Self-balancing oil unloading machine system and control method thereof

Abstract

The invention discloses a self-balancing oil unloading machine system and a control method thereof.The self-balancing oil unloading machine system comprises a self-balancing oil unloading machine, a driving rotation unit, a hydraulic driving unit, a visual positioning unit and a control unit, the self-balancing oil unloading machine comprises a stand column assembly, an oil conveying pipeline and an oil-submerged pump, and the stand column assembly comprises an upper column body and a lower column body which are rotationally matched; one end of the oil conveying pipeline is arranged in the upper column body and the lower column body, and the other end of the oil conveying pipeline extends out of the upper column body and is connected with the oil-submerged pump; the driving rotation unit is used for driving the upper column body to rotate relative to the lower column body so as to drive the oil conveying pipeline to steer; the hydraulic driving unit is used for controlling the position of the oil-submerged pump connected with the oil conveying pipeline in the horizontal direction and the vertical height direction; the visual positioning unit is used for identifying and positioning filling opening position information of the oil tank and sending the filling opening position information to the control unit. Therefore, manual operation can be effectively replaced for railway oil gas loading and unloading operation, and the production efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of loading arms, and in particular to a self-balancing oil unloading machine system and a control method thereof. Background Art

[0002] As is well known, oil and gas resources, as the most widely used resources in the world, are mainly transported by pipelines and railways in inland transportation. Pipeline transportation involves huge investment and maintenance costs, while railway transportation, relying on a developed railway transportation network, greatly reduces the upfront investment and maintenance costs of oil and gas transportation. At the same time, it allows for more flexible transportation plans and is an important way for oil and gas storage and transportation.

[0003] Research has found that with the continuous development of modern transportation technology, the advantages of railway transportation are no longer prominent, and various transportation drawbacks have become problems that cannot be ignored. Oil and gas are usually transported by oil tank cars in railway transportation, and loading and unloading operations are required at transportation nodes. Among them, this loading and unloading process usually takes a relatively long time, which reduces the efficiency of oil and gas transportation. At the same time, the probability of oil and gas leakage and pollution also increases significantly.

[0004] Therefore, in order to shorten the time for loading and unloading oil and gas, loading arm technology has been applied to railway oil and gas transportation. However, research has found that currently, manual dragging and semi-automatic alignment are mostly used for loading arm alignment, which has poor safety and operability and low production efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a self-balancing oil unloading machine system and a control method thereof to solve the problems of poor operability, low safety, and low production efficiency of existing railway oil and gas loading and unloading oil pipes.

[0006] To solve the above technical problem, the technical solution adopted by the present invention is: a self-balancing oil unloading machine system, which includes:

[0007] A self-balancing oil unloading machine, which includes a column assembly, an oil delivery pipeline, and a submerged pump. The column assembly includes an upper column body and a lower column body, and the upper column body is rotatably arranged on the lower column body. Among them, the upper column body and the lower column body are hollow, one end of the oil delivery pipeline is arranged in the upper column body and the lower column body, and the oil delivery pipeline extends out of the upper column body, and the other end of the oil delivery pipeline is connected to the submerged pump;

[0008] A driving and rotating unit, which includes a servo motor. The servo motor is arranged on the upper column body and is used to drive the upper column body to rotate relative to the lower column body to drive the oil delivery pipeline to turn;

[0009] A hydraulic drive unit, which includes a first hydraulic cylinder and a second hydraulic cylinder. The output ends of the first hydraulic cylinder and the second hydraulic cylinder are connected to the oil pipeline to control the position of the submersible oil pump connected to the oil pipeline in the horizontal direction and the vertical height direction.

[0010] A visual positioning unit and a control unit. The visual positioning unit is used to identify and locate the position information of the filling port of the oil tank and send the filling port position information to the control unit. The control unit is used to receive the filling port position information to control the drive rotation unit to drive the oil pipeline to turn and control the hydraulic drive unit to extend the submersible oil pump into the filling port of the oil tank.

[0011] Further, in the self-balancing oil unloading machine system of the present invention, the visual positioning unit includes: a first image acquisition device and a laser scanner. Among them, the first image acquisition device is used to acquire the image data information of the oil tank train, identify the oil tanks on the oil tank train, and initially locate the position of the oil tank. The laser scanner uses laser to scan the oil tank and obtains the shape characteristics of the oil tank to obtain the filling port position information of the oil tank based on the shape characteristics of the oil tank.

[0012] Further, in the self-balancing oil unloading machine system of the present invention, the visual positioning unit further includes: a second image acquisition device, which is arranged on the oil pipeline. Among them, the second image acquisition device is used to acquire the image information of the filling port of the oil tank and send it to the control unit.

[0013] Further, in the self-balancing oil unloading machine system of the present invention, based on the filling port image information, an image matching method or an arc extraction center coordinate method is used to automatically obtain the filling port image coordinates, and the filling port image coordinates are converted into filling port world coordinates based on the coordinate transformation matrix:

[0014]

[0015] Among them, Q x is the filling port world x-axis coordinate, Q y is the filling port world y-axis coordinate; P x is the filling port image x-axis coordinate; P y is the filling port image y-axis coordinate; minimum is the coordinate transformation matrix.

[0016] Further, in the self-balancing oil unloading machine system of the present invention, based on the image data information of the oil tank train, the YOLO deep learning algorithm is used for feature recognition to identify the oil tank features on the oil tank train.

[0017] Further, in the self - balancing oil unloading machine system of the present invention, the oil delivery pipeline includes a first pipeline section, a second pipeline section, a third pipeline section, a fourth pipeline section, a fifth pipeline section, and a sixth pipeline section connected in sequence; wherein, the first pipe body is arranged in the upper column body and the lower column body, one end of the sixth pipeline section far from the fifth pipeline section is connected to the submersible pump, and the sixth pipeline section extends along the vertical height direction.

[0018] Further, in the self - balancing oil unloading machine system of the present invention, the xyz coordinates of the submersible pump in the rectangular coordinate system are specifically:

[0019]

[0020] Wherein, θ1 represents the included angle between the second pipeline section and the third pipeline section, θ2 represents the included angle between the third pipeline section and the fourth pipeline section, and θ3 represents the included angle between the fourth pipeline section and the fifth pipeline section.

[0021] Correspondingly, the present invention also discloses a control method for a self - balancing oil unloading machine system, which is specifically implemented based on the above - mentioned self - balancing oil unloading machine system of the present invention. The control method specifically includes the following steps:

[0022] S1: The oil tank train enters the designated parking position, the visual positioning unit identifies and locates the position information of the filling port of the oil tank on the oil tank train, and sends the filling port position information to the control unit;

[0023] S2: Based on the filling port position information, the control unit controls the servo motor of the driving and slewing unit to drive the oil delivery pipeline of the self - balancing oil unloading machine to turn, so as to move the submersible pump connected to the oil delivery pipeline above the oil tank;

[0024] S3: Based on the filling port position information, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to start operating, so as to adjust the submersible pump connected to the oil delivery pipeline to move directly above the filling port of the oil tank;

[0025] S4: The control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to continue operating, so that the submersible pump slowly moves downward along the vertical height direction and extends into the filling port of the oil tank.

[0026] Further, in the control method of the present invention, between step S3 and step S4, the following steps are further included: the visual positioning unit collects the image information of the tank mouth of the oil tank and sends it to the control unit, and the control unit automatically obtains the image coordinates of the filling port based on the image information of the tank mouth by using an image matching method or an arc extraction center coordinate method, and converts the image coordinates of the filling port into the world coordinates of the filling port based on the coordinate transformation matrix; wherein, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder to correct the position of the submersible pump based on the world coordinates of the filling port.

[0027] Further, in the control method of the present invention, in step S4, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic drive unit to continue to act. First, the submersible pump is lifted along the vertical height direction, and after being lifted to a preset safety height, an interpolation algorithm is used to control the first hydraulic cylinder and the second hydraulic cylinder to smoothly drive the submersible pump to slowly move down along the vertical height direction and extend into the tank mouth of the oil tank.

[0028] The beneficial effects of the present invention are as follows: The present invention designs a brand-new self-balancing oil unloading machine system and its control method, which can solve the problems of poor safety, poor operability, and low production efficiency existing in the existing operation of manually dragging or semi-automatically aligning the loading arm. The self-balancing oil unloading machine system designed by the present invention optimally sets a visual positioning unit to use the visual positioning unit to identify and position the position information of the filling port of the oil tank, and sends the position information of the filling port to the control unit. Based on the position information of the filling port, the control unit can control the drive rotation unit to drive the upper column body to rotate relative to the lower column body, thereby driving the oil pipeline and the submersible pump to turn, and controlling the hydraulic drive unit to adjust the position of the submersible pump, so as to automatically extend the submersible pump into the tank mouth of the oil tank. It can effectively replace manual labor for automatic oil and gas loading and unloading, and can improve the efficiency of oil and gas loading and unloading. It has good popularization prospects and application values. Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of the self-balancing oil unloading machine in one embodiment of the self-balancing oil unloading machine system of the present invention.

[0030] Figure 2 It is a schematic structural diagram of the oil pipeline of the self-balancing oil unloading machine in one embodiment of the self-balancing oil unloading machine system of the present invention.

[0031] Figure 3 It is a system block diagram of the self-balancing oil unloading machine system of the present invention in one embodiment.

[0032] Figure 4 It is a step flowchart of the control method of the self-balancing oil unloading machine system of the present invention in one embodiment.

[0033] Figure 5 Schematically shows the step flow chart of the visual positioning unit cooperating with the control unit to perform the filling port positioning of the oil tank in a self-balancing oil unloading machine system according to the present invention.

[0034] Figure 6 Schematically shows the schematic diagram of the control unit in the self-balancing oil unloading machine system according to the present invention establishing a driving equation to solve the motion space.

[0035] Label description:

[0036] 1. Self-balancing oil unloading machine;

[0037] 2. Column assembly; 21. Upper column body; 22. Lower column body;

[0038] 3. Oil pipeline; 31. First section of pipeline; 32. Second section of pipeline; 33. Third section of pipeline; 34. Fourth section of pipeline; 35. Fifth section of pipeline; 36. Sixth section of pipeline;

[0039] 4. Submersible pump;

[0040] 5. Servo motor. Specific embodiments

[0041] To describe the technical content, achieved objectives and effects of the present invention in detail, the following is described in conjunction with embodiments and with reference to the accompanying drawings.

[0042] As Figure 1 , Figure 2 and Figure 3 shown, in this embodiment, the present invention designs a brand-new self-balancing oil unloading machine system, which includes: a self-balancing oil unloading machine 1, a driving rotation unit, a hydraulic driving unit, a visual positioning unit and a control unit. Among them, the self-balancing oil unloading machine system specifically uses the visual positioning unit to identify and position the filling port position information of the oil tank, and sends the filling port position information to the control unit. Based on the filling port position information, the control unit can control the driving rotation unit and the hydraulic driving unit to adjust the position of the self-balancing oil unloading machine 1, so as to align the submersible pump 4 of the self-balancing oil unloading machine 1 with the filling port of the oil tank and automatically extend into the tank opening of the oil tank.

[0043] In this embodiment, for the convenience of implementation, the structure of the self-balancing oil unloading machine 1 is further optimized to facilitate the control unit to accurately adjust the position and posture of the self-balancing oil unloading machine 1.

[0044] See Figure 1As shown, in this embodiment, the self - balancing oil unloading machine 1 may specifically include a column assembly 2, an oil pipeline 3, and a submerged pump 4. Among them, the column assembly 2 may be specifically fixedly installed on the ground of the railway platform, for example, on the ground of the railway platform between two rails, so as to facilitate subsequent automatic adjustment of an oil unloading machine 1 to automatically load and unload oil and gas from the oil tanks of two different oil tank trains on both sides of the rails.

[0045] In the present invention, the column assembly 2 specifically includes an upper column body 21 and a lower column body 22. One end of the lower column body 22 is fixedly installed on the ground of the railway platform, and the other end of the lower column body 22 is rotatably connected to the upper column body 21. Among them, in actual application, in order to effectively accommodate the oil pipeline 3 and ensure that one end of the oil pipeline 3 can be stably and reliably connected to the storage oil tank of the station, both the upper column body 21 and the lower column body 22 are provided with a hollow structure, and both the upper column body 21 and the lower column body 22 extend along the vertical height direction.

[0046] Correspondingly, as Figure 1 and Figure 2 shown, in this embodiment, one end of the oil pipeline 3 can be arranged in the upper column body 21 and the lower column body 22, and the oil pipeline 3 can extend out from the upper column body 21, so that the other end of the oil pipeline 3 can be connected to the submerged pump 4. Preferably, the oil pipeline 3 specifically includes a first pipeline section 31, a second pipeline section 32, a third pipeline section 33, a fourth pipeline section 34, a fifth pipeline section 35, and a sixth pipeline section 36 connected in sequence. Among them, the first pipe body is specifically arranged in the upper column body 21 and the lower column body 22. One end of the sixth pipeline section 36 far from the fifth pipeline section 35 is connected to the submerged pump 4, and the sixth pipeline section 36 extends along the vertical height direction. That is to say, the sixth pipeline section 36 is a vertical pipe, which always extends along the vertical height direction to facilitate the submerged pump 4 connected thereto to extend into the tank body of the oil tank.

[0047] It should be noted that, in this embodiment, precisely because the oil pipeline 3 is provided with multiple pipeline sections, the first hydraulic cylinder and the second hydraulic cylinder of the hydraulic drive unit designed in the present invention can control the oil pipeline 3 to expand or contract, that is, to adjust the position of the submerged pump 4 connected to the oil pipeline 3 in the horizontal direction and the vertical height direction.

[0048] At the same time, in this embodiment, the drive and rotation unit of the designed self - balancing oil unloading machine 1 specifically includes a servo motor 5. The servo motor 5 is specifically arranged on the lower column body 22 and is used to drive the upper column body 21 to rotate relative to the lower column body 22 to drive the oil pipeline 3 to turn.

[0049] In practical applications, a slewing bearing can be provided between the upper cylinder 21 and the lower cylinder 22 to facilitate relative rotation between the two. The slewing bearing is fixed on the upper cylinder 21, and a spur gear is provided on its outer ring. At the same time, the output shaft of the servo motor 5 provided on the lower cylinder 22 extends towards the upper cylinder 21, and a mating gear is provided on its output shaft. The mating gear meshes with the spur gear so that when the servo motor 5 outputs work, it drives the slewing bearing and the upper cylinder 21 to rotate relative to the lower cylinder 22.

[0050] Based on this, the control unit of the self-balancing oil unloading machine system designed by the present invention can adjust the state of the oil delivery pipeline 3 through the above-mentioned driving and slewing unit and the hydraulic driving unit, so as to change the position of the submersible pump 4 in the space coordinate system, so as to facilitate alignment with the filling port of the oil tank.

[0051] It should be emphasized that a major feature of the present invention is its ability to accurately locate the filling port position of the oil tank of an oil tank train. For this purpose, in the self-balancing oil unloading machine system designed by the present invention, a visual positioning unit is also provided. The visual positioning unit can be used to identify and locate the filling port position information of the oil tank and send the above-mentioned filling port position information to the control unit. At this time, the control unit can be used to receive the filling port position information to control the driving and slewing unit to drive the above-mentioned oil delivery pipeline 3 to turn, and accurately control the hydraulic driving unit to adjust the attitude of the oil delivery pipeline 3, so as to automatically align the submersible pump 4 with the tank mouth of the oil tank and extend it into the filling port to complete automatic loading and unloading of oil and gas.

[0052] In the present invention, in order to achieve precise positioning, the visual positioning unit of the self-balancing oil unloading machine system can specifically include: a first image acquisition device and a laser scanner. Among them, the first image acquisition device is used to collect image data information of the oil tank train and identify the oil tanks on the oil tank train to initially locate the position of the oil tank. After initially locating the position of the oil tank, a laser scanner can be further used to laser scan the oil tanks on the oil tank train and obtain the shape characteristics of the oil tanks, so as to infer the filling port position information of the oil tank based on the shape characteristics of the oil tanks. At this time, according to the filling port position information, the control unit can control the driving and slewing unit and the hydraulic driving unit to automatically align the submersible pump 4 with the tank mouth of the oil tank.

[0053] Of course, in order to further improve the alignment effect and avoid the situation where the information on the filling port position of the oil tank inferred from the shape features of the oil tank obtained by the laser scanner may still not meet the precise alignment effect in actual applications, in actual applications, the vision positioning unit of this self-balancing oil unloading machine system can also be additionally provided with a second image acquisition device. The second image acquisition device can be arranged on the oil pipeline 3, specifically on the sixth section of the oil pipeline 3, that is, the vertical pipe, to capture the image information of the filling port of the oil tank from top to bottom, and then send the image information of the filling port of the oil tank to the control unit, facilitating the control unit to control the driving rotation unit and the hydraulic driving unit to correct the position of the submerged oil pump 4 to precisely align with the filling port of the oil tank.

[0054] Correspondingly, as Figure 3 and Figure 4 shown, in order to achieve automatic control, the present invention also designs a control method for the self-balancing oil unloading machine system, which is specifically applied to the above self-balancing oil unloading machine system of the present invention to achieve the automatic loading and unloading of oil and gas of the self-balancing oil unloading machine 1, and specifically includes the following steps:

[0055] S1: The oil tank train enters the designated parking position. The first image acquisition device of the vision positioning unit is used to collect the image data information of the oil tank train and identify the oil tanks on the oil tank train to initially locate the position of the oil tank. After initially locating the position of the oil tank, use a laser scanner to laser scan the oil tanks on the oil tank train and obtain the shape features of the oil tanks, so as to infer the information on the filling port position of the oil tank based on the shape features of the oil tanks, identify and locate the information on the filling port position of the oil tanks on the oil tank train, and send the filling port position information to the control unit.

[0056] S2: Based on the above filling port position information, the control unit controls the servo motor 5 of the driving rotation unit to drive the oil pipeline 3 of the self-balancing oil unloading machine to turn, so as to move the submerged oil pump 4 connected to the oil pipeline 3 of the self-balancing oil unloading machine 1 above the oil tank.

[0057] S3: Based on the above filling port position information, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to start operating, so as to adjust the submerged oil pump 4 connected to the oil pipeline 3 to move directly above the filling port of the oil tank.

[0058] S4: The control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to continue operating, so that the submerged oil pump 4 slowly moves downward along the vertical height direction and extends into the filling port of the oil tank.

[0059] It should be noted that in the present invention, during the motion control process by the above control unit, it is necessary to convert the cylindrical coordinate system into a rectangular coordinate system to facilitate automatic docking control. Therefore, the driving equation of the submerged oil pump 4 in the xyz coordinates of the rectangular coordinate system is established as:

[0060]

[0061] Among them, θ1 represents the included angle between the second pipeline 32 and the third pipeline 33, θ2 represents the included angle between the third pipeline 33 and the fourth pipeline 34, and θ3 represents the included angle between the fourth pipeline 34 and the fifth pipeline 35.

[0062] Correspondingly, on the basis of establishing the above driving equation, the control unit also needs to perform corresponding motion space solution to output the Figure 6 motion space solution result as shown, so as to control the driving rotary unit and the hydraulic driving unit to perform precise displacement control on the submersible pump 4 on the oil pipeline 3.

[0063] In addition, as shown in Figure 5 , in the present invention, since the visual positioning unit is also provided with a second image acquisition device, therefore, between the execution of the above step S3 and step S4, it specifically includes the steps of: moving the submersible pump 4 connected to the oil pipeline 3 directly above the tank opening of the oil tank, and the above visual positioning unit acquires the tank opening image information of the oil tank through the second image acquisition device and sends it to the control unit. The control unit automatically obtains the tank opening image coordinates based on the tank opening image information by using an image matching method or an arc extraction center coordinate method, and converts the above tank opening image coordinates into tank opening world coordinates based on the coordinate transformation matrix:

[0064]

[0065] Among them, Q x is the tank opening world x-axis coordinate, and Q y is the tank opening world y-axis coordinate; P x is the tank opening image x-axis coordinate; P y is the tank opening image y-axis coordinate; minimum is the coordinate transformation matrix.

[0066] After obtaining the above tank opening world coordinates, the control unit can control the first hydraulic cylinder and the second hydraulic cylinder of the hydraulic driving unit to correct the position of the submersible pump 4 to accurately align with the tank opening of the oil tank.

[0067] In addition, in the present invention, in order to prevent the self-balancing oil unloading machine 1 from interfering with the car body of the oil tank train, when actually executing the above step S4, after the submersible pump 4 is aligned with the tank body of the oil tank, the control unit can control the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to continue to act, so as to first lift the submersible pump 4 in the vertical height direction. After lifting to a preset safe height, an interpolation algorithm is used to control the first hydraulic cylinder and the second hydraulic cylinder to smoothly drive the submersible pump 4 to slowly move down in the vertical height direction and automatically extend into the tank opening of the oil tank.

[0068] Of course, in the present invention, a cloud server and mobile terminal devices may also be provided. The above control unit may send the image data collected by the visual positioning unit to the cloud server for storage. The cloud server may send the obtained image data to the monitoring large screen, the central control system or the mobile terminal device of the user in the data center in real time. At this time, the staff can remotely observe the real-time operation status of the self-balancing oil unloading machine system in real time. Of course, the staff can also remotely send control instructions to the cloud server, and the cloud server can send the control instructions to the control unit to remotely control the self-balancing oil unloading machine 1.

[0069] Based on this setting, after the oil tank train stops stably, the staff can remotely send control instructions for coarse adjustment or fine adjustment, so that the above-mentioned submersible pump 4 is accurately aligned with the tank opening of the oil tank. At the same time, the operator can control the submersible pump 4 to be lifted to a safe height through the remote control method, and then make the submersible pump 4 slowly approach the tank opening of the oil tank downward through the interpolation algorithm, and perform the refueling task.

[0070] Of course, in extreme emergency situations, such as in the case of power failure, the staff can also manually control the self-balancing oil unloading machine 1 in the self-balancing oil unloading machine system to complete the oil and gas loading and unloading tasks.

[0071] As can be seen from the above, the present invention designs a brand-new self-balancing oil unloading machine system and its control method. It optimizes the visual positioning unit to use the visual positioning unit to identify and locate the position information of the tank opening of the oil tank, and sends the position information of the tank opening to the control unit. Based on the position information of the tank opening, the control unit can control the drive rotation unit to drive the upper column 21 to rotate relative to the lower column 22, thereby driving the oil delivery pipeline 3 and the submersible pump 4 to turn, and controlling the hydraulic drive unit to adjust the position of the submersible pump 4, so as to automatically extend the submersible pump 4 into the tank opening of the oil tank. It can effectively replace manual labor for automatic oil and gas loading and unloading, and can improve the efficiency of oil and gas loading and unloading. It has good promotion prospects and application value.

[0072] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. A self-balancing oil unloading machine system, characterized in that, Comprising: A self - balancing oil unloading machine, which includes a column assembly, an oil delivery pipeline, and a submersible oil pump. The column assembly includes an upper column body and a lower column body, and the upper column body is rotatably arranged on the lower column body; wherein, the upper column body and the lower column body are hollow - arranged, one end of the oil delivery pipeline is arranged in the upper column body and the lower column body, and the oil delivery pipeline extends out from the upper column body, and the other end of the oil delivery pipeline is connected to the submersible oil pump; A driving rotation unit, which includes a servo motor. The servo motor is arranged on the upper column body and is used to drive the upper column body to rotate relative to the lower column body to drive the oil delivery pipeline to turn; A hydraulic driving unit, which includes a first hydraulic cylinder and a second hydraulic cylinder. The output ends of the first hydraulic cylinder and the second hydraulic cylinder are connected to the oil delivery pipeline to control the position of the submersible oil pump connected to the oil delivery pipeline in the horizontal direction and the vertical height direction; A visual positioning unit and a control unit. The visual positioning unit is used to identify and position the filling port position information of the oil tank and send the filling port position information to the control unit; the control unit is used to receive the filling port position information to control the driving rotation unit to drive the oil delivery pipeline to turn and control the hydraulic driving unit to extend the submersible oil pump into the filling port of the oil tank.

2. The self-balancing oil unloading machine system according to claim 1, wherein The visual positioning unit includes: a first image acquisition device and a laser scanner; wherein, the first image acquisition device is used to acquire the image data information of the oil tank train and identify the oil tanks on the oil tank train to initially position the oil tank; the laser scanner uses laser to scan the oil tank and obtains the shape characteristics of the oil tank to obtain the filling port position information of the oil tank based on the shape characteristics of the oil tank.

3. The self-balancing oil unloading machine system according to claim 2, wherein The visual positioning unit further includes: a second image acquisition device, and the second image acquisition device is arranged on the oil delivery pipeline; wherein, the second image acquisition device is used to acquire the image information of the filling port of the oil tank and send it to the control unit.

4. The self-balancing oil unloading machine system according to claim 3, wherein Based on the filling port image information, automatically obtain the filling port image coordinates by using an image matching method or an arc - extracting center - coordinate method, and convert the filling port image coordinates into filling port world coordinates based on the coordinate transformation matrix: Among them, Q x is the x-axis coordinate of the Guankou world, and Q y is the y-axis coordinate of the Guankou world; P x is the x-axis coordinate of the Guankou image; P y is the y-axis coordinate of the Guankou image; minimum is the coordinate transformation matrix.

5. The self-balancing oil unloading machine system according to claim 2, characterized in that, Based on the image data information of the oil tank train, use the YOLO deep - learning algorithm for feature recognition to identify the oil tank features on the oil tank train.

6. The self-balancing oil unloading machine system according to claim 1, characterized in that, The oil delivery pipeline includes a first - stage pipeline, a second - stage pipeline, a third - stage pipeline, a fourth - stage pipeline, a fifth - stage pipeline, and a sixth - stage pipeline connected in sequence; wherein, the first - stage pipe body is arranged in the upper column body and the lower column body, one end of the sixth - stage pipeline far from the fifth - stage pipeline is connected to the submersible oil pump, and the sixth - stage pipeline extends along the vertical height direction.

7. The self-balancing oil unloading machine system according to claim 6, characterized in that, The xyz coordinates of the submersible oil pump in the rectangular coordinate system are specifically: Wherein, θ1 represents the angle between the second - stage pipeline and the third - stage pipeline, θ2 represents the angle between the third - stage pipeline and the fourth - stage pipeline, and θ3 represents the angle between the fourth - stage pipeline and the fifth - stage pipeline.

8. A control method for a self-balancing oil unloading machine system, which is applied to the self-balancing oil unloading machine system according to any one of claims 1-7, characterized in that, Including the following steps: S1: The oil tank train enters the designated parking position, and the visual positioning unit identifies and locates the position information of the filling port of the oil tank on the oil tank train, and sends the filling port position information to the control unit; S2: Based on the filling port position information, the control unit controls the servo motor of the driving rotation unit to drive the oil delivery pipeline of the self-balancing oil unloading machine to turn, so as to move the submersible pump connected to the oil delivery pipeline above the oil tank; S3: Based on the filling port position information, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to start operating, so as to adjust the submersible pump connected to the oil delivery pipeline to move directly above the tank mouth of the oil tank; S4: The control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to continue operating, so that the submersible pump slowly moves downward along the vertical height direction and extends into the tank mouth of the oil tank.

9. The control method according to claim 8, characterized in that, Between step S3 and step S4, there is also a step: the visual positioning unit collects the tank mouth image information of the oil tank and sends it to the control unit. The control unit automatically obtains the filling port image coordinates by using an image matching method or an arc extraction center coordinate method based on the tank mouth image information, and converts the filling port image coordinates into filling port world coordinates based on the coordinate transformation matrix; wherein, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder to correct the position of the submersible pump based on the filling port world coordinates.

10. The control method according to claim 8, wherein In step S4, the control unit controls the first hydraulic cylinder and the second hydraulic cylinder in the hydraulic driving unit to continue operating. First, the submersible pump is lifted along the vertical height direction. After being lifted to a preset safe height, the interpolation algorithm is used to control the first hydraulic cylinder and the second hydraulic cylinder to smoothly drive the submersible pump to slowly move downward along the vertical height direction and extend into the tank mouth of the oil tank.

Images