An automatic oil injection system and method for tank truck visual self-inspection

Abstract

The application discloses an oil tank truck tank-entering visual self-checking automatic oil injection system and method, and the system comprises an oil supply pipeline module, a replaceable visual execution mechanism, a high-definition monitoring module and a remote quantitative oil injection electric control center. The replaceable visual execution mechanism is an upper general carrier structure, and comprises two types of lower structures, namely, a cooperative robot execution mechanism and a multi-section telescopic execution mechanism, which can be disassembled and replaced. The two types of mechanisms share a set of high-definition monitoring and electric control systems. The high-definition monitoring is mounted at the end of the mechanism and extends into the tank to form a 360-degree panoramic image, and the image is returned to the central control for remote verification of the working condition in the tank. The pipeline is connected with a large-diameter electromagnetic valve, and the valve is remotely opened for quantitative oil injection after confirmation of qualification. The operation process comprises vehicle parking, mechanism with monitoring and guide pipe tank-entering inspection pipe insertion, mechanism resetting, slow electromagnetic valve opening and oil injection. The two mechanisms are used as backup for each other to ensure continuous production, manual climbing is cancelled to eliminate safety hazards, there is no oil splashing and pollution, the whole process is automatically operated remotely, and the system is suitable for modification of various oil tank truck filling stations.

Description

Technical Field

[0001] This invention belongs to the technical field of automated equipment for oil tanker filling, and is applicable to the inspection of the working condition inside the tank and the automated oil filling operation before filling of lubricating oil and refined oil storage tankers. Specifically, it relates to a visual self-inspection automatic oil filling system and oil filling method for oil tankers. Background Technology

[0002] Before oil tanker filling operations, it is essential to manually confirm that the tank is free of debris, the tank opening is accurately aligned, and the vehicle is parked in the correct position before opening the pipeline solenoid valve to inject oil. The existing filling system has the following core defects: 1. In-tank inspection relies on manual entry, which poses a high safety risk. Traditional methods require workers to climb to the top of the tanker truck and bend down to look inside the tank to observe the condition of the tank with their naked eyes. Working at height and the evaporation of oil can easily cause safety accidents such as poisoning, falls, and explosions. The field of view of manual visual observation is limited, and it is impossible to completely check the blind spots inside the tank in 360°. The rate of missing detection of debris, water accumulation, and residual impurities is high.

[0003] 2. The implementing agency is singular and lacks adaptability. Existing visual inspection mechanisms only use a single straight rod structure, which limits the adjustment stroke and makes alignment difficult when dealing with tank trucks of different heights and parking deviations, resulting in insufficient versatility; there is no backup actuator, and the entire filling production line will stop when the equipment fails, resulting in poor production continuity.

[0004] 3. On-site manual operation, unable to be remotely monitored. On-site personnel are required for tank inspection and alignment confirmation. The central control room cannot obtain real-time images of the tank and cannot remotely determine the vehicle's parking status and the tank's working conditions. The automation level is low and the manpower input is large.

[0005] 4. Poor process coordination, unable to achieve fully automated closed-loop operation. The alignment, tank inspection, and oil injection valve opening are all performed independently in separate steps, without any automated linkage logic. The solenoid valve is manually opened after manual confirmation, which poses a risk of oil spillage and incorrect injection due to human error, and cannot achieve quantitative automated filling. Summary of the Invention

[0006] In view of the shortcomings of existing technologies, such as high safety risks of manual tank inspection, poor versatility of single inspection agencies, lack of outdoor protection, low degree of automation, and poor equipment reusability, this invention provides a visual self-inspection automatic oil filling system and oil filling method for tank trucks entering the tank.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is: a visual self-inspection automatic oil filling system for oil tankers, including an oil supply pipeline module, a replaceable visual actuator, a high-definition monitoring module, and a remote quantitative oil filling electrical control center; The oil supply pipeline module includes a main oil pipeline and a large-diameter solenoid valve. The main oil pipeline is connected to the oil storage tank, and the large-diameter solenoid valve is installed in series on the main oil pipeline. A flexible telescopic guide pipe actuator that connects to the tank opening of the oil tanker is provided at the oil delivery end of the main oil pipeline. The replaceable vision actuator is a detachable and switchable vision carrier mechanism used to carry a high-definition monitoring module and drive the high-definition monitoring to move to the tank opening and extend into the tank to complete the inspection. The high-definition monitoring module is installed at the working end of the replaceable vision actuator, and can follow the replaceable vision actuator to extend into the tanker opening of the oil tanker and achieve 360° rotating imaging. The images are transmitted to the central control room in real time. The remote quantitative oil injection control center is connected to the high-definition monitoring module and the large-diameter solenoid valve. After the central control room confirms that the working conditions inside the tank and the vehicle alignment are qualified, it remotely controls the large-diameter solenoid valve to open and complete the quantitative oil injection of the tanker truck.

[0008] In the described oil tanker visual self-inspection automatic oil filling system, the replaceable visual actuator is a collaborative robot actuator, which is fixedly installed on the main oil pipeline. The end of the robotic arm of the collaborative robot actuator is equipped with a high-definition monitoring module, and it completes the tank opening alignment and tank interior inspection by relying on multi-degree-of-freedom motion.

[0009] In the described oil tanker visual self-inspection automatic oil filling system, the collaborative robot actuator also includes a rainproof shell. The rainproof shell is a closed shell on the top and four sides, with an opening on the bottom. The collaborative robot actuator is completely housed and enclosed inside the rainproof shell to isolate outdoor rainwater and dust, and to protect the collaborative robot from high-definition monitoring.

[0010] In the described oil tanker visual self-inspection automatic oil filling system, the replaceable visual actuator is a multi-section telescopic actuator, which includes a multi-stage telescopic straight rod arranged vertically. A high-definition monitoring module is fixedly assembled at the bottom of the multi-stage telescopic straight rod, and the alignment of the tank opening and the inspection inside the tank are achieved by relying on the multi-stage lifting of the rod.

[0011] In the described automatic oil filling system for tank trucks with visual self-inspection, the replaceable visual actuator uses a collaborative robot actuator and a multi-section telescopic actuator that can be independently disassembled and replaced. The two share the same high-definition monitoring module, remote quantitative oil filling electrical control center, and oil supply pipeline module.

[0012] An automated oil filling method for tanker trucks based on the above system, with visual self-inspection, includes the following steps: S1: The tanker truck drives into the filling station and stops in place; S2: The central control room remotely starts the assembled replaceable vision actuator, driving the high-definition monitoring module to move above the tank opening; S3: The replaceable vision actuator drives the high-definition monitoring module to extend into the tank opening. The high-definition monitoring rotates 360° to capture images inside the tank. Operators can remotely check the vehicle's parking accuracy and whether there are any debris or water inside the tank from the central control room. S4: After the inspection inside the tank is completed, the central control unit issues a reset command, and the replaceable vision actuator drives the high-definition monitoring module to completely exit the tank opening and reset. S5: After the central control confirms that all working conditions are qualified, the flexible telescopic guide pipe actuator at the end of the main oil pipeline (3) is remotely connected to the tank opening of the oil tanker, and then the large-diameter solenoid valve is remotely opened to perform quantitative oil injection operation on the oil tanker.

[0013] In the above-mentioned method for visual self-inspection and automatic oil filling of tank trucks, when the assembled replaceable vision actuator malfunctions, another type of replaceable vision actuator can be disassembled and replaced, and steps S1 to S5 are executed cyclically to achieve uninterrupted filling operations.

[0014] In the above-mentioned method for visual self-inspection and automatic oil filling of oil tanker trucks, after the replacement visual actuator is selected from the collaborative robot actuator, the collaborative robot actuator is retracted into the rainproof shell in S4 to achieve closed protection.

[0015] The beneficial effects of this invention are: 1. Significantly improved safety: Eliminates the need for manual climbing down into the tank for inspection, eliminating safety risks from heights, oil and gas explosions, and poisoning; remote 360° panoramic monitoring provides full coverage, significantly reducing the rate of missed detection of debris and water accumulation inside the tank.

[0016] 2. Strong production continuity: The two types of replaceable vision actuators can be disassembled and replaced, and can serve as backups for each other. When a single mechanism is under maintenance or fails, the other mechanism can be switched to, ensuring uninterrupted operation of the filling production line, guaranteeing production capacity, solving the pain point of the entire line stopping when a single mechanism fails, and adapting to filling stations with different working conditions.

[0017] 3. High degree of automation and labor saving: All verification and oil filling operations are completed remotely in the central control room, eliminating the need for dedicated personnel on-site and reducing labor costs in the long term. The innovative, fully automated, linked process automatically links vehicle parking, remote alignment, tank-wide inspection, mechanism reset, and solenoid valve quantitative oil filling. The entire process is operated remotely from the central control room, eliminating the need for on-site human intervention and avoiding oil spills and incorrect filling caused by human error.

[0018] 4. High versatility and low modification cost: The two types of actuators are compatible with both non-standard mixed tank trucks and standard unified tank trucks, and are compatible with the original oil supply pipelines, solenoid valves and central control systems, and can be directly and cost-effectively modified for existing filling stations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention; Figure 2 This is a partial structural schematic diagram of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention; Figure 4 This is a block diagram of the control principle of the present invention. Detailed Implementation

[0020] The invention will be further described with reference to the accompanying drawings. Example 1:

[0021] Please see Figure 1 , Figure 2 , Figure 4 The present invention provides a visual self-inspection automatic oil filling system for oil tanker trucks, including an oil supply pipeline module, a replaceable vision actuator 1, a high-definition monitoring module 2, and a remote quantitative oil filling electrical control center; The oil supply pipeline module includes a main oil pipeline 3 and a large-diameter solenoid valve 4. The main oil pipeline 3 is connected to the oil storage tank 5. The large-diameter solenoid valve 4 is installed in series on the main oil pipeline 3. The oil supply end of the main oil pipeline 3 is equipped with a flexible telescopic guide pipe actuator that connects to the tank opening of the oil tanker. The flexible telescopic guide pipe actuator adopts the existing guide structure, which will not be described in detail here. The replaceable vision actuator 1 is a detachable and switchable vision carrier mechanism used to carry the high-definition monitoring module 2 and drive the high-definition monitoring to move to the tank opening and extend into the tank to complete the inspection. The high-definition monitoring module 2 is mounted on the working end of the replaceable vision actuator 1. It can follow the replaceable vision actuator 1 to extend into the tank opening of the oil tanker and achieve 360° rotation imaging. The images are transmitted to the central control room in real time. The remote quantitative oil injection control center is connected to the high-definition monitoring module 2 and the large-diameter solenoid valve 4 respectively. After the central control room confirms that the working conditions inside the tank and the vehicle alignment are qualified, the large-diameter solenoid valve 4 is opened remotely to complete the quantitative oil injection of the tanker truck.

[0022] In this embodiment, the replaceable vision actuator 1 is a collaborative robot actuator 6, which is fixedly installed on the main oil pipeline 3. The robotic arm of the collaborative robot actuator 6 is equipped with a high-definition monitoring module 2, which completes tank opening alignment and tank inspection by relying on multi-degree-of-freedom motion.

[0023] Furthermore, the collaborative robot actuator 6 also includes a rainproof shell 7, which is a closed shell on the top and four sides, with an opening on the bottom. The collaborative robot actuator 6 is completely enclosed inside the rainproof shell 7 to isolate outdoor rainwater and dust, and to protect the collaborative robot from high-definition monitoring.

[0024] The automatic oil filling method with visual self-inspection for tanker truck entry, as described in Example 1, includes the following steps: S1: The tanker truck drives into the filling station and stops in place; S2: The central control room remotely starts the assembled collaborative robot actuator 6, driving the high-definition monitoring module 2 to move above the oil tank opening 9; S3: The collaborative robot actuator 6 drives the high-definition monitoring module 2 to extend into the tank opening. The high-definition monitoring rotates 360° to capture images of the inside of the tank. The operator can remotely check the vehicle's parking accuracy and whether there are any debris or water accumulation inside the tank from the central control room. S4: After the inspection inside the tank is completed, the central control unit issues a reset command, and the collaborative robot actuator 6 drives the high-definition monitoring module 2 to completely exit the tank opening and reset; after the collaborative robot actuator 6 completes its work, it is retracted into the rainproof shell to achieve closed protection; S5: After the central control unit confirms that all working conditions are qualified, the flexible telescopic guide pipe actuator at the oil delivery end of the main oil pipeline 3 is remotely controlled to connect with the tanker opening of the oil tanker. Then, the large-diameter solenoid valve 4 is remotely opened to perform quantitative oil injection operation on the oil tanker. Example 2:

[0025] Please see Figure 3 , Figure 4 This invention provides a visual self-inspection and automatic oil filling system for tank trucks. Unlike Embodiment 1, the replaceable visual actuator 1 is a multi-section telescopic actuator 8. The multi-section telescopic actuator 8 includes a multi-stage telescopic straight rod arranged vertically. A high-definition monitoring module 2 is fixedly assembled at the bottom of the multi-stage telescopic straight rod. The alignment of the tank opening and the inspection inside the tank are achieved by the multi-stage lifting of the rod.

[0026] The automatic oil filling method with visual self-inspection for tanker truck entry, as described in Example 2, includes the following steps: S1: The tanker truck drives into the filling station and stops in place; S2: The central control room remotely starts the assembled multi-section telescopic actuator 8, driving the high-definition monitoring module 2 to move above the oil tank opening 9; S3: The multi-section telescopic actuator 8 drives the high-definition monitoring module 2 to extend into the tank opening. The high-definition monitoring rotates 360° to capture images inside the tank. The operator can remotely check the vehicle parking accuracy and whether there are any debris or water accumulation inside the tank from the central control room. S4: After the tank inspection is completed, the central control unit issues a reset command, and the multi-section telescopic actuator 8 drives the high-definition monitoring module 2 to completely exit the tank opening and reset. S5: After the central control unit confirms that all working conditions are qualified, the flexible telescopic guide pipe actuator at the oil delivery end of the main oil pipeline 3 is remotely controlled to connect with the tanker opening of the oil tanker. Then, the large-diameter solenoid valve 4 is remotely opened to perform quantitative oil injection operation on the oil tanker.

[0027] In the present invention, the collaborative robot actuator 6 and the multi-section telescopic actuator 8 used in the replaceable vision actuator 1 in Embodiments 1 and 2 can be independently disassembled and replaced. They share the same high-definition monitoring module, remote quantitative oil injection electrical control center, and oil supply pipeline module. When the assembled replaceable vision actuator 1 malfunctions, another type of replaceable vision actuator can be disassembled and replaced, and continuous filling operation can be achieved through cyclical execution.

[0028] The foregoing has provided a detailed description of a chip removal device for a CNC lathe internal support fixture provided by the embodiments of the present invention. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the technical solution disclosed in the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A visual self-inspection and automatic oil filling system for tank trucks, characterized in that: Includes oil supply pipeline module, replaceable vision actuator (1), high-definition monitoring module (2), and remote quantitative oil injection control center; The oil supply pipeline module includes a main oil pipeline (3) and a large-diameter solenoid valve (4). The main oil pipeline (3) is connected to the oil storage tank (5). The large-diameter solenoid valve (4) is installed in series on the main oil pipeline (3). The oil supply end of the main oil pipeline (3) is equipped with a flexible telescopic guide pipe actuator that connects to the tank opening of the oil tanker. The replaceable vision actuator (1) is a detachable and switchable vision carrier mechanism used to carry the high-definition monitoring module (2) and drive the high-definition monitoring to move to the tank opening and extend into the tank to complete the inspection. The high-definition monitoring module (2) is installed at the working end of the replaceable vision actuator (1), and can follow the replaceable vision actuator (1) to extend into the tank opening of the oil tanker and achieve 360° rotation imaging. The image is transmitted to the central control room in real time. The remote quantitative oil injection control center is connected to the high-definition monitoring module (2) and the large-diameter solenoid valve (4) respectively. After the central control room confirms that the working conditions inside the tank and the vehicle alignment are qualified, the large-diameter solenoid valve (4) is opened remotely to complete the quantitative oil injection of the tank truck.

2. The oil tanker visual self-inspection automatic oil filling system according to claim 1, characterized in that: The replaceable vision actuator (1) is a collaborative robot actuator (6). The collaborative robot actuator (6) is fixedly installed on the main oil pipeline (3). The robotic arm of the collaborative robot actuator (6) is equipped with a high-definition monitoring module (2) and completes tank opening alignment and tank inspection by relying on multi-degree-of-freedom motion.

3. The automatic oil filling system for tank trucks with visual self-inspection as described in claim 2, characterized in that: The collaborative robot actuator (6) also includes a rainproof shell (7), which is a closed shell on the top and all four sides, with an opening on the bottom. The collaborative robot actuator (6) is completely enclosed inside the rainproof shell (7) to isolate outdoor rain and dust, and to protect the collaborative robot from high-definition monitoring.

4. The oil tanker visual self-inspection automatic oil filling system according to claim 1, characterized in that: The replaceable vision actuator (1) is a multi-section telescopic actuator (8). The multi-section telescopic actuator (8) includes a multi-stage telescopic rod arranged vertically. A high-definition monitoring module (2) is fixedly assembled at the bottom of the multi-stage telescopic rod. The alignment of the tank opening and the inspection inside the tank are achieved by relying on the multi-stage lifting of the rod.

5. The automatic oil filling system for tank trucks with visual self-inspection as described in claim 3 or 4, characterized in that: The replaceable vision actuator (1) uses a collaborative robot actuator (6) and a multi-section telescopic actuator (8) which can be independently disassembled and replaced. The two share the same set of high-definition monitoring module, remote quantitative oil injection control center and oil supply pipeline module.

6. A method for visual self-inspection and automatic oil filling of tank trucks based on the system described in any one of claims 1 to 5, characterized in that: Includes the following steps: S1: The tanker truck drives into the filling station and stops in place; S2: The central control room remotely starts the assembled replaceable vision actuator (1) and drives the high-definition monitoring module (2) to move above the tank opening (9); S3: Replaceable vision actuator (1) drives high-definition monitoring module (2) to extend into the tank opening of the oil tank. High-definition monitoring rotates 360° to capture images inside the tank. Operators can remotely check the vehicle parking accuracy and whether there are debris or water accumulation inside the tank in the central control room. S4: After the tank inspection is completed, the central control sends a reset command, and the replaceable vision actuator (1) drives the high-definition monitoring module (2) to completely exit the tank opening and reset. S5: After the central control confirms that all working conditions are qualified, the flexible telescopic guide pipe actuator at the end of the main oil pipeline (3) is remotely controlled to connect with the tank opening of the oil tanker, and then the large-diameter solenoid valve (4) is remotely opened to perform quantitative oil injection operation on the oil tanker.

7. The method for visual self-inspection and automatic oil filling of an oil tanker according to claim 6, characterized in that: When the replaceable vision actuator (1) fails, another type of replaceable vision actuator can be disassembled and replaced, and steps S1 to S5 are repeated to achieve uninterrupted filling operation.

8. The method for visual self-inspection and automatic oil filling of a tanker truck according to claim 6, characterized in that: The replaceable vision actuator (1) is selected from the collaborative robot actuator (6). After the operation is completed, the collaborative robot actuator is retracted into the rainproof shell in S4 to achieve closed protection.

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