Exploitation Of Embedded Control System For LNG Gas Station Robot Filling Device

At present,the LNG(liquefied natural gas)refueling station mainly refills the LNG vehicle(Or add liquid)by manual operation.However,the main problems in the manual operation are as follows:First of all,due to the complexity of the operation,the operators of the LNG filling station need to undergo strict training before they are employed;Secondly,due to safety issues,the operators of the LNG filling station must wear safety protective clothing when refueling;the gas filling process is very difficult due to the long process of gas filling and the high quality of the air gun and the air return gun.In addition,LNG refueling stations are mostly located in relatively remote locations,and the environment is rather harsh,resulting in fewer and fewer people wanting to pursue this profession.Based on the above reasons,the research on the intelligent LNG filling stations is very important.Therefore,this paper proposes the development of embedded control system for LNG gas station robot filling device,mainly uses machine vision to intelligently identify the position of the LNG vehicle gas hole and return gas hole,process the image and sensor signal through the embedded control system,and control the robot to intelligently complete the air filling and return air operation.The specific research content can be summarized as the following aspects:1.The overall design of the system.According to the operation process and characteristics of the actual refueling of the LNG filling station,the robot is used as the actuator to design a set of embedded control system principle that can intelligently complete the refueling operation.It mainly includes: the design of the embedded control system,the design of the intelligent identification system,the design of the target point and correction,and the related experiments of the prototype.2.The design of the embedded control system.Based on the embedded integrated control system of Raspberry Pi 3B+,it completes the main functions of information processing,exchange and transmission.It has the characteristics of convenient programming,easy modification,creativity and low price,which help us in saving cost and increasing the system portability and larger adaptation environment.3.The design of the intelligent identification system.The image information of the vehicle refueling area is collected by the camera in real time,and then the acquired image information is preprocessed and the target feature is extracted by Open CV,and finally the central target point of the LNG vehicle airing hole and the return air hole is extracted.4.Target positioning and correction design.This paper mainly aims at the characteristics of the actual gas filling process,and designs a method that can convert the target points extracted by the intelligent recognition system to the robot coordinate system and automatically realize the posture correction of the gun body before docking.5.Principle prototype experiment.According to the design requirements,build an embedded control system solution that can intelligently realize the refueling operation,and verify the feasibility of the design through experiments.Through experimental proof and theoretical analysis,the embedded control system of the LNG gas station robot filling device proposed in this paper can intelligently refill and return the LNG vehicle within the error tolerance.