阅读说明：本技术 注入站无人巡检机器人的控制方法与系统 (Control method and system for unmanned inspection robot of injection station ) 是由 李佳 王岩卿 于 2020-12-24 设计创作，主要内容包括：本申请涉及一种注入站无人巡检机器人的控制方法与系统,用于对石油站场中的注入站进行无人巡检,尤其是对注入站的柱塞泵进行无人巡检,通过在控制柱塞泵启动之前对进液阀门和出液阀门进行拍照,保证进液阀门和出液阀门的在柱塞泵启动之前保持畅通。通过在柱塞泵启动后,控制检测装置对柱塞泵的运行状态进行异常检测,并实时获取检测装置回传的异常检测结果,实现对柱塞泵在无人值守下的自动化巡检。本申请还可以实现柱塞泵的自动开启和关闭。本申请提供的注入站无人巡检机器人的控制方法与系统,可以实现对注入站各设备的夜间自动巡检,无须人工值守。(The application relates to a control method and a system of an unmanned inspection robot for an injection station, which are used for carrying out unmanned inspection on the injection station in an oil station field, particularly carrying out unmanned inspection on a plunger pump of the injection station, and ensuring that the liquid inlet valve and the liquid outlet valve are kept unblocked before the plunger pump is started by photographing a liquid inlet valve and a liquid outlet valve before the plunger pump is controlled to be started. After the plunger pump is started, the detection device is controlled to carry out abnormity detection on the running state of the plunger pump, and an abnormity detection result returned by the detection device is obtained in real time, so that automatic inspection of the plunger pump under unattended operation is realized. The automatic opening and closing of the plunger pump can be realized. The control method and the system for the unmanned inspection robot of the injection station can realize automatic inspection of all devices of the injection station at night without manual watching.)

1. A control method for an unmanned inspection robot of an injection station is characterized by comprising the following steps:

s100, when a plunger pump starting instruction sent by a server is received, controlling a detection device to acquire images of a liquid inlet valve and a liquid outlet valve of the plunger pump;

s200, judging whether the liquid inlet valve and the liquid outlet valve are unblocked according to the image of the liquid inlet valve and the image of the liquid outlet valve;

s300, if the liquid inlet valve and the liquid outlet valve are unblocked, sending a starting instruction to the plunger pump controller to control the plunger pump to start;

s400, after the plunger pump is started, driving the detection device to perform abnormity detection on the running state of the plunger pump in real time, and acquiring an abnormity detection result returned by the detection device in real time;

and S500, when the plunger pump closing instruction sent by the server is received, sending a closing instruction to the plunger pump controller to control the plunger pump to close.

2. The method for controlling the unmanned inspection robot for the injection station according to claim 1, wherein the step S100 includes:

s110, acquiring a plunger pump starting instruction sent by a server;

s120, driving an infrared camera to respectively shoot infrared thermal images of the liquid inlet valve and the liquid outlet valve;

and S130, driving the visible light camera to shoot visible light images of the liquid inlet valve and the liquid outlet valve respectively.

3. The method for controlling the unmanned inspection robot for the injection station according to claim 2, wherein the step S200 comprises:

s210, generating a temperature gradient change diagram based on the infrared thermograph, and judging whether the liquid inlet valve and the liquid outlet valve have abnormal blocking points or not based on the temperature gradient change diagram;

s220, if the liquid inlet valve and the liquid outlet valve are not provided with abnormal blocking points, whether external damage points exist in the liquid inlet valve and the liquid outlet valve is judged further based on the visible light image;

s230, if no external damage point exists on the liquid inlet valve and the liquid outlet valve, the liquid inlet valve and the liquid outlet valve are determined to be unblocked, and the subsequent step S300 is executed.

4. The method for controlling the unmanned inspection robot for the injection station according to claim 3, wherein the step S300 comprises:

s310, driving the valve operating device to open a bypass valve of the plunger pump to a return pipeline conducting state so as to open the bypass valve;

s320, sending a starting instruction to the plunger pump controller so that the plunger pump controller controls the plunger pump frequency converter to start the plunger pump;

s330, judging whether a starting completion signal returned by the plunger pump controller is received or not;

s340, if a starting completion signal returned by the plunger pump controller is received, driving the valve operating device to close a bypass valve of the plunger pump until a return pipeline is in a stop state, so as to close the bypass valve;

s350, sending a job completion signal to the server, and executing the subsequent step S400;

and S360, if the starting completion signal returned by the plunger pump controller is not received, returning to the step S320.

5. The method for controlling the injection station unmanned inspection robot according to claim 4, wherein the step S400 includes:

and S410, controlling the sound vibration detection module to detect the vibration state of the plunger pump in real time and feeding the vibration state back to the server in real time.

6. The method for controlling the injection station unmanned inspection robot according to claim 5, wherein the step S400 further comprises:

s421, driving a visible light camera to respectively shoot images of a plunger pump outlet pressure gauge and a plunger pump sectional manifold pressure gauge;

s422, acquiring images of a plunger pump outlet pressure gauge and a plunger pump sectional manifold pressure gauge, and performing image analysis on the images of the plunger pump outlet pressure gauge and the plunger pump sectional manifold pressure gauge;

s423a, judging whether the value of the pressure gauge at the outlet of the plunger pump is larger than the value of the preset outlet pressure gauge;

s423b, if the value of the outlet pressure gauge is larger than the preset value of the outlet pressure gauge, generating a first outlet pressure gauge alarm message and sending the first outlet pressure gauge alarm message to the server;

s423c, if the value of the outlet pressure gauge is smaller than the preset value of the outlet pressure gauge, generating a second outlet pressure gauge alarm message to be sent to the server, and adjusting the outlet pressure gauge data according to the outlet pressure gauge data adjustment message returned by the server;

s423d, if the value of the outlet pressure gauge is equal to the preset value of the outlet pressure gauge, returning to the step S421.

7. The method for controlling the injection station unmanned inspection robot according to claim 6, wherein after the step S422, the step S400 further comprises:

s424a, judging whether the value of the plunger pump sectional manifold pressure gauge is larger than the preset sectional manifold pressure gauge value;

s424b, if the numerical value of the sectional manifold pressure gauge is larger than the numerical value of a preset sectional manifold pressure gauge, generating a first sectional manifold pressure gauge alarm message and sending the first sectional manifold pressure gauge alarm message to a server;

s424c, if the value of the sectional manifold pressure gauge is smaller than the preset value of the sectional manifold pressure gauge, generating a second warning message of the sectional manifold pressure gauge to be sent to the server, and adjusting the data of the sectional manifold pressure gauge according to the data adjustment message of the sectional manifold pressure gauge returned by the server;

s424d, if the value of the sub-header pressure gauge is equal to the preset sub-header pressure gauge value, go back to step S421.

8. The method for controlling the injection station unmanned inspection robot according to claim 7, wherein the S400 further comprises:

s431, driving an infrared camera to shoot infrared thermal images of the liquid inlet valve and the liquid outlet valve respectively;

s432, generating a temperature gradient change diagram according to infrared thermal diagrams of the liquid inlet valve and the liquid outlet valve, and judging whether the liquid inlet valve and the liquid outlet valve have abnormal blocking points or not based on the temperature gradient change diagram;

and S433, if the liquid inlet valve and the liquid outlet valve have abnormal blocking points, generating a valve abnormal message and sending the valve abnormal message to a server.

9. The method for controlling the injection station unmanned inspection robot according to claim 8, wherein the S400 further comprises:

s441, driving a visible light camera to shoot visible light images of all parts of the plunger pump;

s442, judging whether each part of the plunger pump has an external damage point or not based on the visible light image of the plunger pump;

and S443, if each component of the plunger pump has an external damage point, generating a plunger pump damage message and sending the plunger pump damage message to the server.

10. The method for controlling the injection station unmanned inspection robot according to claim 9, wherein the step S500 includes:

s510, when a plunger pump closing instruction sent by a server is received, sending a closing instruction to a plunger pump controller, so that the plunger pump controller controls a plunger pump frequency converter to close the plunger pump;

s520, driving a visible light camera to shoot an image of a plunger pump outlet pressure gauge;

s530, acquiring an image of a plunger pump outlet pressure gauge, and performing image analysis on the image of the plunger pump outlet pressure gauge to generate a current numerical value of the plunger pump outlet pressure gauge;

s540, judging whether the current value of the pressure gauge at the outlet of the plunger pump is equal to 0 or not;

s550, if the current value of the pressure gauge at the outlet of the plunger pump is equal to 0, determining that the plunger pump is closed, and terminating the subsequent steps;

and S560, if the current value of the plunger pump outlet pressure gauge is not equal to 0, determining that the plunger pump is not closed, sending a closing instruction to the plunger pump controller again, and returning to the step S520.

11. The method for controlling the injection station unmanned inspection robot according to claim 10, further comprising:

s611, monitoring the power supply state of the plunger pump in real time;

s612, when detecting that the plunger pump has no power supply, respectively sending power failure signals to the server and the mother liquor configuration station;

s613, driving the valve operating device to close the liquid outlet valve of the plunger pump;

s614, driving the valve operating device to close the valves of all wellheads of the injection station;

s615a, driving an infrared camera to respectively shoot infrared thermal images of valves of various wellheads of the injection station;

s615b, generating a temperature gradient change diagram of the valves of each well mouth based on the infrared thermal images of the valves of each well mouth, and judging whether local temperature hot spots exist in the valves of each well mouth based on the temperature gradient change diagram;

s615c, if the valves of each well head have local temperature hot spots, returning to the step S615 to close the valves of each well head again;

and S615d, if the valves of the well heads do not have local temperature hot spots, stopping the subsequent steps.

12. The method for controlling the injection station unmanned inspection robot according to claim 11, wherein after the step S614, the method further comprises:

s616a, driving an infrared camera to respectively shoot infrared thermal images of valves of various wellheads in the injection room;

s616b, generating a temperature gradient change diagram of the valves of each wellhead based on the infrared thermal images of the valves of each wellhead, and judging whether local temperature hot spots exist in the valves of each wellhead based on the temperature gradient change diagram;

and S616c, if the valves of the well mouths have local temperature hot spots, sending a valve closing abnormal message to the server.

13. The utility model provides a control system of unmanned robot of patrolling and examining of filling station which characterized in that includes:

an unmanned inspection robot for performing the method of controlling the injection station unmanned inspection robot of any one of claims 1-14;

a plunger pump;

the motor is electrically connected with the plunger pump;

the server is in communication connection with the unmanned inspection robot;

and the mother liquor configuration station is in communication connection with the unmanned inspection robot.

14. The method for controlling the injection station unmanned inspection robot according to claim 15, wherein the unmanned inspection robot includes:

the processor is in communication connection with the server and the mother liquor configuration station respectively;

the body comprises a base and a mechanical arm; the mechanical arm is telescopic;

the valve operating device is movably connected with the mechanical arm through a rotating shaft and can rotate at any angle relative to the mechanical arm;

the wrench is fixedly connected with the valve operating device;

the detection device is fixedly connected with the valve operation device; the detection device comprises a visible light camera, an infrared camera and a sound vibration detection module; the sound vibration detection module is suspended on the valve operation device.

15. The method for controlling the injection station unmanned inspection robot according to claim 14, wherein the plunger pump includes:

a pump body;

the liquid inlet pipe is connected with the pump body; a liquid inlet valve is arranged on the liquid inlet pipe;

the liquid outlet pipe is connected with the pump body; a liquid outlet valve is arranged on the liquid outlet pipe;

the return pipe is connected to the pump body; the return pipe is provided with a bypass valve.

Technical Field

The application relates to the technical field of inspection robots, in particular to a control method and a system of an unmanned inspection robot of an injection station.

Background

In the process of oil production, because continuous production of oil can cause the reduction of formation pressure, when oil production by natural energy is not economical or a certain oil production speed cannot be maintained, water injection or polymer is needed to be artificially injected into the oil reservoir to maintain or supplement the energy of the oil layer to produce crude oil, process pipelines and valve groups of about several to dozens of water injection wells are usually combined into one injection station to centrally manage water injection work, injected high-pressure water or polymer is usually input from a centralized pipeline, local plunger pumps can also be used for pressurized injection, and for the injection pressure which is usually higher than the formation pressure and lower than the fracture pressure of the formation, two-stage water injection (polymer) pressure is usually within the pressure range.

For a water injection room with a high-pressure injection pipeline for water (polymer), the injection pressure and the injection quantity can meet the requirements of geological processes by adjusting the opening degree of a well head valve in the water injection room generally; for the injection of a water injection well between water injection without a high-pressure injection pipeline for water (polymer), a local plunger pump is adopted for pressurized injection, the plunger pump is driven by a frequency converter, an injection controller is used for controlling the process of driving the plunger pump by the frequency converter, and the injection controller can be formed by a PLC and can be networked with other local or remote controllers or form a DCS network.

The daily work of the injection station is usually manual inspection of process pipelines, plunger pumps and valves, pump starting and stopping operations, segmented pressure adjustment, protection operations after power failure and the like.

The manual inspection has the problems that people exist in the daytime and no people exist at night, and abnormal working conditions cannot be timely processed and quick response cannot be realized. For example, abnormal leakage cannot be handled quickly and in time.

Disclosure of Invention

Therefore, it is necessary to provide a control method and a system for an unmanned inspection robot of an injection station, aiming at the problem that the traditional control method for the unmanned inspection robot of the injection station cannot realize night inspection.

The application provides a control method of an unmanned inspection robot of an injection station, which comprises the following steps:

when a plunger pump starting instruction sent by a server is received, controlling a detection device to acquire images of a liquid inlet valve and a liquid outlet valve of the plunger pump;

judging whether the liquid inlet valve and the liquid outlet valve are unblocked according to the image of the liquid inlet valve and the image of the liquid outlet valve;

if the liquid inlet valve and the liquid outlet valve are unblocked, a starting instruction is sent to the plunger pump controller to control the plunger pump to start;

after the plunger pump is started, driving the detection device to perform anomaly detection on the running state of the plunger pump in real time, and acquiring an anomaly detection result returned by the detection device in real time;

and when a plunger pump closing instruction sent by the server is received, sending a closing instruction to the plunger pump controller to control the plunger pump to close.

The application also provides a control system of unmanned robot of patrolling and examining of injection station, includes:

the unmanned inspection robot is used for executing the control method of the unmanned inspection robot of the injection station;

a plunger pump;

the motor is electrically connected with the plunger pump;

the server is in communication connection with the unmanned inspection robot;

and the mother liquor configuration station is in communication connection with the unmanned inspection robot.

The application relates to a control method and a system of an unmanned inspection robot for an injection station, which are used for carrying out unmanned inspection on the injection station in an oil station field, particularly carrying out unmanned inspection on a plunger pump of the injection station, and ensuring that the liquid inlet valve and the liquid outlet valve are kept unblocked before the plunger pump is started by photographing a liquid inlet valve and a liquid outlet valve before the plunger pump is controlled to be started. After the plunger pump is started, the detection device is controlled to carry out abnormity detection on the running state of the plunger pump, and an abnormity detection result returned by the detection device is obtained in real time, so that automatic inspection of the plunger pump under unattended operation is realized. The automatic opening and closing of the plunger pump can be realized. The control method and the system for the unmanned inspection robot of the injection station can realize automatic inspection of all devices of the injection station at night without manual watching.

Drawings

Fig. 1 is a schematic flow chart of a control method of an injection station unmanned inspection robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a control system of an injection station unmanned inspection robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an unmanned inspection robot in a control system of an injection station unmanned inspection robot according to an embodiment of the present application.

Reference numerals:

10-unmanned inspection robot; 110-a processor; 120-a body; 121-a base; 122-a robotic arm;

130-valve operating means; 140-a wrench; 150-a detection device; 151-visible light camera;

152-an infrared camera; 153-acoustic vibration detection module; 160-wheel body; 170-obstacle avoidance sensor;

180-a gas sensor; 20-a plunger pump; 210-a pump body; 220-liquid inlet pipe; 221-liquid inlet valve;

230-a liquid outlet pipe; 231-a liquid outlet valve; 240-return pipe; 241-a bypass valve; 30-a server;

40-mother liquor preparation station; 50-a motor; 60-coupling base

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The application provides a control method of an unmanned inspection robot of an injection station. The control method of the unmanned inspection robot for the injection station is applied to inspection work of the injection station of a petroleum station factory, and the purpose of automatic unmanned inspection in the daytime and at night is achieved.

Specifically, the control method of the unmanned inspection robot for the injection station provided by the application is mainly used for carrying out abnormal inspection on the plunger pump 20 of the injection station, and of course, other equipment of the injection station can also be subjected to unmanned inspection, such as well head valves of various oil wells.

In addition, the control method of the unmanned inspection robot for the injection station provided by the application does not limit the execution main body of the unmanned inspection robot. Optionally, the main executing body of the control method of the injection station unmanned inspection robot provided by the application can be an unmanned inspection robot 10. Specifically, the main execution body of the control method of the injection station unmanned inspection robot provided by the present application may be one or more processors 110 in the unmanned inspection robot 10.

As shown in fig. 1, in an embodiment of the present application, a method for controlling an unmanned inspection robot at an injection station includes:

s100, when receiving the plunger pump start instruction sent by the server 30, the control detection device 150 obtains images of the liquid inlet valve 221 and the liquid outlet valve 231 of the plunger pump 20.

Specifically, the server 30 may be understood as a general station that controls and guides the operation of the unmanned inspection robot 10 in a high level. When the service transmits a plunger pump start instruction to the unmanned inspection robot 10, the unmanned inspection robot 10 starts a start process of the plunger pump 20.

S200, judging whether the liquid inlet valve 221 and the liquid outlet valve 231 are unblocked according to the image of the liquid inlet valve 221 and the image of the liquid outlet valve 231.

Specifically, when the unmanned inspection robot 10 finds that the liquid inlet valve 221 and the liquid outlet valve 231 are not unblocked, a valve abnormal message may be generated, the message returns to the server 30, and the subsequent step of starting the plunger pump 20 is terminated, so as to ensure that the liquid inlet valve 221 and the liquid outlet valve 231 are in an unblocked state before the plunger pump 20 is started.

And S300, if the liquid inlet valve 221 and the liquid outlet valve 231 are unblocked, sending a starting command to the plunger pump controller to control the plunger pump 20 to start.

Specifically, the unmanned inspection robot is provided with a plurality of wheels 160, and can automatically travel to the position of the plunger pump 20. Further, the liquid outlet valve 231 of the plunger pump 20 may be opened by driving the valve operating device 130 of the unmanned inspection robot 10. The liquid inlet valve 221 of the plunger pump 20 is normally open. Alternatively, the valve operating device 130 may be fixedly coupled to a wrench 140. The valve operating device 130 can freely lift and rotate at any angle relative to the body 120 of the unmanned inspection robot 10, so that the wrench 140 can approach the position of the liquid outlet valve 231 and open the liquid outlet valve 231, thereby completing the start of the plunger pump 20. This is done by physically turning on the plunger pump 20 by the unmanned inspection robot 10.

In yet another manner, the unmanned inspection robot 10 may remotely control the activation of the plunger pump 20. The inspection robot may actively send a start command to the plunger pump controller of the plunger pump 20. The plunger pump controller injects the start command to the plunger pump frequency converter of the plunger pump 20, and finally the plunger pump frequency converter opens the liquid outlet valve 231 to start the plunger pump 20. This has the advantage of being relatively fast. The above-described manner of physically turning on the plunger pump 20 is more flexible and can be used in the event of a plunger pump controller failure or a plunger pump inverter failure.

S400, after the plunger pump 20 is started, the detection device 150 is driven to perform an anomaly detection on the operation state of the plunger pump 20 in real time, and obtain an anomaly detection result returned by the detection device 150 in real time.

Specifically, this step belongs to the step of detecting an abnormality of the operation state of the plunger pump 20 by the unmanned inspection robot 10 after the plunger pump 20 is started. The abnormality detection may be performed in a cyclic manner, or may be performed once every preset time period, so as to ensure that the plunger pump 20 operates normally. For example, every 30 minutes.

And S500, when receiving the plunger pump closing command sent by the server 30, sending a closing command to the plunger pump controller to control the plunger pump 20 to close.

Specifically, the principle of the plunger pump 20 being turned off is the same as the principle of the plunger pump 20 being turned on, and the description thereof is omitted.

In this embodiment, the liquid inlet valve 221 and the liquid outlet valve 231 are photographed before the plunger pump 20 is controlled to start, so that the liquid inlet valve 221 and the liquid outlet valve 231 are kept smooth before the plunger pump 20 starts. After the plunger pump 20 is started, the detection device 150 is controlled to perform abnormal detection on the running state of the plunger pump 20, and an abnormal detection result returned by the detection device 150 is obtained in real time, so that the automatic inspection of the plunger pump 20 under unattended operation is realized. The present application also enables automatic opening and closing of the plunger pump 20. The application provides a control method of unmanned robot of patrolling and examining of injection station can realize patrolling and examining the night of each equipment of injection station automatically, need not artifical on duty.

In an embodiment of the present application, the step S100 includes the following steps S110 to S130:

s110, a plunger pump start instruction sent by the server 30 is acquired.

And S120, driving the infrared camera 152 to respectively shoot the infrared thermal images of the liquid inlet valve 221 and the liquid outlet valve 231.

S130, the visible light camera 151 is driven to respectively shoot the visible light images of the liquid inlet valve 221 and the liquid outlet valve 231.

Specifically, the unmanned inspection robot 10 is further provided with an illumination device for assisting the visible light camera 151 in taking a picture at night. The infrared camera 152 itself takes a picture without visible light, and naturally can take a picture at night.

In this embodiment, through shooing infrared thermal image, whether the inside that can be convenient for unmanned robot 10 that patrols and examines detects feed liquor valve 221 and play liquid valve 231 has not smooth phenomenon, through shooing visible light image, whether the outside that can be convenient for patrolling and examining robot detection feed liquor trouble and play liquid valve 231 has the outside damaged spot that the naked eye is visible for the unblocked detection of valve is more comprehensive, and is more accurate.

In an embodiment of the present application, the step S200 includes the following steps S210 to S230:

s210, generating a temperature gradient change diagram based on the infrared thermography, and judging whether the liquid inlet valve 221 and the liquid outlet valve 231 have abnormal blocking points or not based on the temperature gradient change diagram.

S220, if there is no abnormal blocking point in the liquid inlet valve 221 and the liquid outlet valve 231, further determining whether there is an external damage point in the liquid inlet valve 221 and the liquid outlet valve 231 based on the visible light image.

S230, if there is no external damage point on the liquid inlet valve 221 and the liquid outlet valve 231, it is determined that the liquid inlet valve 221 and the liquid outlet valve 231 are unblocked, and the subsequent step S300 is executed.

Specifically, it can be seen that when the liquid inlet valve 221 and the liquid outlet valve 231 have neither abnormal blocking points nor external damage points, the liquid inlet valve 221 and the liquid outlet valve 231 are considered to be unblocked. The processor 110 of the unmanned inspection robot 10 may analyze the change of the temperature gradient based on a database in which image learning is performed in advance through a temperature gradient change map, thereby obtaining the position and size of the abnormal blocking point.

In an embodiment of the present application, the step S300 includes the following steps S310 to S360:

s310, the valve operating device 130 is driven to open the bypass valve 241 of the plunger pump 20 to the return pipe 240, so as to open the bypass valve 241.

And S320, sending a starting command to the plunger pump controller so that the plunger pump controller controls the plunger pump frequency converter to start the plunger pump 20.

S330, whether a starting completion signal returned by the plunger pump controller is received is judged.

S340, if the start-up completion signal returned by the plunger pump controller is received, the valve operating device 130 is driven to close the bypass valve 241 of the plunger pump 20 until the return pipe 240 is in the cut-off state, so as to close the bypass valve 241.

S340, sending a job completion signal to the server 30, and executing the subsequent step S400;

and S360, if the starting completion signal returned by the plunger pump controller is not received, returning to the step S320.

Specifically, the present embodiment describes a process in which the unmanned inspection robot 10 remotely activates the plunger pump 20. After plunger pump 20 is turned off, since liquid inlet pipe 220 no longer enters new liquid, a certain amount of liquid will accumulate on liquid outlet pipe 230 side, so that the hydraulic pressure on liquid outlet pipe 230 side is greater than that on liquid inlet pipe 220 side, and it is dangerous to turn on plunger pump 20 in this state, which may cause pipe burst, liquid outflow, and safety hazard to plunger pump 20. Before the plunger pump 20 is started, the bypass valve 241 is opened to ensure that when the plunger pump 20 is started, high-pressure liquid on the liquid outlet pipe 230 side can flow through the bypass valve 241 and flow back to the liquid inlet pipe 220 side, so that the load of the plunger pump 20 is reduced, and the consistency of the liquid pressures on the liquid outlet pipe 230 side and the liquid inlet pipe 220 side is ensured.

Of course, in order not to affect the normal liquid discharge after the plunger pump 20 is turned on, the bypass valve 241 needs to be closed when the liquid pressures on the liquid outlet pipe 230 side and the liquid inlet pipe 220 side are the same.

In an embodiment of the present application, the step S400 includes the following steps:

and S410, controlling the sound vibration detection module 153 to detect the vibration state of the plunger pump 20 in real time and feeding the vibration state back to the server 30 in real time.

Specifically, as shown in fig. 2 and 3, the inspection robot includes a processor 110, a body 120, a valve operating device 130, a wrench 140, and a detecting device 150. The body includes a base 121 and a robotic arm 122. The robotic arm 122 is telescopic. The valve operating device 130 is movably connected to the mechanical arm 122 through a rotating shaft. The valve operator 130 may be rotated at any angle relative to the robotic arm 122. The wrench 140 is fixedly connected to the valve operating device 130. The detecting device 150 is fixedly connected to the valve operating device 130. The detection device 150 includes a visible light camera 151, an infrared camera 152, and an acoustic vibration detection module 153. The acoustic vibration detection module 153 is suspended from the valve operating device 130.

Optionally, the acoustic vibration detection module 153 is suspended from the valve operating device 130 of the inspection robot. The sound vibration detection module 153 is internally provided with a sound pickup (not shown in the figure), and can remotely acquire sound signals of the plunger pump 20 and other equipment, and analyze the sound signals, so as to judge whether equipment abnormality exists. If the equipment abnormality exists, the specific vibration abnormality can be further detected.

The detection of a particular vibration anomaly is accomplished by the cooperation of the coupling base 121 and the acoustic vibration detection module 153. The coupling mount 60 may be located on the housing at any location on the plunger pump 20 or on the housing of any workpiece of other equipment at the implantation station. The surface of the coupling base 60 is provided with an armature. When the acoustic vibration detection module 153 remotely and firstly finds that the equipment is abnormal, the unmanned inspection robot 10 can automatically move to a workpiece or equipment with the abnormal equipment, and the acoustic vibration detection module 153 of the unmanned inspection robot 10 is provided with an electromagnet and can be automatically attracted with the armature on the coupling base 60. Further, the three-axis vibration acceleration sensor disposed inside the acoustic vibration detection module 153 may automatically detect the vibration signal of the abnormal workpiece or device, so as to analyze the vibration abnormality, generate a vibration state message, and return the vibration state message to the server 30. Fig. 2 illustrates an embodiment in which the coupling base 60 is placed on the motor 50, so that the unmanned inspection robot 10 can detect a vibration abnormality of the motor 50.

As shown in fig. 2, fig. 2 illustrates an embodiment in which a coupling base 60 is provided on the motor 50. Of course, a coupling base 60 may be placed on any workpiece of any apparatus.

The detection mode can not only carry out qualitative analysis of the dynamic abnormity of the equipment or the workpiece with abnormal vibration, but also carry out quantitative analysis of the dynamic abnormity.

In an embodiment of the present application, the step S400 further includes the following steps S421 to S423 d:

and S421, driving the visible light camera 151 to respectively shoot images of the plunger pump outlet pressure gauge and the plunger pump sectional manifold pressure gauge.

S422, images of the plunger pump outlet pressure gauge and the plunger pump sectional manifold pressure gauge are obtained, and image analysis is carried out on the images of the plunger pump outlet pressure gauge and the plunger pump sectional manifold pressure gauge.

And S423a, judging whether the value of the plunger pump outlet pressure gauge is larger than the preset outlet pressure gauge value.

S423b, if the value of the outlet pressure gauge is greater than the preset value of the outlet pressure gauge, generating a first outlet pressure gauge alarm message, and sending the first outlet pressure gauge alarm message to the server 30.

S423c, if the value of the outlet pressure gauge is smaller than the preset value of the outlet pressure gauge, generating a second outlet pressure gauge alarm message to be sent to the server 30, and adjusting the outlet pressure gauge data according to the outlet pressure gauge data adjustment message returned by the server 30.

S423d, if the value of the outlet pressure gauge is equal to the preset value of the outlet pressure gauge, returning to the step S422.

Specifically, the processor 110 may automatically obtain, through image recognition technology, production data functions and data that are read and not transmitted remotely, such as pointers, numbers, LED displays, liquid crystal displays, etc., but are only displayed locally, including not only the values of the outlet pressure gauge and the manifold pressure gauge, but also remote automatic reading of data from any other type of gauge.

The mechanical arm 122 arranged in the unmanned inspection robot 10 can rotate freely or stretch out and draw back, so that the visible light camera 151 can be driven to shoot images of the plunger pump outlet pressure gauge and the plunger pump sectional manifold pressure gauge.

In this embodiment, the unmanned inspection robot 10 automatically captures an image of the outlet pressure gauge, so as to automatically analyze the image, extract the gauge value in the image, compare the gauge value with a preset outlet pressure gauge value, adjust the gauge value when the gauge value is lower than the preset value, alarm when the gauge value is higher than the preset value, and comprehensively treat the abnormal outlet pressure.

In an embodiment of the application, after the step S422, the step S400 further includes the following steps S424a to S424 d:

s424a, whether the value of the plunger pump sectional manifold pressure gauge is larger than the preset sectional manifold pressure gauge value is judged.

S424b, if the value of the sectional manifold pressure gauge is greater than the preset value of the sectional manifold pressure gauge, a first sectional manifold pressure gauge alarm message is generated and sent to the server 30.

S424c, if the value of the sectional manifold pressure gauge is smaller than the preset value of the sectional manifold pressure gauge, a second warning message of the sectional manifold pressure gauge is generated and sent to the server 30, and the data of the sectional manifold pressure gauge is adjusted according to the adjustment message of the sectional manifold pressure gauge data returned by the server 30.

S424d, if the value of the sub-header pressure gauge is equal to the preset sub-header pressure gauge value, go back to step S421.

The principle of this embodiment is similar to that of the previous embodiment, and the detailed description is omitted here, except that the present embodiment is directed to the detection and processing of the segment header pressure abnormality.

In an embodiment of the present application, the step S400 further includes the following steps S431 to S433:

and S431, driving the infrared camera 152 to respectively shoot the infrared thermal images of the liquid inlet valve 221 and the liquid outlet valve 231.

S432, generating a temperature gradient change diagram according to the infrared thermal images of the liquid inlet valve 221 and the liquid outlet valve 231, and judging whether an abnormal blocking point exists in the liquid inlet valve 221 and the liquid outlet valve 231 or not based on the temperature gradient change diagram.

S433, if there is an abnormal blocking point in the liquid inlet valve 221 and the liquid outlet valve 231, a valve abnormal message is generated and sent to the server 30.

The principle of detecting the abnormal blocking point in step S210 is similar to that in the foregoing embodiment, and is not described here again. The difference is that this is a routine check of the plunger pump 20, and step S210 is a check before the plunger pump 20 is activated.

In an embodiment of the present application, the step S400 further includes the following steps S441 to S443:

s441, the visible light camera 151 is driven to capture a visible light image of each component of the plunger pump 20.

S442, it is determined whether or not each component of the plunger pump 20 has an external damage point based on the visible light image of the plunger pump 20.

S443, if there is an external damage point in each component of the plunger pump 20, generates a plunger pump damage message and transmits the plunger pump damage message to the server 30.

The principle of detecting the external damage point in step S230 is similar to that of the previous embodiment, and is not described herein again. The difference is that this is a routine check of the plunger pump 20, and step S230 is a check before the plunger pump 20 is started.

In an embodiment of the present application, the step S500 includes the following steps S510 to S560:

and S510, when receiving the plunger pump closing instruction sent by the server 30, sending a closing instruction to the plunger pump controller so that the plunger pump controller controls the plunger pump frequency converter to close the plunger pump 20.

And S520, driving the visible light camera 151 to shoot an image of the plunger pump outlet pressure gauge.

S530, the image of the pressure gauge at the outlet of the plunger pump is obtained, the image of the pressure gauge at the outlet of the plunger pump is analyzed, and the current numerical value of the pressure gauge at the outlet of the plunger pump is generated.

And S540, judging whether the current value of the pressure gauge at the outlet of the plunger pump is equal to 0.

And S550, if the current value of the pressure gauge at the outlet of the plunger pump is equal to 0, determining that the plunger pump 20 is closed, and terminating the subsequent steps.

And S560, if the current value of the plunger pump outlet pressure gauge is not equal to 0, determining that the plunger pump 20 is not closed, sending a closing instruction to the plunger pump controller again, and returning to the step S520.

Specifically, the present embodiment is a step of turning off the plunger pump 20. After the server 30 transmits the plunger pump closing instruction, the unmanned inspection robot 10 starts a process of closing the plunger pump 20.

The closing mode and the opening mode of the plunger pump 20 are similar, and the unmanned inspection robot 10 can send a closing instruction to the plunger pump controller, and the plunger pump controller injects the closing instruction to the plunger pump frequency converter to complete the closing of the plunger pump 20.

After the plunger pump 20 is turned off, there is the step of taking an image of the outlet pressure gauge. This is to read the value of the outlet pressure gauge, and ensure that the current value of the outlet pressure gauge is 0, so as to ensure that the plunger pump 20 has been safely turned off. If the current value of the outlet pressure gauge is not 0, the step of turning off the plunger pump 20 is repeatedly performed until the value of the outlet pressure is 0.

In the present embodiment, a series of operations for turning off the plunger pump 20 is described, and by these operations, safety of the plunger pump 20 at the time of turning off can be ensured.

In an embodiment of the present application, the method further includes the following steps S611 to S615 d:

s611, the power supply state of the plunger pump 20 is monitored in real time.

S612, when it is detected that the plunger pump 20 is not supplied with power, it transmits a power failure signal to the server 30 and the mother liquor disposition station 40, respectively.

S613, the valve operating device 130 is driven to close the liquid outlet valve 231 of the plunger pump 20.

And S614, driving the valve operating device 130 to close the valves of the various wellheads of the injection station.

And S615a, driving the infrared cameras 152 to respectively shoot infrared thermal images of valves of various wellheads of the injection station.

S615b, based on the infrared thermal image of each wellhead valve, generating a temperature gradient change chart of each wellhead valve, and based on the temperature gradient change chart, judging whether local temperature hot spots exist in each wellhead valve.

And S615c, if the valves of the well heads have local temperature hot spots, returning to the step S615 to close the valves of the well heads again.

And S615d, if the valves of the well heads do not have local temperature hot spots, stopping the subsequent steps.

In particular, the application scenario of the present embodiment is sudden power failure of the injection station. When the injection station is suddenly de-energized, the plunger pump 20 is also unpowered, requiring emergency shut-off of the plunger pump 20 and valves at each well head of the injection station. After the valves of each well head are closed emergently, the infrared thermal images of the valves of each well head are required to be shot, and whether local temperature hot spots exist in the valves of each well head is judged. Thus, the condition of incomplete valve closing can be searched by detecting hot spots of local temperature. If local temperature hot spots exist, the situation that the valves are not closed completely exists, and all wellhead valves are closed again immediately.

In an embodiment of the present application, after the step S614, the method further includes the following steps S616a to S616 c:

s616a, the infrared cameras 152 are driven to respectively capture infrared thermal images of the valves at the respective wellheads of the injection room.

And S616b, generating a temperature gradient change diagram of the valves of each wellhead based on the infrared thermal images of the valves of each wellhead, and judging whether the valves of each wellhead have local temperature hot spots based on the temperature gradient change diagram.

S616c, if there is a local hot spot in the valve at each wellhead, send a valve closing exception message to the server 30.

Specifically, in this embodiment, when there is a local temperature hot spot, the unmanned inspection robot 10 further synchronously sends a valve closing abnormal message to the server 30, so that if the valve is repeatedly closed for multiple times or a local temperature hot spot occurs, the server 30 may give an indication in time. Although the power is off, the server 30 may communicate with the unmanned inspection robot 10 through another communication method. The unmanned inspection robot 10 can also have a storage battery, and the work of the unmanned inspection robot cannot be influenced.

Optionally, the unmanned inspection robot 10 provided by the present application may further check whether a leakage phenomenon occurs at each lubricant sealing portion of each device, and whether the lubricant is at a predetermined position, and whether the temperature of the lubricant is less than a predetermined temperature, for example, 50 degrees celsius, and an alarm is given when the temperature is higher than the predetermined temperature, through the visible light camera 151 and the infrared camera 152.

The unmanned inspection robot 10 provided by the application can also detect whether the temperature of the pipeline below the polymer injection valve is abnormal or not through the visible light camera 151 and the infrared camera 152. The temperature is detected to enable the temperature to be higher than the preset pipeline temperature, if the temperature is higher than the preset pipeline temperature, a backflow phenomenon is considered to occur, and at the moment, the unmanned inspection robot 10 can automatically close the single-well valve of the corresponding section.

The control method of the unmanned inspection robot can be applied to an injection station, and can also be used for carrying out corresponding abnormity monitoring on each device of a combination station, an oil transfer station and a preparation station in an oil station plant based on similar working principles.

The application also provides a control system of the unmanned inspection robot of the injection station.

As shown in fig. 2, in an embodiment of the present application, a control system of the injection station unmanned inspection robot includes an unmanned inspection robot 10, a plunger pump 20, a motor 50, a server 30, and a mother liquor configuration station 40.

The unmanned inspection robot 10 is configured to perform the control method of the injection station unmanned inspection robot mentioned above. The motor 50 is electrically connected to the plunger pump 20. The server 30 is in communication connection with the unmanned inspection robot 10. The mother liquor configuration station 40 is in communication connection with the unmanned inspection robot 10.

Specifically, the server 30 may be understood as a general station for controlling and guiding the operation of the inspection robot in a high level. When the service sends a plunger pump starting instruction to the inspection robot, the inspection robot starts a starting process of the plunger pump 20.

A mother liquor configuration station 40 is used to deliver polymer mother liquor to the injection station. The injection station receives the polymer mother liquor delivered by the mother liquor configuration station 40, processes the polymer mother liquor, and inputs the processed polymer mother liquor into the liquor inlet pipe 220 of the plunger pump 20. Alternatively, the polymer mother liquor may be treated by dilution with water.

As shown in fig. 3, in an embodiment of the present application, the unmanned inspection robot 10 includes a processor 110, a body 120, a valve operating device 130, a wrench 140, and a detecting device 150.

The processor 110 is communicatively connected to the server 30 and the mother liquor configuration station 40, respectively. The pump body 210 includes a base 121 and a robotic arm 122. The robotic arm 122 is telescopic. The valve operating device 130 is movably connected to the mechanical arm 122 through a rotating shaft. The valve operator 130 may be rotated at any angle relative to the robotic arm 122. The wrench 140 is fixedly connected to the valve operating device 130. The detecting device 150 is fixedly connected to the valve operating device 130. The detection device 150 includes a visible light camera 151, an infrared camera 152, and an acoustic vibration detection module 153. The acoustic vibration detection module 153 is suspended from the valve operating device 130.

Specifically, the unmanned inspection robot 10 further includes a plurality of wheels 160 rotatable with respect to the body 120, and the wheels 160 are used to assist the unmanned inspection robot 10 to automatically walk.

The unmanned inspection robot 10 further comprises an obstacle avoidance sensor 170, so that the unmanned inspection robot 10 can be prevented from colliding with equipment of the injection station, and other obstacles can be avoided in the process of helping the unmanned inspection robot 10 to automatically walk.

The control system of the unmanned inspection robot of the injection station further comprises a coupling base 60. The coupling mount 60 may be located on the housing at any location on the plunger pump 20 or on the housing of any workpiece of other equipment at the implantation station. The surface of the coupling base 60 is provided with an armature. When the acoustic vibration detection module 153 remotely and firstly finds that the equipment is abnormal, the unmanned inspection robot 10 can automatically move to a workpiece or equipment with the equipment abnormal, and the acoustic vibration detection module 153 of the inspection robot is provided with an electromagnet and can automatically attract the armature on the coupling base 60.

The inspection robot further comprises a gas sensor 180, harmful gas can be automatically detected, and fire early warning and alarming functions of the unmanned inspection robot 10 are achieved. Alternatively, the gas sensor 180 may enable detection of leakage of natural gas and toxic and harmful gas.

As shown in fig. 2, in an embodiment of the present application, the plunger pump 20 includes a pump body 210, an inlet pipe 220, an outlet pipe 230, and a return pipe 240. The liquid inlet pipe 220 is connected to the pump body 210. The liquid inlet pipe 220 is provided with a liquid inlet valve 221. The outlet pipe 230 is connected to the pump body 210. The liquid outlet pipe 230 is provided with a liquid outlet valve 231. The return pipe 240 is connected to the pump body 210. The return pipe 240 is provided with a bypass valve 241.

The technical features of the embodiments described above may be arbitrarily combined, the order of execution of the method steps is not limited, and for simplicity of description, all possible combinations of the technical features in the embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the combinations of the technical features should be considered as the scope of the present description.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.