Research And Production Of Safety Automatic Inspection Robots In Purification Plants

With the continuous development of computer technology, artificial intelligence, intelligent detection technology and the other scientific fields, for the status of detecting not intelligent enough in the oil, coal and chemical industry, in order to achieve the requirements of efficiency and security, integrated use of path planning technology, data collection technology and technical GPS (Global Position System) position technology, proposed an intelligent inspection robot instead of human doing the safety testing program.the development of security automatic routing inspection robot become a hot issue. Represented by the security automatic routing inspection robot in purification plant, TSP(Traveling Salesman Problem) path planning and flammable gas concentration data collection is a key part to achieve security detection system. This thesis made research in depth of TSP path planning, acquainting and processing flammable gas concentration data from the critical inspection stations under known environment, created a security automatic routing inspection robot to simulate inspection within limited laboratory environment, confirming the effectiveness of this program, reaching the result of robot instead of human doing the safety test.In the TSP path planning program, because the number of critical detection station has reached 40, it would be difficult for a single heuristic algorithm to obtain the optimal path. This thesis presented a method that use initial population with the greedy algorithm at first, then the genetic algorithm to get path planning, and MATLAB software to simulate the optimal path. After that, it would modify the original optimal path planning with the consideration of frequently encountered overhaul situation in industry to get the optimal decision. Finally, setting the level of critical inspection stations as particularly critical detection stations and general detection stations in case of an emergency, the path planning would be set to detect the particularly critical stations in prior to general critical stations, and use MATLAB software to simulate the optimal path.As for the issue of flammable gas data collection, the data is transmitted via wireless communication. When the security automatic routing inspection robot reaches each critical inspection station along the optimal path, the robot reads the flammable gas concentration data, and sends it to pc in the monitoring center to show the gas concentration and the location of the security automatic routing inspection robot. Based on the above program, considering the security and the limited laboratory situation, this study used the smoke measuring station detecting smoke value to replace the flammable gas measuring station detecting flammable gas value. The security automatic routing inspection robot traveled along the planned path, arrived smoke measuring stations to read the value and location data, transmitted it to the host computer, and alarm the overrun smoke value. It confirmed the availability of the security automatic routing inspection robot.This thesis completed the hardware and software production of the automatic safety inspection robot, integrated debugging the software design and hardware production, verifying the availability of this program, building the basis of realization the full intelligent safety inspection.