| Natural gas has gradually become one of the main clean energy in the world today.With the increase of natural gas demand,the scale and number of natural gas verification stations are also expanding.However,the monitoring work of verification station facilities is still dominated by manual inspection.The efficiency of manual inspection is low and has certain uncertainty.It is easy to cause casualties in accidents.In view of the complex environment and open-air operation characteristics of verification stations,in order to further improve the safety and economy of verification stations,this paper designs a kind of inspection robot with all-weather detection and verification station environment to replace manual inspection in verification stations.In this paper,according to the current situation of the existing inspection robot and the positioning and navigation technology needed,the inspection robot technology in the natural gas industry and similar industries in China and abroad is analyzed.The analysis shows that the functions that the design of inspection robot system needs to meet in the environment limited by the verification station are : autonomous navigation inspection in the verification station,instrument reading,gas monitoring,remote information interaction and transmission.In the case of determining the function of the design and selection of inspection robot need to carry hardware equipment,including explosion-proof cloud platform,gas sensor,UWB positioning system,laser radar,carrying platform and motor motion module.The selected UWB positioning technology is combined with lidar,and ROS is used as the platform to complete the autonomous navigation and local obstacle avoidance of the robot by using A * algorithm and DWA algorithm.The remote monitoring platform is developed,and a software monitoring and control system matching the robot is designed by using python and other computer languages at the same time.The functions of each hardware are integrated into a software platform with reading,storing,controlling,statistics and alarm functions.The inspection robot designed in this paper can work all-weather without manual operation,and can replace manual to carry out repetitive inspection work in the verification station.When there are abnormalities such as abnormal instrument representation and excessive gas concentration,the data will be uploaded immediately and the staff of the verification station will be informed to eliminate the abnormal situation.The inspection robot designed in this study is of great significance to the personnel safety of natural gas verification station and the improvement of inspection work efficiency. |
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