Flexible robotic teleoperation architecture for intelligent oil fields
Flexible robotic teleoperation architecture for intelligent oil fields
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DOI：
10.1016/j.heliyon.2020.e03833
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发表时间：
2020-04-01
期刊：
影响因子：
4
通讯作者：
Garcia, Marcelo, V
中科院分区：
文献类型：
--
作者：
Caiza, Gustavo;Garcia, Carlos A.;Garcia, Marcelo, V
远程操作虚拟平台允许人们将他们的技能和能力发送到位于相对近（几米远）或远（不同大陆）位置的机器上。通过使用轻量级协议，人们可以远程控制机器人的动作和移动，从而避免与危险或危险场所进行物理交互。石油和天然气井场站是由于其日常过程中使用的各种化学物质而被认为是危险的工作区。这一特点使这些地方成为实施远程操作解决方案的理想候选者，以减少人类与不同化学品和危险情况的直接相互作用。以下调查的重点是一个基地遥操作计划的发展，在这些碳氢化合物设施内执行检查和维护任务。该系统的目的是产生一个易于扩展的遥操作解决方案，使用分布式控制方案和轻量级的通信协议，远程操纵库卡移动的机械手。作为本研究的第一阶段，主要成果集中在通用控制和通信功能的开发上，这些功能允许使用KUKA YouBOT移动的机械手对系统进行物理测试，并得到合格的站操作员的帮助。
Teleoperation virtual platforms allow people to send their skills and capacities into machines located in either relative close (few meters away) or far (different continents) locations. With the use of lightweight protocols, people can remotely control the actions and movements of robots so they can avoid physical interaction with dangerous or risky places. Oil and gas well-pads stations are working zones considered hazardous due to the various chemical substances used in their daily processes. This characteristic makes these places the perfect candidates for the implementation of teleoperation solutions in order to reduce the direct interaction of humans with different chemicals and risky situations. The following investigation focuses on the development of a base teleoperation scheme to perform inspection and maintenance tasks in the inside one of these hydrocarbon facilities. The proposed system aims to generate an easily scalable teleoperation solution using distributed control schemes and a lightweight communication protocol to remotely manipulate a KUKA mobile manipulator. As the first stage of this investigation, the main result focuses on the development of the generic control and communication functions that allow the physical testing of the system using a KUKA YouBOT mobile manipulator and the help of a qualified operator of the station.