Automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology

Abstract

The present invention belongs to the field of image technology, and specifically relates to an automatic docking system for a fluid loading and unloading arm of a petrochemical ship based on image technology, comprising a hull, the hull being used for connecting various components; a loading and unloading arm component, the loading and unloading arm component being arranged on the hull, the loading and unloading arm component being used for loading and unloading and docking of a penetrating fluid; a moving component, the moving component being arranged on the hull, the moving component being connected to the loading and unloading arm component, the moving component being used for moving the loading and unloading arm component and calibrating the docking with a ship; a control system, the control system being connected to the loading and unloading arm component and the moving component, the control system being used for automatic control of the loading and unloading docking of the ship, and for realizing accurate automatic docking of the fluid loading and unloading arm of the petrochemical ship, and having the effect of automatic control of the docking of the fluid loading and unloading arm of the ship.

Description

Technical Field

[0001] The invention relates to the field of image technology, in particular to an automatic docking system for fluid loading and unloading arms of a petrochemical product ship based on image technology. Background Art

[0002] The docking method of fluid loading and unloading arms of traditional petrochemical ships mainly relies on manual operation, in which the operator needs to manually control the movement of the arm column through visual observation and experience judgment to achieve docking with the hull joint. This method has many defects: including low operating efficiency: manual operation takes a lot of time to position, adjust and dock, resulting in low efficiency of the loading and unloading process; high safety risks: operators need to operate in bad weather and complex sea conditions, which poses a safety hazard; poor docking accuracy: manual operation is easily affected by fatigue and the external environment, resulting in difficulty in ensuring docking accuracy and difficulty in avoiding leakage and safety accidents.

[0003] In recent years, with the development of computer vision technology, more and more artificial intelligence applications have been introduced into the shipping field, such as autonomous ships and ship identification. In response to the docking problem of fluid loading and unloading arms, some solutions that use laser, ultrasonic and other sensors for target positioning and docking have also emerged. However, these solutions have their own limitations: laser and ultrasonic sensors are greatly affected by weather and are difficult to accurately locate when the sea conditions are complex; at the same time, these solutions usually require expensive sensor equipment, which is costly;

[0004] In view of the above technical defects, a solution of an automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology is proposed. Summary of the invention

[0005] To solve the above problems, the present invention provides the following technical solutions:

[0006] An automatic docking system for fluid loading and unloading arms of petrochemical vessels based on image technology, comprising:

[0007] A hull, which is used for connecting various components;

[0008] A loading and unloading arm assembly, the loading and unloading arm assembly is arranged on the hull, and the loading and unloading arm assembly is used for loading and unloading the penetrating body;

[0009] A moving assembly, the moving assembly is arranged on the hull, the moving assembly is connected to the loading and unloading arm assembly, and the moving assembly is used to move the loading and unloading arm assembly and dock with the ship for calibration;

[0010] A control system is provided, wherein the control system connects the loading and unloading arm assembly and the moving assembly, and is used for automatically controlling the loading and unloading docking of ships, and for realizing accurate automatic docking of fluid loading and unloading arms of petrochemical ships.

[0011] Furthermore, the loading and unloading arm assembly includes a moving block, a rotating block and a mechanical arm, the moving block is arranged on the hull, the rotating block is arranged on the moving block, the rotating block is rotatably arranged along the axis of the moving block, and the mechanical arm is fixedly connected to the rotating block.

[0012] Furthermore, the moving component includes a moving groove, a bidirectional screw rod, and a driving motor. The moving groove is arranged along the edge of the hull and along the length direction of the hull. The moving block is arranged in the moving groove. The bidirectional screw rod is rotatably connected along the inner wall of the moving groove, and one end of the bidirectional screw rod is rotatably passed through one end of the moving groove. The bidirectional screw rod threadably passes through the moving block and drives the two moving blocks facing each other to approach or move away. The driving motor is fixedly connected to the protruding end of the bidirectional screw rod and drives the bidirectional screw rod to rotate.

[0013] Furthermore, the control system comprises:

[0014] The central control unit is responsible for the coordination and management of the overall system, receiving data from each subsystem, executing the control algorithm, generating instructions and passing them to the downstream execution units;

[0015] The motion control module controls the movement of the loading and unloading arm, including position, speed and acceleration, receives data from the image processing module and the positioning module, calculates and executes the movement trajectory of the loading and unloading arm to achieve accurate docking;

[0016] Image processing and recognition control module, responsible for processing the image data collected by the visual system and transmitting the processing results to the central control unit, including image processing algorithms and recognition algorithms for real-time analysis and recognition of the relative positions of the ship and the loading and unloading arm;

[0017] The positioning and sensor fusion module integrates data from different sensors, such as lidar and ultrasonic sensors, and fuses them with data from the vision system to improve docking accuracy and reliability;

[0018] The communication module is responsible for the internal and external communications of the system, including data exchange between devices, communication with the ship control system, and network connection with the shore control center;

[0019] The user interface module provides a platform for operators to interact with the system, displaying real-time status information, images, alarms, and operation options, allowing manual intervention, adjusting system parameters, and monitoring the docking process;

[0020] The safety control module monitors the safety status of the system, including collision detection, emergency stop, and fault alarm, to ensure safety during the docking process and respond to abnormal situations in a timely manner.

[0021] Furthermore, the motion control module includes calculating the motion path of the loading and unloading arm from the current position to the target docking point to ensure smooth and efficient motion, including position control, speed control and acceleration control to ensure that the loading and unloading arm moves accurately along a predetermined trajectory, and is responsible for driving the various joints and actuators of the loading and unloading arm. The servo driver receives control instructions and adjusts the motion of the loading and unloading arm. An encoder or potentiometer is set to monitor the actual position of the loading and unloading arm in real time and feeds back the data to the control system for position correction. A speed sensor is set to monitor the movement speed of the loading and unloading arm to ensure speed control and stability during the movement. Closed-loop feedback of motion control is achieved through a closed-loop control system, including position feedback, speed feedback and force feedback. By comparing the actual motion state with the target state, the control output is adjusted to ensure the accuracy and stability of the loading and unloading arm, and motion deviations caused by environmental changes or mechanical errors are compensated. By adjusting the motion parameters in real time, high-precision docking of the loading and unloading arm under various working conditions is ensured. Data is exchanged with the central control unit and other system modules, including receiving control instructions, sending status information and feedback data.

[0022] Furthermore, the image processing and recognition control module includes a high-resolution industrial camera or other imaging device for real-time capture of image data of the ship, loading and unloading arm and its docking point, and performs preliminary processing on the collected image data, including denoising, contrast enhancement, color correction, and image processing algorithms to extract key features, such as the position of the ship, the posture of the loading and unloading arm, and the exact position of the docking point. Common algorithms include edge detection, corner detection, and template matching. Recognition algorithms include pattern recognition, machine learning, or deep learning technology, which are used to identify and classify target objects, determine the relative position and posture of the loading and unloading arm and the docking point, and identify target objects in the image, such as the docking port of the ship and the end of the loading and unloading arm. The tracking algorithm is used to monitor the movement of the target object in continuous image frames, ensure real-time adjustment of the control strategy, and fuse the image data with other sensor data to improve positioning accuracy and docking reliability.

[0023] Furthermore, the positioning and sensor fusion module includes an industrial camera for capturing image data of the ship and the loading and unloading arm, measuring the distance between the loading and unloading arm and the ship and the environmental structure, providing high-precision depth information, measuring distance, detecting the proximity between the loading and unloading arm and the ship, providing dynamic information of the acceleration and angular velocity of the loading and unloading arm for compensating for vibration and deviation in motion, fusing sensor data, providing optimal state estimation by weighting the uncertainty of sensor measurement, processing state estimation of nonlinear systems, estimating the state of the target by simulating multiple particles, combining data from different sensors to improve the recognition accuracy of the environment and target objects, converting different coordinate systems in the sensor data into a unified coordinate system for accurate positioning and docking calculations, dynamically estimating the real-time position and posture of the loading and unloading arm and the ship based on the sensor data, compensating for positioning errors caused by dynamic factors, generating environmental maps based on data from lidar and other sensors for auxiliary positioning and obstacle avoidance, and creating models of target objects for more accurate docking.

[0024] Furthermore, the communication module includes CAN bus, Ethernet, and Profibus, which are used for communication between modules within the system to ensure real-time data transmission and system coordination, define the format, rate and processing method of data transmission, ensure that information between different modules can be correctly decoded and processed, communicate with the ship's control system through standardized protocols, transmit loading and unloading commands, and receive status information, exchange data with the monitoring and control system on shore through network connection, provide real-time monitoring data, receive remote instructions and updates, and perform wireless data transmission with the shore system and remote monitoring platform. Through wireless data transmission, the complexity of wiring is reduced and the flexibility of the system is improved. Data is packetized, reorganized and verified to ensure that data is not lost or damaged during transmission. The bandwidth of data transmission is managed according to system requirements to avoid network congestion and data transmission delays. Through real-time data transmission, it is ensured that the system can receive and send data in real time, optimize data transmission delays, and ensure that the system response time meets the requirements of docking accuracy and safety.

[0025] Furthermore, the user interface module includes:

[0026] A graphical user interface that displays the overall status of the system, including the position of the loading arm, docking progress, vessel position information, and displays real-time data from various sensors, such as images, sensor readings, and alarm information;

[0027] An operator control panel, which is used to manually control the various actions of the loading and unloading arm, such as starting, stopping, and adjusting the position, allowing the user to input parameters and adjust settings such as speed and docking position;

[0028] Data display and analysis, showing the real-time data and status information of the system, including the current position, speed, and sensor readings of the loading and unloading arm, and providing historical data review and analysis functions for performance evaluation and troubleshooting;

[0029] Alarm and notification system, which displays prompt information of system failure, abnormal conditions or operation warnings in the form of pop-up windows, sound alarms or color changes, provides notification of system status, and informs operators about key events or matters requiring attention of the system;

[0030] User management and permission control provide user authentication and login functions to ensure that authorized operators can access the system, set different access rights according to user roles, and control access rights to system functions and data.

[0031] Furthermore, the safety control module includes using various sensors to monitor the working status of the system in real time to ensure that various indicators are within a safe range, monitoring the operating status of the loading and unloading arm through cameras and image processing technology, timely discovering potential safety hazards, automatically detecting faults in the system, such as equipment abnormalities, sensor failures, and generating alarms. When abnormalities occur in the system operation, early warnings are issued in time to remind operators and maintenance personnel to take measures. When serious faults or dangerous situations are detected, the system automatically stops all related operations to prevent further expansion of the accident. An emergency stop button or switch is provided to allow operators to manually stop the system operation in an emergency. The operating range and restriction conditions of the loading and unloading arm are set, such as the maximum allowable speed, minimum safety distance, etc., to prevent operations beyond the safety range. Through user authority control, authorized personnel are ensured to perform high-risk operations.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. In the automatic docking system of the fluid loading and unloading arm of a petrochemical ship based on the image technology of the present invention, the hull is used to connect various components; the loading and unloading arm assembly is arranged on the hull, and the loading and unloading arm assembly is used to load and unload the penetrating fluid; the moving assembly is arranged on the hull, the moving assembly is connected to the loading and unloading arm assembly, and the moving assembly is used to move the loading and unloading arm assembly and calibrate the docking with the ship; the control system, the control system connects the loading and unloading arm assembly and the moving assembly, and the control system is used to automatically control the loading and unloading docking of the ship, and is used to realize the precise automatic docking of the fluid loading and unloading arm of the petrochemical ship, and has the effect of automatically controlling the docking of the ship fluid loading and unloading arm;

[0034] 2. In the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on the image technology of the present invention, the central control unit is responsible for the coordination and management of the overall system, receives data from each subsystem, executes the control algorithm, generates instructions and transmits them to the downstream execution unit; the motion control module controls the movement of the loading and unloading arm, including position, speed and acceleration, receives data from the image processing module and the positioning module, calculates and executes the motion trajectory of the loading and unloading arm to achieve accurate docking; the image processing and recognition control module is responsible for processing the image data collected by the visual system and transmitting the processing results to the central control unit, including image processing algorithms and recognition algorithms, for real-time analysis and recognition of the relative position of the ship and the loading and unloading arm; the positioning and sensor fusion module , integrating data from different sensors, such as lidar and ultrasonic sensors, and fusing them with data from the visual system to improve docking accuracy and reliability; the communication module is responsible for internal and external communications of the system, including data exchange between devices, communication with the ship control system, and network connection with the onshore control center; the user interface module provides a platform for operators to interact with the system, displaying real-time status information, images, alarms, and operation options, allowing manual intervention, adjustment of system parameters, and monitoring of the docking process; the safety control module monitors the safety status of the system, including collision detection, emergency stop, and fault alarm, to ensure safety during the docking process and respond to abnormal situations in a timely manner, with the effect of realizing intelligent control and early warning analysis of ship loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0036] Figure 1 It is a schematic diagram of the overall structure of the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on the image technology of the present invention;

[0037] Figure 2 It is a schematic diagram of the framework of the control system in the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on the image technology of the present invention.

[0038] Figure numerals: 1, hull; 2, loading and unloading arm assembly; 21, moving block; 22, rotating block; 23, mechanical arm; 3, moving assembly; 31, moving slot; 32, bidirectional screw rod; 33, driving motor. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1-2 As shown in the figure, the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on image technology includes:

[0041] Hull 1, hull 1 is used for connecting various components;

[0042] A loading and unloading arm assembly 2, which is arranged on the hull 1 and is used for loading and unloading the penetrating fluid;

[0043] A moving assembly 3, the moving assembly 3 is arranged on the hull 1, the moving assembly 3 is connected to the loading and unloading arm assembly 2, and the moving assembly 3 is used to move the loading and unloading arm assembly 2 and dock with the ship for calibration;

[0044] The control system connects the loading and unloading arm assembly 2 and the moving assembly 3. The control system is used to automatically control the loading and unloading docking of the ship and to realize the precise automatic docking of the fluid loading and unloading arm of the petrochemical ship.

[0045] Specifically, the loading and unloading arm assembly 2 includes a moving block 21, a rotating block 22 and a mechanical arm 23. The moving block 21 is arranged on the hull 1, the rotating block 22 is arranged on the moving block 21, the rotating block 22 is arranged to rotate along the axis of the moving block 21, and the mechanical arm 23 is fixedly connected to the rotating block 22. The moving assembly 3 includes a moving groove 31, a bidirectional screw rod 32, and a driving motor 33. The moving groove 31 is arranged along the edge of the hull 1 and arranged along the length direction of the hull 1. The moving block 21 is arranged in the moving groove 31. The bidirectional screw rod 32 is rotatably connected along the inner wall of the moving groove 31, and one end of the bidirectional screw rod 32 is rotatably arranged through one end of the moving groove 31. The bidirectional screw rod 32 is threadedly arranged through the moving block 21 and drives the two moving blocks 21 facing each other to approach or depart from each other. The driving motor 33 is fixedly connected to the protruding end of the bidirectional screw rod 32 and drives the bidirectional screw rod 32 to rotate.

[0046] Specifically, the control system includes:

[0047] The central control unit is responsible for the coordination and management of the overall system, receiving data from each subsystem, executing the control algorithm, generating instructions and passing them to the downstream execution units;

[0048] The motion control module controls the movement of the loading and unloading arm, including position, speed and acceleration, receives data from the image processing module and the positioning module, calculates and executes the movement trajectory of the loading and unloading arm to achieve accurate docking;

[0049] Image processing and recognition control module, responsible for processing the image data collected by the visual system and transmitting the processing results to the central control unit, including image processing algorithms and recognition algorithms for real-time analysis and recognition of the relative positions of the ship and the loading and unloading arm;

[0050] The positioning and sensor fusion module integrates data from different sensors, such as lidar and ultrasonic sensors, and fuses them with data from the vision system to improve docking accuracy and reliability;

[0051] The communication module is responsible for the internal and external communications of the system, including data exchange between devices, communication with the ship control system, and network connection with the shore control center;

[0052] The user interface module provides a platform for operators to interact with the system, displaying real-time status information, images, alarms, and operation options, allowing manual intervention, adjusting system parameters, and monitoring the docking process;

[0053] The safety control module monitors the safety status of the system, including collision detection, emergency stop, and fault alarm, to ensure safety during the docking process and respond to abnormal situations in a timely manner.

[0054] The data recording and analysis module records the data during the operation, including sensor data, control instructions, system status, etc., for subsequent data analysis, system optimization, troubleshooting and maintenance. The motion correction and compensation module adjusts and compensates the movement of the loading and unloading arm according to the actual situation, corrects possible errors and deviations, and ensures the accuracy of the docking process. These modules work together in the control system to achieve accurate automatic docking of the fluid loading and unloading arm of the petrochemical ship, ensuring efficient and safe operations.

[0055] The data recording and analysis includes collecting data on the movement and operation of the loading and unloading arms of the ship to establish a database, including image processing, which includes image scaling, and adjusting the pixels of the image by building a convolutional neural network. The neurons in each layer of the convolutional neural network are arranged in three dimensions: width, height and depth; for the input layer, the width and height refer to the width and height of the input image, and the depth represents the number of channels of the input image, which is calculated by the following formula:

[0056] ;

[0057] in, is the output size, is the input size, is the filling size, is the convolution kernel size, is the convolution step size. The original image is scaled by combining the pixel input size of the original image with the padding size through the convolutional neural network. The width, height, and depth of the original image are modified to ensure the clarity of the original image after scaling.

[0058] The analysis model is optimized by applying a loss function to the processed data. The loss function includes contrast loss. Contrast loss optimizes the model to make the distance between similar sample pairs close and the distance between dissimilar sample pairs far away. For each pair of samples, the loss function calculates their distance in the embedding space and adjusts the model parameters according to the distance. The formula is as follows:

[0059] ;

[0060] in, is the distance between sample pairs, is a set boundary value. Indicates whether the sample pair is a positive sample pair, 1 indicates a positive sample pair, and 0 indicates a negative sample pair. For contrast loss calculation, for each query and its related data, the corresponding embedding vector is used as a positive sample pair. For the same query, the embedding vector of it and randomly selected irrelevant data is used as a negative sample pair.

[0061] Specifically, the motion control module includes calculating the motion path of the loading and unloading arm from the current position to the target docking point to ensure smooth and efficient motion, including position control, speed control and acceleration control to ensure that the loading and unloading arm moves accurately according to the predetermined trajectory, and is responsible for driving the various joints and actuators of the loading and unloading arm. The servo driver receives control instructions and adjusts the movement of the loading and unloading arm. An encoder or potentiometer is set to monitor the actual position of the loading and unloading arm in real time and feeds back the data to the control system for position correction. A speed sensor is set to monitor the movement speed of the loading and unloading arm to ensure speed control and stability during the movement. The closed-loop feedback of motion control is realized through a closed-loop control system, including position feedback, speed feedback and force feedback. By comparing the actual motion state with the target state, the control output is adjusted to ensure the accuracy and stability of the loading and unloading arm, and the motion deviation caused by environmental changes or mechanical errors is compensated. By adjusting the motion parameters in real time, the high-precision docking of the loading and unloading arm under various working conditions is ensured. Data is exchanged with the central control unit and other system modules, including receiving control instructions, sending status information and feedback data.

[0062] It exchanges data with the central control unit and other system modules, including receiving control instructions, sending status information and feedback data. Common communication interfaces include CAN bus, Ethernet, etc. It provides operators with real-time monitoring and operation interface for the motion control system. It allows operators to set motion parameters, monitor status, adjust control strategies, etc. It monitors the system operation status in real time, detects abnormal conditions, and initiates protection measures such as overload protection and over-temperature protection to ensure safe and stable operation of the system. The motion control module coordinates the various moving parts of the loading and unloading arm to ensure that the loading and unloading arm can move accurately to the specified position and realize automatic docking operation.

[0063] Specifically, the image processing and recognition control module includes a high-resolution industrial camera or other imaging device for capturing image data of the ship, loading and unloading arm and its docking point in real time, performing preliminary processing on the collected image data, including denoising, contrast enhancement, color correction, and using image processing algorithms to extract key features, such as the position of the ship, the posture of the loading and unloading arm, and the exact position of the docking point. Common algorithms include edge detection, corner detection, and template matching. Recognition algorithms include pattern recognition, machine learning, or deep learning technology, which are used to identify and classify target objects, determine the relative position and posture of the loading and unloading arm and the docking point, and identify target objects in the image, such as the docking port of the ship and the end of the loading and unloading arm. The tracking algorithm is used to monitor the movement of the target object in continuous image frames, ensure real-time adjustment of the control strategy, and fuse the image data with other sensor data to improve positioning accuracy and docking reliability.

[0064] Through standardized interfaces, the image processing and recognition module is integrated with other system modules (such as motion control module, user interface module) to ensure the effective transmission of data and instructions. Real-time image processing and data analysis are implemented to ensure that the loading and unloading arm can quickly respond to changing environments and target positions. Real-time performance is essential to ensure the accuracy and safety of docking operations. Abnormal conditions during image processing are monitored and corresponding corrections or adjustments are made to ensure the stability and accuracy of the system under various conditions. The image processing and recognition control module provides the necessary position information and control instructions for the automatic docking process by accurately analyzing and interpreting image data, ensuring that the loading and unloading arm can accurately and safely complete the docking task.

[0065] Specifically, the positioning and sensor fusion module includes an industrial camera for capturing image data of the ship and the loading and unloading arm, measuring the distance between the loading and unloading arm and the ship and the environmental structure, providing high-precision depth information, measuring distance, detecting the proximity between the loading and unloading arm and the ship, providing dynamic information of the acceleration and angular velocity of the loading and unloading arm, which is used to compensate for vibration and deviation in motion, fusing sensor data, providing optimal state estimation by weighting the uncertainty of sensor measurement, processing state estimation of nonlinear systems, estimating the state of the target by simulating multiple particles, combining data from different sensors to improve the recognition accuracy of the environment and target objects, converting different coordinate systems in the sensor data into a unified coordinate system for accurate positioning and docking calculations, dynamically estimating the real-time position and posture of the loading and unloading arm and the ship based on the sensor data, compensating for positioning errors caused by dynamic factors, generating environmental maps based on data from lidar and other sensors for auxiliary positioning and obstacle avoidance, and creating models of target objects for more accurate docking.

[0066] Specifically, the communication module includes CAN bus, Ethernet, and Profibus, which are used for communication between modules within the system to ensure real-time data transmission and system coordination, define the format, rate and processing method of data transmission, ensure that information between different modules can be correctly decoded and processed, communicate with the ship's control system through standardized protocols, transmit loading and unloading commands, and receive status information, exchange data with the monitoring and control system on shore through network connection, provide real-time monitoring data, receive remote instructions and updates, and perform wireless data transmission with the shore system and remote monitoring platform. Through wireless data transmission, the complexity of wiring is reduced and the flexibility of the system is improved. Data is packetized, reorganized and verified to ensure that data is not lost or damaged during transmission. The bandwidth of data transmission is managed according to system requirements to avoid network congestion and data transmission delays. Through real-time data transmission, it is ensured that the system can receive and send data in real time, optimize data transmission delays, and ensure that the system response time meets the requirements of docking accuracy and safety.

[0067] Specifically, the user interface module includes:

[0068] A graphical user interface that displays the overall status of the system, including the position of the loading arm, docking progress, vessel position information, and displays real-time data from various sensors, such as images, sensor readings, and alarm information;

[0069] An operator control panel, which is used to manually control the various actions of the loading and unloading arm, such as starting, stopping, and adjusting the position, allowing the user to input parameters and adjust settings such as speed and docking position;

[0070] Data display and analysis, showing the real-time data and status information of the system, including the current position, speed, and sensor readings of the loading and unloading arm, and providing historical data review and analysis functions for performance evaluation and troubleshooting;

[0071] Alarm and notification system, which displays prompt information of system failure, abnormal conditions or operation warnings in the form of pop-up windows, sound alarms or color changes, provides notification of system status, and informs operators about key events or matters requiring attention of the system;

[0072] User management and permission control provide user authentication and login functions to ensure that authorized operators can access the system, set different access rights according to user roles, and control access rights to system functions and data.

[0073] Specifically, the safety control module includes using various sensors to monitor the working status of the system in real time to ensure that various indicators are within a safe range, monitoring the operating status of the loading and unloading arm through cameras and image processing technology, timely discovering potential safety hazards, and automatically detecting faults in the system, such as equipment abnormalities and sensor failures, and generating alarms. When abnormalities occur in the system operation, early warnings are issued in time to remind operators and maintenance personnel to take measures. When serious faults or dangerous conditions are detected, the system automatically stops all related operations to prevent the accident from expanding. An emergency stop button or switch is provided to allow operators to manually stop the system operation in an emergency. The operating range and restriction conditions of the loading and unloading arm are set, such as the maximum allowable speed and the minimum safe distance, to prevent operations beyond the safety range. Through user authority control, authorized personnel are ensured to perform high-risk operations.

[0074] The working principle of the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on the image technology of the present invention is as follows: the hull is used to connect various components; the loading and unloading arm component, the loading and unloading arm component is arranged on the hull, and the loading and unloading arm component is used to load and unload the penetrating fluid; the moving component, the moving component is arranged on the hull, the moving component is connected to the loading and unloading arm component, and the moving component is used to move the loading and unloading arm component and calibrate the docking with the ship; the control system, the control system connects the loading and unloading arm component and the moving component, the control system is used to automatically control the loading and unloading docking of the ship, and is used to realize the precise automatic docking of the fluid loading and unloading arm of the petrochemical ship, and has the effect of automatically controlling the docking of the fluid loading and unloading arm of the ship; through the central control unit, it is responsible for the coordination and management of the overall system, receives data from various subsystems, executes the control algorithm, generates instructions and transmits them to the downstream execution unit; the motion control module controls the movement of the loading and unloading arm, including position, speed and acceleration, receives data from the image processing module and the positioning module, calculates and executes the motion trajectory of the loading and unloading arm The image processing and recognition control module is responsible for processing the image data collected by the visual system and transmitting the processing results to the central control unit, including image processing algorithms and recognition algorithms, for real-time analysis and identification of the relative positions of the ship and the loading and unloading arm; the positioning and sensor fusion module integrates data from different sensors, such as lidar and ultrasonic sensors, and fuses them with the data of the visual system to improve the docking accuracy and reliability; the communication module is responsible for internal and external communication of the system, including data exchange between devices, communication with the ship control system, and network connection with the shore control center; the user interface module provides a platform for operators to interact with the system, displaying real-time status information, images, alarms and operation options, allowing manual intervention, adjustment of system parameters and monitoring of the docking process; the safety control module monitors the safety status of the system, including collision detection, emergency stop, and fault alarm, to ensure the safety of the docking process, respond to abnormal situations in a timely manner, and has the effect of realizing intelligent control and early warning analysis of ship loading and unloading.

[0075] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology, characterized in that: include: A hull (1), wherein the hull (1) is used for connecting various components; A loading and unloading arm assembly (2), the loading and unloading arm assembly (2) being arranged on the hull (1), and the loading and unloading arm assembly (2) being used for loading and unloading the penetrating body; A moving assembly (3), the moving assembly (3) being arranged on the hull (1), the moving assembly (3) being connected to the loading and unloading arm assembly (2), and the moving assembly (3) being used to move the loading and unloading arm assembly (2) and dock with the ship for calibration; A control system, the control system connecting the loading and unloading arm assembly (2) and the moving assembly (3), the control system being used to automatically control the loading and unloading docking of the ship and to achieve accurate automatic docking of the fluid loading and unloading arm of the petrochemical ship; The control system comprises: The central control unit is responsible for the coordination and management of the overall system, receiving data from each subsystem, executing the control algorithm, generating instructions and passing them to the downstream execution units; The motion control module controls the movement of the loading and unloading arm, including position, speed and acceleration, receives data from the image processing module and the positioning module, calculates and executes the movement trajectory of the loading and unloading arm to achieve accurate docking; Image processing and recognition control module, responsible for processing the image data collected by the visual system and transmitting the processing results to the central control unit, including image processing algorithms and recognition algorithms for real-time analysis and recognition of the relative positions of the ship and the loading and unloading arm; The positioning and sensor fusion module integrates data from different sensors, including lidar and ultrasonic sensors, and fuses data from the vision system to improve docking accuracy and reliability; The communication module is responsible for the internal and external communications of the system, including data exchange between devices, communication with the ship control system, and network connection with the shore control center; The user interface module provides a platform for operators to interact with the system, displaying real-time status information, images, alarms, and operation options, allowing manual intervention, adjusting system parameters, and monitoring the docking process; Safety control module, which monitors the safety status of the system, including collision detection, emergency stop, and fault alarm, to ensure the safety of the docking process and respond to abnormal situations in a timely manner; The motion control module includes calculating the motion path of the loading and unloading arm from the current position to the target docking point to ensure smooth and efficient motion, including position control, speed control and acceleration control to ensure that the loading and unloading arm moves accurately according to the predetermined trajectory, and is responsible for driving the various joints and actuators of the loading and unloading arm. The servo driver receives control instructions and adjusts the motion of the loading and unloading arm. An encoder or potentiometer is set to monitor the actual position of the loading and unloading arm in real time and feeds back the data to the control system for position correction. A speed sensor is set to monitor the movement speed of the loading and unloading arm to ensure speed control and stability during the movement. The closed-loop feedback of motion control is realized through a closed-loop control system, including position feedback, speed feedback and force feedback. By comparing the actual motion state with the target state, the control output is adjusted to ensure the accuracy and stability of the loading and unloading arm, and the motion deviation caused by environmental changes or mechanical errors is compensated. By adjusting the motion parameters in real time, the high-precision docking of the loading and unloading arm under various working conditions is ensured. Data is exchanged with the central control unit and other system modules, including receiving control instructions, sending status information and feedback data.

2. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 1 is characterized in that: The loading and unloading arm assembly (2) comprises a moving block (21), a rotating block (22) and a mechanical arm (23); the moving block (21) is arranged on the hull (1); the rotating block (22) is arranged on the moving block (21); the rotating block (22) is rotatably arranged along the axis of the moving block (21); and the mechanical arm (23) is fixedly connected to the rotating block (22).

3. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 2 is characterized in that: The moving assembly (3) comprises a moving groove (31), a bidirectional screw rod (32), and a driving motor (33); the moving groove (31) is arranged along the edge of the hull (1) and arranged along the length direction of the hull (1); the moving block (21) is arranged in the moving groove (31); the bidirectional screw rod (32) is rotatably connected along the inner wall of the moving groove (31); one end of the bidirectional screw rod (32) is rotatably passed through one end of the moving groove (31); the bidirectional screw rod (32) is threadedly passed through the moving block (21) and drives the two moving blocks (21) facing each other to approach or move away; the driving motor (33) is fixedly connected to the protruding end of the bidirectional screw rod (32) and drives the bidirectional screw rod (32) to rotate.

4. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 1 is characterized in that: The image processing and recognition control module includes a high-resolution industrial camera or other imaging device, which is used to capture image data of the ship, loading and unloading arm and its docking point in real time, and perform preliminary processing on the collected image data, including denoising, contrast enhancement, color correction, and use image processing algorithms to extract key features, including the position of the ship, the posture of the loading and unloading arm and the exact position of the docking point; common algorithms include edge detection, corner detection, and template matching, and recognition algorithms include pattern recognition, machine learning or deep learning technology, which are used to identify and classify target objects, determine the relative position and posture of the loading and unloading arm and the docking point, and identify target objects in the image, including the docking port of the ship and the end of the loading and unloading arm. The tracking algorithm is used to monitor the movement of the target object in continuous image frames, ensure real-time adjustment of the control strategy, and fuse the image data with other sensor data to improve positioning accuracy and docking reliability.

5. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 4 is characterized in that: The positioning and sensor fusion module includes an industrial camera for capturing image data of the ship and the loading and unloading arm, measuring the distance between the loading and unloading arm and the ship and the environmental structure, providing high-precision depth information, measuring distance, detecting the proximity between the loading and unloading arm and the ship, providing dynamic information of the acceleration and angular velocity of the loading and unloading arm for compensating vibration and deviation in motion, fusing sensor data, providing optimal state estimation by weighting the uncertainty of sensor measurement, processing state estimation of nonlinear systems, estimating the state of the target by simulating multiple particles, combining data from different sensors to improve the recognition accuracy of the environment and target objects, converting different coordinate systems in the sensor data into a unified coordinate system for accurate positioning and docking calculations, dynamically estimating the real-time position and posture of the loading and unloading arm and the ship based on the sensor data, compensating for positioning errors caused by dynamic factors, generating environmental maps based on data from lidar and other sensors for auxiliary positioning and obstacle avoidance, and creating models of target objects for more accurate docking.

6. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 5 is characterized in that: The communication modules include CAN bus, Ethernet, and Profibus, which are used for communication between modules within the system to ensure real-time data transmission and system coordination, define the format, rate, and processing method of data transmission, ensure that information between different modules can be correctly decoded and processed, communicate with the ship's control system through standardized protocols, transmit loading and unloading commands, and receive status information, exchange data with the monitoring and control system on shore through network connection, provide real-time monitoring data, receive remote instructions and updates, and perform wireless data transmission with the shore system and remote monitoring platform. Through wireless data transmission, the complexity of wiring is reduced and the flexibility of the system is improved. Data is packetized, reorganized, and verified to ensure that data is not lost or damaged during transmission. The bandwidth of data transmission is managed according to system requirements to avoid network congestion and data transmission delays. Through real-time data transmission, it is ensured that the system can receive and send data in real time, optimize data transmission delays, and ensure that the system response time meets the requirements of docking accuracy and safety.

7. The automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology according to claim 6 is characterized in that: The user interface module comprises: A graphical user interface that displays the overall status of the system, including the position of the loading arm, docking progress, vessel position information, and displays real-time data from various sensors, including images, sensor readings, and alarm information; The operator control panel is used to manually control the various actions of the loading and unloading arm, including starting, stopping, and adjusting the position, allowing the user to input parameters and adjust settings, including speed and docking position; Data display and analysis, showing the real-time data and status information of the system, including the current position, speed, and sensor readings of the loading and unloading arm, and providing historical data review and analysis functions for performance evaluation and troubleshooting; Alarm and notification system, which displays prompt information of system failure, abnormal conditions or operation warnings in the form of pop-up windows, sound alarms or color changes, provides notification of system status, and informs operators about key events or matters requiring attention of the system; User management and permission control provide user authentication and login functions to ensure that authorized operators can access the system, set different access rights according to user roles, and control access rights to system functions and data.

8. According to claim 7, the automatic docking system of the fluid loading and unloading arm of the petrochemical ship based on image technology is characterized in that the safety control module includes using various sensors to monitor the working status of the system in real time to ensure that various indicators are within the safe range, monitoring the operating status of the loading and unloading arm through cameras and image processing technology, timely discovering potential safety hazards, automatically detecting faults in the system, including equipment abnormalities and sensor failures, and generating alarms. When abnormalities occur in the system operation, early warnings are issued in time to remind operators and maintenance personnel to take measures. When serious faults or dangerous situations are detected, the system automatically stops all related operations to prevent further expansion of the accident. An emergency stop button or switch is provided to allow operators to manually stop the system operation in an emergency. The operating range and restriction conditions of the loading and unloading arm are set, including the maximum allowable speed and the minimum safe distance, to prevent operations beyond the safety range. Through user authority control, it is ensured that authorized personnel perform high-risk operations.

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