Abstract

The present invention relates to the technical field of LNG cold energy power generation. Disclosed is an overpressure gas condensation recovery device based on an LNG cold energy power generation system, comprising: a tank body; and a condensation cavity arranged at the bottom of the tank body, LNG condensate being stored in the condensation cavity and used for condensing BOG gas, wherein the condensation cavity comprises a vertical hollow pipe mounted in the tank body, and a connecting mechanism is arranged at the bottom of the vertical hollow pipe. The shape and position design of the vertical hollow pipe enables gas to be in initial contact with the condensate in the flowing process of the gas in the vertical hollow pipe; due to a pressure difference, gas at the inlet can continuously enter the vertical hollow pipe, and after entering a conical pipe, the gas is distributed along the cavity shape of the conical pipe and spreads downwards, so that the contact time between the gas and the condensate is increased without expanding the diffusion area of the gas after entering the condensate, allowing for full utilization of the condensate in a limited volume condensation cavity.

IPC Classes  ?

• F28B 7/00 - Combinations of two or more condensers, e.g. provision of reserve condenser

Abstract

The present invention relates to the technical field of spherical tank volume calibration, and provides a volume measurement device for a spherical tank and a measurement method thereof. The present invention comprises a base, four supporting rods, a driving mechanism, a rotating disc and a counterweight mechanism; a circular first fixed seat is fixedly arranged on the base; a first through hole is formed in the base; a second through hole is formed in the first fixed seat; the four supporting rods are arranged on the first fixed seat in the circumferential direction; sliding rods are slidably arranged on the lower side surfaces of the supporting rods, and limiting plates are arranged at the outer ends of the sliding rods; the driving mechanism can make the four sliding rods move in a radial direction at the same time; the rotating disc is arranged on the first fixed seat; a third through hole is formed in the rotating disc; a winding drum is rotatably arranged on the rotating disc, and a steel tape is wound on the winding drum; a balance disc is arranged at a free end of the steel tape; laser range finders are arranged on the two opposite sides of the balance disc; and the counterweight mechanism can keep the balance disc relatively stable. According to the present invention, the equatorial inner diameter can be measured by using laser range finders without manually entering a spherical tank, so that the safety and reliability are achieved.

IPC Classes  ?

• G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies

Abstract

A condensation-recovery device for overpressure gas based on liquefied natural gas (LNG) cold energy, including a tank body and a condensation cavity provided on a bottom thereof. LNG is stored in the condensation cavity to condense boil-off gas (BOG). The condensation cavity includes a vertical hollow tube arranged in the tank body, and an engagement mechanism is provided on a bottom of the vertical hollow tube. The vertical hollow tube is configured such that the gas can experience preliminary contact with the LNG when flowing therein, and the gas will continuously enter the vertical hollow tube under the action of pressure difference. After entering the conical tube, the gas will be distributed along the cavity of the conical tube to spread downward, so as to increase a contact time of the gas and the LNG while avoiding expanding diffusion area of the gas after entering the LNG.

IPC Classes  ?

• F17C 9/04 - Recovery of thermal energy

Abstract

A device for measuring volume of spherical tanks, includes a base, four supporting rods, a driving mechanism, a rotating disc and a counterweight mechanism. The base is provided with a first through hole and a circular fixing base with a second through hole. The supporting rods are circumferentially provided on the fixing base, with a sliding rod slidably provided at the lower side. An outer end of the sliding rod is provided with a limiting plate. The driving mechanism can drive the sliding rods to move simultaneously in radial directions. The rotating disc with a third through hole is arranged on the fixing base, and is rotatably provided with a reel around which a steel tape is wound. A free end of the steel tape is provided with a balancing disc whose opposite sides are provided with laser rangefinders. The counterweight mechanism can keep the balancing disc stable.

IPC Classes  ?

• G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies

Abstract

A track fusion method and apparatus for an unmanned surface vehicle, which achieves complementary advantages in the perception of maritime targets by means of information fusion, increases a matching calculation speed, saves calculation resources, and has higher credibility. The method comprises: obtaining perception information of an unmanned surface vehicle, the perception information comprising GPS data information and radar data information (102); performing data preprocessing on the radar data information to obtain target radar information (104); constructing a track association model, and performing track association on the GPS data information and the target radar information by using the track association model (106); and constructing a fusion data weight distribution model, and performing track fusion on the GPS data information and the target radar information associated therewith by using the fusion data weight distribution model (108).

IPC Classes  ?

• G01S 13/60 - Velocity or trajectory determination systemsSense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
• G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

Abstract

A track fusion method for an unmanned surface vehicle includes: (a) obtaining perception information of the unmanned surface vehicle, where the perception information includes GPS data information and radar data information; (b) pre-processing the radar data information to obtain target radar information; (c) constructing a track correlation model; and performing track correlation between the GPS data information and the target radar information based on the track correlation model; and (d) constructing a fusion data weight allocation model; and subjecting between the GPS data information and the target radar information correlated therewith to track fusion based on the fusion data weight allocation model. This application further provides a track fusion device for unmanned surface vehicles.

IPC Classes  ?

• G01S 13/72 - Radar-tracking systemsAnalogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Abstract

A moving device for a three-dimensional scanner (2), which belongs to the technical field of auxiliary measurement apparatuses. The device comprises a device body (1), a moving mechanism, a first round pipe (3), a driving mechanism, and a fixing mechanism, wherein a connecting rod (21) is vertically and fixedly provided on an upper side face of the device body (1); the moving mechanism can drive the device body (1) to move; the first round pipe (3) is sleeved on an outer side of the connecting rod (21); a fixing sleeve (32) is vertically and fixedly provided on an inner side wall of the first round pipe (3); a sliding rod (321) is inserted into the fixing sleeve (32); a lower end of the sliding rod (321) is fixedly connected to the device body (1), and an upper end of the sliding rod (321) extends below the three-dimensional scanner (2), and a second top plate (322) is fixedly provided at an end portion of the sliding rod; and the driving mechanism can drive the first round pipe (3) to vertically slide up and down, and when the first round pipe (3) slides upwards to an outer side of the three-dimensional scanner (2), the fixing mechanism can fix the first round pipe (3). The device can quickly move the three-dimensional scanner (2) to a designated position in a storage tank to prevent the three-dimensional scanner (2) from being damaged due to collision, and is safe and reliable.

IPC Classes  ?

• G01B 11/24 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
• F16M 11/42 - Stands or trestles as supports for apparatus or articles placed thereon with arrangement for propelling the support

Abstract

A ship cabin loading capacity measurement method and apparatus thereof, comprises: acquiring point cloud measurement data of a ship cabin; optimizing the point cloud measurement data according to a predetermined point cloud data processing rule, and generating optimized ship cabin point cloud data; calculating said ship cabin point cloud data with a predetermined loading capacity calculation rule, and getting ship cabin loading capacity data. According to the ship cabin loading capacity measurement method of the present invention, the point cloud measurement data can be acquired by a lidar, and processing the point cloud measurement data of the ship cabin with a predetermined point cloud data processing law and a computation law, and as the point cloud data processing law and the computation law can be deployed in a computer device in advance, after point cloud measurement data acquisition, loading capacity of a ship cabin can be acquired quickly and precisely.

IPC Classes  ?

• B63B 25/00 - Load-accommodating arrangements, e.g. stowing or trimmingVessels characterised thereby
• B63B 27/30 - Arrangement of ship-based loading or unloading equipment for cargo or passengers for transfer at sea between ships or between ships and off-shore structures
• G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
• G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions

Abstract

An LNG tank bottom volume measurement device and a method therefor, the method comprising: placing a laser level at the center of a circle at the bottom of an LNG tank, and automatically dividing the tank bottom into eight regions having eight points of intersection; and placing a measurement device at one of vertical lines thereof, such that a laser-generated vertical line is located at a center position on the measurement device. The measurement device is moved such that the height of each measurement point on the tank bottom can be measured, thus providing accurate measurement data and saving time and effort. The invention solves the problem in which conventional tank bottom volume measurement results in inaccurate readings, and requires a lot of time and effort.

IPC Classes  ?

• G01F 23/68 - Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats of the free float type using electrically actuated indicating means

Abstract

A wall-climbing robot for measuring capacity of vertical metal tanks includes a robot body including a chassis, a casing, and wheels. The robot body further includes: an attraction unit including a plurality of magnets; a measurement unit including a bendable ruler provided on the chassis and protruding from a top of the casing; the rust removal unit including a rust removing bucket provided at a front side of the robot body, and a driver for the lifting and lowering of the rust removing bucket; and a control unit including a microcontroller, a posture detector, an obstacle detector, an attraction detector, and a distance sensor. The wall-climbing robot of the present invention leaves no indentation on a surface of the metal tank, and is not affected by the rusts formed on the surface.

IPC Classes  ?

• G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
• G01B 3/02 - Rulers with scales or marks for direct reading
• G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
• G01S 15/08 - Systems for measuring distance only
• G01S 17/08 - Systems determining position data of a target for measuring distance only
• B08B 9/087 - Cleaning of containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
• B25J 11/00 - Manipulators not otherwise provided for

Abstract

A wall-climbing robot for capacity verification of a vertical metal tank, belonging to the technical field of volume measurement of a large metal container, and comprising a robot body. The robot body comprises a chassis (11) and a housing (13). Driving wheels (16) are provided on two sides of the chassis (11). The robot body is provided with: an adsorption unit comprising a plurality of magnets (22) for adsorbing the wall of the metal tank, the magnets (22) being connected into a mesh by means of a connector (21) and movably arranged at the bottom of the chassis (11); a measuring unit comprising a folding ruler (53) provided on the chassis (11) and exposed out of the top of the housing (13); a derusting unit comprising a derusting bucket (33) provided at the front end of the robot body and a driver (31) for driving the derusting bucket (33) to lift up and down; and a control unit comprising a microcontroller (42), a posture detector (43), an obstacle detector (45), a suction detector (46) used for detecting the adsorption force of the magnets, a distance sensor (54) used for measuring the distance between the top of the housing and the wall of the metal tank, and a communication device (41). According to the wall-climbing robot, the problem of leaving indentations on the surface of the metal tank is avoided, and the problem that the robot is affected by the rust on the wall of the metal tank is avoided.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• G01B 11/12 - Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators

Abstract

The invention provides an oil tank measurement method and system based on laser point cloud analysis, comprising: acquiring point cloud data inside an oil tank, which is collected by a laser measurement device; separating point cloud data of a main body of the oil tank from point cloud data of a plug, to acquire the point cloud data of the main body of the oil tank; calculating, based on Gauss mapping, an axis for the point cloud data of the main body of the oil tank; determining any one first plane perpendicular to the axis, and projecting a point cloud of the main body onto the first plane to obtain a point cloud of a projected cross-section of the tank body on the first plane; multi-segment fitting the point cloud of the projected cross-section of the tank body; and calculating a volume according to a result of multi-segment fitting.

IPC Classes  ?

• G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
• G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
• G01S 7/48 - Details of systems according to groups , , of systems according to group