Key Technology Research Of Vertical Storage Tank Sidewall Lance Based On AR Technology

Oil reserves are the most direct and effective means to stabilize supply and demand,suppress oil prices and respond to emergencies,and are the core measure to ensure national energy security.Oil reserves can not be separated from large storage tanks,but storage tanks in the long-term storage of oil products will produce sludge,sludge will damage the quality of oil products,corrosion of the storage tank body and accessories,it needs to be cleaned regularly.However,the current cleaning system used in the domestic internal floating roof tank cleaning market has problems such as difficult transportation,difficult operation and complex design,so it is important to improve the efficiency of cleaning operations and simplify cleaning equipment for the storage tank cleaning market.The paper designs a four-degree-of-freedom sidewall lance for the cleaning environment of 3000 m~3 and below product oil internal floating roof tanks,analyzes its kinematics and dynamics,and introduces augmented reality technology into the sidewall lance cleaning system,which can accurately monitor the sidewall lance motion attitude and cleaning trajectory,and improve the safety of cleaning operations.The following research has been done in the paper:1.The general scheme of human-computer interaction system of vertical storage tank sidewall lance based on AR technology.Explain the characteristics of vertical storage tank sidewall lance cleaning environment,analyze the design requirements of the sidewall lance human-computer interaction system,on the basis of which to complete the design of the system hardware and software structure.At the same time,based on the principle of water jet operation,analysis and selection of the parameters of the gun water jet.2.Sidewall gun design and kinematic simulation study.For the cleaning operation environment of 3000 m~3 and below,the four-degree of freedom sidewall lance installed in the sidewall manhole of the internal floating roof tank is designed as a three-dimensional model;according to the explosion-proof level requirements of the storage tank,each joint is hydraulically driven,and its main force parts are driven by hydraulic cylinders;its kinematics are simulated by Matlab software,and the nozzle trajectory is designed by Jacobi matrix calculation;the finite element calculation of the main force parts is performed;Finite element analysis of the main force components to ensure the service life of the component,based on this perfect sidewall gun structure design.3.Dynamics simulation analysis of the sidewall gun.For Matlab software kinematic simulation,in Adams software for the sidewall gun components based on the real force and drive,analysis of the sidewall gun in different states when the direction,velocity and acceleration,verify the accuracy of its motion trajectory,through the two mutual verification of the way to complete the design of the sidewall gun model structure.4.Build the human-computer interaction system based on AR technology.The overall architecture of the human-computer interaction system was built in Windows using Unity 3D software to realize the development of modules such as login,user management,parameter setting and data management.Convert and model the 3D model designed by Solid Works through 3D max and import it into Unity 3D to complete the interface construction.Use VisioStudio2019 software to write the underlying program of the human-computer interaction system,through the human-computer interaction interface real-time display of the inside of the storage tank sidewall gun cleaning operation.At the same time,by presetting the oil and gas concentration alarm value and comparing the feedback value of the lance sensor,the safety alarm of oil and gas concentration inside the storage tank is realized to ensure the safety of operation.