CN115818552A - Full-automatic intelligent loading crane pipe of a key formula and control system thereof - Google Patents
Full-automatic intelligent loading crane pipe of a key formula and control system thereof Download PDFInfo
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- CN115818552A CN115818552A CN202211555746.XA CN202211555746A CN115818552A CN 115818552 A CN115818552 A CN 115818552A CN 202211555746 A CN202211555746 A CN 202211555746A CN 115818552 A CN115818552 A CN 115818552A
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- 210000001503 joint Anatomy 0.000 claims abstract description 12
- 239000007791 liquid phase Substances 0.000 claims description 56
- 239000007792 gaseous phase Substances 0.000 claims description 29
- 239000012071 phase Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 229910000639 Spring steel Inorganic materials 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 12
- 239000012530 fluid Substances 0.000 abstract description 6
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Abstract
The invention relates to the technical field of fluid loading and unloading, in particular to a one-key full-automatic intelligent loading crane pipe and a control system thereof. The one-key full-automatic intelligent loading crane pipe and the control system thereof can automatically operate, automatically identify and butt joint the fluid loading crane pipe for automatic loading, only need to be started by one key after a vehicle reaches a designated position, the whole loading crane pipe automatically operates to a tank car butt flange to automatically butt joint and clamp a vehicle flange, the whole process of automatic metering and loading is finished, and a loading arm can be automatically withdrawn after loading is finished, so that the operation is very simple and convenient; the whole operation process does not need manual intervention, the operation cost can be effectively reduced, and the safety in the operation process is improved.
Description
Technical Field
The invention relates to the technical field of fluid loading and unloading, in particular to a one-key full-automatic intelligent loading crane pipe and a control system thereof.
Background
At present, fluid loading and unloading operation at home and abroad is in an operation mode of traditional manual traction, the repeatability of the whole operation process is high, the manual operation is inevitably capable of generating fatigue under the long-time repeated operation mode to cause potential safety hazards caused by misoperation, and the traditional loading and unloading mode is inevitably replaced along with the development of times and the increase of labor cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problems existing in the background technology, the improved one-key type full-automatic intelligent loading crane pipe and the control system thereof are provided, and the problems of low efficiency, high cost and poor safety of the traditional manual operation are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a full-automatic intelligent loading crane pipe of a key formula and control system thereof, includes that stand, the automatic inner arm of gaseous phase, the automatic outer arm of gaseous phase, the automatic pipe that hangs down of gaseous phase, the automatic inner arm of liquid phase, the automatic outer arm of liquid phase, the automatic pipe that hangs down of liquid phase, industrial camera, full-automatic quick-operation joint, degree of depth camera, servo control system and automatic trip valve that are connected with industrial computer signal receiving end electricity, the automatic inner arm of gaseous phase and the automatic inner arm of liquid phase are through first rotary joint and stand movable assembly, respectively through the second rotary joint movable assembly of externally mounted servo control system between the automatic inner arm of gaseous phase, the automatic outer arm of gaseous phase and the automatic pipe that hangs down of gaseous phase, automatic trip valve is fixed respectively on the assembly joint in the automatic outer arm of gaseous phase, the automatic outer arm of liquid phase outside, industrial camera passes through side direction support fixed mounting in the stand outside, the degree of depth camera is fixed respectively on the automatic pipe that hangs down of gaseous phase and the automatic pipe top of liquid phase that hangs down.
The side wall of the upper surface of the gas-phase automatic inner arm is provided with an integrated structure upper reinforcing rib.
And lateral overturning assembly brackets are arranged on the outer lateral surfaces of the second rotating joint and the third rotating joint.
And spring steel balancing devices for improving the overturning stability are movably assembled between the lateral overturning assembly brackets of the second rotating joint and the third rotating joint.
And guide connecting rods are movably assembled on the outer sides of the second rotating joint and the third rotating joint.
The whole control system consists of a session layer, a main control layer and a physical layer, wherein the session layer comprises an external controller and a console;
the main control layer consists of an industrial personal computer which is respectively in communication connection with an external controller, a console, a servo control system, an industrial camera, a full-automatic quick connector and a depth camera;
the physical layer consists of a loading arm, a depth camera and an industrial camera;
the full-automatic loading crane pipe is defaulted to be folded, the vertical pipe is in a homing state close to the upright post, the parking position of the vehicle is captured through the lens of the industrial camera, the lens image is transmitted to the inside of the industrial personal computer, the internal system carries out a target identification algorithm for identifying the position of the vehicle relative to the crane pipe upright post, after the parking position of the vehicle is identified through visual detection, based on the machine vision technology, the image in front of the lens of the industrial camera is obtained to the corresponding pipe orifice position on the tank car, the primary positioning coordinate of the image capture is automatically calculated through the target positioning algorithm of the internal program of the industrial personal computer, then the path planning algorithm is carried out through the program designed in the industrial personal computer system, the calculated result generates a motion track, the program of the motion track is connected to the servo control systems on the inner arm and the outer arm through RS458 bus communication, and the servo control system consists of a servo driver, a servo motor and a speed reducer, the servo control system starts to run according to a program, at the moment, the liquid phase automatic outer arm, the liquid phase automatic inner arm and the liquid phase automatic vertical pipe all move to a tank car flange along with the system control, the liquid phase automatic outer arm is quickly close to the tank car flange, an industrial personal computer internal system automatically switches and accurately positions, a depth camera carries out depth acquisition on the position of a vehicle flange opening, then image information is converted into a data source to obtain a specific numerical value, an industrial camera lens acquires an image of a complete pipe opening at a short distance and carries out circle fitting program verification on the pipe opening in the industrial personal computer system, then pipe opening three-dimensional reconstruction is carried out through the industrial personal computer internal system, flange opening pose recognition and detection are carried out, then a motion track is generated through path planning of the system internal program as above, and a servo drive system is added to realize motion control to realize accurate butt joint, the liquid phase of the oil filling riser automatically hangs down the pipe and begins to be close to the tank wagon mouth of pipe slowly, the full-automatic quick-operation joint of loading oil filling riser is laminated completely with the vehicle flange, arrive the assigned position promptly, the clamping jaw on the joint passes through the automatic closed loading of preparing of pneumatic motor transmission, treat that the whole back that finishes of butt joint of gas-liquid phase arm, automatic trip valve begins the operation loading operation on the switch-on loading oil filling riser through the signal source on the industrial computer, after the loading finishes, automatic trip valve self-closing, full-automatic quick-operation joint is automatic to be opened, full-automatic loading arm seeks initial position automatically and waits to connect the car next time.
The beneficial effects of the invention are:
(1) The one-key full-automatic intelligent loading crane pipe and the control system thereof can automatically run, automatically identify and butt joint the fluid loading crane pipe for automatic loading, only needs to be started by one key after a vehicle reaches a designated position, the whole loading crane pipe automatically runs to a tank car butt joint flange, the vehicle flange is automatically butted and clamped, the whole process of automatic metering and loading is finished, the loading arm can be automatically retracted after the loading is finished, and the operation is very simple and convenient;
(2) The whole operation process does not need manual intervention, so that the operation cost can be effectively reduced, and the safety in the operation process is improved;
(3) The near-distance and the far-distance are respectively used for positioning through the depth camera and the industrial camera, so that the butt joint precision can be greatly improved, and the loading efficiency is improved;
(4) The oil filling riser adopts the end dress both arms structural style, and both arms divide into liquid phase automatic arm and gaseous automatic arm, and liquid phase automatic arm comprises automatic pipe that hangs down of liquid phase, the automatic outer arm of liquid phase and the automatic inner arm of liquid phase, and gaseous automatic arm structural style is the same with liquid phase automatic arm, and such structural style is more nimble and convenient control in the operation process.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side schematic view of the present invention.
Fig. 3 is a schematic diagram of the electrical control logic of the present invention.
Fig. 4 is a schematic diagram of a control system in the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1, a full-automatic intelligent loading oil filling riser and control system that a key formula is shown in fig. 2 and fig. 3, including stand 1, gaseous phase automatic inner arm 2, gaseous phase automatic outer arm 3, gaseous phase automatic pipe 4 that hangs down, liquid phase automatic inner arm 5, liquid phase automatic outer arm 6, liquid phase automatic pipe 7 that hangs down, industrial camera 8 that is connected with industrial computer signal receiving terminal electricity, full-automatic quick-operation joint 9, the degree of depth camera 10, servo control system 11 and automatic shut-off valve 12, gaseous phase automatic inner arm 2 and liquid phase automatic inner arm 5 are through first rotary joint 13 and stand 1 movable assembly, gaseous phase automatic inner arm 2, gaseous phase automatic outer arm 3 and gaseous phase automatic pipe 4 are respectively through the second rotary joint 14 movable assembly of externally mounted servo control system 11, liquid phase automatic inner arm 5, liquid phase automatic outer arm 6 and liquid phase automatic pipe 7 are respectively through the third rotary joint 15 movable assembly of externally mounted servo control system 11 between the external mounting servo control system 11, servo control system 11 controls vertical and horizontal upset respectively, automatic shut-off valve 12 is fixed respectively at gaseous phase automatic outer arm 3, the liquid phase automatic outer arm 6 and the liquid phase automatic pipe 6 and the external side direction mount respectively on the industrial camera mount the top of vertical pipe 7, the vertical pipe 4 and the external vertical pipe 7 through gaseous phase automatic vertical pipe 4 respectively, the automatic vertical pipe of the external side direction mount respectively through gaseous phase automatic vertical pipe of the automatic quick-operation joint 10, the automatic vertical pipe of gaseous phase automatic vertical pipe 7, the external vertical pipe of the automatic vertical pipe 7.
The gas phase automatic inner arm 2 is provided with an integral structure upper reinforcing rib 16 on the side wall of the upper surface.
The second rotary joint 14 and the third rotary joint 15 each have a laterally upturned mounting bracket 17 on the outside face.
A spring steel balancing device 18 for improving the overturning stability is movably assembled between the lateral overturning assembly brackets 17 of the second rotating joint 14 and the third rotating joint 15. The spring steel counterbalance device 18 is prior art and is commercially available. The balance of the gas phase automatic outer arm 3 and the liquid phase automatic outer arm 6 is maintained by the pulling force of the inner spring.
The guide link 19 is movably mounted outside the second rotary joint 14 and the third rotary joint 15.
As shown in fig. 3 and 4, the whole control system is composed of a session layer, a main control layer and a physical layer, wherein the session layer comprises an external controller and a console;
the main control layer is composed of an industrial personal computer which is respectively in communication connection with an external controller, a console, a servo control system 11, an industrial camera 8, a full-automatic quick connector 9 and a depth camera 10;
the physical layer consists of a loading arm, a depth camera 10 and an industrial camera 8;
one-key type full-automatic intelligent loading crane pipe working principle:
the tank car runs to the parking line of the loading and unloading area, a driver presses a start button of an external controller on an operation column of the parking area by one key, a full-automatic loading crane tube defaults to an initial position, the crane tube is folded, a vertical tube is in a homing state close to an upright post 1, an industrial camera 8 designed on the upright post captures the parking position of the car through a lens of the industrial camera 8, the industrial camera 8 is connected to a designed industrial personal computer (the industrial personal computer: equivalent to a host computer) through a data line, the image of the lens is transmitted into the industrial personal computer, an internal system carries out a target recognition algorithm for recognizing the position of the car relative to the upright post 1 of the crane tube, after the parking position of the car is recognized through visual detection, the corresponding distance is automatically calculated through a target positioning algorithm of an internal program of the industrial personal computer based on a machine visual technology (the machine visual technology: the image processing, acquisition and analysis and data calculation technology) before the lens of the industrial camera 8, the corresponding pipe orifice position on the tank car is obtained, the image capturing and positioning coordinates of the image, a path is automatically calculated through a path planning algorithm through the program designed in the internal of the industrial personal computer, and the calculated result generates a motion track (motion track: similar to a PLC program, the program moves downwards step by step), the program of the motion trail is in communication connection with a servo control system 11 on the inner arm and the outer arm through an industrial personal computer RS458 bus, the servo control system 11 is composed of a servo driver, a servo motor and a speed reducer, the servo control system 11 starts to operate according to the program, the motor slightly rotates due to the fact that the length of the inner arm and the outer arm is 1.5-1.9 meters, the arm can swing greatly, secondary gears are designed on the arm to reduce speed, motion control of unfolding and folding the arm is achieved, at the moment, the liquid phase automatic outer arm 6, the liquid phase automatic inner arm 5 and the liquid phase automatic vertical pipe 7 all move to a tank car flange along with the system control, the industrial personal computer is automatically switched and accurately positioned at the position where the liquid phase automatic outer arm 6 is close to the tank car flange, a depth camera carries out depth acquisition on the position of a vehicle flange opening, the depth camera is similar to a sensor, the repeated positioning accuracy reaches 0.05mm and 320 ten thousand pixels, a previous lens image is transmitted to the inside of the industrial personal computer by using a data line, and image information is converted into a data source, and a specific numerical value is obtained. The industrial camera 8 lens obtains images of a complete pipe orifice at a short distance, carries out verification of a circle fitting program on the pipe orifice through an internal program of an industrial personal computer system, then carries out three-dimensional reconstruction of the pipe orifice through the internal system of the industrial personal computer, carries out identification and detection of the pose of a flange orifice, generates a motion track through path planning of the internal program of the system like the above, and adds a servo driving system 11 to realize motion control to realize accurate butt joint, a liquid-phase automatic vertical pipe 7 of a loading arm slowly approaches to the pipe orifice of a tank car, the full-automatic quick joint of the loading arm is completely attached to a vehicle flange, namely, the vehicle flange reaches a specified position, a clamping jaw on the joint is automatically closed through a pneumatic motor transmission device to prepare loading, the pneumatic motor transmission device consists of a pneumatic motor, a gear, a rack and a worm, the clamping jaw and the pneumatic motor transmission device form a full-automatic quick joint 9, the device is driven through air source pressure of 1Mpa, the gas-phase automatic arm has the same working principle as that of the liquid-phase automatic arm, after all gas-liquid-phase arms are completely butted, the gas-liquid-phase arms are completely, the automatic quick joint, the loading arm is connected on the loading pipe, the loading arm, the loading operation is started to operate, loading operation of loading operation on the loading arm, and the full-automatic quick joint is automatically searched position of the loading arm, and the loading arm, after the loading arm, and the loading arm is automatically waits for the loading operation of the loading arm, and the loading arm, after the loading arm, and the loading operation of the loading station is automatically.
The servo control system 11, the industrial camera 8, the fully automatic quick connector 9 and the depth camera 10 are all prior art and are obtained by market purchase.
The one-key full-automatic intelligent loading crane pipe and the control system thereof can automatically run, automatically identify and butt joint the fluid loading crane pipe for automatic loading, only needs to be started by one key after a vehicle reaches a designated position, the whole loading crane pipe automatically runs to a tank car butt joint flange, the vehicle flange is automatically butted and clamped, the whole process of automatic metering and loading is finished, the loading arm can be automatically retracted after the loading is finished, and the operation is very simple and convenient; the whole operation process does not need manual intervention, so that the operation cost can be effectively reduced, and the safety in the operation process is improved; the oil filling riser adopts a bottom-mounted double-arm structural form, the double arms are divided into a liquid-phase automatic arm and a gas-phase automatic arm, the liquid-phase automatic arm consists of a liquid-phase automatic vertical pipe 7, a liquid-phase automatic outer arm 6 and a liquid-phase automatic inner arm 5, the gas-phase automatic arm structural form is the same as that of the liquid-phase automatic arm, and the structural form is more flexible and convenient to control in the operation process; an industrial camera is designed on an oil filling riser upright post, a vehicle parking position is captured through an industrial camera lens, the industrial camera lens is connected to a designed industrial personal computer through a data line, a lens image is transmitted into the industrial personal computer, and an internal system carries out a target recognition algorithm for recognizing the relative position of a vehicle; automatic guidance: the automatic guidance is realized by combining a path planning algorithm with servo drive control on an automatic loading arm through a designed internal program of an industrial personal computer system; accurate positioning: the tank car interface flange is scanned and identified by using a depth camera 10 designed on an automatic vertical pipe, and the depth camera 10 performs depth analysis on the position and distance of a vehicle flange opening, acquires data and converts the data into data source and image information. The industrial camera 8 acquires an image of a complete pipe orifice at a short distance, performs circle fitting on the pipe orifice, performs three-dimensional reconstruction on the pipe orifice through an internal system of the industrial personal computer, and performs identification and detection on the pose of the flange orifice; automatic butt joint: designing a full-automatic quick connector on a vertical pipe, enabling a crane pipe to run to the connector to be attached to a tank car flange, and automatically closing a clamping jaw on the connector to prepare for loading; automatic loading: an automatic cut-off valve is additionally arranged on the outer arm of the crane pipe, and automatic control is realized by combining a system; the vehicle receiving safety is as follows: an emergency breaking device (breaking valve) is designed on the vertical pipe, and the tank car can be broken and separated in an emergency state, so that the safety of vehicles and equipment is guaranteed.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. The utility model provides a full-automatic intelligent loading oil filling riser of a key formula, includes stand (1), the automatic inner arm of gaseous phase (2), the automatic outer arm of gaseous phase (3), the automatic pipe that hangs down of gaseous phase (4), the automatic inner arm of liquid phase (5), the automatic outer arm of liquid phase (6), the automatic pipe that hangs down of liquid phase (7), industrial camera (8) of being connected with industrial computer signal receiving terminal electricity, full-automatic quick-operation joint (9), degree of depth camera (10), servo control system (11) and automatic cutout valve (12), characterized by: automatic inner boom (2) of gaseous phase and the automatic inner boom (5) of liquid phase are through first rotary joint (13) and stand (1) activity assembly, the automatic inner boom (2) of gaseous phase, the automatic outer boom (3) of gaseous phase and the automatic second rotary joint (14) activity assembly that hangs down between pipe (4) through externally mounted servo control system (11) respectively, the automatic inner boom (5) of liquid phase, the automatic outer boom (6) of liquid phase and the automatic third rotary joint (15) activity assembly that hangs down between pipe (7) through externally mounted servo control system (11) respectively, automatic trip valve (12) are fixed respectively on assembly joint (166) in the automatic outer boom (3) of gaseous phase, the automatic outer boom (6) of liquid phase outside, industry camera (8) are through side direction support fixed mounting in the stand (1) outside, degree of depth camera (10) are fixed respectively and are installed on the automatic pipe (4) that hangs down of gaseous phase and the automatic pipe (7) lateral wall that hangs down of liquid phase through outside assembly seat, full-automatic quick-operation joint (9) are installed respectively and are hung down on the automatic pipe (4) of gaseous phase and the automatic pipe (7) top end that hangs down.
2. The one-key full-automatic intelligent loading crane pipe as claimed in claim 1, wherein: the side wall of the upper surface of the gas-phase automatic inner arm (2) is provided with an integrated structure upper reinforcing rib (16).
3. The one-button full-automatic intelligent loading crane pipe as claimed in claim 1, which is characterized in that: and lateral overturning assembly brackets (17) are arranged on the outer lateral surfaces of the second rotating joint (14) and the third rotating joint (15).
4. The one-button full-automatic intelligent loading crane pipe as claimed in claim 3, wherein: and spring steel balancing devices (18) for improving the overturning stability are movably assembled between the lateral overturning assembly brackets (17) of the second rotating joint (14) and the third rotating joint (15).
5. The one-button full-automatic intelligent loading crane pipe as claimed in claim 1, which is characterized in that: and guide connecting rods (19) are movably assembled outside the second rotating joint (14) and the third rotating joint (15).
6. The utility model provides a control system based on full-automatic intelligent loading oil filling riser of a key formula, characterized by: the whole control system consists of a session layer, a main control layer and a physical layer, wherein the session layer comprises an external controller and a console;
the main control layer consists of an industrial personal computer which is respectively in communication connection with an external controller, a console, a servo control system (11), an industrial camera (8), a full-automatic quick joint (9) and a depth camera (10);
the physical layer consists of a loading arm, a depth camera (10) and an industrial camera (8);
the full-automatic loading crane pipe is defaulted to be folded, the vertical pipe is in a homing state close to the upright post, the parking position of a vehicle is captured through a lens of an industrial camera (8), a lens image is transmitted into an industrial personal computer, an internal system carries out a target identification algorithm for identifying the position of the vehicle relative to the crane pipe upright post, after the parking position of the vehicle is identified through visual detection, based on a machine vision technology, the image in front of the lens of the industrial camera (8) is obtained to the corresponding pipe orifice position on the tank car, the primary positioning coordinate of the image capture is automatically calculated through the target positioning algorithm of an internal program of the industrial personal computer, then a path planning algorithm is carried out through a program designed in the industrial personal computer system, the calculated result generates a motion track, and the program of the motion track is connected to a servo control system (11) on the inner arm and the outer arm through RS458 bus communication of the industrial personal computer, the servo control system (11) is composed of a servo driver, a servo motor and a speed reducer, the servo control system starts to operate according to a program, at the moment, the liquid phase automatic outer arm (6), the liquid phase automatic inner arm (5) and the liquid phase automatic vertical pipe (7) all move to a tank car flange along with the system control, the liquid phase automatic outer arm (6) is quickly close to the position of the tank car flange and an internal system of an industrial personal computer automatically switches and accurately positions, a depth camera carries out depth acquisition on the position of a vehicle flange opening, then image information is converted into a data source to obtain a specific numerical value, a lens of an industrial camera (8) obtains an image of a complete pipe opening at a short distance and carries out round fitting program verification on the pipe opening in the internal program of the industrial personal computer system, and then carries out three-dimensional reconstruction on the pipe opening through the internal system of the industrial personal computer, and identifying and detecting the pose of a flange opening, generating a motion track through path planning of a system internal program like the above, adding a servo driving system to realize motion control to realize accurate butt joint, enabling a liquid-phase automatic vertical pipe of a loading arm to slowly approach to the pipe opening of a tank car, completely attaching a full-automatic quick connector of the loading arm to a vehicle flange, namely reaching an appointed position, automatically closing a clamping jaw on the connector through a pneumatic motor transmission device to prepare loading, starting to operate a loading operation through switching on an automatic cut-off valve on the loading arm by a signal source on an industrial personal computer after all gas-liquid phase arms are completely butted, automatically closing the automatic cut-off valve after the loading is finished, automatically opening the full-automatic quick connector, and automatically searching the initial position of the full-automatic loading arm to wait for next vehicle receiving.
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| CN202211555746.XA CN115818552A (en) | 2022-12-06 | 2022-12-06 | Full-automatic intelligent loading crane pipe of a key formula and control system thereof |
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Cited By (2)
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| CN117602396A (en) * | 2023-11-29 | 2024-02-27 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
| CN118305576A (en) * | 2024-06-06 | 2024-07-09 | 中海石油气电集团有限责任公司 | Automatic docking system and method for ultra-low temperature fluid delivery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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