Flexible Robotic Teleoperation Architecture Under IEC 61499 Standard for Oil Gas Process

摘要

One of the main characteristics of oil extraction stations is the latent danger present in the installations due to the nature of the procedures done and the type of raw material used. In Ecuador, another specific complication is presented in this type of stations due to their geographical locations. Teleoperation allows a human operator to transmit his abilities and capabilities into specialized robotic elements capable of replicating them. This allows a person to successfully execute manipulation and transporting tasks in dangerous environments with limited access, from a secure place located in a far distance. However, for the implementation of teleoperated systems, it is necessary to ensure the execution of operative and communication tasks in real time. This can be obtained with the use of advanced and high performance devices and improved communication protocols. The aim of this paper is to propose the Robotic Technology Transfer (RTT) of a teleoperation system developed in academic research laboratories to the industrial oil extraction field. It allows an operator to control a mobile manipulator to perform inspection and maintenance tasks in a Drilling Rig from an oil extraction station, basing its work on the use of the industrial automation standard IEC-61499 and the MQTT protocol for communications.