An automated loading arm filling system and method

Abstract

This invention discloses an automated loading arm filling system and method. The loading arm filling system includes: a positioning component, a loading arm assembly, a residual liquid recovery component, an execution group, a controller, and an emergency handling component. The positioning device is located above the tank truck and collects the position information of the tank opening at the top of the tank truck. The loading arm assembly includes an inner arm tube, an outer arm tube, and a drop tube arranged sequentially. The residual liquid recovery component includes a purge air pump connected to the inner arm tube and a receiving hopper for receiving residual liquid. The execution component includes an inner arm motor, an outer arm motor, a drop tube motor, and a cylinder. The controller receives the tank opening position information transmitted by the positioning component and drives the inner arm motor and the outer arm motor to swing the inner arm tube and the outer arm tube. After the drop tube is positioned directly above the tank opening, the drop tube motor drives the drop tube to move downwards. The emergency handling component includes an emergency stop switch, an overflow prevention device, and an emergency power supply. The filling system of this invention can improve filling efficiency and reduce safety hazards.

Description

Technical Field

[0001] This invention relates to the field of equipment technology related to liquid hazardous chemicals, and more specifically to an automated loading arm filling system and method. Background Technology

[0002] During the loading of liquid hazardous chemicals, loading arms need to be inserted into the tanker's opening in order to transport the liquid.

[0003] Currently, this alignment operation relies on the operator visually estimating the distance between the loading arm and the tank opening, controlling the motor to drive the loading arm to move until the vertical tube of the loading arm is inserted into the center of the tank opening, thereby achieving the alignment operation of the loading arm. This operation method has the following problems: (1) Due to the operator's field of vision, there is a problem of collision between the loading arm and the top of the tank truck during the alignment process; (2) Since the operator cannot accurately estimate the distance between the loading arm and the tank opening, the loading arm needs to be moved multiple times to achieve the alignment operation, resulting in long alignment time and low efficiency; (3) Since the operator needs to control the movement of the loading arm in real time on site, some types of liquid hazardous chemicals volatilize toxic gases, which endangers the health of personnel; (5) There is no treatment for the residual liquid in the loading arm, which poses a risk of liquid splashing.

[0004] Therefore, it is an urgent problem for those skilled in the art to develop an automated loading arm filling system and method that can improve filling efficiency and reduce safety hazards. Summary of the Invention

[0005] In view of this, the present invention provides an automated loading arm filling system and method that can improve filling efficiency and reduce safety hazards.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automated loading arm filling system includes: A positioning component, wherein the positioning device is located above the tank truck and collects the position information of the tank opening on the top of the tank truck; An arming assembly, comprising an inner arm tube, an outer arm tube, and a vertical tube arranged in sequence. The residual liquid recovery assembly includes a purge air pump connected to the inner arm tube and a liquid receiving hopper for receiving residual liquid. An execution component, comprising an inner arm motor for driving the inner arm tube to swing horizontally, an outer arm motor for driving the outer arm tube to swing horizontally, a vertical tube motor for driving the vertical tube to move up and down vertically, and a cylinder for driving the liquid receiving hopper to swing. The controller receives the position information of the can opening transmitted by the positioning component, and drives the inner arm motor and the outer arm motor to swing the inner arm tube and the outer arm tube. After the vertical tube is placed directly above the can opening, the vertical tube motor drives the vertical tube to move downward and extend into the can opening for filling.

[0008] The beneficial effects of adopting the above technical solution are that the present invention realizes the automated positioning and filling of loading arms, and automatically controls the movement of the inner arm, outer arm and vertical tube through the controller, which significantly improves the positioning accuracy and filling efficiency, and reduces the safety hazards caused by manual intervention.

[0009] Preferably, the positioning device includes a lidar and a microprocessor with computing capabilities. The lidar acquires depth information of the can opening and transmits this information to the microprocessor. The microprocessor processes and analyzes the can opening depth information to obtain the spatial coordinate information of the can opening and transmits the spatial coordinate information of the can opening to the controller. The combination of lidar and microprocessor enables accurate acquisition of can opening depth information and calculation of spatial coordinates, offering strong adaptability, allowing operation in complex environments, and improving positioning accuracy.

[0010] Preferably, the controller is housed within a control cabinet, which is equipped with a touchscreen. The touchscreen displays real-time tank opening coordinates and loading arm assembly attitude angles, receives external control commands, sends them to the controller, and has data logging, operation logging, and alarm logging functions. The touchscreen enables human-machine interaction, displays system status and coordinate information in real-time, facilitates operator monitoring and intervention, and improves system controllability, safety, and traceability.

[0011] Preferably, the control cabinet also includes an inner arm driver, an outer arm driver, and a vertical tube driver. These drivers receive commands from the controller and correspondingly control the inner arm motor, outer arm motor, and vertical tube motor to drive the inner arm tube, outer arm tube, and vertical tube to perform corresponding movements. By providing independent drivers to control each component, precise motion control is achieved, resulting in fast response and high system stability.

[0012] Preferably, the top of the liquid receiving hopper is symmetrically connected to two connecting rods. The top of the connecting rods is connected to a vertical pipe. The fixed end of the cylinder is connected to the vertical pipe, and the telescopic end is connected to the connecting rods, causing the liquid receiving hopper to swing around the connection point between the connecting rods and the vertical pipe. The liquid receiving hopper achieves automatic swinging through the connecting rods and the cylinder, which has a simple and reliable structure, facilitates the collection and cleaning of residual liquid, and reduces the risk of liquid leakage.

[0013] A filling method for an automated loading arm filling system includes the following filling steps: S1, the operator clicks the touch screen to send a start command to the controller, and the controller responds to the command and sends a signal to the LiDAR to start taking pictures; S2, the lidar transmits the data collected from the top of the tanker to the microprocessor. The microprocessor uses 3D reconstruction technology to reconstruct the model of the top of the tanker and calculates the spatial coordinates of the tank opening. Then, it sends the obtained tank opening coordinates to the controller. S3, after receiving the spatial coordinates of the tank opening, the controller converts the coordinate information into the rotation angle information of the loading arm assembly; S4, the controller controls the cylinder to drive the liquid receiving hopper to the predetermined position at the top of the vertical tube; then the controller is also used to control the actuator to drive the inner arm tube and the outer arm tube to align the vertical tube with the tank opening according to the rotation angle information of the loading arm assembly, and then drive the vertical tube to move down into the tank opening to start filling. S5, after filling is completed, the controller controls the purge air pump to purge the residual liquid in the inner arm pipe, outer arm pipe and vertical pipe into the tank opening of the tank truck. S6, after purging is completed, the controller controls the vertical tube to move above the tank opening and drives the liquid receiving hopper to swing below the vertical tube to receive the liquid; then the controller controls the actuator to drive the inner arm tube and outer arm tube to return to their positions to realize the filling process.

[0014] Preferably, the controller includes a trajectory planning module and a motion control module. The trajectory planning module and the motion control module establish a workspace model based on the multi-degree-of-freedom motion parameters of the execution component, and map the tank opening, lidar, and on-site obstacles in the workspace as inaccessible areas in the workspace. In the workspace, the motion path of the execution component is jointly optimized by continuity constraints and safety constraints to generate a motion trajectory that meets the requirements of automatic alignment accuracy and collision avoidance, and the execution component is controlled to drive the loading arm assembly to move according to the trajectory to realize automatic alignment and filling of the tank opening.

[0015] Preferably, when the loading arm assembly is in its returned position or in a non-working state, the liquid receiving hopper is located below the vertical tube to collect residual liquid.

[0016] Preferably, it also includes a network switch, which is located inside the control cabinet. The network switch is used for information transmission between the LiDAR and the microprocessor, between the microprocessor and the controller, between the LiDAR and the controller, and between the touch screen and the controller.

[0017] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an automated loading arm filling system and method, the beneficial effects of which are: (1) In this invention, laser radar positioning, microprocessor calculation, and controller planning of motion trajectory are used to realize full automation from can opening identification to filling, reducing manual operation; (2) LiDAR can accurately detect various types of tank trucks in complex operating environments; (3) The expected trajectory of the loading arm movement can be calculated by using the trajectory optimization algorithm, which can effectively solve the problem of the loading arm colliding with obstacles such as tank openings and ladders during operation; (4) It is equipped with a purge air pump and a liquid receiving hopper to automatically handle residual liquid, reduce liquid leakage and volatilization, and reduce safety risks and environmental pollution.

[0018] (5) It is equipped with emergency response devices to prevent, detect and handle emergencies and reduce the possibility of danger. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the loading arm filling system provided by the present invention.

[0021] In the figure, 1-Tank truck; 2-Arm arm assembly; 21-Inner arm tube; 22-Outer arm tube; 23-Vertical tube; 3-Purge air pump; 4-Liquid receiving hopper; 41-Connecting rod; 5-Actuator assembly; 51-Inner arm motor; 52-Outer arm motor; 53-Vertical tube motor; 6-Controller; 7-LiDAR; 8-Microprocessor; 9-Control cabinet; 10-Touch screen; 11-Inner arm driver; 12-Outer arm driver; 13-Vertical tube driver; 14-Emergency stop switch; 15-Overflow prevention device; 16-Emergency power supply; 17-Network switch; 18-Canopy. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention discloses an automated loading arm filling system, comprising: The positioning component, the positioning device is located above the tank truck 1, and collects the position information of the tank opening on the top of the tank truck 1; The loading arm assembly 2 includes an inner arm tube 21, an outer arm tube 22, and a vertical tube 21 arranged in sequence. The residual liquid recovery assembly includes a purge air pump 3 connected to the inner arm tube 21 and a liquid receiving hopper 4 for receiving residual liquid. The execution component 5 includes an inner arm motor 51 for driving the inner arm tube 21 to swing horizontally, an outer arm motor 52 for driving the outer arm tube 22 to swing horizontally, a vertical tube motor 53 for driving the vertical tube 23 to move up and down vertically, and a cylinder for driving the liquid receiving hopper 4 to swing. The controller 6 receives the position information of the can opening transmitted by the positioning component, and drives the inner arm motor 51 and the outer arm motor 52 to swing the inner arm tube 21 and the outer arm tube 22. After the vertical tube 23 is placed directly above the can opening, the vertical tube motor 53 drives the vertical tube 23 to move downward and extend into the can opening for filling.

[0024] In one embodiment, a driven gear is fixed externally at the connection between the inner arm tube 21 and the inner arm motor 51, and a driving gear is connected to the output end of the inner arm motor 51. The driving gear meshes with the driven gear, enabling the inner arm motor 51 to drive the inner arm tube 21 to swing horizontally. Similarly, a driven gear is fixed externally at the connection between the outer arm tube 22 and the outer arm motor 52, and a driving gear is connected to the output end of the outer arm motor 52. The driving gear meshes with the driven gear, enabling the outer arm motor 52 to drive the outer arm tube 22 to swing horizontally. The inner arm tube 21 and the outer arm tube 22 form two folds, allowing the vertical tube to move in both the horizontal and vertical directions on the horizontal plane, making it easier and more accurate to move the vertical tube 23 to the top of the tank opening.

[0025] In one embodiment, the outer arm tube 22 is divided into two sections. One section is connected to the outer arm motor 52, which drives the entire outer arm tube 22 to swing horizontally. The two sections of the outer arm tube 22 are rotatably connected. The other section of the outer arm tube 22 is also equipped with a vertically arranged driven gear. The output end of the vertical tube motor 53 is connected to a driving gear. The driving gear meshes with the driven gear, which can drive this section of the outer arm tube 22 to swing vertically (swinging up and down around the connection point of the driving gear and the driven gear). The vertical tube 23 is rotatably connected to the outer arm tube 22, and the vertical tube 23 always remains vertical under the action of gravity. When the outer arm tube 22 swings downward, it can drive the vertical tube 23 to move up and down, realizing the action of extending into or removing from the can opening.

[0026] In one embodiment, the positioning device includes a lidar 7 and a microprocessor 8 with computing capabilities. The lidar 7 collects the depth information of the can opening and transmits this information to the microprocessor 8. The microprocessor 8 processes and analyzes the depth information of the can opening to obtain the spatial coordinate information of the can opening and transmits the spatial coordinate information of the can opening to the controller 6.

[0027] In one embodiment, a canopy 18 is installed at the filling location, and a lidar 7 is installed at the bottom of the canopy 18.

[0028] In one embodiment, the controller 6 is housed within the control cabinet 9, which is equipped with a touchscreen 10. The touchscreen 10 displays the tank opening coordinates and the attitude angle of the loading arm assembly 2 in real time, and receives externally input control commands, sending them to the controller 6. The touchscreen 10 also has a data logging function, used to store operation records, system operating status, and alarm information.

[0029] In one embodiment, the control cabinet 9 is further provided with an inner arm driver 11, an outer arm driver 12, and a vertical tube driver 13; the inner arm driver 11, the outer arm driver 12, and the vertical tube driver 13 respectively receive instructions from the controller 6 and correspondingly control the inner arm motor 51, the outer arm motor 52, and the vertical tube motor 53 to drive the inner arm tube 21, the outer arm tube 22, and the vertical tube 23 to perform corresponding actions.

[0030] In one embodiment, the top of the liquid receiving hopper 4 is symmetrically connected to two connecting rods 41. The top of the connecting rods 41 is connected to the vertical tube 23. The fixed end of the cylinder is connected to the vertical tube 23, and the telescopic end is connected to the connecting rods 41, which in turn drives the liquid receiving hopper 4 to swing around the connection point between the connecting rods 41 and the vertical tube 23.

[0031] In one embodiment, the system also includes an emergency stop switch 14, an overflow prevention device 15, and an emergency power supply 16. The emergency stop switch 14 is used to manually trigger an emergency stop of the system in an emergency. The overflow prevention device 15 is used to monitor the liquid level in real time and prevent filling overflow. The emergency power supply 16 is used to provide emergency power to the controller 6 and the touch screen 10 when the external power is interrupted, so as to maintain the system's short-term normal operation. The emergency handling system can also control the entire system to enter a safe state and switch to emergency handling mode when the actuator fails.

[0032] A filling method for an automated loading arm filling system includes the following filling steps: S1, the driver of tanker truck 1 parks tanker truck 1 in the corresponding loading position, goes up to the top of tanker truck 1 via the ladder and opens the tank cover. After the operator checks that the tank cover is open and no one is on the top of the tanker truck, he clicks the "Environment Confirmation" button, "Automatic Mode" and "Start Alignment" button on the touch screen 10 in sequence to send a start command to the controller 6. The controller 6 responds to the command and sends a signal to the lidar 7 to start taking pictures. S2, the lidar 7 transmits the data collected from the top of the tank truck 1 to the microprocessor 8. The microprocessor 8 uses 3D reconstruction technology to reconstruct the model of the top of the tank truck 1 and calculates the spatial coordinates of the tank opening. Then, it sends the obtained tank opening coordinates to the controller 6. S3, after receiving the spatial coordinates of the tank opening, the controller 6 calculates the desired trajectory for the alignment of the loading arm assembly 2 using a trajectory optimization algorithm, and converts the coordinate information into the rotation angle information of the loading arm assembly 2. First, the controller 6 sends a lifting signal to the residual liquid recovery assembly. Upon receiving the signal, the residual liquid recovery assembly lifts the receiving hopper 4. The controller 6 then sends control signals to the inner arm motor 51 and the outer arm motor 52 via the inner arm driver 11 and the outer arm driver 12, driving the inner arm tube 21 and the outer arm tube 22 of the loading arm assembly 2 to move along the desired trajectory, so that the vertical tube 23 moves to directly above the center of the tank opening. Then, the controller 6 sends control signals to the inner arm motor 51, the outer arm motor 52, and the vertical tube motor 53 via the inner arm driver 11, the outer arm driver 12, and the vertical tube driver 13, driving the inner arm tube 21, the outer arm tube 22, and the vertical tube 23 of the loading arm assembly 2 to move simultaneously along the desired trajectory until the vertical tube 23 is vertically inserted into the center of the tank opening. Finally, the controller 6 sends a stop signal to the inner arm motor 51, outer arm motor 52, and vertical arm motor 53 through the inner arm driver 11, outer arm driver 12, and vertical arm driver 13, and the arm assembly 2 stops operating.

[0033] S4, the operator observes that the vertical pipe 23 is inserted to the center of the tank opening and sends a filling signal to the filling system staff. The filling system staff starts filling and fills the tank truck 1 with liquid through the loading arm assembly 2. After filling the predetermined volume of liquid, filling stops and a "stop filling" signal is sent to the controller 6. If the filling exceeds the predetermined volume of liquid, the overflow prevention device 15 will alarm, stop filling, and send a "stop filling" signal to the controller 6.

[0034] S5, in response to the "stop filling" signal, controller 6 calculates the desired trajectory for the loading arm to return to its original position using a trajectory optimization algorithm based on the original initial position coordinates. First, controller 6 sends control signals to inner arm motor 51, outer arm motor 52, and vertical tube motor 53 via inner arm driver 11, outer arm driver 12, and vertical tube driver 13, driving the inner arm tube 21, outer arm tube 22, and vertical tube 23 of the loading arm assembly 2 to move simultaneously along the desired trajectory, causing the vertical tube 23 to rise vertically below the tank opening. Second, controller 6 sends a "purge signal" to purge air pump 3, which receives the signal and begins purging for one minute to ensure that there is no residual liquid inside the loading arm assembly 2. Then, controller 6 sends control signals to inner arm motor 51, outer arm motor 52, and vertical tube motor 53 via inner arm driver 11, outer arm driver 12, and vertical tube driver 13, driving the inner arm tube 21, outer arm tube 22, and vertical tube 23 of the loading arm assembly 2 to move simultaneously along the desired trajectory. After the vertical tube 23 rises vertically to the tank opening and moves a certain distance, controller 6 sends a lowering signal to the residual liquid recovery assembly, which lowers the receiving hopper 4 upon receiving the signal. Finally, controller 6 sends control signals to inner arm motor 51, outer arm motor 52, and vertical tube motor 53 via inner arm servo 11, outer arm driver 12, and vertical tube driver 13, driving the inner arm tube 21, outer arm tube 22, and vertical tube 23 of the loading arm assembly 2 to move simultaneously along the desired trajectory, returning the loading arm to its initial position.

[0035] In one embodiment, the controller 6 includes a trajectory planning module and a motion control module. The trajectory planning module and the motion control module establish a workspace model based on the multi-degree-of-freedom motion parameters of the execution component, and map the tank opening, lidar 7 and on-site obstacles in the workspace as inaccessible areas in the workspace. In the workspace, the motion path of the execution component is jointly optimized by continuity constraints and safety constraints to generate a motion trajectory that meets the requirements of automatic alignment accuracy and collision avoidance, and control the execution component to drive the loading arm assembly 2 to move according to the trajectory to realize automatic alignment and filling of the tank opening.

[0036] In one embodiment, when the loading arm assembly 2 is in its returned position or in a non-working state, the liquid receiving hopper 4 is located below the vertical tube 23 to collect residual liquid.

[0037] In one embodiment, a network switch 17 is also included. The network switch 17 is located in the control cabinet 9. The network switch 17 is used for information transmission between the lidar 7 and the microprocessor 8, between the microprocessor 8 and the controller 6, between the lidar 7 and the controller 6, and between the touch screen 10 and the controller 6.

[0038] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0039] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated loading arm filling system, characterized in that, include: A positioning component, wherein the positioning device is located above the tank truck and collects the position information of the tank opening on the top of the tank truck; An arming assembly, comprising an inner arm tube, an outer arm tube, and a vertical tube arranged in sequence. The residual liquid recovery assembly includes a purge air pump connected to the inner arm tube and a liquid receiving hopper for receiving residual liquid. An execution component, comprising an inner arm motor for driving the inner arm tube to swing horizontally, an outer arm motor for driving the outer arm tube to swing horizontally, a vertical tube motor for driving the vertical tube to move up and down vertically, and a cylinder for driving the liquid receiving hopper to swing. The controller receives the position information of the can opening transmitted by the positioning component, and drives the inner arm motor and the outer arm motor to swing the inner arm tube and the outer arm tube. After the vertical tube is placed directly above the can opening, the vertical tube motor drives the vertical tube to move downward and extend into the can opening for filling.

2. The automated loading arm filling system according to claim 1, characterized in that, The positioning device includes a lidar and a microprocessor with computing capabilities. The lidar collects the depth information of the can opening and transmits this information to the microprocessor. The microprocessor processes and analyzes the depth information of the can opening to obtain the spatial coordinate information of the can opening and transmits the spatial coordinate information of the can opening to the controller.

3. The automated loading arm filling system according to claim 1, characterized in that, The controller is located inside the control cabinet, which is equipped with a touch screen. The touch screen is used to display the coordinate information of the tank opening and the attitude angle information of the loading arm assembly in real time, and to receive externally input control commands and send them to the controller.

4. The automated loading arm filling system according to claim 3, characterized in that, The control cabinet is also equipped with an inner arm driver, an outer arm driver, and a vertical tube driver; the inner arm driver, outer arm driver, and vertical tube driver respectively receive instructions from the controller and control the inner arm motor, outer arm motor, and vertical tube motor to drive the inner arm tube, outer arm tube, and vertical tube to perform corresponding actions.

5. An automated loading arm filling system according to claim 4, characterized in that, The top of the liquid receiving hopper is symmetrically connected to two connecting rods. The top of the connecting rods is connected to the vertical pipe. The fixed end of the cylinder is connected to the vertical pipe, and the telescopic end is connected to the connecting rods, which in turn drive the liquid receiving hopper to swing around the connection point between the connecting rods and the vertical pipe.

6. A filling method for an automated loading arm filling system as described in any one of claims 1-5, characterized in that, The filling process includes the following steps: S1, the operator clicks the touch screen to send a start command to the controller, and the controller responds to the command and sends a signal to the LiDAR to start taking pictures; S2, the lidar transmits the data collected from the top of the tanker to the microprocessor. The microprocessor uses 3D reconstruction technology to reconstruct the model of the top of the tanker and calculates the spatial coordinates of the tank opening. Then, it sends the obtained tank opening coordinates to the controller. S3, after receiving the spatial coordinates of the tank opening, the controller converts the coordinate information into the rotation angle information of the loading arm assembly; S4, the controller controls the cylinder to drive the liquid receiving hopper to the predetermined position at the top of the vertical tube; then the controller is also used to control the actuator to drive the inner arm tube and the outer arm tube to align the vertical tube with the tank opening according to the rotation angle information of the loading arm assembly, and then drive the vertical tube to move down into the tank opening to start filling. S5, after filling is completed, the controller controls the purge air pump to purge the residual liquid in the inner arm pipe, outer arm pipe and vertical pipe into the tank opening of the tank truck. S6, after purging is completed, the controller controls the vertical tube to move above the tank opening and drives the liquid receiving hopper to swing below the vertical tube to receive the liquid; then the controller controls the actuator to drive the inner arm tube and outer arm tube to return to their positions to realize the filling process.

7. The filling method of an automated loading arm filling system according to claim 6, characterized in that, The controller includes a trajectory planning module and a motion control module. The trajectory planning module and motion control module establish a workspace model based on the multi-degree-of-freedom motion parameters of the execution components, and map the tank opening, lidar and on-site obstacles in the workspace as inaccessible areas in the workspace. In the workspace, the motion path of the execution component is jointly optimized by continuity constraints and safety constraints to generate a motion trajectory that meets the requirements of automatic alignment accuracy and collision avoidance. The execution component is then controlled to drive the loading arm assembly to move according to the trajectory, thereby realizing automatic alignment and filling of the can opening.

8. The filling method of an automated loading arm filling system according to claim 6, characterized in that, When the loading arm assembly is in its returned position or not in operation, the liquid receiving hopper is located below the vertical tube to collect residual liquid.

9. A filling method for an automated loading arm filling system according to claim 6, characterized in that, It also includes a network switch, which is located inside the control cabinet. The network switch is used for information transmission between the LiDAR and the microprocessor, between the microprocessor and the controller, between the LiDAR and the controller, and between the touch screen and the controller.

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