Vertical pipe for loading crane pipe and method for automatically recovering and sampling liquid of vertical pipe

Abstract

The invention relates to the technical field of crane pipes, and provides a vertical pipe for a loading crane pipe and an automatic liquid recycling and sampling method thereof, the linkage design of a vertical pipe main body and a bottom residual liquid pool is adopted, and a liquid shunting channel is formed through a side wall liquid outlet and an anti-overflow opening. According to the core principle, a multi-mode sensing system is used for cooperative work, a dynamic reference model of liquid flow impact force is established through an annular pressure array, liquid surface deformation characteristics are captured in real time through laser ranging, and the sampling position is accurately judged through infrared detection; when the system recognizes that the liquid level is inclined or the pressure is abnormal, stable liquid flow is formed through pulse type adjustment of the electromagnetic valve, and finally automatic control over the whole process of residual liquid recycling and sampling is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading arm, in particular to a vertical pipe for loading arm and a method for automatically recovering and sampling liquid. BACKGROUND

[0002] The content of this part only provides background information related to the present application, which may not constitute prior art.

[0003] In the loading operation of liquid chemical products, the vertical pipe of the loading arm as a key component connecting the storage tank and the transport vehicle directly affects the safety and efficiency of the operation in terms of sealing, residual liquid recovery and intelligent control ability. The traditional vertical pipe structure often only sets a single liquid outlet, lacks a special residual liquid collection device, so that the residual medium in the pipeline after loading and unloading cannot be effectively recovered, not only causing material waste, but also easily causing oil and gas pollution.

[0004] The existing technology adopts passive mechanical seal for the overflow prevention port, which cannot monitor the liquid level state in real time. When the tank car liquid level abnormally fluctuates or tilts, overflow accidents are likely to occur due to lagging judgment. The sampling process relies more on manual operation, which cannot accurately judge the positioning state of the sampling container, nor can it control the liquid flow rate, often causing sample contamination or splashing problems. More importantly, the existing system lacks intelligent analysis capability for liquid flow dynamic pressure, and cannot identify regional pressure mutation during the lifting of the vertical pipe, which may destroy the liquid level balance and induce vortex, directly affecting the sampling representativeness and recovery efficiency. These defects make the current technology difficult to meet the requirements of sealing, safety and automation degree when loading high-risk medium. SUMMARY

[0005] In order to solve the above technical problems, the purpose of the present application is to provide a vertical pipe for loading arm and a method for automatically recovering and sampling liquid, which realizes the closed-loop control of automatic residual liquid recovery and safe sampling during loading process by integrating pressure sensor array to monitor the circumferential pressure distribution of the overflow prevention port, laser ranging device to dynamically track the liquid level shape change, infrared detection system to accurately identify the positioning state of the sampling container, and intelligent flow regulation of the electromagnetic valve.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a vertical pipe for loading arm, comprising:

[0008] a vertical pipe body, the vertical pipe body is provided with a liquid outlet on the side wall thereof;

[0009] a residual liquid pool, the residual liquid pool is arranged at the bottom of the vertical pipe body and communicates with the vertical pipe body; the residual liquid pool is located below the liquid outlet;

[0010] The bottom of the residual liquid tank is provided with an anti-overflow opening opening upward, which is communicated with the tank truck; the bottom of the residual liquid tank is provided with a liquid discharge opening opening downward; and the liquid discharge opening is controlled by an electromagnetic valve.

[0011] In a second aspect, the present application provides a method for automatic recovery and sampling of liquid in a loading crane pipe, which is applied to a vertical pipe of a loading crane pipe as in the first aspect, and the method comprises the following steps:

[0012] S1, a pressure sensor array is arranged annularly on the inner wall of the anti-overflow opening, after the vertical pipe is inserted into the tank opening, the circumferential pressure data of the anti-overflow opening is continuously collected during the filling process, and a pressure distribution reference model is established, the reference model contains the normal pressure threshold interval of each sensor unit under the impact of liquid flow;

[0013] S2, a laser ranging device is arranged on the outer wall of the vertical pipe, the liquid level shape change is monitored by the laser ranging device, when it is detected that the liquid level reflection spot changes from a concentric circle to an ellipse and the long axis offset angle exceeds a preset angle, it is determined that the liquid level is in an inclined state and a liquid level balance verification program is started, the verification program includes: whether the circumferential pressure difference of the anti-overflow opening exceeds a preset proportion of the upper limit value of the reference model is detected by the pressure sensor array, and at the same time, the laser ranging device continuously scans for three times to confirm that the liquid level inclination angle continuously decreases;

[0014] S3, the real-time pressure data is compared with the reference model synchronously when the vertical pipe is lifted, when more than half of the sensor readings in any sector deviate from the reference value by more than 15%, it is determined that there is regional pressure abnormal fluctuation and the lifting is paused, after the laser ranging system continuously scans for five times and measures that the liquid level fluctuation amplitude is less than a preset amplitude, the operation is continued;

[0015] S4, an annular infrared detection area is arranged below the liquid discharge opening, when the number of sampling containers shielding infrared beams exceeds three-quarters of the total number of beams and maintains for more than three seconds, a sampling ready signal is generated;

[0016] S5, after receiving the sampling signal, the system evaluates the current pressure distribution state, when all sensor readings are within the threshold range of the reference model, the electromagnetic valve is opened to execute liquid discharge, if there is a single sensor reading exceeding the threshold range, a pulse flow regulation mode is started, the regulation mode opens and closes the electromagnetic valve intermittently through a preset time interval to make the liquid flow form a pulsating flow state until the pressure data returns to the reference interval.

[0017] Further, after S2, the method further comprises:

[0018] After the verification program confirms the liquid level inclination state, the vertical pipe body is controlled to swing back and forth within a fifteen-degree range with the maximum pressure azimuth angle recorded in the reference model as the axis, the swing frequency is synchronized with the scanning period of the laser ranging device, the circumferential pressure difference is recalculated by the pressure sensor array after each swing, and the pressure difference is reduced to within 10% of the upper limit value of the reference model.

[0019] Further, the calculation of the pressure difference uses a sliding window filtering algorithm to process the original data, and the window width is set to the number of pressure samples collected in a single laser scanning period.

[0020] Further, after S5, further comprising:

[0021] After each intermittent opening and closing of the electromagnetic valve, the pressure sensor array generates a new pressure distribution map, and the map is compared with the reference model region by region, and if there are more than three adjacent sensor units showing the same polarity deviation, the pulse interval time is adjusted to zero point seven times the original value and two complete pressure scanning periods are added until the deviation area of the map shows a random distribution state.

[0022] Further, the random distribution state is determined based on the fact that the number of changes in the pressure gradient direction between adjacent sensor units exceeds 80% of the total possible directions, and there are no more than three consecutive gradients in the same direction.

[0023] Further, in the pulse flow regulation mode of S5, the initial opening and closing interval time of the electromagnetic valve is inversely proportional to the detected pressure deviation degree.

[0024] Further, when establishing the reference model, first, pre-sampling is performed for five complete filling cycles, and after removing the maximum and minimum values of each sensor reading, the arithmetic mean value is taken as the threshold interval median.

[0025] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps corresponding to the method of the second aspect.

[0026] In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the steps corresponding to the method of the second aspect.

[0027] In summary, the technical scheme of the embodiments of the present application has at least the following advantages and beneficial effects:

[0028] The application realizes liquid diversion through the linkage design of the liquid outlet of the vertical pipe body side wall and the bottom residual liquid pool, the overflow prevention opening of the residual liquid pool is communicated with the tank truck to form a pressure balance channel, and the liquid outlet is precisely controlled to open and close by the electromagnetic valve. The pressure sensing array arranged annularly in the inner wall of the overflow prevention opening continuously collects circumferential pressure data, and a baseline model containing the normal pressure threshold interval of liquid flow impact is established; the laser ranging device on the outer wall of the vertical pipe identifies the tilt state by analyzing the shape change of the liquid surface reflection spot, triggers the liquid level balance verification program containing pressure difference detection and continuous angle scanning; when the vertical pipe is lifted, the dynamic comparison of real-time pressure data and the baseline model is performed, and when there is regional pressure abnormal fluctuation, the operation is paused until the laser ranging confirms that the liquid surface is stable; the annular infrared detection area below the liquid outlet determines the positioning of the sampling container through the light beam shielding state; the system comprehensively evaluates the pressure distribution, adopts the full threshold matching direct liquid release or the pulse intermittent opening and closing electromagnetic valve adjustment mode, and forms the pulsating flow state that makes the pressure data return to the baseline interval. Through the collaborative monitoring of multiple sensors and the intelligent valve control linkage, a full-process closed-loop control system from liquid surface shape identification, pressure abnormality early warning to flow adaptive regulation is constructed. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A structure diagram of a vertical pipe for a loading crane pipe is provided for the application;

[0030] Figure 2 A flowchart of a method for automatic recovery and sampling of liquid in a loading crane pipe is provided for the application;

[0031] Figure 3 A schematic diagram of an electronic device is provided for the application.

[0032] The drawings show that: 1, vertical pipe; 2, liquid outlet; 3, overflow prevention opening; 4, residual liquid pool; 5, liquid outlet; 6, electromagnetic valve. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Embodiment 1:

[0035] As Figure 1As shown, a vertical pipe 1 for loading crane pipe proposed in an embodiment of the present application includes: a vertical pipe 1 main body, a liquid outlet 2 is provided on the side wall of the vertical pipe 1 main body; a residual liquid tank 4, the residual liquid tank 4 is arranged at the bottom of the vertical pipe 1 main body and is connected with the vertical pipe 1 main body; the residual liquid tank 4 is located below the liquid outlet 2; an anti-overflow outlet 3 opening upward is provided at the bottom of the residual liquid tank 4, and the anti-overflow outlet 3 is connected to the tank truck; a liquid discharge port 5 opening downward is provided at the bottom of the residual liquid tank 4; the liquid discharge port 5 is controlled to be on and off by an electromagnetic valve 6.

[0036] Specifically, the vertical pipe 1 is composed of a vertical pipe 1 main body, a residual liquid pool 4 and a supporting control device, which realizes the automatic recovery and safe sampling function of residual liquid during the liquid filling process. The side wall of the vertical pipe 1 main body is provided with a liquid outlet 2 for conventional filling operations, and a residual liquid pool 4 connected to the main body is provided at its bottom. The residual liquid pool 4 is located below the liquid outlet 2 and is specifically used to collect liquid remaining in the pipeline after the filling is completed. The bottom of the residual liquid pool 4 adopts a double opening design: the anti-overflow port 3 provided on the top is connected to the tank truck, and the principle of fluid mechanics is used to ensure that the liquid level in the residual liquid pool 4 is always lower than the height of the anti-overflow port 3 when the crane pipe is lifted, which prevents liquid splashing and realizes the automatic reflux of residual liquid; the liquid discharge port 5 provided at the bottom is equipped with a solenoid valve 6 control, which automatically opens when the system detects that the crane pipe is reset to the sampling position, and accurately discharges the standard sample liquid collected in the residual liquid pool 4 into the sampling container. This integrated design has multiple technical advantages: first, the anti-overflow structure 3 achieves zero leakage during the operation process, improving operational safety; second, the liquid discharge port 5 controlled by the solenoid valve 6 realizes fully automatic standardized sampling, eliminating the safety hazards of manual high-altitude sampling; it not only ensures that the original filling function is not affected, but also adds residual liquid recovery and automatic sampling functions, improving the automation level and operating efficiency of loading and unloading operations, and providing a reliable technical solution for hazardous chemical loading and unloading operations in industries such as petrochemicals.

[0037] Example 2:

[0038] like Figure 2 As shown, a method for automatically recovering and sampling liquid from a loading crane pipe proposed in an embodiment of the present application is applied to a vertical pipe 1 for a loading crane pipe in Example 1. The method specifically includes:

[0039] S1: A pressure sensor array is arranged in a ring on the inner wall of the anti-overflow vent 3. After the vertical tube 1 is inserted into the tank mouth, the circumferential pressure data of the anti-overflow vent 3 is continuously collected during the filling process and a pressure distribution benchmark model is established. The benchmark model includes the normal pressure threshold range of each sensor unit under the action of liquid flow impact.

[0040] The core of this step is to build a dynamic reference model of liquid flow impact force through a ring-shaped pressure sensor array. In practice, four micro pressure sensor units are evenly distributed on the inner wall of the anti-overflow port 3 in a circular manner, forming a sensor array covering a 360° monitoring range. When the standpipe 1 is inserted into the tank truck port to start the filling operation, the dynamic pressure generated by the liquid flow impacting the inner wall of the anti-overflow port 3 in the axial direction of the standpipe 1 is collected by the array in real time, and the sampling frequency is set to 100 Hz to ensure data continuity. During the establishment of the reference model, the system first performs five complete filling cycles under standard conditions (a single cycle includes filling, standing, and emptying three stages), and by eliminating the maximum and minimum values of the data collected by each sensor unit, accidental interference is eliminated, and the arithmetic mean of the remaining three sampling data is calculated as the median of the threshold interval. The final reference model includes the pressure threshold interval of each sensor unit in the X / Y / Z three-axis direction (such as the typical threshold of sensor unit 1 is 12.5±1.8kPa). Through the pre-sampling mechanism of multiple filling cycles combined with data filtering processing, transient disturbances such as environmental vibration and fluid turbulence can be effectively eliminated, so that the reference model can reflect the pressure distribution law under real working conditions.

[0041] S2, a laser ranging device is arranged on the outer wall of the standpipe 1, and the laser ranging device is used to monitor the change of the liquid level shape of the tank truck. When it is detected that the liquid level reflection spot changes from a concentric circle to an ellipse and the long axis offset angle exceeds the preset angle, it is determined that the liquid level is in a tilted state and the liquid level balance verification program is started. The verification program includes: detecting whether the circumferential pressure difference of the anti-overflow port 3 exceeds the preset proportion of the upper limit value of the reference model through the pressure sensor array, and simultaneously the laser ranging device continuously scans for three times to confirm that the liquid level tilt angle continuously decreases.

[0042] Specifically, a laser ranging device is installed coaxially on the outer wall of the vertical pipe 1. The core function of the laser ranging device is to scan the liquid surface of the tank truck by emitting a ring-shaped laser beam and to receive the reflected light spot. When the liquid surface is in a horizontal state, the reflected light spot presents a regular concentric circular ring shape. If the tank truck is displaced or the liquid flow distribution is uneven, causing the liquid surface to tilt, the reflected light spot will be deformed into an elliptical shape. The system calculates the azimuth angle offset of the long axis of the ellipse in real time. When the offset exceeds a pre-set threshold (e.g., 5°), the system triggers a preliminary judgment of the liquid surface tilt state. At this time, the system starts the liquid level balance verification program and cross- verifies the authenticity of the tilt state through a dual-mode sensing mechanism. First, the pressure sensing array calculates the circumferential pressure difference (defined as the difference between the maximum and minimum pressure values) of the overflow prevention port 3 in real time. When the pressure difference exceeds a pre-set proportion (e.g., 20%) of the upper limit of the threshold interval recorded in the baseline model, it is determined that the fluid impact force distribution is abnormal. At the same time, the laser ranging device needs to scan the liquid surface three times in a row to confirm that the long axis of the ellipse is showing a monotonically decreasing trend (e.g., first offset 8° → second offset 6° → third offset 4°), in order to exclude false positives caused by transient disturbances. The design principle is to establish a coupling relationship between the morphological changes of the liquid surface and the abnormal pressure distribution through the collaborative analysis of optical calibration and fluid dynamics parameters. The beneficial effect is to avoid false alarms caused by environmental vibrations or turbulent impacts of a single sensor, and to improve the confidence of the tilt state judgment to more than 90%.

[0043] When the verification program confirms that the liquid surface is tilted, the system automatically controls the vertical pipe 1 body to perform a balance compensation operation: that is, the vertical pipe 1 body is controlled to perform a reciprocating swing within a fifteen-degree range with the maximum pressure azimuth recorded in the baseline model as the axis, and the swing frequency is synchronized with the scanning period of the laser ranging device. After each swing, the circumferential pressure difference is recalculated by the pressure sensing array until the pressure difference falls within 10% of the upper limit value of the baseline model. The specific implementation is to use the maximum circumferential pressure azimuth recorded in the baseline model as the mechanical swing axis (e.g., the 135° azimuth where the sensor unit 2 is located), and to drive the vertical pipe 1 to perform a reciprocating swing within ±7.5°. The swing frequency is strictly synchronized with the scanning period of the laser ranging device (e.g., 2Hz), ensuring that new liquid surface shape data can be obtained at the end of each swing. After each swing, the pressure sensing array reacquires data and calculates the updated circumferential pressure difference until the pressure difference falls within 10% of the upper limit value of the baseline model (e.g., 1.5kPa tolerance for an upper limit value of 15kPa). By directional swinging, the outlet of the vertical pipe 1 conforms to the lowest region of the liquid surface, forcing the correction of the angle between the liquid flow impact direction and the liquid surface gravity direction; shortens the liquid level balance time of the tank truck, and avoids the risk of liquid splashing caused by forced lifting of the vertical pipe 1.

[0044] In addition, the system uses a sliding window filtering algorithm to process raw sensor data. The window width is set equal to the number of sampling points in the pressure sensor array within a single laser scanning cycle (for example, a 100ms scanning cycle corresponds to a 100Hz sampling rate, resulting in a window width of 10 sample points). The algorithm performs a median filter on the data within the window and then outputs the pressure difference, effectively suppressing high-frequency noise caused by the opening and closing of solenoid valve 6 or mechanical vibration. This principle utilizes a time window to match the data acquisition rhythm of multiple sensors and eliminates transient interference through data smoothing. This has the beneficial effect of reducing the fluctuation amplitude of the calculated pressure difference value, providing a stable decision-making basis for swing control.

[0045] S3, when lifting vertical pipe 1, the real-time pressure data is synchronously compared with the reference model. When more than half of the sensor readings in any sector area deviate from the reference value by more than 15%, it is determined to be an abnormal regional pressure fluctuation and the lifting is suspended. The operation will not continue until the laser ranging system has scanned five times in a row and the liquid level fluctuation amplitude is less than the preset amplitude.

[0046] Specifically, intelligent control of the loading process is achieved through the coordinated monitoring of the pressure sensing array and laser ranging. Four miniature pressure sensors (100Hz sampling rate) are arranged in a ring on the inner wall of the anti-overflow port 3, and a benchmark model containing a three-axis pressure threshold range (such as 12.5±1.8kPa) is established after five standard filling cycles. The laser ranging device coaxially installed on the outer wall of the vertical pipe 1 scans the liquid surface morphology in real time. When the major axis of the reflected light spot ellipse offset exceeds 5°, the dual-mode verification is started: the pressure array detects whether the circumferential pressure difference exceeds the benchmark upper limit of 20%, and the laser device scans three times in a row to confirm that the tilt angle decreases. After the verification is passed, the vertical pipe 1 swings ±7.5° with the maximum pressure direction as the axis (2Hz synchronous laser scanning) until the pressure difference drops to within 10% of the benchmark upper limit.

[0047] During the lifting phase, a sector-shaped area monitoring strategy is adopted. If more than half of the sensor readings in any 90° sector-shaped area deviate from the baseline value by 15%, the lifting will be suspended. The laser device needs to scan the liquid level for five consecutive times and the fluctuation is less than ±3mm before continuing the operation. A circular infrared detection area is set at the discharge port 5. When 75% of the light beam is blocked for more than 3 seconds, the sampling signal is triggered. The system finally evaluates whether all sensor readings are within the threshold range. If the conditions are met, the solenoid valve 6 is opened to perform the discharge. The whole process uses sliding window filtering (window width 10 sample points) to eliminate high-frequency noise, so that the fluctuation amplitude of the pressure difference calculation is reduced by more than 40%.

[0048] S4, an annular infrared detection area is set below the liquid discharge port 5. When the number of infrared beams blocked by the sampling container exceeds three-quarters of the total number of beams and lasts for more than three seconds, a sampling ready signal is generated.

[0049] Specifically, a ring-shaped detection zone composed of 8 pairs of infrared emission-receiving units is coaxially arranged just below the tapping opening 5, forming a continuous monitoring plane matching the flow cross-section of the tapping opening 5. When the sampling container vertically rises, the container opening will block the infrared light beams. The system real-time counts the proportion of blocked light beams. If the proportion exceeds 75% for 3 seconds (i.e., 9 beams are blocked), it is determined that the positioning is up to standard. This design improves the anti-interference ability through discrete infrared unit pairs. Only when a physical entity with sufficient height blocks the light beams will the signal be triggered, reducing the false trigger rate to below 0.1%. In a specific implementation, when a standard sampling cup with a diameter of 100 mm rises to a distance of 550 mm from the tapping opening, the cup opening blocks more than 9 light beams for 3 seconds, triggering the electromagnetic valve 6 to open. Temporary blocking or tilting scenarios that meet the conditions can be accurately identified. This non-contact detection scheme eliminates the risk of wear compared to mechanical limit switches, and the quantitative analysis of the discrete beam array achieves millimeter-level positioning accuracy, providing a high-reliability benchmark for automated sampling.

[0050] S5, after receiving the sampling signal, the system evaluates the current pressure distribution state. When all sensor readings are within the threshold range of the baseline model, the electromagnetic valve 6 is opened to perform liquid release. If there is a single sensor reading exceeding the threshold range, the pulse flow regulation mode is started. The regulation mode opens and closes the electromagnetic valve 6 intermittently at preset time intervals to form a pulsating flow state until the pressure data returns to the baseline range.

[0051] Specifically, after receiving the sampling readiness signal, the system first evaluates the real-time readings of the pressure sensor array. When the measured values of all sensor units (such as 4 circumferentially distributed micro pressure sensors) are within the threshold range recorded in the baseline model (for example, sensor unit 1 reading is within the range of 10.7-14.3 kPa), it indicates that the fluid impact force distribution meets the preset working condition standard. At this time, the electromagnetic valve 6 is immediately opened to perform liquid release operation. The principle is that pressure distribution uniformity verification can avoid sampling distortion caused by turbulent flow, and the beneficial effect is to ensure that representative samples are obtained under stable flow state, with a sampling chemical component deviation of within ±0.5%.

[0052] If there is a single and more sensor reading exceeding the baseline threshold range (for example, sensor unit 3 detects a value of 16.5 kPa, exceeding the upper threshold of 14.3 kPa), the system automatically starts the pulse flow regulation mode. The principle is based on abnormal pressure signals reflecting local turbulent flow aggregation or liquid surface reflection wave interference, breaking the non-steady flow field structure through dynamic flow intervention to avoid liquid splashing in high pressure area or cavitation phenomenon in low pressure area.

[0053] The initial opening and closing interval time of the electromagnetic valve 6 is inversely proportional to the pressure deviation degree, and the specific relationship is:

[0054]

[0055] In the formula, T is the initial opening and closing interval time, ΔP is the pressure deviation degree, and k is the system calibration coefficient.

[0056] For example, when the sensor unit 2 detects that the pressure exceeds the value ΔP = 4.2 kPa (the reference threshold is 12.5 ± 1.8 kPa), if k = 2100 ms·kPa, then the initial interval T = 500 ms. The principle is to quickly eliminate the concentrated energy zone by high-intensity pulse disturbance, and the beneficial effect is to accelerate energy dissipation by using fluid inertial force, so that the pressure recovery time is shortened by 60%.

[0057] After each intermittent opening and closing of the electromagnetic valve 6, the pressure sensor array generates a new circumferential pressure distribution map. The system compares the map with the reference model in the sector area (partitioned according to 90°), and if there are more than three adjacent sensor units (such as in the 135°-225° continuous sector) that show positive deviation or negative deviation, the current pulse interval time is adjusted to 0.7 times the original value (such as 500 ms→350 ms), and two complete pressure scanning periods (200 ms) are added. The principle is that continuous gradient deviation in the same direction indicates that there is directional energy accumulation in the flow field, and the turbulence mixing intensity is improved by increasing the pulse frequency; thereby breaking the regional pressure stalemate state and improving the correction efficiency.

[0058] Among them, the cycle adjustment lasts until the pressure distribution map shows a random state, and two conditions need to be met at the same time:

[0059] (1) The number of changes in the pressure gradient direction between adjacent sensor units exceeds 80% of the total possible directions (such as at least 5 of the 6 gradient directions formed by 4 sensors change direction);

[0060] (2) There are no more than three continuous gradient directions in the same direction (such as 0°→45°→90° direction gradient values are all positive). The principle is based on the isotropic turbulence theory, and the discretized gradient direction represents uniform energy distribution; the beneficial effect is to establish a quantitative flow field stability criterion, so that the fluid shear force fluctuation range is reduced to within ±8 N.

[0061] Based on the same inventive concept, the present application provides an electronic device, comprising: a memory 202, a processor 201, and a computer program stored on the memory 202 and executable on the processor 201, wherein the processor 201 executes the computer program to realize a method for automatically recovering and sampling liquid of a loading crane pipe.

[0062] Based on the same inventive concept, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to realize a method for automatically recovering and sampling liquid of a loading crane pipe.

[0063] The above merely provides preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A vertical pipe for loading crane pipe, characterized in that: include: A vertical pipe body, wherein a liquid outlet is provided on a side wall of the vertical pipe body; A residual liquid pool is provided at the bottom of the vertical pipe body and is in communication with the vertical pipe body; the residual liquid pool is located below the liquid outlet; An anti-overflow port opening upward is provided at the bottom of the residual liquid pool, and the anti-overflow port is connected to the tank truck; a liquid discharge port opening downward is provided at the bottom of the residual liquid pool; and the liquid discharge port is controlled to be on and off by an electromagnetic valve.

2. A method for automatically recovering and sampling liquid from a loading crane, characterized in that: The method applied to the drop pipe for loading crane pipe according to claim 1 comprises: S1: A pressure sensor array is arranged in a circular pattern on the inner wall of the overflow prevention vent. After a dropper is inserted into the tank mouth, circumferential pressure data of the overflow prevention vent is continuously collected during the filling process to establish a pressure distribution benchmark model. The benchmark model includes the normal pressure threshold range of each sensor unit under the impact of liquid flow; S2, installing a laser ranging device on the outer wall of the vertical pipe, and monitoring changes in the liquid level in the tank truck via the laser ranging device. When it is detected that the reflected light spot on the liquid surface changes from a concentric circle to an ellipse and the major axis offset angle exceeds a preset angle, it is determined that the liquid surface is in a tilted state and a liquid level balance verification procedure is initiated. The verification procedure includes: detecting, via a pressure sensor array, whether the circumferential pressure difference of the overflow prevention port exceeds a preset proportion of the upper limit value of the reference model, and simultaneously, the laser ranging device performs three consecutive scans to confirm that the liquid surface tilt angle continues to decrease; S3: When lifting the vertical pipe, the real-time pressure data is compared with the reference model. If more than half of the sensor readings in any sector deviate from the reference value by more than 15%, it is determined to be an abnormal regional pressure fluctuation and the lifting is suspended. The operation will not resume until the laser ranging system has scanned the liquid level fluctuation amplitude less than the preset amplitude for five consecutive times. S4, setting a ring-shaped infrared detection area below the liquid discharge port, when the number of infrared beams blocked by the sampling container exceeds three-quarters of the total number of beams and lasts for more than three seconds, a sampling ready signal is generated; S5. After receiving the sampling signal, the system evaluates the current pressure distribution state. When all sensor readings are within the threshold range of the baseline model, the solenoid valve is opened to release the liquid. If a single sensor reading exceeds the threshold range, the pulse flow regulation mode is activated. The regulation mode forms a pulsating flow state by intermittently opening and closing the solenoid valve at a preset time interval until the pressure data returns to the baseline range.

3. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 2, characterized in that: After S2, it also includes: When the verification program confirms the tilted state of the liquid level, the vertical tube body is controlled to swing back and forth within a range of fifteen degrees with the maximum pressure azimuth recorded in the reference model as the axis. The swing frequency is synchronized with the scanning cycle of the laser ranging device. After each swing, the circumferential pressure difference is recalculated through the pressure sensor array until the pressure difference drops to within ten percent of the upper limit value of the reference model.

4. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 3 is characterized in that: The calculation of the pressure difference uses a sliding window filtering algorithm to process the raw data, and the window width is set to the number of pressure samples collected in a single laser scanning cycle.

5. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 2, characterized in that: After S5, the following is also included: After each intermittent opening and closing of the solenoid valve, the pressure sensing array generates a new pressure distribution map, which is compared with the baseline model area by area. If more than three adjacent sensor units show the same polarity deviation, the pulse interval is adjusted to 0.7 times the original value and two complete pressure scanning cycles are added until the deviation area of ​​the map shows an irregular distribution state.

6. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 5, characterized in that: The irregular distribution state is determined based on the following criteria: the number of pressure gradient direction changes between adjacent sensor units exceeds eighty percent of the total possible directions, and there are no more than three consecutive gradients in the same direction.

7. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 2, characterized in that: In the pulse flow regulation mode of S5, the initial opening and closing interval time of the solenoid valve is inversely proportional to the degree of the detected pressure deviation.

8. The method for automatic recovery and sampling of liquid from a loading crane pipe according to claim 2, characterized in that: When the benchmark model is established, pre-sampling of five complete filling cycles is performed first, and the maximum and minimum values ​​of the sensor readings are eliminated and the arithmetic mean is taken as the median of the threshold interval.

9. An electronic device, characterized in that: The electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for automatic recovery and sampling of liquid from a loading crane pipe is implemented as described in any one of claims 2 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a method for automatically recovering and sampling liquid from a loading crane pipe as described in any one of claims 2 to 8 is implemented.

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