Research On Explosion-proof Date Acquisition System For Internal Floating Roof Oil Tank Cleaning Robot

With the continuous growth of China's consumption of refined oil,refined oil reserves have been vigorously developed.Oil storage tanks are the main way of refined oil reserves.Oil storage tanks need to be cleaned regularly.With the vigorous application of robots in tank cleaning,more and more attention has been paid to the safety of cleaning.The internal structure of oil tank is complex,and explosive gas exists for a long time.The internal environment of oil tank is divided into 0 zones.Essentially safe type is the main explosion-proof electrical equipment used in 0 zones.Robot data acquisition system is a key device in robot cleaning equipment,intrinsic safety explosion-proof design is an important technical issue.In this paper,the explosion-proof data acquisition system of cleaning robot is taken as the research object,and the specific research contents are as follows:1.Design the overall scheme of explosion-proof data acquisition system for cleaning robots.By summarizing the advantages and disadvantages of explosion-proof electrical equipment,determines the selection rules of explosion-proof electrical equipment and the evaluation of intrinsic safety circuit,builds the test platform of data acquisition system.The composition of the robot explosion-proof data acquisition system is introduced in detail.Completes the hardware selection of the core part of the system and determines the programming logic of the software.2.Study the intrinsic safety circuit design method of data acquisition system is studied.After completing the basic research on software and hardware selection of data acquisition system,makes a simple study on spark discharge in the process of circuit design.Through the research on the spark discharge of resistance circuit,inductance circuit and capacitance circuit,obtains the basic rules of circuit design.According to the evaluation rules of intrinsic safety system,and the circuit design of the whole hardware system is further improved.According to the evaluation rules of intrinsic safety system,Using Multisim software to simulate and analyze the designed hardware circuit.The designed circuit meets the explosion-proof requirement of intrinsic safety "ia" level in theory.3.Proposes a robot localization method suitable for oil tank environment.The distance between the robot and two human holes is measured by sensors.Adopts a geometric location algorithm suitable for the tank cleaning robot to filter the sensor information,eliminate the error caused by the measurement noise,and obtain the two symmetrical positions of the robot in the tank.Use the camera to collect the information in the area where the robot is located to complete the macro-positioning of the robot.Completes the final precise positioning of the robot.The feasibility is verified by simulation analysis with MATLAB and field test,and the high precision data acquisition task of the robot in oil tank is realized.4.Experimental study.Verifies the parameters of explosion-proof performance by simulation analysis.Proves the accuracy and rationality of the system by the validation tests of robot position detection and robot positioning error analysis on the spot.