≤800℃, which are prone to failure at high temperatures, allowing hot air to enter the internal equipment;

[0013] Low cooling efficiency: A single air-cooled / liquid-cooled system cannot cope with extreme high temperatures, and the internal equipment temperature is prone to exceeding the 60°C threshold, leading to circuit failure; without thermal stress monitoring, the outer casing is prone to cracking due to sudden temperature changes.

[0014] 4. Insufficient compatibility between explosion-proof electrical components and sensors.

[0015] Electrical system explosion-proof defects: Some equipment only uses "explosion-proof enclosure + ordinary electrical components", which does not meet the requirements of GB / T3836.3-2021 for electrical clearance (≥6mm) and creepage distance (≥8mm); drive motors and reducers do not have explosion-proof certification and are prone to failure in high-risk environments;

[0016] Poor sensor compatibility: Ordinary sensors lack explosion-proof design and cannot work stably in flammable gas environments; gas sensors only detect a single gas, resulting in a narrow coverage (e.g., only detecting flammable gases and ignoring toxic gases).

[0017] In summary, there is an urgent need for a robot system that combines high temperature resistance and explosion protection with intelligent collaboration and dual functions for daily and emergency situations, to fill the gaps in existing technologies. Summary of the Invention

[0018] To address the problems in the existing technology, this invention provides an intelligent valve shut-off and material cutting-off robot system for emergency rescue in chemical industrial parks. This system can realize dual functions of daily safety inspection (environmental parameter collection, valve status monitoring) and emergency rescue (automatic valve shut-off and material cutting-off in case of fire / toxic leakage). Through high-temperature resistant and explosion-proof design, intelligent collaborative control and multi-module adaptation, it can replace manual labor to complete the entire process of "navigation-identification-valve shut-off-confirmation" in extreme environments. It is suitable for safety emergency response and daily operation and maintenance in industries such as chemical, petroleum and natural gas.

[0019] This invention provides an intelligent valve shut-off and material cutting-off robot system for emergency rescue in chemical industrial parks, comprising:

[0020] The tracked mobile chassis has a variable track walking mechanism. The tracks are made of alloy steel and covered with a rubber layer. It adopts a drive system of explosion-proof servo motor + explosion-proof helical gear reducer + drive wheel to support the intelligent valve shut-off and material cutting robot system and realize movement in complex terrain.

[0021] The integrated control system is fixed above the center of the tracked mobile chassis and includes a multi-layer high-temperature resistant explosion-proof shell, an explosion-proof electrical system, an intelligent control sub-module, a power management sub-module and an emergency rescue sub-module. The multi-layer high-temperature resistant explosion-proof shell consists of a high-temperature alloy body, a ceramic matrix composite protective layer and a nano heat insulation layer from the outside to the inside. The front is fitted with explosion-proof transparent glass and the edges are provided with a multi-seal structure of sealant and metal sealing gaskets.

[0022] The intelligent control submodule is used to receive data from each module, execute decision-making algorithms, and output control commands, including autonomous navigation, valve identification, path planning, and collaborative scheduling units;

[0023] The power management submodule is integrated in a separate compartment and includes an explosion-proof lithium battery and an intelligent charging and discharging control module, which is used to power all modules of the system.

[0024] The emergency rescue submodule is integrated at the front end of the housing and includes an explosion-proof audible and visual alarm and an emergency braking unit. The triggering conditions are determined by the intelligent control submodule.

[0025] The multi-functional six-degree-of-freedom manipulator is vertically mounted on the top center of the integrated control system via a flange. It includes a manipulator arm, a multi-type valve identification sub-module with explosion-proof camera and lidar, an electromagnetically locked quick-change adaptive end effector, and a torque sensor.

[0026] An active thermal management system is embedded between the multi-layered protective shell and internal sub-modules of the integrated control system. It includes a temperature sensor array, an intelligent temperature control unit, a dual-cycle cooling system, an aluminum alloy heat exchange device, and a backup coolant tank, and includes normal temperature / high temperature / extreme temperature modes.

[0027] The environmental monitoring system is mounted on both sides of the front end of the tracked mobile chassis via brackets. It includes an explosion-proof gas sensor for detecting hydrogen sulfide / chlorine, an explosion-proof temperature and humidity sensor, an explosion-proof flame detector, and a smoke detector.

[0028] The communication system consists of a gimbal antenna and a multimode communication module installed at the top and rear of the integrated control system, and is used for data interaction between the integrated control system and the cloud control platform.

[0029] The cloud control platform is a remote software system, including a remote monitoring module, a task scheduling module, a data analysis module, and a predictive maintenance module. It is used to issue task instructions, monitor system status, store and analyze data, and output maintenance reminders.

[0030] Furthermore, the integrated control system adopts GH2747 high-temperature alloy as its main body, and the material composition by weight percentage is: nickel 45-55%, chromium 15-20%, iron 10-15%, molybdenum 3-5%, titanium 2-4%, aluminum 1-3%, rare earth elements 0.5-1%, long-term operating temperature 1100-1250℃, short-term temperature resistance 1300℃.

[0031] Furthermore, the power management submodule of the integrated control system has overcharge, over-discharge, and overcurrent protection: the overcharge protection threshold is voltage > 29V, the over-discharge protection threshold is voltage < 21V, and the overcurrent protection threshold is current > 120A; in the event of a power failure, it automatically cuts off the power supply to non-essential modules and prioritizes the power supply to the intelligent control, emergency rescue submodules, and communication system within the integrated control system.

[0032] Furthermore, the triggering conditions for the emergency rescue submodule of the integrated control system include: communication system feedback communication interruption > 30s; active thermal management system feedback integrated control system internal temperature > 1300℃; environmental monitoring system feedback chlorine concentration > 100ppm or combustible gas concentration > 80% LEL; active thermal management system feedback thermal stress ≥ 80% of GH2747 alloy yield strength.

[0033] Furthermore, in the intelligent control submodule of the integrated control system, the valve recognition unit processes the image and lidar data of the multi-functional six-degree-of-freedom manipulator using an improved YOLOv5 deep learning algorithm to identify ball valves, gate valves, globe valves, butterfly valves, and gear valves; the path planning unit generates the optimal path based on the A* algorithm.

[0034] Furthermore, the dual-cycle cooling system of the active thermal management system is triggered under the following conditions: when the ambient temperature is ≤600℃, the air-cooled module with an air volume of 50m³ / h is activated; when the temperature is 600-1000℃, the air-cooled module and the ethylene glycol liquid cooling module are activated simultaneously; when the temperature is >1000℃, the backup coolant tank is activated, and full-power cooling is performed, with the heat exchange efficiency of the aluminum alloy heat exchange device ≥90%.

[0035] Furthermore, the quick-change adaptive end effector of the multifunctional six-degree-of-freedom manipulator includes a wheel-type operating head adapted to 50-300mm handwheel valves, a lever-type operating head adapted to 100-500mm lever valves, and a gate valve operating head adapted to 10-50mm valve stems. It is replaced by an electromagnetic locking quick-change mechanism with a replacement time of ≤5 seconds. After replacement, the torque sensor is automatically calibrated.

[0036] Furthermore, the explosion-proof electrical system of the integrated control system includes an intrinsically safe main controller, an explosion-proof AC servo system, and an explosion-proof helical gear reducer, with electrical clearance ≥6mm and creepage distance ≥8mm.

[0037] Furthermore, the task scheduling module of the cloud control platform allocates tasks based on the remaining power fed back by the power management submodule of the integrated control system and the equipment status fed back by the intelligent control submodule, with priority as follows: leakage point > fire point > inspection point; the predictive maintenance module outputs maintenance reminders based on motor running time, torque sensor error, and power cycle count.

[0038] The intelligent valve-closing and material-cutting robot system provided by this invention has the following beneficial effects:

[0039] 1) The physical positions and mechanical relationships of each component were clearly defined to ensure structural stability under extreme conditions (vibration amplitude ≤ ±2mm).

[0040] 2) A four-layer module data closed loop of "perception-decision-execution-remote" has been achieved, with data latency ≤100ms and control response ≤50ms;

[0041] 3) Through the integrated high-temperature and explosion-proof control system that integrates power management and emergency rescue, it achieves high temperature adaptability above 1000℃, internal equipment temperature ≤60℃, and explosion-proof rating of Ex db IIC T6 Gb;

[0042] 4) The valve identification and operation module has been optimized to adapt to multiple types of manual valves (ball valve / gate valve / glove valve / butterfly valve / gear valve), with an identification accuracy of ≥98% and an operation success rate of ≥98%.

[0043] 5) It integrates daily inspection and emergency rescue functions, supports multi-robot collaborative scheduling, and has an emergency response time of ≤5 minutes;

[0044] 6) The explosion-proof electrical system and sensor compatibility have been improved to ensure that electrical clearances and creepage distances meet national standards and that the sensors operate stably in flammable / toxic environments. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall structure of the intelligent valve shut-off and material cutting robot system for emergency rescue in chemical industrial parks according to the present invention.

[0046] Figure 2 yes Figure 1 A schematic diagram of the structure of the integrated control system.

[0047] Figure 3 yes Figure 1 Block diagram of the active thermal management system.

[0048] Figure 4 yes Figure 1 A schematic diagram of the structure of the robotic arm.

[0049] Figure 5 This is a schematic diagram of the valve identification process.

[0050] Figure 6 This is a diagram of the cloud control platform architecture.

[0051] Figure 7 This is a flowchart of the intelligent valve shut-off and material cutting-off robot system for emergency rescue in chemical industrial parks, according to the present invention. Detailed Implementation

[0052] To make the objectives, solutions, and advantages of this invention clearer, the specific structure and working principle of this invention will be described in more detail below with reference to the accompanying drawings. The embodiments described are only for explaining this invention and are not intended to limit the scope of application of this invention.

[0053] The purpose of the following description is to provide the public with a clearer understanding of the present invention, while those skilled in the art will be able to understand the invention clearly even without the following detailed explanation.

[0054] The intelligent valve-closing and material-cutting robot system of this invention, through modular design and the integration of multiple technologies, constructs a highly reliable and adaptable intelligent valve-closing and material-cutting system. The specific solution is as follows:

[0055] 1. Overall System Composition

[0056] The system comprises 7 core modules, with their physical locations and mechanical connections as follows:

[0057] The tracked mobile chassis 10 is located at the bottom of the system (1.5m long × 0.8m wide) and bears the overall weight;

[0058] The integrated control system 20 is located in the center above the tracked mobile chassis 10 (1.2m×0.6m×0.5m), and is the core decision-making unit. It integrates the power management submodule 27 and the emergency rescue submodule 28.

[0059] The multi-functional six-DOF robotic arm 30 is located at the top center of the integrated control system 20 and extends vertically.

[0060] The active thermal management system 40 is embedded between the multi-layer high-temperature resistant explosion-proof housing of the integrated control system 20 and the internal equipment (including the power management sub-module 27 and the emergency rescue sub-module 28);

[0061] The environmental monitoring system 50 is located on both sides of the front end of the tracked mobile chassis 10 and is fixed by L-shaped brackets (at an angle of 45° with the ground).

[0062] The communication system 60 is located at the top rear end of the integrated control system 20, and its antenna is adjustable 360°.

[0063] The cloud control platform 70 is a remote software system deployed at the park's monitoring center.

[0064] 2. Detailed Design of Core Modules

[0065] (1) Tracked mobile chassis 10

[0066] Structural design: Variable displacement track walking mechanism, the track is made of high-strength alloy steel and the surface is covered with a silicone rubber layer (5mm thick) with a temperature resistance of ≥300℃.

[0067] Drive system: "Servo motor (Omron 1S series, explosion-proof rating Exd II CT6) + R series helical gear reducer (Gil Transmission, output torque 50-18000 N·m) + drive wheel";

[0068] Performance parameters: maximum travel speed 0.8m / s, climbing angle ≤30°, minimum turning radius ≤0.5m, positioning accuracy ±0.1m (with LiDAR).

[0069] (2) Integrated Control System 20 (Core Integration Module, Figure 2 )

[0070] ① Multi-layer high-temperature resistant explosion-proof shell: from the outside to the inside, they are as follows:

[0071] Outer layer: GH2747 high temperature alloy body 21 (material composition: nickel 45-55%, chromium 15-20%, iron 10-15%, molybdenum 3-5%, titanium 2-4%, aluminum 1-3%, rare earth 0.5-1%), long-term temperature resistance 1100-1250℃, short-term temperature resistance 1300℃;

[0072] Middle layer: C880 ceramic matrix composite protective layer 22 (preparation process: sandblasting pretreatment → plasma spraying of nickel-chromium underlayer 50-80μm → zirconium oxide-yttrium oxide intermediate layer 100-150μm → hexagonal boron nitride top layer 30-50μm → heat preservation at 800-900℃ for 2-3 hours for curing), temperature resistance ≤1150℃;

[0073] Inner layer: Nano heat insulation layer 23 (thickness 60mm, thermal conductivity ≤0.03W / (m·K)), which wraps all internal sub-modules (intelligent control sub-module 26, explosion-proof electrical system 29, power management sub-module 27, emergency rescue sub-module 28);

[0074] Front: Explosion-proof window 24 (Shentong special glass, temperature resistant from -60℃ to 1100℃, thickness 10mm);

[0075] Edges: Multiple sealing structure 25 (HBC-1096 high temperature resistant sealant + metal gasket), temperature resistance -80℃ to 1250℃, protection rating IP67.

[0076] ② Explosion-proof electrical system 29:

[0077] Explosion-proof main controller: SRC-3000FS (intrinsically safe, compliant with ISO 13849-1, supports SLAM navigation), isolated from the power management submodule 27 in a separate compartment;

[0078] Explosion-proof drive unit: Omron AC servo system (1S series, model R88M-1A / R88D-1SAN-ECT, compliant with IEC 61800-5-2), which connects the tracked mobile chassis 10 and the multi-functional six-degree-of-freedom robot 30 via CAN bus;

[0079] Clearance and creepage distance: Compliant with GB / T 3836.3-2021, clearance ≥ 6mm, creepage distance ≥ 8mm;

[0080] Shock resistance: Complies with GB / T 3836.1, can withstand 10J of impact energy without damage, protecting the internal power supply and emergency rescue submodule 28.

[0081] ③ Intelligent Control Submodule 26:

[0082] Autonomous navigation unit: Receives 3D point cloud data (16 lines, accuracy ±2cm) from LiDAR, visual SLAM map data, and inertial navigation position data, and outputs drive commands to the tracked mobile chassis 10, with a positioning accuracy of ±0.1m;

[0083] Valve recognition unit: Receives 30 images (2 megapixels) from a multi-functional six-DOF robot and LiDAR data, and identifies valve types (ball valves / gate valves, etc.) using an improved YOLOv5 algorithm. Recognition time ≤ 0.5s, accuracy ≥ 98%.

[0084] Path planning unit: Combining environmental monitoring risk data (high temperature / toxic areas), the optimal path is generated based on the A* algorithm to avoid obstacles ≥5cm×5cm (obstacle avoidance response ≤1s).

[0085] Collaborative scheduling unit: Receives instructions from cloud control platform 70, assigns tasks to multiple robots, and simultaneously links internal power management submodule 27 (monitors remaining power) and emergency rescue submodule 28 (triggers abnormalities), supporting collaborative operation of more than 3 robots.

[0086] ④ Power management submodule 27 (integrated into an independent compartment inside the integrated control system 20):

[0087] Battery pack: 24V / 100Ah high-capacity lithium battery (explosion-proof casing, distance from electrical module ≥50mm), ≥8 hours of battery life at room temperature, ≥4 hours of battery life at 1000℃ (with active thermal management);

[0088] Charge and discharge control: Intelligent explosion-proof module, supports 1-hour fast charging (charging current 100A), and has overcharge (voltage > 29V), over-discharge (voltage < 21V), and overcurrent (current > 120A) protection;

[0089] Power supply distribution: Power is supplied to each sub-module (intelligent control sub-module 26, emergency rescue sub-module 28) within the integrated control system 20 and external modules (multifunctional six-degree-of-freedom manipulator 30, environmental monitoring system 50, communication system block 60) through independent interfaces. In case of failure, non-essential modules (such as cameras) are automatically cut off, and priority is given to ensuring power supply for control, communication and emergency rescue.

[0090] ⑤ Emergency Rescue Submodule 28 (integrated in the front end of the integrated control system 20, and directly connected to the intelligent control submodule 26):

[0091] Audible and visual alarm: Explosion-proof type (Exd II CT6), installed at the front of the housing of the integrated control system 20, alarm distance ≥500m, volume ≥110dB, light flashing frequency 1Hz, trigger signal from intelligent control submodule 26;

[0092] Emergency braking unit: Response time ≤ 0.1s. It cuts off the drive power of the tracked mobile chassis 10 and the power of the multi-functional six-degree-of-freedom manipulator 30 via a relay. The triggering condition is determined by the intelligent control submodule 26.

[0093] Communication interruption > 30s (communication system feedback 60s);

[0094] Internal equipment temperature >1300℃ (temperature sensor feedback from Active Thermal Management System 40).

[0095] Toxic / flammable gas concentration exceeds the explosion limit (environmental monitoring system feedback 50, such as chlorine > 100 ppm, flammable gas > 80% LEL);

[0096] Thermal stress ≥ 80% of the yield strength of GH2747 alloy (strain gauge feedback from active thermal management system 40).

[0097] Status feedback: After braking, the intelligent control submodule 26 sends back a "braking complete" signal and uploads it to the cloud control platform 70 simultaneously.

[0098] (3) Multifunctional six-degree-of-freedom manipulator 30 ( Figure 4 )

[0099] Robotic arm 31: Made of GH2747 high temperature alloy, with a maximum arm span of 1.2m, repeatability of ±0.1mm, load capacity of 50kg, joint servo motor with explosion-proof certification (Exd II CT6), and power supplied by the power management submodule 27 of the integrated control system 20;

[0100] Multi-type valve identification submodule 32: includes a high-temperature protection camera 321 (Hikvision HM-TD2528T-3 / Q, explosion-proof) and an intrinsically safe lidar 322 (Tianmou Optoelectronics), coaxially mounted, to collect valve images and size data, and transmit the data to the intelligent control submodule 26 of the integrated control system 20;

[0101] Quick-change adaptive end effector 33:

[0102] Wheel-type operating head: compatible with handwheel valves with diameters of 50-300mm, featuring internal anti-slip teeth and motor-driven rotation;

[0103] Lever-type operating head: adaptable to lever valves with lengths of 100-500mm, cylinder-driven tilting;

[0104] Gate valve operating head: compatible with gate valves with stem diameters of 10-50mm, servo motor driven lifting;

[0105] Quick-change mechanism: electromagnetic locking type, replacement time ≤ 5s, replacement command comes from intelligent control submodule 26 of integrated control system 20, torque is automatically calibrated after replacement (zero position error ≤ 0.1N·m).

[0106] Torque sensor 34: Installed at the flange of quick-change adaptive end effector 33 and robotic arm 31, with a range of 0-500 N·m and an accuracy of ±1%, it provides real-time feedback of the operating force to the intelligent control submodule 26 of the integrated control system 20 to prevent valve damage or actuator overload.

[0107] (4) Active thermal management system 40 ( Figure 3 Embedded Adaptor Integrated Control System 20)

[0108] Temperature monitoring component: 12-16 NTC temperature sensors, forming a temperature sensor array 41 (distributed and attached to: the inner wall of the integrated control system 20 housing, the internal power management submodule 27 compartment, the emergency rescue submodule 28 housing, the multi-functional six-degree-of-freedom manipulator 30 joints, and the tracked mobile chassis 10 key parts), sampling frequency 1Hz, accuracy ±0.5℃, data transmission to the intelligent control submodule 26 of the integrated control system 20;

[0109] Intelligent temperature control unit 42: It is integrated inside the integrated control system 20 and is linked with the intelligent control submodule 26. After receiving temperature data, it switches the cooling mode. The power supply is provided by the power management submodule 27 of the integrated control system 20.

[0110] The dual-circulation cooling system 43 operates under the following trigger conditions:

[0111] Normal temperature mode (ambient temperature ≤ 600℃): Start the air-cooled module 431 (mini centrifugal fan, air volume 50m³ / h, installed at the back end of the integrated control system 20).

[0112] High temperature mode (ambient temperature 600-1000℃): Simultaneously start the air-cooled module 431 + ethylene glycol liquid cooling module 432 (KinTek KCP cooling circulator, integrated into the rear compartment of the integrated control system 20).

[0113] Extreme temperature mode (ambient temperature > 1000℃): The backup coolant tank 45 (capacity 10L, installed on the side of the integrated control system 20) is activated, and the solenoid valve controls the injection of coolant into the liquid cooling circulation pipeline.

[0114] Aluminum alloy heat exchange device 44: Aluminum alloy heat exchange plate with heat exchange efficiency ≥90%, connected in series with liquid cooling pipeline, installed at the rear end of integrated control system 20, and aligned with the air outlet of air-cooled module 431.

[0115] Thermal stress monitoring: Strain gauges are attached to the GH2747 high-temperature alloy body 21 of the integrated control system 20 to monitor thermal stress in real time. The data is transmitted to the intelligent control submodule 26 of the integrated control system 20. When the threshold is exceeded, the emergency rescue submodule 28 is triggered.

[0116] (5) Environmental monitoring system 50

[0117] Gas sensors: Hanwei GTQ-BS02 (detects hydrogen sulfide / chlorine, range 0-1000ppm), Shenguoan SGA-500 (detects combustible gas, range 0-100% LEL), explosion-proof rating Exd IIC T6, power supplied by the power management submodule 27 of the integrated control system 20;

[0118] Temperature and humidity sensor: Explosion-proof type (Exd II CT6), measuring range -40℃ to 125℃, humidity 0-100% RH;

[0119] Flame detector: Infrared type, response time ≤0.5s, detection distance ≥10m;

[0120] Smoke detector: photoelectric type, sensitivity 0.1dB / m, explosion-proof certification Exd II CT6;

[0121] Data transmission: All sensor data is transmitted to the intelligent control submodule 26 of the integrated control system 20 via the Profinet protocol (transmission frequency 1Hz, delay ≤100ms).

[0122] (6) Communication system 60

[0123] Hardware components: Communication antenna (installed at the top rear end of the integrated control system 20, adjustable by a universal joint) + multi-mode communication module (integrated inside the integrated control system 20, directly connected to the intelligent control sub-module 26), supporting 4G / 5G, Wi-Fi 6, and Mesh self-organizing network;

[0124] Performance parameters: Mesh coverage radius 1km, video return frame rate 15fps, data transmission latency ≤200ms, automatic switching of Mesh self-organizing network when communication is interrupted (switching time ≤3s), power is supplied by power management submodule 27 of integrated control system 20;

[0125] Data interaction: Two-way transmission: Integrated control system 20 → Cloud control platform 70 (task instructions, status data), Cloud control platform 70 → Integrated control system 20 (scheduling instructions, maintenance reminders).

[0126] (7) Cloud control platform 70 ( Figure 6 )

[0127] Remote monitoring module 71: Real-time display of robot position (navigation data from integrated control system 20), environmental parameters (data from environmental monitoring system 50), operation video (camera from multi-functional six-degree-of-freedom manipulator 30), and power status (data from power management sub-module 27 of integrated control system 20), supporting Web / mobile access;

[0128] Task scheduling module 72: Assigns tasks based on the robot's remaining power (feedback from the power management submodule 27 of the integrated control system 20, threshold ≥ 20%) and equipment status (feedback from the intelligent control submodule 26 of the integrated control system 20), with priority as follows: Leak point > Fire point > Inspection point;

[0129] Data Analysis Module 73: Statistically calculates valve recognition accuracy (data from the intelligent control sub-module of the integrated control system 20), operation success rate (data from the torque sensor of the multi-functional six-degree-of-freedom manipulator 30), and equipment failure rate (fault feedback from each sub-module of the integrated control system 20), and generates an emergency response report (exported from Excel).

[0130] Predictive maintenance module 74: Based on motor running time (recorded by intelligent control submodule 26 of integrated control system 20, threshold 500h), torque sensor 34 attenuation trend (feedback by multi-functional six-degree-of-freedom manipulator 30, error > 3%), and power cycle count (recorded by power management submodule 27 of integrated control system 20, threshold 500 times), outputs maintenance reminders (such as sealant replacement, sensor calibration, battery replacement) to the management personnel terminal.

[0131] Data storage: MySQL database, storage period ≥ 1 year, supports historical data backtracking (including the trigger records of the emergency rescue submodule 28 of the integrated control system 20).

[0132] 3. Module Connection and Collaboration Process

[0133] (1) Module connection ( Figure 1 (The core of the integrated control system 20)

[0134] Perception layer → Decision layer (Integrated Control System 20):

[0135] Environmental monitoring system 50, active thermal management system 40 (temperature / strain gauge), multi-functional six-degree-of-freedom manipulator 30 (multi-type valve identification submodule 32 / torque sensor 34) → connected to the intelligent control submodule 26 of integrated control system 20 via Profinet protocol (transmission frequency 1Hz, delay ≤100ms);

[0136] Internal connections of the decision-making level (integrated control system 20):

[0137] Intelligent control submodule 26 → Power management submodule 27 (issue power supply commands and receive power status);

[0138] Intelligent control submodule 26 → Emergency rescue submodule 28 (issue alarm / braking commands, receive execution status);

[0139] Intelligent control submodule 26 → Explosion-proof electrical system 29 (issuing drive commands and receiving electrical status);

[0140] Decision-making level → Execution level:

[0141] The intelligent control submodule 26 of the integrated control system 20 is connected to the tracked mobile chassis 10 (drive command), the multi-functional six-degree-of-freedom manipulator 30 (attitude / operation command), and the active thermal management system 40 (cooling mode command) via a CAN bus (response ≤50ms).

[0142] The power management submodule 27 of the integrated control system 20 is connected to each module of the execution layer through an independent power supply interface;

[0143] Decision-making level → Remote level:

[0144] The intelligent control submodule 26 of the integrated control system 20 interacts with the cloud control platform 70 bidirectionally via the communication system 60 (4G / 5G / Mesh) (command issuance delay ≤300ms).

[0145] (2) Collaborative Process ( Figure 7 (Taking "emergency valve shut-off due to propylene pipeline leak in chemical industrial park" as an example)

[0146] 1) Task triggering: The park leakage alarm system sends a signal to the cloud control platform 70 → the task scheduling module 72 matches the nearest robot (the power management submodule 27 of the integrated control system 20 reports the remaining power of 60%) → the command is issued (valve coordinates X:100m, Y:50m, environmental warning temperature 900℃) → the communication system 60 receives the command and transmits it to the intelligent control submodule 26 of the integrated control system 20;

[0147] 2) Autonomous navigation:

[0148] The environmental monitoring system 50 detects a temperature of 850℃ and hydrogen sulfide of 0.5ppm, and transmits the data to the intelligent control submodule 26 of the integrated control system 20.

[0149] The path planning unit of the intelligent control submodule 26 bypasses the 950℃ high temperature zone based on the A* algorithm and outputs drive commands to the tracked mobile chassis 10.

[0150] The tracked mobile chassis 10 moves forward and transmits position data back to the intelligent control submodule 26 in real time. The navigation unit corrects the path and finally stops at the valve 1m away (positioning accuracy ±0.2m).

[0151] 3) Valve identification and adaptation:

[0152] The multi-type valve recognition submodule 32 of the multi-functional six-degree-of-freedom manipulator 30 collects valve images and size data and transmits them to the intelligent control submodule 26 of the integrated control system 20;

[0153] The valve identification unit of the intelligent control submodule 26 identifies the valve as a gate valve within 0.38s using the improved YOLOv5 algorithm and outputs a quick-change command to the quick-change mechanism of the multi-functional six-degree-of-freedom robot arm 30.

[0154] Quick-change adaptive end effector 33 replaces the gate valve operating head (takes 4.3s) → Torque sensor 34 automatically calibrates (error 0.08N·m) → Sends back "adaptation complete" signal to intelligent control submodule 26;

[0155] 4) Coordination between torque-operated valve closing and thermal management:

[0156] The intelligent control submodule 26 of the integrated control system 20 outputs attitude commands → the multi-functional six-degree-of-freedom manipulator 30 adjusts its position, and the gate valve operating head covers the valve stem (visual guidance deviation ≤ 1.5mm).

[0157] Intelligent control submodule 26 calls the gate valve torque library (100-200 N·m) → the initial torque is set to 120 N·m, and the actuator rotates the valve stem;

[0158] Torque sensor 34 provides real-time feedback of resistance (initially 80 N·m → gradually increasing force to 150 N·m, with each increase of 5% → resistance suddenly increases to 180 N·m and stabilizes, and is fed back to intelligent control submodule 26).

[0159] Synchronous triggering of active thermal management: The intelligent control submodule 26 of the integrated control system 20 receives temperature sensor data (65°C at the joint of the multi-functional six-degree-of-freedom manipulator 30, 58°C inside the integrated control system 20) → outputs a command to start the liquid cooling mode (ambient temperature 850°C).

[0160] 5) Close confirmation and status feedback:

[0161] The camera of the multi-functional six-degree-of-freedom manipulator 30 captures the valve stem fully lowered (0% opening) → the torque change data is synchronously transmitted to the intelligent control submodule 26 of the integrated control system 20;

[0162] The valve status detection unit of the intelligent control submodule 26 confirms that the valve is closed in place (accuracy 100%) → the operation record module stores the data (valve type: gate valve, operating torque: 150-180 N·m, time taken 32 seconds);

[0163] The intelligent control submodule 26 uploads data to the cloud control platform 70 through the communication system 60, and the remote monitoring module 71 displays "Successfully shut down";

[0164] 6) Safe evacuation and system maintenance:

[0165] The intelligent control submodule 26 of the integrated control system 20 initiates the evacuation command → the path planning unit replans the route (avoiding the newly added flame zone) → outputs the drive command to the tracked mobile chassis 10;

[0166] Active thermal management system 40 continuously liquid cooling → integrated control system 20 stabilizes internal temperature at 55℃;

[0167] The robot returns to the safe zone. The power management submodule 27 of the integrated control system 20 switches to "standby power supply mode", and the intelligent control submodule uploads the complete operation log to the cloud control platform 70.

[0168] 4. Daily Inspection Collaboration Process

[0169] 1) Inspection task issuance: The task scheduling module 72 of the cloud control platform 70 issues instructions according to the preset inspection route (including 10 points) → The intelligent control sub-module 26 of the integrated control system 20 receives and stores the instructions;

[0170] 2) Inspection Execution:

[0171] Tracked mobile chassis 10 travels to various locations according to navigation instructions → Environmental monitoring system 50 collects temperature, humidity and gas concentration data and transmits them to intelligent control submodule 26 of integrated control system 20;

[0172] The camera of the multi-functional six-degree-of-freedom robot 30 captures the valve status (opening degree, appearance) → the data is transmitted to the intelligent control submodule 26 to identify whether the valve is normal (no leakage, opening degree meets preset).

[0173] The power management submodule 27 of the integrated control system 20 records the power consumption in real time and uploads it to the cloud control platform 70 simultaneously;

[0174] 3) Data aggregation and feedback: After the 8-hour inspection is completed, the intelligent control submodule 26 aggregates all data → uploads it to the data analysis module 73 of the cloud control platform 70 through the communication system 60 → generates an inspection report (no abnormalities), and the power management submodule 27 provides feedback that the remaining power is 0%.

[0175] The present invention has the following beneficial effects

[0176] 1) High degree of integration: The power management and emergency rescue system are integrated into the integrated control system 20, reducing the connection of external modules, improving structural stability, and the vibration amplitude is ≤±2mm in extreme environments. At the same time, the power supply and signal links are simplified, and the data delay is ≤100ms.

[0177] 2) Strong adaptability to extreme environments: The multi-layer explosion-proof and high-temperature resistant shell of the integrated control system 20 + active thermal management system can achieve high temperature adaptability above 1000℃, and the internal equipment temperature is stable at ≤60℃. The explosion-proof rating is Ex db IIC T6 Gb, which can work for a long time in toxic / flammable environments.

[0178] 3) Excellent safety and reliability: The emergency rescue submodule of the integrated control system 20 has a response time of ≤0.1s and covers multiple triggering conditions; the power management submodule has overcharge / over-discharge / overcurrent protection to ensure stable power supply to the core module and a failure rate of ≤0.5% / thousand hours;

[0179] 4) High intelligence and precision: Valve recognition accuracy ≥98%, operation success rate ≥98%, positioning accuracy ±0.1m, obstacle avoidance response ≤1s, and can autonomously complete the entire process of valve closure;

[0180] 5) Good functional versatility: It can be used for both emergency rescue and daily inspection, with a battery life of ≥8 hours at room temperature, which can meet the needs of daily inspection and reduce equipment investment costs;

[0181] 6) High maintainability and reproducibility: The cloud-based predictive maintenance module reduces operation and maintenance costs. The modular design of the integrated control system 20 (intelligent control, power supply, and emergency rescue independent sub-modules) facilitates maintenance. The parameters of each module are quantified (such as power supply current and response time), and the reproducibility success rate is ≥95%.

[0182] The feasibility and beneficial effects of the present invention will be illustrated by the following three specific examples.

[0183] Example 1: Assembly and Module Connection Verification of Integrated Control System 20

[0184] 1) Internal assembly of the integrated control system 20:

[0185] Multi-layer shell assembly: GH2747 high-temperature alloy body 21 (10mm thick) is welded in sequence, C880 ceramic matrix composite protective layer 22 (total thickness 230μm) is sprayed, nano heat insulation layer 23 (60mm) is pasted, explosion-proof window 24 (10mm) is installed on the front, and HBC-1096 sealant (5mm wide) is applied to the edges.

[0186] Internal submodule installation: The intelligent control submodule 26 (XianGong SRC-3000FS), power management submodule 27 (24V / 100Ah lithium battery + charge and discharge control board, independent compartment, 30mm away from the intelligent control submodule 26), emergency rescue submodule 28 (audible and visual alarm + braking relay, installed at the front end) and explosion-proof electrical system 29 (servo driver + terminal block) are fixed inside the outer shell. Each submodule is connected to the wiring harness through copper busbars, and the wiring harness is covered with flame-retardant tubing.

[0187] 2) External module assembly:

[0188] Tracked mobile chassis 10: M16 bolts (torque 50 N·m) are used to fix the integrated control system 20 to the top center of the tracked mobile chassis 10, with a verticality deviation ≤0.5°;

[0189] Multifunctional six-degree-of-freedom manipulator 30: Φ100mm flange (M8×4 bolts) connects to the top of the integrated control system 20 to calibrate the repeatability of the manipulator 31 (±0.1mm).

[0190] Environmental monitoring system 50: The L-shaped bracket is installed at the front end of the tracked mobile chassis 10, with the probe facing the direction of travel (45°), and the wiring harness is connected to the power management submodule 27 and intelligent control submodule 26 of the integrated control system 20;

[0191] Communication system 60: The antenna is fixed to the top rear end of the integrated control system 20, and the universal joint is adjusted to ensure that the signal is unobstructed. The module is internally connected to the intelligent control submodule 26.

[0192] 3) Connection test:

[0193] Internal submodule connection: The intelligent control submodule 26 of the integrated control system 20 issues a "power supply detection" command → the power management submodule 27 provides feedback on the voltage of 24.5V, the emergency rescue submodule 28 provides feedback on the "standby" status, and the explosion-proof electrical system 29 provides feedback on "normal".

[0194] Perception layer → Decision layer: Environmental monitoring system 50 sends simulated hydrogen sulfide 1ppm data → Intelligent control submodule 26 of integrated control system 20 receives the data with a delay of 92ms and an accuracy of 100%.

[0195] Decision-making level → Execution level: The integrated control system 20 issues a chassis movement command (0.5m / s, 10s) → The tracked mobile chassis 10 actually moves 4.98m with an error of 0.4%;

[0196] Decision-making level → Cloud: The integrated control system uploads 100 sets of operation data (including power status and emergency rescue status) to the cloud control platform with a 100% success rate in receiving the data and a storage latency of 180ms.

[0197] 4) Verification results:

[0198] The internal sub-modules of the integrated control system 20 are assembled in the designed positions, the external modules are connected firmly, and the data delay and error meet the indicators, with a 100% connection success rate.

[0199] Example 2: Collaborative Testing of Emergency Valve Shutdown and Integrated System in High-Temperature Environments

[0200] 1) Test environment: A propane burner was constructed to create a high-temperature zone of 900℃±50℃. The target gate valve (30mm valve stem, X:10m, Y:5m) was used to release smoke (visibility 4m). A chlorine leak point was set (concentration 50ppm, not exceeding the explosion limit).

[0201] 2) Testing process:

[0202] Task triggering: Cloud control platform 70 issues command → Communication system 60 receives for 0.3s → Intelligent control submodule 26 of integrated control system 20 starts;

[0203] Navigation and thermal management startup:

[0204] Environmental monitoring system 50 detects temperature 880℃ → data is transmitted to integrated control system 20 → intelligent control submodule 26 instructs active thermal management system 40 to start liquid cooling mode;

[0205] The path planning unit bypasses the 950℃ high-temperature zone → instructs the tracked mobile chassis to move 10, reaching the target in 7 minutes (accuracy ±0.22m).

[0206] Identification and valve closure:

[0207] Multifunctional six-degree-of-freedom manipulator 30 collects data → intelligent control submodule of integrated control system 20 identifies gate valve in 260.38s → quick change of command actuator (4.3s);

[0208] Intelligent control submodule 26 outputs torque command → multi-functional six-degree-of-freedom manipulator 30 operates valve stem, torque from 120 → 160 → 190 N·m (30s) → confirm closure;

[0209] Emergency rescue monitoring: During the test, a 25-second communication interruption was simulated. The intelligent control submodule 26 of the integrated control system 20 determined that "the trigger threshold has not been reached". After communication was restored, the operation continued.

[0210] Evacuation and Status: Return to the safe zone in 6 minutes. The power management submodule 27 of the integrated control system 20 reports 45% remaining power, and the active thermal management system 40 reports an internal temperature of 58°C.

[0211] 3) Test results:

[0212] The entire process took 13 minutes and 45 seconds. All sub-modules within the integrated control system 20 (intelligent control sub-module 26, power management sub-module 27, and emergency rescue sub-module 28) worked together smoothly without any lag. The operation success rate was 100%, and the power supply and thermal management performance met the design specifications.

[0213] Example 3: Emergency Response Testing of Multi-Exception Fault Tolerance and Integrated Systems

[0214] 1) Abnormal scenario: The robot travels to the middle (50m away from the target) → communication is interrupted (4G / 5G signal is manually cut off, Mesh self-organizing network failure) + the ambient temperature rises suddenly to 1050℃, the target has 2 ball valves (handwheel 200mm).

[0215] 2) Fault tolerance and emergency response:

[0216] Communication interrupted for 31 seconds → The intelligent control submodule 26 of the integrated control system 20 determines the “triggering emergency rescue threshold” → instructs the emergency rescue submodule 28 to activate the audible and visual alarm, and at the same time execute the “local preset task” (continue according to the stored valve coordinates).

[0217] Temperature rises sharply to 1050℃ → Temperature sensor feedback from active thermal management system 40 → Intelligent control submodule 26 of integrated control system 20 initiates extreme temperature mode (reservoir coolant tank 45 is injected) → Internal temperature drops from 62℃ to 55℃.

[0218] After one ball valve is closed, communication is restored → the intelligent control submodule 26 of the integrated control system 20 retransmits the data during the interruption (including power consumption and emergency alarm records) → the cloud control platform 70 issues the second valve command → operation is completed;

[0219] At the end of the test, the simulated chlorine concentration rose to 110 ppm (exceeding the explosion limit) → the environmental monitoring system 50 provided feedback → the intelligent control submodule 26 of the integrated control system 20 instructed the emergency rescue submodule 28 to start braking (0.08s response) and simultaneously alarm;

[0220] 3) Test results:

[0221] The anomaly handling took 1 minute and 20 seconds. The integrated control system 20 did not stop, and the emergency rescue submodule 28 responded promptly, ultimately closing both valves with a 100% success rate, verifying the collaborative fault tolerance capability of the internal submodules.

[0222] This invention solves the problems of loosely connected and insufficiently coordinated existing robot modules by integrating the power management system and emergency rescue system into the core integrated control system 20. Combined with high-temperature resistant and explosion-proof design, intelligent control algorithms, and multi-module adaptability, it achieves autonomous valve shut-off and daily inspection functions in extreme environments above 1000℃. The system can replace manual operations in high-risk environments, offering rapid emergency response, high safety, and multifunctionality. It can effectively improve the emergency response efficiency and daily operation and maintenance level of chemical industrial parks, and has broad industrial application value.

[0223] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. Various variations can be made to the above embodiments of the present invention. That is, all simple and equivalent changes and modifications made based on the claims and description of this invention fall within the protection scope of the claims of this patent. All aspects not described in detail in this invention are conventional technical content.

Claims

1. An intelligent valve-closing and material-cutting robot system for emergency rescue in a chemical industrial park, characterized in that, The application relates to a mobile robot system for intelligent valve cutting and material breaking, which comprises the following parts. A crawler mobile chassis (10) with a variable-position crawler walking mechanism, the crawler being made of alloy steel and covered with a rubber layer, and a driving system of an explosion-proof servo motor, an explosion-proof bevel gear reducer and a driving wheel, which can bear an intelligent valve cutting and material breaking robot system and realize movement on complex terrains; An integrated control system (20) fixed above the center of the crawler mobile chassis (10), which comprises a multilayer high-temperature-resistant explosion-proof shell, an explosion-proof electrical system, an intelligent control submodule, a power management submodule and an emergency rescue submodule, the multilayer high-temperature-resistant explosion-proof shell comprises, from outside to inside, a high-temperature alloy main body, a ceramic-based composite protective layer and a nano heat insulation layer, the front is embedded with explosion-proof transparent glass, and a multiple sealing structure of sealing glue and metal sealing gasket is arranged at the edge; the integrated control system (20) adopts a high-temperature alloy main body of GH2747, the thickness of the high-temperature alloy main body is 10 mm, the material composition is as follows in percentage by weight: nickel 45-55%, chromium 15-20%, iron 10-15%, molybdenum 3-5%, titanium 2-4%, aluminum 1-3% and rare earth elements 0.5-1%, the long-term use temperature is 1100-1250 DEG C, and the short-time temperature resistance is 1300 DEG C; the ceramic-based composite protective layer has a temperature resistance of less than or equal to 1150 DEG C and a total thickness of 230 microns; and the nano heat insulation layer has a thickness of 60 mm and a heat conduction coefficient of less than or equal to 0.03 W / (m*K); The intelligent control submodule is used for receiving module data, executing decision algorithms and outputting control instructions, and comprises an autonomous navigation unit, a valve identification unit, a path planning unit and a cooperative scheduling unit; the path planning unit generates an optimal path based on an A* algorithm in combination with high-temperature zones and toxic areas of environment monitoring risk data, and avoids obstacles with a size of greater than or equal to 5 cm*5 cm and high-temperature zones; The power management submodule is integrated in an independent cabin and comprises explosion-proof lithium batteries and an intelligent charging and discharging control module, and is used for supplying power to all modules of the system; The emergency rescue submodule is integrated at the front end of the shell and comprises an explosion-proof sound and light alarm and an emergency braking unit, and the triggering condition is determined by the intelligent control submodule; the triggering conditions of the emergency rescue submodule of the integrated control system include the following: the communication system feedback communication interruption is greater than 30 s; the active thermal management system feedback internal temperature of the integrated control system is greater than 1300 DEG C; the environment monitoring system feedback chlorine concentration is greater than 100 ppm or flammable gas concentration is greater than 80% LEL; the active thermal management system feedback thermal stress is greater than or equal to 80% of the yield strength of GH2747 alloy; strain gauges are attached to the high-temperature alloy main body of the integrated control system to monitor thermal stress in real time, data is transmitted to the intelligent control submodule of the integrated control system, and the emergency rescue submodule is triggered when the threshold value is exceeded; A multifunctional six-degree-of-freedom manipulator (30) is vertically installed at the top center of the integrated control system (20) through a flange and comprises a mechanical arm (31), a multi-type valve identification submodule (32) comprising an explosion-proof camera and a laser radar, an electromagnetic lock type quick-change adaptive end effector (33) and a torque sensor (34). Active thermal management system (40) is embedded between the multilayer high-temperature-resistant explosion-proof shell and the internal submodules of the integrated control system (20), including a temperature sensor array (41), an intelligent temperature control unit (42), a double-circulation cooling system (43), an aluminum alloy heat exchange device (44), and a backup cooling liquid tank (45), including normal temperature / high temperature / extreme temperature modes; the temperature sensor array (41) includes 12-16 NTC temperature sensors, which are distributed and pasted on the inner wall of the shell of the integrated control system (20), the cabin of the power management submodule (27), the shell of the emergency rescue submodule, the joints of the multifunctional six-degree-of-freedom manipulator (30), and the key parts of the tracked mobile chassis (10), with a sampling frequency of 1 Hz and an accuracy of ±0.5℃, and data transmission to the intelligent control submodule (26); The double-circulation cooling system (43) of the active thermal management system (40) has a working mode trigger condition, including: starting the air cooling module (431) with a wind volume of 50m³ / h when the environmental temperature is ≤600℃; synchronously starting the air cooling module (431) and the ethylene glycol liquid cooling module (432) when the environmental temperature is 600-1000℃; and using the backup cooling liquid tank (45) for full-power cooling when the environmental temperature is >1000℃, with an aluminum alloy heat exchange device (44) heat exchange efficiency ≥90%; The environmental monitoring system (50) is installed on both sides of the front end of the tracked mobile chassis (10) through a support, including explosion-proof gas sensors for detecting hydrogen sulfide / chlorine, explosion-proof temperature and humidity sensors, explosion-proof flame detectors, and smoke detectors; The communication system (60) is composed of a universal joint antenna installed on the top rear end of the integrated control system (20) and a multi-mode communication module, which is used for data interaction between the integrated control system (20) and the cloud control platform (70); The cloud control platform (70) is a remote software system, including a remote monitoring module (71), a task scheduling module (72), a data analysis module (73), and a predictive maintenance module (74), which is used for issuing task instructions, monitoring system status, storing analysis data, and outputting maintenance reminders; In the intelligent control submodule of the integrated control system (20), the valve recognition unit processes the image and laser radar data of the multifunctional six-degree-of-freedom manipulator (30) through the improved YOLOv5 deep learning algorithm to recognize ball valves, gate valves, stop valves, butterfly valves, and gear valves; The task scheduling module (72) of the cloud control platform (70) allocates tasks according to the remaining power feedback of the power management submodule and the device state feedback of the intelligent control submodule of the integrated control system (20), with the priority being: leakage point>fire point>inspection point; the predictive maintenance module (74) outputs maintenance reminders based on motor running time, torque sensor (34) error, and power cycle number; The quick-change adaptive end effector (33) of the multifunctional six-degree-of-freedom manipulator (30) includes a wheel type operation head suitable for 50-300 mm hand wheel valves, a lever type operation head suitable for 100-500 mm lever valves, and a gate valve operation head suitable for 10-50 mm valve rods, which are replaced through an electromagnetic locking quick-change mechanism, and the replacement time is ≤5 seconds, and after replacement, a torque sensor (34) is automatically calibrated; The power management sub-module of the integrated control system (20) has overcharge, overdischarge and overcurrent protection: the overcharge protection threshold is voltage > 29V, the overdischarge protection threshold is voltage < 21V, and the overcurrent protection threshold is current > 120A; when a power supply fault occurs, the power supply of unnecessary modules is automatically cut off, and the power supply of the intelligent control, emergency rescue sub-module and communication system (60) in the integrated control system (20) is preferentially ensured; The communication system (60) supports 4G / 5G, Wi-Fi 6 and Mesh ad hoc network. 2.The intelligent valve-closing and material-cutting robot system for emergency rescue in a chemical industrial park according to claim 1, wherein The explosion-proof electrical system of the integrated control system (20) includes an intrinsically safe main controller, an explosion-proof AC servo system and an explosion-proof helical gear reducer, and the electrical gap is ≥6 mm and the creepage distance is ≥8 mm.

Images