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一种新型预警灭火机器人及其在石化仓储环境中的应用
论文作者:童鞋论文网  论文来源:www.txlunwenw.com  发布时间:2019/11/1 9:05:10  

摘要:石油化工行业尤其是石化仓储环境中火灾的预警和灭火问题备受人们关注。本课题以石油化工仓储环境为背景研究并设计了一种应用于该环境中的新型预警灭火机器人,在总体系统架构、嵌入式Linux系统相关硬件及软件、网络监控和火源定位算法研究等方面获得了一些相关研究成果。

(1)通过典型石油化工仓储环境下的火灾实例的分析,对该环境下火灾形成原因以及火灾特征进行了详细研究。由于该环境的特殊性其火灾事故形成的原因具有一定的特点,如:易形成高温高压环境、易发生易燃易爆物质的泄漏和燃烧,一旦缺少及时有效的事故预警及处理设备石油化工仓储环境下的火灾极易导致火势失控,发生爆炸,带来次生事故,造成不可估量的后果。

(2)基于上述研究,结合嵌入式Linux系统诸多优点(源代码开源、研发周期短、成本低、功能强大、远程操作十分流畅、内核体积小、精简性高等),提出了一种基于Linux系统的新型预警灭火机器人整体构架,并给出了各个子系统模块的实现方案和基本功能。同时,提出针对于石油化工仓储环境火灾检测系统设计。

(3)研究设计了分别以IntelPentium M/Celeron M嵌入式工控计算机为上位机、S3C6410嵌入式系统芯片作为下位机处理器的两层系统架构的预警灭火机器人系统硬件和软件,二者运行系统均为Linux系统;设计了以控制芯片为核心的相关接口电路设计;实现嵌入式Linux系统开发软件硬件平台的搭建,包括交叉编译环境的搭建及操作系统的移植。

(4)利用Linux系统在网络服务器方面独特的优势,完成了以基于Linux系统的WEB Server为核心的网络监控系统的研发与设计,所设计的监控系统节约了系统运行空间,提高了系统网络监控的流畅性,满足了系统对于石化仓储环境的实时网络监控的要求。同时,该系统能够在环境监控参数(温度值和易燃易爆气体的浓度值)超过设定阈值时实现预警。

(5)针对石油化工仓储环境中引发的火灾具有蔓延迅速的特点,在灭火环节重点研究如何准确快速实现火源定位的问题。提出了一种改进的单目扫描式空间定位算法求取火源实际三维空间坐标值的火源定位方法。和传统方法相比,该方法在一定程度上更加简便,定位火焰的实时效果更好。

(6)完成了基于上述研究的预警灭火机器人样机的设计,并以此为实验平台,在模拟石油化工仓储环境中完成了实验测试,包括灭火、预警及监控子功能。实验结果表明,针对石油化工仓储环境所提出并设计的新型预警灭火机器人系统方案是可行的,系统能完成自主灭火功能,同时也能实现预警和网络监控的基本功能。并且具有重要的实用价值和实际意义。

The issue of fire warning and extinguishingin the petrochemical industry, especially in the petrochemical storageenvironment, has attracted much attention. This project studied and designed anew type of early-warning fire extinguishing robot applied to this environmentbased on the petrochemical storage environment, and the author has made somerelated research achievements on the overall system architecture, embeddedLinux system related software and hardware, network monitoring and firelocation algorithm research.

(1) Through the analysis of fire instancesin a typical petrochemical storage environment, the cause of fire formation andthe characteristics of fire in this environment were studied in detail. Becauseof the special nature of the environment, the cause of the fire accident hascertain characteristics, such as: easy to form a high temperature and highpressure environment, easy to leak and burn flammable and explosive materials,once the lack of timely and effective accident warning and processingequipment, petrochemical storage fires in the environment can easily lead touncontrolled fires, explosions, secondary accidents, and inestimable consequences.

(2) Based on the above research, combinedwith the many advantages of embedded Linux system (source code open source,short development cycle, low cost, powerful, remote operation is smooth, smallsize, compact and high), a new type of early warning fire based on Linux systemwas proposed, and the implementation scheme and basic functions of eachsubsystem module were given. At the same time, a fire detection system designedfor petrochemical storage environments was proposed.

(3) The author researched and designed thehardware and software of early-warning fire-fighting robot system with two-tiersystem architecture with Intel Pentium M/Celeron M embedded industrial computeras host computer and S3C6410 embedded system chip as lower-level processor.Both operating systems are Linux system; The relevant interface circuit designwith the control chip as the core was designed; The hardware platform for thedevelopment of the embedded Linux system was implemented, including theestablishment of the cross-compilation environment and the transplantation ofthe operating system.

(4) Utilizing Linux system's uniqueadvantages in network servers, the research and design of a network monitoringsystem based on Linux-based WEB Server was completed. The designed monitoringsystem saves system operating space and can improve the fluency of systemnetwork monitoring. It can meet the requirements of the system for real-timenetwork monitoring of the petrochemical storage environment. At the same time,the system can achieve early warning when environmental monitoring parameters(temperature value and concentration of flammable and explosive gas) exceed aset threshold.

(5) The fire caused by the petrochemicalstorage environment has the characteristics of rapid spread. In thefire-fighting session, the problem of how to accurately and quickly realize thepositioning of the fire source was studied. An improved method for locating thesource of three-dimensional coordinates of the fire source based on theimproved single-scan spatial positioning algorithm was proposed. Compared withthe traditional method, the method is more simple to a certain extent, and thereal-time effect of positioning the flame is better.

(6) The prototype of the early warning fireextinguishing robot based on the above research was completed and used as anexperimental platform to complete the experimental tests in the simulatedpetrochemical storage environment, including the sub-functions of fireextinguishing, early warning and monitoring. The experimental results showedthat the new type of early warning fire extinguishing robot system proposed anddesigned for the petrochemical storage environment is feasible, the system cancomplete the self-fire suppression function, and can

关键词:石油化工仓储环境;预警灭火机器人;嵌入式Linux;网络监控;火源定位

petrochemical storage environment; earlywarning and fire fighting robot; embedded Linux; network monitoring; firesource positioning

上一篇:基于视觉的工业装配机器人目标识别定位与抓取的研究     下一篇:基于N-炔磺酰胺的氮杂环合成
 
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