Operating a handwheel adopted in the offshore energy industry normally requires tremendous force with accurate motion. It would be a big challenge for mobile robots, especially those deployed on offshore oil platforms. Our work addresses this challenge by designing tools for a mobile robot to operator handwheels employed in two of the most common types of equipment in offshore oil platforms; a watertight door and a gate valve. The operating methodology and the tool design are examined in experiments using real industry equipment and commercially-available lightweight robotic arm. The study also indicates that embedding sensors and actuators leverages the role of the proposed handwheel operation tool being an integrity helper; the tool can collect data and use deep learning technology to monitor the sealing of a valve. Overall, this study demonstrates the feasibility of using the tool to operate handwheels to expand the robot’s operating range and functionality, as well as to provide a low-cost high-accuracy (96%) approach for robot-enabled inspections.

操作海上能源行业采用的手轮通常需要巨大的力量和精确的运动。对于移动机器人，尤其是那些部署在海上石油平台上的移动机器人来说，这将是一个巨大的挑战。我们的工作通过为移动机器人设计工具来应对这一挑战，以操作海上石油平台中两种最常见类型设备中使用的手轮；一个水密门和一个闸阀。使用真实工业设备和商用轻型机械臂在实验中检查操作方法和工具设计。该研究还表明，嵌入传感器和执行器可以利用所提出的手轮操作工具作为完整性助手的作用；该工具可以收集数据并使用深度学习技术来监控阀门的密封情况。全面的，