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Submarine pipeline detecting robot emulation system

A submarine pipeline and simulation system technology, applied in the system field of the simulation technology field, can solve problems such as sensor failure, simulation, and difficulty in simulating various fault situations, and achieve the effects of improving work efficiency, saving time and manpower

Inactive Publication Date: 2008-02-06
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is difficult for the experimental pipeline to simulate various complex situations, such as resistance change, slope change, pressure change, sensor failure, etc., especially the combination of various situations, and it is also very difficult for the real system to simulate various fault conditions difficulty

Method used

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  • Submarine pipeline detecting robot emulation system
  • Submarine pipeline detecting robot emulation system
  • Submarine pipeline detecting robot emulation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] As shown in Figure 3, this embodiment is used to debug and test the robot intelligent controller, and the parts involved include four simulation modules, as the robot intelligent controller and its debugging tool for being debugged and tested, and various parts CAN bus communication cable between.

[0029] In this embodiment, the submarine pipeline detection robot simulation system uses four main simulation modules: a crawler simulation module, a battery monitoring and odometer simulation module, a detection simulation module and a positioning simulation module. As shown in Figure 3.

[0030] Among them, the crawler simulation module simulates the function and performance of the robot electric crawler, the battery monitoring and odometer simulation module simulates the function and performance of the robot battery monitoring and odometer unit, and the detection simulation module simulates the function and performance of the robot ultrasonic and magnetic flux leakage mon...

Embodiment 2

[0042] As shown in Fig. 2, this embodiment is used for the teaching and training of operators and new developers of submarine pipeline inspection robots. The parts involved include all five simulation modules, as well as the CAN bus communication cables between the parts.

[0043] The crawler simulation module, battery monitoring and odometer simulation module, detection simulation module, positioning simulation module, and controller simulation module constitute a complete system to simulate the working conditions of the entire robot to help operators and new developers understand deeply The functions of each unit of the robot and the timing relationship and logical relationship in the control process.

[0044] The working process of the crawler simulation module, the battery monitoring and odometer simulation module, the detection simulation module, and the positioning simulation module are the same as those in the first embodiment, and will not be repeated here.

[0045] T...

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Abstract

The present invention relates to a submarine pipeline detecting robot emulation system, and belongs to the computer application technology field. When in use, an emulation module replaces a corresponding practical robot unit to develop the debugging and testing work. A crawler emulation module, a cell monitor and milemeter emulation module, a detecting emulation module, and a positioning emulation module receive the orders of a practical robot intelligent controller to perform the emulation operation, and the feedback information is sent to the practical robot intelligent controller according to the result processed by the emulation operation; the practical robot intelligent controller receives the information sent by other robot units, and sends the control orders to other units or corresponding emulation modules. The CAN bus connection and communication are adopted between the modules, and the CAN bus and the communication protocol are the same as the submarine pipeline detecting robots. The present invention reflects really the system running function and performance for the debugging and the function test in the development process, and is also applied to the aspects such as the personnel training, etc.

Description

technical field [0001] The invention relates to a system in the field of simulation technology, in particular to a simulation system for a submarine pipeline detection robot. Background technique [0002] In the development of offshore oil and gas resources, submarine high-pressure pipelines are essential equipment for oil and gas gathering and transportation. Submarine pipelines will have defects due to factors such as medium corrosion, fatigue, and external force damage. When the defects accumulate to a certain extent, oil and gas leakage will occur, which not only affects the normal production of oil fields, but also causes marine environmental pollution. Regular detection of pipeline defects is a necessary means to ensure the safe and efficient operation of pipelines. [0003] Submarine pipeline inspection robot is a kind of submarine pipeline inspection equipment independently developed by my country. The equipment is mainly composed of electric crawler, battery monit...

Claims

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Application Information

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IPC IPC(8): G05B23/02G05B19/048
Inventor 栾楠王忠巍曹其新
Owner SHANGHAI JIAO TONG UNIV
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