Design And Research Of Intelligent Inspection System For Petroleum Security

The production equipment in the petroleum system workshop is characterized by a high fire hazard,a complex process,a concentration of pressure vessels,a strong production continuity,a large number of production equipment and frequent accidents.In this environment,the activity space is narrow,and large inspection equipment cannot enter the site or there is not enough time to collect relevant demand information.And traditional safety monitoring system sensors are fixed in position and have blind spots for monitoring.It is necessary to develop and design an intelligent petroleum safety inspection system.This subject has designed a set of petroleum safety intelligent inspection system.The inspection robot uses DSP as the core controller.It uses the equipped WIFI module to establish communication with the upper computer and detects environmental data through various environmental sensors.The upper computer is in charge of receiving all kinds of environmental information and updating it in real time.The grid method is selected to set up the work pattern according to the workshop environmental information.And the improved A* algorithm is selected to find the best path for the inspection robot.At the same time,the path planning scheme of the multi-inspection robot in the complex workshop environment is studied and the simulation research is carried out.The motion control scheme of the inspection robot is studied.Combined with the actual situation to design attitude controller and speed controller.The two controllers run in parallel to realize the automatically moving of the inspection robot on the preset path.A centralized group control structure is designed,and the problem of hidden nodes in multi-robot wireless communication is studied.A group control fuzzy control program is designed on the upper computer to realize the cooperative operation of multiple inspection robots.The hidden node problem in multi-robot wireless communication is studied,and the DCF access mechanism with the principle of RTS/CTS four-way handshake is used to solve it.The upper computer software is designed by personal computer.It includes the main interface,system operating status monitoring interface,gas source positioning interface,etc.Finally,the entire system is jointly debugged.Experiments prove that the inspection robot can complete inspection tasks on the path specified by the A* algorithm.Multiple inspection robots can coordinate operation at the same time without being disordered.The communication network established by the WIFI module can complete data transmission tasks.The upper computer can display the changes of various environmental monitoring variables in real time and issue timely abnormal conditions in the inspection workshop.It can make early warning of danger and remind staff to deal with it.