防爆型自主移动巡检机器人开发及性能研究  

Development and Performance Study on Explosion-proof Autonomous Mobile Patrol Robot

作　　者：李迎伟 单新云 聂建军[2] 侯军凯 Li Yingwei;Shan Xinyun;Nie Jianjun;Hou Junkai(Sinopec Petroleum Engineering Zhongyuan Corporation,Zhengzhou,450007,China;School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou,450007,China)

机构地区：[1]中石化中原石油工程设计有限公司,河南郑州450052 [2]中原工学院机电学院,河南郑州450007

出　　处：《石油化工自动化》2023年第3期68-71,共4页Automation in Petro-chemical Industry

摘　　要：针对石化油气站场人工巡检时存在耗时耗力、效率低,易出现漏检、错检等情况,设计了一种防爆型自主移动巡检机器人,介绍了机器人底盘结构、底盘运动模式和越障性能,简要阐述了该机器人携带的检测装置和机器人后台管理系统的界面组成,测试了巡检机器人仪表识别和可燃气体泄漏检测功能.结果表明:巡检机器人对仪表数据的识别率较高,可以在短时间内完成仪表图像采集与数据识别,可燃气体泄漏检测率、误报率均满足巡检要求.Aiming at the problems of time consuming and manpower consuming,low efficiency,easy missing detection,and wrong detection and so on,an explosion-proof autonomous mobile patrol robot is designed.The chassis structure,motor pattern and obstacle crossing performance are introduced.The interface composition of the detection device carried by the robot and backage management system of the robot is expounded briefly.The instrument identification function and combustible gas leakage detection function of the patrol robot are tested.The results show that the recognition rate of the patrol robot for the instrumental data is high.Instrument image acquisition and data recognition can be completed within a short time.Both the leaking detection rate and false alarm rate of combustible gas can satisfy the patrol requirement.

关 键 词：移动机器人 底盘 平衡悬架 巡检 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]