CN114446034A - Floating type oil absorption arm anti-collision early warning system and early warning method - Google Patents

Floating type oil absorption arm anti-collision early warning system and early warning method Download PDF

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CN114446034A
CN114446034A CN202210372418.XA CN202210372418A CN114446034A CN 114446034 A CN114446034 A CN 114446034A CN 202210372418 A CN202210372418 A CN 202210372418A CN 114446034 A CN114446034 A CN 114446034A
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floating
oil absorption
distance
absorption arm
tank
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CN114446034B (en
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闫海鹏
崔丽
高少雄
王菁阳
李昀童
李明
焦兆才
纪学玮
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China National Aviation Fuel Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/32—Arrangements of safety or warning devices; Means for preventing unauthorised delivery of liquid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00—Water conservation; Efficient water supply; Efficient water use
    • Y02A20/20—Controlling water pollution; Waste water treatment
    • Y02A20/204—Keeping clear the surface of open water from oil spills

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  • Mechanical Engineering (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)

Abstract

The disclosure provides an anti-collision early warning system and an anti-collision early warning method for a floating oil absorption arm. The floating type oil absorption arm device comprises an oil sending pipe, a bottom rotary joint, a lower floating pipe, a middle rotary joint, an upper floating pipe, a top end elbow and a plurality of floating drums; the early warning device comprises an ultrasonic ranging module, a data processing module, a display module and an alarm module; the data processing module is used for obtaining the distance between the floating plate and the floating oil absorption arm device according to the measurement data of the ultrasonic ranging module; the display module is used for displaying the real-time data calculated by the data processing module; and the alarm module is used for audible and visual alarm. By utilizing the ultrasonic ranging technology, the distance between the floating plate and the floating oil absorption arm device can be accurately obtained.

Description

Floating type oil absorption arm anti-collision early warning system and early warning method
Technical Field
The disclosure belongs to the technical field of oil distribution of storage tanks, and particularly relates to an anti-collision early warning system and an anti-collision early warning method for a floating oil absorption arm.
Background
The floating oil suction device is widely applied to the oil distribution operation of an oil depot, and the working principle is as follows: according to the buoyancy of the floating barrel in oil, the floating oil absorption arm automatically rises and falls along with the rise and fall of the liquid level of the oil in the tank, and the oil outlet of the oil tank is converted to the upper liquid level layer from the bottom of the oil tank; because the gravity of moisture and impurity subsides, the oil reservoir moisture of oil tank upper portion and the content of impurity are less than the bottom oil reservoir all the time, and the oil tank floats oil outlet device will extract the relatively clean oil in upper strata all the time like this. Thereby shortening the settling time of the oil product, saving the equipment investment, improving the turnover rate of the oil product, increasing the service efficiency of the oil tank and ensuring high-quality oil supply.
However, in the practical application process, the floating oil suction arm often crashes and damages the floating plate due to the fault of the floating oil suction arm or the improper oil delivery flow. Taking the distribution of aviation kerosene as an example, the folding arm type floating oil absorption arm is a key accessory in the oil distribution of the aviation kerosene tank and consists of an upper floating arm, a lower floating arm, a bottom rotary joint, a middle rotary joint and the like. Once the folding arm type floating oil suction arm breaks down, the oil supply of the whole apron is affected, and the risk of delaying large-area flights exists. For example, when the gyrator at the bottom of the lower floating arm is stuck, the lower floating arm cannot descend along with the liquid level, when the liquid level is low, the middle rotary joint is in contact with the floating disc to expose the liquid level, at the moment, the air exhaust hole at the middle rotary joint starts to admit air, so that the buoyancy of the upper floating arm is gradually increased, the oil suction port of the upper floating arm floats upwards to leak the liquid level, the floating oil suction arm starts to admit a large amount of air, the buoyancy is rapidly increased, and the oil suction port rushes out of the oil level. In addition, after the float arm admits air a small amount, the lower float arm gesture is easy out of control, and middle rotary joint is changeed and is revealed the liquid level, causes and continues to admit air, finally causes the accident of striking floating deck. Therefore, the posture of the floating oil absorption arm is monitored on line in real time, the distance between the middle rotary joint and the floating plate is monitored, the fault of the floating oil absorption arm and the collision accident of the floating oil absorption arm and the floating plate can be found in time, and a related emergency plan is started in advance, so that the occurrence of related unsafe events is avoided.
In summary, it is necessary to provide an anti-collision warning system and a warning method for a floating oil absorption arm, so as to solve the problem of real-time online monitoring of the posture of the floating oil absorption arm, and realize warning of collision between a floating disc and the floating oil absorption arm, thereby ensuring safe and smooth delivery of oil products and stable and safe operation of an oil supply system and oil supply operation.
Disclosure of Invention
The disclosure aims to at least solve one of the technical problems in the prior art, and provides an anti-collision early warning system and an anti-collision early warning method for a floating oil absorption arm.
The floating oil absorption arm device comprises an oil sending pipe, a bottom rotary joint, a lower floating pipe, a middle rotary joint, an upper floating pipe, a top end elbow and a plurality of floating bowls, wherein the oil sending pipe is provided with an oil sending block valve; the early warning device comprises an ultrasonic ranging module, a data processing module, a display module and an alarm module, wherein the ultrasonic ranging module comprises a plurality of floating plate ultrasonic probes arranged at the bottom of a floating plate and a tank top ultrasonic probe arranged at the center of the inner side of an oil tank vault; wherein the content of the first and second substances,
the lower end of the lower floating pipe is connected with the oil distribution pipe through the bottom rotary joint, and the lower floating pipe can swing around the bottom rotary joint; the upper end of the lower floating pipe is connected with the lower end of the upper floating pipe through the middle rotary joint, and the upper floating pipe can swing around the middle rotary joint; the upper end of the upper floating pipe is connected with the top end elbow, and the top end elbow is connected with a floating plate of the oil tank; the upper floating pipe and the lower floating pipe are both fixedly provided with a plurality of buoys so as to ensure that the upper floating arm and the lower floating arm can be suspended in oil;
the ultrasonic ranging module is in communication connection with the data processing module, and the data processing module is in communication connection with the display module and the alarm module respectively;
the data processing module is used for receiving the measurement data of the floating disc ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between each measurement point of the floating disc and the floating oil absorption device;
the data processing module is used for receiving the measurement data of the tank top ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between the center of the tank top and the center of the floating plate;
the display module is used for displaying the real-time data calculated by the data processing module;
and the alarm module is used for audible and visual alarm.
In some embodiments, the end of the oil distribution pipe is provided with a first elbow, the lower end of the lower floating pipe is provided with a second elbow, and the first elbow and the second elbow are connected through the bottom rotary joint.
In some embodiments, the upper end of the lower floating pipe is provided with a third elbow, the lower end of the upper floating pipe is provided with a fourth elbow, and the third elbow and the fourth elbow are connected through the intermediate rotary joint.
In some embodiments, the floating-plate ultrasonic probe adopts explosion-proof treatment and is distributed in a rectangular array or a circular array at the bottom of the floating plate.
In some embodiments, the floating oil absorption arm anti-collision warning system comprises two floating oil absorption arm devices, and the two floating oil absorption arm devices are symmetrically arranged.
In another aspect of the present disclosure, an anti-collision warning method for a floating oil absorption arm is provided, where the anti-collision warning system for a floating oil absorption arm described above is adopted, and the method includes:
the plurality of floating plate ultrasonic probes transmit ultrasonic signals to the bottom of the oil tank and receive reflected ultrasonic signals; the data processing module calculates the distance between the floating plate at the installation position of each floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device according to the time difference between the transmitted ultrasonic signal and the received ultrasonic signal;
the tank top ultrasonic probe transmits ultrasonic signals to the bottom direction of the oil tank and receives reflected ultrasonic signals; the data processing module calculates the distance between the center of the floating plate and the tank top according to the time difference between the transmitted ultrasonic signal and the received ultrasonic signal;
the data processing module calculates the distance between the center of the floating plate and the center of the bottom of the tank according to the distance between the center of the floating plate and the top of the tank;
the data processing module calculates the distance between each floating disc ultrasonic probe and the tank bottom according to the distance between the center of the floating disc and the center of the tank bottom, the horizontal distance between each floating disc ultrasonic probe and the center of the floating disc and the slope angle of the tank bottom;
the data processing module calculates and obtains the distance between the floating oil absorption arm device below each floating disc ultrasonic probe and the tank bottom according to the distance between each floating disc ultrasonic probe and the tank bottom and the distance between the floating disc at the installation position of each floating disc ultrasonic probe and the tank bottom of the oil tank or the distance between the floating oil absorption arm device below each floating disc ultrasonic probe and the tank bottom;
projecting the floating plate ultrasonic probe and the floating type oil absorption arm device to a horizontal plane passing through the center of the tank bottom, and determining the horizontal projection position of the floating plate ultrasonic probe by taking the center of the tank bottom as a circle center;
the data processing module correlates the distance between the floating type oil absorption arm device below the floating disc ultrasonic probe and the tank bottom with the horizontal projection position of the floating disc ultrasonic probe to obtain a relation graph of the horizontal projection position of the floating type oil absorption arm device and the distance between the floating type oil absorption arm device and the tank bottom, wherein the relation graph is an attitude graph of the floating type oil absorption arm device at a certain moment in the oil distribution process so as to realize real-time monitoring of the movement process of the floating type oil absorption arm and display the attitude graph of the floating type oil absorption arm device in the display module;
the data processing module judges whether the floating disc and the floating oil absorption arm collide or not by utilizing the attitude graph of the floating oil absorption arm device and the distance between the highest point and the floating disc in the motion process of the floating oil absorption arm.
In some embodiments, the determining whether the floating plate collides with the floating oil absorption arm by using the attitude map of the floating oil absorption arm device and the distance between the highest point and the floating plate during the movement of the floating oil absorption arm includes:
when the distance between the highest point and the floating disc in the moving process of the floating oil absorption arm is smaller than the preset safety limit distance, the floating disc is judged to collide with the floating oil absorption arm in the descending process, and the data processing module controls the alarm module to give an alarm and closes the oil sending cut-off valve to stop oil sending;
predicting the time of collision between the floating disc and the floating oil absorption arm by using the change of the distance between the floating disc and the highest point in the process of moving the floating disc and the floating oil absorption arm;
wherein, the highest point in the floating oil absorption arm movement process is determined by the attitude diagram of the floating oil absorption arm device.
In some embodiments, the distance of the center of the float from the center of the can bottom is calculated according to the following equation (1):
Hc=H0- H1（1）
wherein: hcThe distance between the center of the floating plate and the center of the bottom of the tank, H0Is the actual height of the center of the top of the tank and the center of the bottom of the tank, H1The distance between the center of the floating plate and the top of the tank is shown;
or, calculating the distance between each floating plate ultrasonic probe and the tank bottom according to the following formula (2):
Hi=Hc-li •tanθ（2）
wherein: hiThe distance between the ultrasonic probe of the ith floating plate and the bottom of the tank is liThe horizontal distance between the ith floating plate ultrasonic probe and the center of the floating plate is shown, and theta is a tank bottom slope angle;
or, calculating the distance between the floating type oil absorption arm device below each floating disc ultrasonic probe and the tank bottom according to the following formula (3):
Ji=Hi-Li（3）
wherein: j. the design is a squareiThe distance between a floating type oil absorption arm device below the ith floating plate ultrasonic probe and the tank bottom, LiThe distance between the floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device。
In some embodiments, the distance between the floating plate and the tank bottom of the oil tank or the floating oil suction arm device at the installation position of each floating plate ultrasonic probe is calculated according to the following formula (4):
Li= c•△ti/2（4）
wherein: l isiThe distance between a floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device, c is the wave speed of ultrasonic waves in oil products, and delta tiThe time difference of transmitting and receiving ultrasonic signals for the ith floating plate ultrasonic probe;
or, calculating the distance between the center of the floating plate and the tank top according to the following formula (5):
H1= c1•△t1/2（5）
wherein: h1The distance between the center of the floating plate and the top of the tank, c1Is the wave velocity of the ultrasonic wave in air, Delta t1The time difference between the transmission and reception of the ultrasonic signal by the tank top ultrasonic probe.
In some embodiments, the time for the floating plate to collide with the floating oil suction arm is calculated according to the following formula (6):
Figure 176998DEST_PATH_IMAGE001
（6）
wherein:
vj+1is tj+1The relative speed of the highest point in the movement process of the floating plate and the floating type oil absorption arm is kept;
Lj+1is tj+1The distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Ljis tjThe distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Tj+1is tj+1The time required for collision between the floating plate and the floating oil absorption arm.
According to the anti-collision early warning system and the early warning method for the floating oil absorption arm, the distance between the floating disc and the floating oil absorption arm device can be accurately obtained by using an ultrasonic ranging technology; by utilizing the distance value and combining with a computer graphic technology, the real-time motion posture of the floating oil absorption arm device can be monitored, and whether the posture of the floating oil absorption arm device is normal or not is judged; by setting a distance safety limit value and combining the posture of the floating type oil absorption arm device, whether the floating type oil absorption arm device collides with the floating disc or not can be predicted, and an alarm is given; through the change of the real-time distance between the floating oil absorption arm device and the floating plate, the movement time of the floating oil absorption arm device can be predicted, and a time basis is provided for timely implementation of a related plan.
Drawings
Fig. 1 is a schematic structural view of the floating oil absorption arm anti-collision early warning system of the present disclosure;
fig. 2 is a top view of the floating type oil suction arm anti-collision warning system shown in fig. 1;
FIG. 3 is an attitude view of the floating oil suction arm arrangement at a time in the present disclosure;
FIG. 4 is an attitude view of the floating oil suction arm device of the present disclosure in which the floating plate collides with the intermediate rotary joint;
the oil distribution pipe comprises 1-oil distribution pipe, 2-lower floating pipe, 3-upper floating pipe, 4-top end elbow, 5-steel wire rope, 6-floating barrel, 7-bottom rotary joint, 8-first elbow, 9-second elbow, 10-middle rotary joint, 11-third elbow, 12-fourth elbow, 13-oil distribution cut-off valve, 14-tank top ultrasonic probe, 15-floating disc ultrasonic probe and 16-tank bottom slope angle.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present disclosure, the following detailed description is given with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1 and fig. 2, an embodiment of the present disclosure relates to an anti-collision warning system for a floating oil absorption arm, which includes at least one floating oil absorption arm device and a warning device. The floating oil suction arm device comprises an oil sending pipe 1, a bottom rotary joint 7, a lower floating pipe 2, a middle rotary joint 10, an upper floating pipe 3, a top end elbow 4 and a plurality of floating bowls 6. The oil sending pipe 1 is provided with an oil sending block valve 13. The early warning device comprises an ultrasonic ranging module, a data processing module, a display module and an alarm module, wherein the ultrasonic ranging module is in communication connection with the data processing module, and the data processing module is in communication connection with the display module and the alarm module respectively. The ultrasonic ranging module comprises a plurality of floating plate ultrasonic probes 15 arranged at the bottom of the floating plate and a tank top ultrasonic probe 14 arranged at the center of the inner side of the vault of the oil tank.
Illustratively, as shown in fig. 1 and 2, the lower end of the lower float pipe 2 is connected with the oil distribution pipe 1 through the bottom rotary joint 7, and the lower float pipe 2 can swing around the bottom rotary joint 7. The upper end of the lower floating pipe 2 is connected with the lower end of the upper floating pipe 3 through the middle rotary joint 10, and the upper floating pipe 3 can swing around the middle rotary joint 10. The upper end of the upper floating pipe 3 is connected with the top end elbow 4, and the top end elbow 4 is connected with a floating disc of the oil tank through a steel wire rope 5. The upper floating pipe 3 and the lower floating pipe 2 are fixedly provided with a plurality of buoys 6 to ensure that the upper and lower floating arms can suspend in oil.
And the data processing module is used for receiving the measurement data of the floating disc ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between each measurement point of the floating disc and the floating oil absorption device. And the system is also used for receiving the measurement data of the tank top ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between the center of the tank top and the center of the floating plate. And the display module is used for displaying the real-time data calculated by the data processing module. And the alarm module is used for audible and visual alarm.
Illustratively, as shown in fig. 1 and 2, a first elbow 8 is arranged at the end of the oil distribution pipe 1, a second elbow 9 is arranged at the lower end of the lower floating pipe 2, and the first elbow 8 and the second elbow 9 are connected through the bottom swivel joint 7.
Illustratively, as shown in fig. 1 and 2, the upper end of the lower floating pipe 2 is provided with a third elbow 11, the lower end of the upper floating pipe 3 is provided with a fourth elbow 12, and the third elbow 11 and the fourth elbow 12 are connected through the intermediate rotary joint 10.
For example, as shown in fig. 2, the floating-disk ultrasonic probes 15 are distributed in a rectangular array or a circular array at the bottom of the floating disk to increase the distribution density of the floating-disk ultrasonic probes 15, so as to ensure that the floating-type oil suction arm device is within the ultrasonic monitoring range during the floating up or down process, where the floating-disk ultrasonic probes 15 in fig. 2 are distributed in a circular array; meanwhile, in order to meet the safety requirements, the tank top ultrasonic probe 14 and the floating plate ultrasonic probe 15 are subjected to explosion-proof treatment meeting the standard requirements.
Illustratively, as shown in fig. 1 and fig. 2, the floating oil absorption arm anti-collision warning system includes two floating oil absorption arm devices, where the two floating oil absorption arm devices are symmetrically arranged.
Illustratively, the data processing module is an industrial computer, and the alarm module can be an audible and visual alarm.
The working principle of the disclosure is as follows:
obtaining the distance between the floating plate and the floating type oil absorption arm device by utilizing an ultrasonic ranging principle, and further analyzing to obtain the real-time moving posture of the floating type oil absorption arm device; judging whether the floating type oil absorption arm device collides with the floating plate or not by presetting a safety limit value distance between the floating plate and the floating type oil absorption arm device and combining the motion posture of the floating type oil absorption arm device; meanwhile, the movement speed of the floating type oil absorption arm device is further calculated by utilizing the change of the real-time distance, the collision time of the floating type oil absorption arm device and the floating disc is predicted, and a time basis is provided for timely implementation of a related plan. According to the floating oil absorption arm anti-collision early warning system and the floating oil absorption arm anti-collision early warning method, the moving posture of the floating oil absorption arm can be used for judging the collision fault reason of the floating disc and the floating oil absorption arm, and a basis is provided for accident first-aid repair and prevention.
The beneficial effects of this disclosure are:
the distance between the floating plate and the floating oil absorption arm device can be accurately obtained by using an ultrasonic ranging technology; by using the distance value and combining a computer graphic technology, the real-time movement posture of the floating oil absorption arm device can be monitored, and whether the posture of the floating oil absorption arm device is normal or not is judged; by setting a distance safety limit value and combining the posture of the floating type oil absorption arm device, whether the floating type oil absorption arm device collides with the floating disc or not can be predicted, and an alarm is given; through the change of the real-time distance between the floating type oil absorption arm device and the floating disc, the movement time of the floating type oil absorption arm device can be predicted, and a time basis is provided for timely implementation of related plans.
In another aspect of the present disclosure, an anti-collision warning method for a floating oil absorption arm is provided, where the anti-collision warning system for a floating oil absorption arm described in the foregoing is adopted, and the warning system may specifically refer to the related descriptions in the foregoing, which is not described herein again. The method comprises the following steps:
firstly, a plurality of floating plate ultrasonic probes 15 distributed at the bottom of a floating plate in a rectangular array or annular array mode transmit ultrasonic waves to the bottom of an oil tank, and the ultrasonic waves reflect ultrasonic signals when contacting the bottom of the oil tank or a floating oil absorption arm device; the receiving and the signaling of the floating plate ultrasonic probe are transmitted to a data processing module, the data processing module analyzes the time difference of the ultrasonic receiving and the signaling, and the distance L between the floating plate at the installation position of each floating plate ultrasonic probe 15 and the bottom of the oil tank or the floating oil absorption arm device is calculatediWhere i denotes the ith float-pan ultrasonic probe.
Secondly, the tank top ultrasonic probe 14 transmits ultrasonic waves to the bottom of the oil tank, and the ultrasonic waves reflect ultrasonic signals when touching the floating plate; the receiving and signaling signals of the tank top ultrasonic probe are transmitted to the data processing module, the data processing module analyzes the time difference of the ultrasonic receiving and signaling signals, and the distance H between the center of the floating plate and the tank top is calculated1。
Thirdly, the data processing module calculates the distance H between the center of the floating plate and the center of the tank bottom according to the distance between the center of the floating plate and the tank topcThe calculation formula is as follows:
Hc=H0- H1（1）
wherein: hcThe distance between the center of the floating plate and the center of the bottom of the tank, H0Is the actual height of the center of the top of the tank and the center of the bottom of the tank, H1The distance between the center of the floating plate and the tank top is shown.
And step four, the data processing module calculates the distance between each floating plate ultrasonic probe 15 and the tank bottom according to the distance between the center of the floating plate and the center of the tank bottom, the horizontal distance between each floating plate ultrasonic probe 15 and the center of the floating plate and the tank bottom slope angle 16, and the calculation formula is as follows:
Hi=Hc-li •tanθ（2）
wherein: hiThe distance between the ultrasonic probe of the ith floating plate and the bottom of the tank is liThe horizontal distance between the ith floating plate ultrasonic probe and the center of the floating plate is shown, and theta is a tank bottom slope angle.
Step five, the data processing module calculates and obtains the distance between the floating oil absorption arm device below each floating plate ultrasonic probe 15 and the tank bottom according to the distance between each floating plate ultrasonic probe 15 and the tank bottom and the distance between the floating plate at the installation position of each floating plate ultrasonic probe 15 and the tank bottom of the oil tank or the distance between the floating oil absorption arm device and the tank bottom, and the calculation formula is as follows:
Ji=Hi-Li（3）
wherein: j. the design is a squareiThe distance between a floating type oil absorption arm device below the ith floating plate ultrasonic probe and the tank bottom, LiThe distance between the floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device is shown.
And sixthly, projecting the floating plate ultrasonic probe and the floating oil absorption arm device to a horizontal plane passing through the center of the tank bottom, and determining the horizontal projection position of the floating plate ultrasonic probe by taking the center of the tank bottom as a circle center.
Seventhly, enabling the floating type oil absorption arm device below the floating disc ultrasonic probe to be away from the tank bottom by the distance J of the data processing moduleiHorizontal projection position (x) with the floating plate ultrasonic probe 15i，yi) In association with the horizontal projection position (x) of the floating-deck ultrasonic probe 15i，yi) The horizontal projection position of the floating oil absorption arm device corresponding to the upper and lower parts of the floating plate ultrasonic probe 15 is obtained, so that a relation graph of the horizontal projection position of the floating oil absorption arm device and the distance from the bottom of the tank is obtained, the relation graph is an attitude graph of the floating oil absorption arm device at a certain moment in the oil distribution process, and as shown in fig. 3, the posture graph is the posture graph of the floating oil absorption arm device at a certain momentAnd the attitude diagram can further realize the real-time monitoring of the movement process of the floating oil absorption arm, and the attitude diagram of the floating oil absorption arm device is displayed in the display module.
Step eight, the data processing module judges whether the floating disc and the floating oil absorption arm collide by utilizing the attitude graph of the floating oil absorption arm device and the distance between the highest point and the floating disc in the motion process of the floating oil absorption arm, and the judging method is as follows:
when the floating oil suction arm moves, the distance L between the highest point and the floating disc is less than Lc，LcAnd if the safety limit distance between the floating disc and the highest point of the floating oil absorption arm is preset in the early warning system, the floating disc is judged to collide with the floating oil absorption arm in the descending process, and at the moment, the data processing module controls the alarm module to give an alarm, and closes the oil sending cut-off valve to stop sending oil, as shown in fig. 4.
Wherein, the highest point in the floating oil absorption arm movement process is determined by the attitude diagram of the floating oil absorption arm device.
Meanwhile, the time of collision between the floating disc and the floating oil absorption arm is predicted by using the change of the distance between the highest points in the movement process of the floating disc and the floating oil absorption arm.
In some embodiments, the distance between the floating plate and the tank bottom of the oil tank or the floating oil suction arm device at the installation position of each floating plate ultrasonic probe is calculated according to the following formula (4):
Li= c•△ti/2（4）
wherein: l is a radical of an alcoholiThe distance between a floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device, c is the wave speed of ultrasonic waves in oil products, and delta tiThe time difference between the transmission and reception of the ultrasonic signal for the ith floating-deck ultrasonic probe.
In some embodiments, the distance from the center of the float to the tank top is calculated according to the following equation (5):
H1= c1•△t1/2（5）
wherein: h1The distance between the center of the floating plate and the top of the tank, c1Is the wave velocity of the ultrasonic waves in air, Δ t1The time difference between the transmission and reception of the ultrasonic signal by the tank top ultrasonic probe.
In some embodiments, the time for the floating plate to collide with the floating oil absorption arm is calculated according to the following formula (6):
Figure 297401DEST_PATH_IMAGE001
（6）
wherein:
vj+1is tj+1The relative speed of the highest point in the movement process of the floating plate and the floating type oil absorption arm is kept;
Lj+1is tj+1The distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Ljis tjThe distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Tj+1is tj+1The time required for collision between the floating plate and the floating oil absorption arm.
According to the floating oil absorption arm anti-collision early warning system and the floating oil absorption arm movement posture obtained by the early warning method, the reason of collision accident between the floating disc and the floating oil absorption arm can be judged, and the method comprises the following steps:
(1) obtaining the projection of the floating oil absorption arm in an XZ plane according to the posture of the floating oil absorption arm, further obtaining the included angle between the upper floating arm and the lower floating arm, wherein if the included angle is constant all the time from a certain moment, a rotating shaft at the connection part of the middle rotating joint and the third elbow or the fourth elbow is possibly blocked; if the distance between the lower floating arm and the tank bottom is constant from a certain moment, a rotating shaft at the joint of the bottom rotary joint and the first elbow or the second elbow is possibly blocked;
(2) according to the motion state of the floating oil absorption arm, if the upper floating arm suddenly floats upwards, a large amount of gas exists at the upper floating arm; or the lower floating arm suddenly floats upwards to cause the upper floating arm and the lower floating arm to incline in the same direction, so that air can be fed through the air exhaust hole at the upper end of the lower floating arm;
(3) for the case (2), whether the installation mode of the floating oil absorption arm, the buoyancy configuration of the buoy and the installation position are reasonable can be further analyzed.
(4) If the descending speed of the upper and lower floating arms is suddenly increased and the postures of the upper and lower floating arms are different from the postures of the floating arms in the normal oil distribution process, the upper and lower floating arm buoys are separated from the floating arms or the floating disc buoys are damaged to feed oil.
(5) If the floating disc suddenly drops to cause that the distance between the floating disc and the highest point in the floating oil absorption arm movement process suddenly decreases, or when the early warning system normally works, the display result of the posture of the floating arm suddenly has obvious errors, the floating disc buoy is separated from the floating disc or damaged to feed oil, and the floating disc sinks or topples.
The method comprises the steps that the distance between a floating plate and a floating type oil absorption arm device is obtained by utilizing an ultrasonic ranging principle, and the real-time moving posture of the floating type oil absorption arm device is further obtained through analysis; whether the floating type oil absorption arm device collides with the floating plate or not is judged by presetting a safety limit value distance between the floating plate and the floating type oil absorption arm device and combining the movement posture of the floating type oil absorption arm device; meanwhile, the movement speed of the floating type oil absorption arm device is further calculated by utilizing the change of the real-time distance, the collision time of the floating type oil absorption arm device and the floating disc is predicted, and a time basis is provided for timely implementation of a related plan.
Wherein, the floating oil absorption arm and the floating plate bump cause to show: the distance between the highest point and the floating disc in the floating type oil absorption arm movement process caused by the clamping stagnation of the rotary joint, the air inlet of the floating type oil absorption arm or the unreasonable and variable buoyancy configuration of the floating drum is less than or equal to the preset safety distance, and the above conditions can be pre-warned by the device and the method.
The specific reasons are as follows:
1) because the rotating shaft connected with the first elbow 8 or the second elbow 9 and the bottom rotary joint 7 is blocked due to faults, the lower floating pipe 2 or the upper floating pipe 3 cannot normally rotate, and the distance between the top elbow 4 or the middle rotary joint 10 and the floating disc is smaller than or equal to the preset safety limit distance;
2) the floating oil suction arm is used for air suction, so that the upper floating pipe 3 quickly floats upwards, and the distance between the top elbow 4 and the floating disc is smaller than or equal to the preset safety limit distance;
3) due to the fact that the buoyancy configuration of the buoy 6 is unreasonable or the buoyancy configuration is changed due to the fact that the buoy 6 is damaged, the balance state of the lower floating pipe 2 or the upper floating pipe 3 is changed, and the distance between the top end elbow 4 or the middle rotary joint 10 and the floating disc is smaller than or equal to a preset safety limit distance;
the distance between the floating plate and the floating type oil absorption arm device can be accurately obtained by utilizing an ultrasonic ranging technology; by utilizing the distance value and combining with a computer graphic technology, the real-time motion posture of the floating oil absorption arm device can be monitored, and whether the posture of the floating oil absorption arm device is normal or not is judged; by setting a distance safety limit value and combining the posture of the floating type oil absorption arm device, whether the floating type oil absorption arm device collides with the floating disc or not can be predicted, and an alarm is given; through the change of the real-time distance between the floating type oil absorption arm device and the floating disc, the movement time of the floating type oil absorption arm device can be predicted, and a time basis is provided for timely implementation of related plans.
It is to be understood that the above embodiments are merely exemplary embodiments that are employed to illustrate the principles of the present disclosure, and that the present disclosure is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the disclosure, and these are to be considered as the scope of the disclosure.

Claims (10)

1. The floating type oil absorption arm anti-collision early warning system is characterized by comprising at least one floating type oil absorption arm device and an early warning device, wherein the floating type oil absorption arm device comprises an oil sending pipe, a bottom rotary joint, a lower floating pipe, a middle rotary joint, an upper floating pipe, a top end elbow and a plurality of floating bowls, and the oil sending pipe is provided with an oil sending cut-off valve; the early warning device comprises an ultrasonic ranging module, a data processing module, a display module and an alarm module, wherein the ultrasonic ranging module comprises a plurality of floating plate ultrasonic probes arranged at the bottom of a floating plate and a tank top ultrasonic probe arranged at the center of the inner side of an oil tank vault; wherein the content of the first and second substances,
the lower end of the lower floating pipe is connected with the oil distribution pipe through the bottom rotary joint, and the lower floating pipe can swing around the bottom rotary joint; the upper end of the lower floating pipe is connected with the lower end of the upper floating pipe through the middle rotary joint, and the upper floating pipe can swing around the middle rotary joint; the upper end of the upper floating pipe is connected with the top end elbow, and the top end elbow is connected with a floating plate of the oil tank; the upper floating pipe and the lower floating pipe are both fixedly provided with a plurality of buoys so as to ensure that the upper floating arm and the lower floating arm can be suspended in oil;
the ultrasonic ranging module is in communication connection with the data processing module, and the data processing module is in communication connection with the display module and the alarm module respectively;
the data processing module is used for receiving the measurement data of the floating disc ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between each measurement point of the floating disc and the floating oil absorption device;
the data processing module is used for receiving the measurement data of the tank top ultrasonic probe, storing and analyzing the measurement data, and calculating to obtain the real-time distance between the center of the tank top and the center of the floating plate;
the display module is used for displaying the real-time data calculated by the data processing module;
and the alarm module is used for audible and visual alarm.
2. The floating oil absorption arm anti-collision early warning system as claimed in claim 1, wherein a first elbow is arranged at the end of the oil delivery pipe, a second elbow is arranged at the lower end of the lower floating pipe, and the first elbow and the second elbow are connected through the bottom rotary joint.
3. The floating oil absorption arm anti-collision early warning system as claimed in claim 1, wherein a third elbow is provided at the upper end of the lower floating pipe, a fourth elbow is provided at the lower end of the upper floating pipe, and the third elbow and the fourth elbow are connected through the intermediate rotary joint.
4. The floating type oil absorption arm anti-collision early warning system as claimed in any one of claims 1 to 3, wherein the floating disc ultrasonic probe adopts explosion-proof treatment and is distributed in a rectangular array or an annular array at the bottom of the floating disc.
5. The floating oil absorption arm anti-collision warning system as claimed in any one of claims 1 to 3, wherein the floating oil absorption arm anti-collision warning system comprises two floating oil absorption arm devices, and the two floating oil absorption arm devices are symmetrically arranged.
6. A floating type oil absorption arm anti-collision early warning method is characterized in that the floating type oil absorption arm anti-collision early warning system of any one of claims 1 to 5 is adopted, and the method comprises the following steps:
the plurality of floating plate ultrasonic probes transmit ultrasonic signals to the bottom of the oil tank and receive reflected ultrasonic signals; the data processing module calculates the distance between the floating plate at the installation position of each floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device according to the time difference between the transmitted ultrasonic signal and the received ultrasonic signal;
the tank top ultrasonic probe transmits ultrasonic signals to the bottom direction of the oil tank and receives reflected ultrasonic signals; the data processing module calculates the distance between the center of the floating plate and the tank top according to the time difference between the transmitted ultrasonic signal and the received ultrasonic signal;
the data processing module calculates the distance between the center of the floating plate and the center of the bottom of the tank according to the distance between the center of the floating plate and the top of the tank;
the data processing module calculates the distance between each floating disc ultrasonic probe and the tank bottom according to the distance between the center of the floating disc and the center of the tank bottom, the horizontal distance between each floating disc ultrasonic probe and the center of the floating disc and the slope angle of the tank bottom;
the data processing module calculates and obtains the distance between the floating oil absorption arm device below each floating disc ultrasonic probe and the tank bottom according to the distance between each floating disc ultrasonic probe and the tank bottom and the distance between the floating disc at the installation position of each floating disc ultrasonic probe and the tank bottom of the oil tank or the distance between the floating oil absorption arm device below each floating disc ultrasonic probe and the tank bottom;
projecting the floating plate ultrasonic probe and the floating oil absorption arm device to a horizontal plane passing through the center of the tank bottom, and determining the horizontal projection position of the floating plate ultrasonic probe by taking the center of the tank bottom as a circle center;
the data processing module correlates the distance between the floating type oil absorption arm device below the floating disc ultrasonic probe and the tank bottom with the horizontal projection position of the floating disc ultrasonic probe to obtain a relation graph of the horizontal projection position of the floating type oil absorption arm device and the distance between the floating type oil absorption arm device and the tank bottom, wherein the relation graph is an attitude graph of the floating type oil absorption arm device at a certain moment in the oil distribution process so as to realize real-time monitoring of the movement process of the floating type oil absorption arm and display the attitude graph of the floating type oil absorption arm device in the display module;
the data processing module judges whether the floating disc and the floating oil absorption arm collide or not by utilizing the attitude graph of the floating oil absorption arm device and the distance between the highest point and the floating disc in the motion process of the floating oil absorption arm.
7. The method of claim 6, wherein the determining whether the floating plate collides with the floating oil suction arm by using the attitude map of the floating oil suction arm device and the distance between the highest point and the floating plate during the movement of the floating oil suction arm comprises:
when the distance between the highest point and the floating disc in the moving process of the floating oil absorption arm is smaller than the preset safety limit distance, the floating disc is judged to collide with the floating oil absorption arm in the descending process, and the data processing module controls the alarm module to give an alarm and closes the oil sending cut-off valve to stop oil sending;
predicting the time of collision between the floating disc and the floating oil absorption arm by using the change of the distance between the floating disc and the highest point in the process of moving the floating disc and the floating oil absorption arm;
wherein, the highest point in the floating oil absorption arm movement process is determined by the attitude diagram of the floating oil absorption arm device.
8. The method of claim 6,
calculating the distance between the center of the floating disc and the center of the bottom of the tank according to the following formula (1):
Hc=H0- H1（1）
wherein: hcThe distance between the center of the floating plate and the center of the bottom of the tank, H0Is the actual height of the center of the top of the tank and the center of the bottom of the tank, H1The distance between the center of the floating plate and the top of the tank is shown;
or, calculating the distance between each floating plate ultrasonic probe and the tank bottom according to the following formula (2):
Hi=Hc-li •tanθ（2）
wherein: hiThe distance between the ultrasonic probe of the ith floating plate and the bottom of the tank is liThe horizontal distance between the ith floating plate ultrasonic probe and the center of the floating plate is shown, and theta is a tank bottom slope angle;
or, calculating the distance between the floating type oil absorption arm device below each floating disc ultrasonic probe and the tank bottom according to the following formula (3):
Ji=Hi-Li（3）
wherein: j. the design is a squareiThe distance between a floating type oil absorption arm device below the ith floating plate ultrasonic probe and the tank bottom, LiThe distance between the floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device is shown.
9. The method of claim 6,
and (3) calculating the distance between the floating plate at the installation position of each floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device according to the following formula (4):
Li= c•△ti/2（4）
wherein: l isiThe distance between a floating plate at the installation position of the ith floating plate ultrasonic probe and the bottom of the oil tank or the floating oil absorption arm device, c is the wave speed of ultrasonic waves in oil products, and delta tiThe time difference of transmitting and receiving ultrasonic signals for the ith floating plate ultrasonic probe;
or, calculating the distance between the center of the floating plate and the tank top according to the following formula (5):
H1= c1•△t1/2（5）
wherein: h1The distance between the center of the floating plate and the top of the tank, c1Is the wave velocity of the ultrasonic waves in air, Δ t1The time difference between the transmission and reception of the ultrasonic signal by the tank top ultrasonic probe.
10. The method of claim 7, wherein the time for the floating plate to collide with the floating oil suction arm is calculated according to the following equation (6):
Figure DEST_PATH_IMAGE001
（6）
wherein:
vj+1is tj+1The relative speed of the highest point in the movement process of the floating plate and the floating type oil absorption arm is kept;
Lj+1is tj+1The distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Ljis tjThe distance between the floating disc and the highest point in the floating type oil absorption arm movement process at any moment;
Tj+1is tj+1The time required for collision between the floating plate and the floating oil absorption arm.
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