CN101807310A - Viewing angle tracking method for petrochemical enterprises - Google Patents

Abstract

The invention discloses a viewing angle tracking method for petrochemical enterprises, which comprises the following steps: (1) establishing all three-dimensional device models related to the oil refinery, wherein each device corresponds to one camera viewing angle parameter; (2) determining the sequence of all the device nodes related to a production process flow and acquiring the camera viewing angle parameters corresponding to the device nodes in the production process flow; (3) calculating distance, direction and angle deviations in the camera viewing angle parameters of the two adjacent front and rear device nodes and recording a corresponding camera moving and rotating speed changing matrix among the sequential device nodes in the production process flow; and (4) tracking different process flow devices sequentially according to the camera moving and rotating speed changing matrix in the oil refinery three-dimensional scene. The invention can be widely used for the process enterprises such as petrochemical enterprises and the like to observe each scene of the factory, track different production process flows and understand all the device nodes related to each flow.

Description

A kind of viewing angle tracking method for petrochemical enterprises

Technical field

The present invention relates to Computerized three-dimensional analogue technique field, relate in particular to a kind of viewing angle tracking method for petrochemical enterprises.

Background technology

Petroleum chemical enterprise is by setting up the three-dimensional model of whole factory, lifelike image ground has reproduced the style and features of full factory, make the user can experience all devices of factory, equipment, inlet and outlet piping, oil product tank field, auxiliary equipment etc. on the spot in personly, deepen understanding and understanding oil refining apparatus and flow process essence.The crude oil of refinery becomes gas, liquid, the solid product (gaseous hydrocarbon, liquid hydrocarbon, solvent oil, industrial chemicals, paraffin, pitch, coke etc.) of transparency liquid fuel (lightweight oils such as gasoline, kerosene, diesel oil), heavy liquid fuel (heavy gas oil, boiler fuel), lubricating oil and other various uses through the processing of oil refining apparatus.

The processing main-process stream of refinery can be divided into following several types substantially: (one) atmospheric distillation---platforming type, and the major product of this flow process is a fuel oil, a part of gasoline fraction can be produced aromatic hydrocarbon through platforming simultaneously.Atmospheric residue, vacuum residuum can also carry out pyrolysis gas making, to satisfy the needs of petrochemical complex comprehensive utilization.(2) atmospheric and vacuum distillation--thermal cracking---coking type, the characteristics of this class flow process are mainly to rely on hot-working to produce gasoline, diesel oil, fuel oil and petroleum coke, yield of light oil has only about 60%.(3) normal decompression--catalytic cracking---coking type, this class flow process is carried out coking with atmospheric and vacuum distillation gained residual oil, the heavy end of distillation and coking gained is as catalytically cracked material, product quality is better than the second class flow process, the octane value of gasoline can reach more than 70%, can also produce a large amount of cracked gases, be the important source material of petrochemical complex.(4)--catalytic cracking--hydrocracking---coking type owing to adopted the hydrocracking new technology, has improved product quality, can produce more high-quality aviation kerosene and low freezing point diesel fuel in normal decompression.

In order in refinery, to follow the tracks of the various processes flow process, observation is from crude oil tank farm--time processing device--related each device of the order of intermediate tank farm--secondary processing device---product tank field, equipment, turnover side line, jar etc., need to adopt good viewing angle tracking method, so that clearly observe.Follow the tracks of at existing enterprise technological process of production visual angle, mainly is to carry out according to operating experience or historical data, and the process of tracking is more fixing, and dirigibility and configurability are not strong.

Summary of the invention

The invention provides a kind of viewing angle tracking method for petrochemical enterprises,, follows the tracks of the different technological process of productions, help to deepen refining oil the understanding of flow process essence realize to observe each device context of refinery.

The notion of definition one " video camera visual angle " in whole refinery, comprise 3 property parameters: position, direction, angle, in refinery along different position (x, y, z coordinate), direction (about the left-right and front-back), angle (overlook to look squarely and look up) are observed different full-scale plants, equipment, turnover side line, pipeline, oil tank etc.On this basis, can according to the different production procedure of refinery production technology arrangements commonly used (such as from crude oil tank farm-＞the time processing device-＞intermediate tank farm-＞the secondary processing device-＞flow sequence of product tank field), also can the configuring product quality recall flow process (dating back to crude oil tank farm from the product tank field successively forward).By one group of video camera visual angle parameter under the different production procedures is set, observing refinery is how to pass through the flow process of process equipment to product oil from crude oil then.

A kind of viewing angle tracking method for petrochemical enterprises may further comprise the steps:

(1) sets up all three-dimensional device models that refinery relates to, all corresponding video camera visual angle V parameter of each equipment _i(P _i, D _i, A _i), wherein:

P _i=(Px _i, Py _i, Pz _i) be location parameter, Px _i, Py _i, Pz _iRepresent the coordinate on the x axle, y axle, z axle of current three-dimensional device model respectively;

D _i=(Dl _i, Df _i, dh _i) be direction parameter, wherein Dl _i, Df _i, Dh _iFront and back, durection component up and down respectively about the expression;

A _i=(Ad _i, Ae _i, Au _i) be angle parameter, wherein Ad _i, ae _i, Au _iThe expression component overlooking, look squarely, look up respectively; Subscript i indication equipment index wherein;

(2) determine the order of all devices node that the technological process of production relates to, gather the corresponding one by one video camera of device nodes visual angle parameter in this technological process of production;

(3) if the video camera visual angle parameter of adjacent two device nodes in front and back is identical, then video camera between these two device nodes move with velocity of rotation all be 0;

Otherwise the deviation of video camera visual angle parameter middle distance, direction and the angle of two adjacent device nodes before and after calculating draws the translational speed of video camera between these two device nodes according to range deviation | V| _j, draw the velocity of rotation of video camera between these two device nodes according to the deviation of directivity and angular deviation | T| _j

Write down in the described technological process of production, corresponding video camera moves and velocity of rotation transformation matrices P between the order device nodes:

$P=\left[\begin{array}{cc}{p}_{11}& p_{12}\\ p_{21}& p_{22}\\ .& .\\ .& .\\ .& .\\ p_{n1}& p_{n2}\end{array}\right]$

Satisfy condition:

p _J1=| V| _j, p _J2=| T| _j, wherein j is the line number index among the matrix P; J=1,2 ... n.

(4) in the refinery three-dimensional scenic, move and velocity of rotation transformation matrices P, follow the tracks of different technological process apparatus successively according to video camera.

In the step (3), the translational speed of video camera between two adjacent device nodes of front and back | V| _jAnd velocity of rotation | T| _jComputing method be:

Calculate the range deviation Δ P between two adjacent device nodes of front and back _j:

${\mathrm{\ΔP}}_j=\sqrt{{({\mathrm{Px}}_{j+1}-{\mathrm{Px}}_j)}^2+{({\mathrm{Py}}_{j+1}-{\mathrm{Py}}_j)}^2+{({\mathrm{Pz}}_{j+1}-{\mathrm{Pz}}_j)}^2}$

Calculate the deviation of directivity Δ D between two adjacent device nodes of front and back _j:

${\mathrm{\ΔD}}_j=\sqrt{{({\mathrm{Dl}}_{j+1}-{\mathrm{Dl}}_j)}^2+{({\mathrm{Df}}_{j+1}-{\mathrm{Df}}_j)}^2+{({\mathrm{Dh}}_{j+1}-{\mathrm{Dh}}_j)}^2}$

Calculate the angular deviation Δ A between two adjacent device nodes of front and back _j:

${\mathrm{\ΔA}}_j=\sqrt{{({\mathrm{Ad}}_{j+1}-{\mathrm{Ad}}_j)}^2+{\left({\mathrm{Ae}}_{j+1}{-\mathrm{Ae}}_j\right)}^2+{({\mathrm{Au}}_{j+1}-{\mathrm{Au}}_j)}^2}$

According to the translational speed between two adjacent before and after range deviation calculating video camera device nodes | V| _j:

|V| _j＝α·ΔP _j

According to the velocity of rotation between two adjacent before and after the deviation of directivity and angular deviation calculating video camera device nodes | T| _j:

|T| _j＝β·ΔD _j+γ·ΔA _j

α represents the factor of influence of range deviation to translational speed; The α span is 1.44～2.16;

β represents the factor of influence of the deviation of directivity to velocity of rotation; The β span is 7.68～11.52;

γ represents the factor of influence of angular deviation to velocity of rotation; The γ span is 8.40～12.60.

Beneficial effect of the present invention:

1) in whole refinery, can observe all equipment three-dimensional models (comprising atmospheric and vacuum distillation unit, catalytic cracking unit, reformation hydrogenation plant, solvent deasphalting unit, coker, MTBE device, gas separation unit, aromatic hydrocarbons extraction element, different process equipment, crude oil tank farm, intermediate tank farm, product tank field, inlet and outlet piping, heat interchanger, firehouse, torch, warehouse etc.) of factory along any direction angle at an arbitrary position, help refinery understanding true to nature intuitively.

2) dispose the corresponding technological process of production according to the different production decision of refinery, comprise from crude oil tank farm-＞the time processing device-＞intermediate tank farm-＞the secondary processing device-＞flow sequence of product tank field, follow the tracks of each device, equipment, oil tank, pipeline and the turnover side line that the technological process of production relates to along different visual angles then.

The present invention can be widely used in flow process enterprises such as petrochemical industry, observe each scene of factory, follow the tracks of the various processes flow process, be familiar with understanding all nodes that each flow process relates to, intensification is to the understanding and the understanding of oil refining apparatus and flow process essence, help the production decision and the production technology decision-making of enterprise personnel, improve the efficiency of operation of enterprises.

Description of drawings

Fig. 1 is the process flow diagram of viewing angle tracking method for petrochemical enterprises of the present invention;

Fig. 2 is the tracking change procedure of the inventive method in a certain technological process of refinery;

Fig. 3 is the tracking change procedure of the inventive method in another technological process of refinery.

Embodiment

As follows referring to Fig. 1 viewing angle tracking method for petrochemical enterprises process of the present invention:

In the refinery three-dimensional scenic, define each device context all corresponding a video camera visual angle V parameter _i(P _i, D _i, A _i), location parameter is defined as P _i=(P _x, Py _i, Pz _i), Px wherein _i, Py _i, Pz _iThe coordinate of representing x, y, z respectively; Direction parameter is defined as D _i=(Dl _i, Df _i, Dh _i), Dl wherein _i, Df _i, Dh _iFront and back, durection component up and down respectively about the expression; Angle parameter is defined as A _i=(Ad _i, Ae _i, Au _i), Ad wherein _i, Ae _i, Au _iThe expression component overlooking, look squarely, look up respectively.3 part vector descriptions of each visual angle parameter scene be in visual angle, the space part of whole refinery.Then according to production decision and technological process, corresponding from crude oil tank farm-＞time processing device (such as atmospheric and vacuum distillation unit)-＞intermediate tank farm (such as a tank field and two tank fields)-＞secondary processing device (such as catalytic cracking unit)-＞flow sequence of product tank field (such as gasoline tank field and diesel oil tank field).

According to the video camera visual angle parameter of record, whether two adjacent before and after analysis and judgement node visual angle parameters are different, if identical, then define translational speed and the velocity of rotation of video camera between these two nodes | V| _j=0, | T| _j=0.If it is different, then calculate the deviation of visual angle parameter middle distance, direction and the angle of former and later two nodes, draw the translational speed of video camera between these two nodes according to range deviation, draw the velocity of rotation of video camera between these two nodes according to the deviation of directivity and angular deviation.Concrete computation process is as follows:

Calculate the range deviation Δ P between two adjacent device nodes of front and back _j:

${\mathrm{\ΔP}}_j=\sqrt{{({\mathrm{Px}}_{j+1}-{\mathrm{Px}}_j)}^2+{({\mathrm{Py}}_{j+1}-{\mathrm{Py}}_j)}^2+{({\mathrm{Pz}}_{j+1}-{\mathrm{Pz}}_j)}^2}$

Calculate the deviation of directivity Δ D between two adjacent device nodes of front and back _j:

${\mathrm{\ΔD}}_j=\sqrt{{({\mathrm{Dl}}_{j+1}-{\mathrm{Dl}}_j)}^2+{({\mathrm{Df}}_{j+1}-{\mathrm{Df}}_j)}^2+{({\mathrm{Dh}}_{j+1}-{\mathrm{Dh}}_j)}^2}$

Calculate the angular deviation Δ A between two adjacent device nodes of front and back _j:

${\mathrm{\ΔA}}_j=\sqrt{{({\mathrm{Ad}}_{j+1}-{\mathrm{Ad}}_j)}^2+{({\mathrm{Ae}}_{j+1}-{\mathrm{Ae}}_j)}^2+{({\mathrm{Au}}_{j+1}-{\mathrm{Au}}_j)}^2}$

According to the translational speed between two adjacent before and after range deviation calculating video camera device nodes | V| _j:

|V| _j＝α·ΔP _j

According to the velocity of rotation between two adjacent before and after the deviation of directivity and angular deviation calculating video camera device nodes | T| _j:

|T| _j＝β·ΔD _j+γ·ΔA _j

α represents the influence of range deviation to translational speed, and distance is big, and then translational speed is fast; β represents the influence of the deviation of directivity to velocity of rotation, and the deviation of directivity is big, and then velocity of rotation is fast; γ represents the influence of angular deviation to velocity of rotation, and angular deviation is big, and then velocity of rotation is fast.

After the video camera visual angle of one group of node parameter is all calculated, obtain translational speed and velocity of rotation matrix that video camera is followed the tracks of this group node, can be defined as the visual angle and follow the tracks of transformation matrices P.

$P=\left[\begin{array}{cc}{p}_{11}& p_{12}\\ p_{21}& p_{22}\\ .& .\\ .& .\\ .& .\\ p_{j1}& p_{j2}\\ .& .\\ .& .\\ .& .\\ 0& 0\\ .& .\\ .& .\\ .& .\\ p_{n1}& p_{n2}\end{array}\right]$

Wherein satisfy condition:

p _j1＝|V| _j????(j＝1，2，…n)

p _j2＝|T| _j????(j＝1，2，…n)

Embodiment 1

Order with a certain technological process of production correspondence of refinery is an example, and the order of trace flow is: normal atmospheric tower-＞an ordinary decompression column-＞of the normal heating furnace-＞of the normal primary tower-＞of the normal electric desalting apparatus-＞of a normal crude oil motion device side line-＞of crude oil tank farm TK005-＞pipeline 65-＞No. one atmospheric and vacuum distillation unit usually a line-＞pipeline 2-＞gasoline tank field TK308.

The data of the visual angle parameter of each node correspondence (comprising position, direction, angle) as shown in Table 1 in the flow process.

The data of table one example 1

According to range deviation, the deviation of directivity, the angular deviation between the node of front and back in the above data computation flow process, by experimental formula α=1.8, β=9.6, translational speed and velocity of rotation variation that video camera is followed the tracks of this flow process are calculated, as shown in Table 2 in γ=10.5.

The video camera visual angle change of table two example 1 and mobile velocity of rotation

??ΔP i	??ΔD i	??ΔA i	??|V i|	??|T i|
					??17.57718	??1.319444	??0.728427	??31.63893	??20.31515
??17.9942	??1.379847	??0.257319	??32.38955	??15.94838
					??0	??0	??0	??0	??0
??3.597895	??0.262666	??0.077547	??6.476211	??3.335843
					??0	??0	??0	??0	??0
??0	??0	??0	??0	??0
					??0	??0	??0	??0	??0
??15.13575	??1.309833	??0.215726	??27.24436	??14.83952
					??14.31709	??1.907541	??0.547782	??25.77076	??24.0641

??ΔP i	??ΔD i	??ΔA i	??|V i|	??|T i|
					??35.42056	??0.833847	??0.345553	??63.75701	??11.63323

Visual angle change matrix P is:

$P=\left[\begin{array}{cc}31.63893& 20.31515\\ 32.38955& 15.94838\\ 0& 0\\ 6.476211& 3.335843\\ 0& 0\\ 0& 0\\ 0& 0\\ 27.24436& 14.83952\\ 25.77076& 24.0641\\ 63.75701& 11.63323\end{array}\right]$

Change procedure is followed the tracks of in refinery as shown in Figure 2 in the visual angle of example one.

In the accompanying drawing 2, numbering 1 is crude oil tank farm TK005; Numbering 2 is a pipeline 65; Numbering 3 is a normal crude oil motion device side line; Numbering 4 is a normal electric desalting apparatus; Numbering 5 is a normal primary tower; Numbering 6 is a normal heating furnace; Numbering 7 is a normal atmospheric tower; Numbering 8 is an ordinary decompression column; Numbering 9 is a line usually; Numbering 10 is a pipeline 2; Numbering 11 is gasoline tank field TK308.

Embodiment 2

Order with another technological process of production correspondence of refinery is an example, and the order of trace flow is: one of middle tank field TK102-＞pipeline 68-＞No. one catalytic cracking unit urge catalyst container-＞urge reactor-＞urge regenerator-＞urge knockout tower-＞urge stripping tower-＞urge absorption desorber-＞urge gas divide the raw material side line-＞pipeline 17-＞eight tank field TK802.

The data of the visual angle parameter of each node correspondence (comprising position, direction, angle) as shown in Table 3 in the flow process.

The data of table three example 2

According to range deviation, the deviation of directivity, the angular deviation between the node of front and back in the above data computation flow process, by experimental formula α=1.8, β=9.6, translational speed and velocity of rotation variation that video camera is followed the tracks of this flow process are calculated, as shown in Table 4 in γ=10.5.

The video camera visual angle change of table four example 2 and mobile velocity of rotation

??ΔP i	??ΔD i	??ΔA i	??|V i|	??|T i|
					??18.90393	??0.656132	??0.457781	??34.02708	??11.10557
??20.48397	??1.06897	??0.391957	??36.87114	??14.37766
					??23.12631	??1.96342	??0.186642	??41.62736	??20.80857
??0	??0	??0	??0	??0
					??5.304349	??0.135597	??0.009958	??9.547828	??1.406283
??5.381334	??0.715476	??0.06142	??9.686401	??7.513487
					??9.024474	??1.515139	??0.340507	??16.24405	??18.12066
??20.41451	??0.212888	??0.162073	??36.74612	??3.745494
					??13.40093	??1.805066	??0.43982	??24.12168	??21.94675
??13.87408	??1.922413	??0.531685	??24.97335	??24.03786

Visual angle change matrix P is:

$P=\left[\begin{array}{cc}34.02708& 11.10557\\ 36.87114& 14.37766\\ 41.62736& 20.80857\\ 0& 0\\ 9.547828& 1.406283\\ 9.686401& 7.513487\\ 16.24405& 18.12066\\ 36.74612& 3.745494\\ 24.12168& 21.94675\\ 24.97335& 24.03786\end{array}\right]$

Change procedure is followed the tracks of in refinery as shown in Figure 3 in the visual angle of example two.

In the accompanying drawing 3, numbering 1 is a tank field TK102; Numbering 2 is a pipeline 68; Numbering 3 is to urge catalyst container; Numbering 4 is to urge reactor; Numbering 5 is to urge regenerator; Numbering 6 is to urge fractionator; Numbering 7 is to urge stripping tower; Numbering 8 is to urge the absorption desorber; Numbering 9 is to urge gas to divide the raw material side line; Numbering 10 is a pipeline 17; Numbering 11 is eight tank field TK802.

Claims (2)

1. a viewing angle tracking method for petrochemical enterprises is characterized in that, may further comprise the steps:

(1) sets up all three-dimensional device models that refinery relates to, all corresponding video camera visual angle V parameter of each equipment _i(P _i, D _i, A _i), wherein:

P _i=(Px _i, Py _i, Pz _i) be location parameter, Px _i, Py _i, Pz _iRepresent the coordinate on the x axle, y axle, z axle of current three-dimensional device model respectively;

D _i=(Dl _i, Df _i, D _i) be direction parameter, wherein Dl _i, Df _i, Dh _iFront and back, durection component up and down respectively about the expression;

A _i=(Ad _i, Ae _i, Au _i) be angle parameter, wherein Ad _i, Ae _i, Au _iThe expression component overlooking, look squarely, look up respectively;

Subscript i indication equipment index wherein;

(2) determine the order of all devices node that the technological process of production relates to, gather the corresponding one by one video camera of device nodes visual angle parameter in this technological process of production;

(3) if the video camera visual angle parameter of adjacent two device nodes in front and back is identical, then video camera between these two device nodes move with velocity of rotation all be 0;

Otherwise the deviation of video camera visual angle parameter middle distance, direction and the angle of two adjacent device nodes before and after calculating draws the translational speed of video camera between these two device nodes according to range deviation | V| _j, draw the velocity of rotation of video camera between these two device nodes according to the deviation of directivity and angular deviation | T| _j

Write down in the described technological process of production, corresponding video camera moves and velocity of rotation transformation matrices P between the order device nodes:

$P=\left[\begin{array}{cc}{p}_{11}& p_{12}\\ p_{21}& p_{22}\\ \·& \·\\ \·& \·\\ \·& \·\\ p_{n1}& p_{n2}\end{array}\right]$

Satisfy condition:

p _J1=| V| _j, p _J2=| T| _j, wherein j is the line number index among the matrix P; J=1,2 ... n;

(4) in the refinery three-dimensional scenic, move and velocity of rotation transformation matrices P, follow the tracks of different technological process apparatus successively according to video camera.

2. viewing angle tracking method for petrochemical enterprises as claimed in claim 1 is characterized in that, in the step (3), and the translational speed of video camera between two adjacent device nodes of front and back | V| _jAnd velocity of rotation | T| _jComputing method be:

Calculate the range deviation Δ P between two adjacent device nodes of front and back _j:

$\mathrm{\Δ}{P}_j=\sqrt{{({\mathrm{Px}}_{j+1}-{\mathrm{Px}}_j)}^2+{({\mathrm{Py}}_{j+1}-{\mathrm{Py}}_j)}^2+{({\mathrm{Pz}}_{j+1}-{\mathrm{Pz}}_j)}^2}$

Calculate the deviation of directivity Δ D between two adjacent device nodes of front and back _j:

$\mathrm{\Δ}{D}_j=\sqrt{{({\mathrm{Dl}}_{j+1}-{\mathrm{Dl}}_j)}^2+{({\mathrm{Df}}_{j+1}-{\mathrm{Df}}_j)}^2+{({\mathrm{Dh}}_{j+1}-{\mathrm{Dh}}_j)}^2}$

Calculate the angular deviation Δ A between two adjacent device nodes of front and back _j:

$\mathrm{\Δ}{A}_j=\sqrt{{({\mathrm{Ad}}_{j+1}-{\mathrm{Ad}}_j)}^2+{({\mathrm{Ae}}_{j+1}-{\mathrm{Ae}}_j)}^2+{({\mathrm{Au}}_{j+1}-{\mathrm{Au}}_j)}^2}$

According to the translational speed between two adjacent before and after range deviation calculating video camera device nodes | V| _j:

|V| _j＝α·ΔP _j

According to the velocity of rotation between two adjacent before and after the deviation of directivity and angular deviation calculating video camera device nodes | T| _j:

|T| _j＝β·ΔD _j+γ·ΔA _j

α represents the factor of influence of range deviation to translational speed; The α span is 1.44～2.16;

β represents the factor of influence of the deviation of directivity to velocity of rotation; The β span is 7.68～11.52;

γ represents the factor of influence of angular deviation to velocity of rotation; The γ span is 8.40～12.60.

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