Liquid hazardous chemicals loading and unloading controller and loading and unloading control method thereof

Abstract

The present invention provides a liquid hazardous chemical loading and unloading controller and a loading and unloading control method thereof, comprising: obtaining user identity information, retrieving a list of loadable and unloadable article information corresponding to the user, obtaining a remote control program issued by the user, determining the liquid properties for loading and unloading hazardous chemicals and the quantity of articles for loading and unloading hazardous chemicals according to the remote control program, searching for the liquid properties in the list of loadable and unloadable article information, obtaining loading and unloading conditions for loading and unloading hazardous chemicals, establishing a loading and unloading plan according to the loading and unloading conditions and the quantity to be loaded and unloaded, controlling a preset manipulator to perform loading and unloading work according to the loading and unloading plan, supervising the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, establishing and displaying a loading and unloading report, remotely controlling the manipulator to perform work, reducing human interaction and operation interaction, and realizing unmanned and fully automatic intelligent operation on site.

Description

Technical Field

[0001] The present invention relates to the technical field of hazardous chemical loading and unloading, and in particular to a liquid hazardous chemical loading and unloading controller and a loading and unloading control method thereof. Background Art

[0002] In industrial plants producing liquid hazardous chemicals, the warehouses, oil tanks, storage silos, and underground facilities used for hazardous chemical storage are common in the chemical industry. Loading and unloading of hazardous chemical trucks transporting liquids is a common occurrence in almost every plant, and has always been a difficult and accident-prone area for hazardous chemical safety management. Currently, hazardous chemical loading and unloading platforms utilize video surveillance to monitor on-site operations and emergencies. These platforms, combined with fixed toxic and hazardous gas alarms, overflow sensors, and flame detectors, ensure safe monitoring of hazardous chemical leaks within the loading and unloading area. However, these measures can only facilitate emergency evacuation in the event of a hazard, resulting in a high probability of occurrence and threatening the safety of on-site personnel.

[0003] Therefore, the present invention provides a liquid hazardous chemical loading and unloading controller and a loading and unloading control method thereof. Summary of the Invention

[0004] The present invention provides a liquid hazardous chemical loading and unloading controller and a loading and unloading control method thereof, which can remotely control a manipulator to perform work, reduce human interaction and operation interaction, and realize unmanned and fully automatic intelligent operation on site.

[0005] The present invention provides a liquid hazardous chemical loading and unloading controller, comprising:

[0006] An identification module is used to obtain the user's identity information and retrieve the list of loadable and unloadable items corresponding to the user according to the identity information;

[0007] A communication module, configured to obtain a remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals, as well as the quantity of items to be loaded and unloaded, based on the remote control program;

[0008] An analysis module is configured to search the liquid property in the list of loadable and unloadable items, obtain the loading and unloading conditions for the hazardous chemicals, and establish a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded;

[0009] An execution module is used to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report;

[0010] The display module is used to display the assembly video stream of the assembly site and the loading and unloading report.

[0011] In one practicable manner,

[0012] The identification module includes:

[0013] a collection unit, configured to collect the identity information of the user and create a user profile of the user based on the identity information;

[0014] a query unit, configured to establish a plurality of operation characteristics of the user and generate a plurality of item risk tags based on the user image, and search for each operation characteristic in a preset operation loading and unloading item library to obtain the loading and unloading items corresponding to each operation characteristic;

[0015] a classification unit, configured to respectively obtain the item attributes corresponding to each loaded and unloaded item, classify the loaded and unloaded items according to the item attributes, and establish a set of loadable and unloadable items for the user according to the classification results;

[0016] The adjustment unit is used to match a corresponding item risk tag for each of the loadable item sets, extract several liquid item sets belonging to the liquid item risk tags, and establish the loadable item information of the user based on the liquid item sets.

[0017] In one practicable manner,

[0018] The communication module includes:

[0019] a control unit configured to obtain an item attribute corresponding to each of the removable items according to the list of removable items corresponding to the user, establish a receiving program structure for each removable item according to the item attribute, obtain a remote control program issued by the user, pre-audit the remote control program, and obtain a sending program structure corresponding to the remote control program;

[0020] a definition unit, configured to perform structure matching on the sending program structure and each receiving program structure, determine the loadable and removable items corresponding to the remote control program based on the matching results, determine whether the loadable and removable items are liquid hazardous chemicals based on the loadable and removable item information list, and if so, generate a first analysis instruction;

[0021] a segmentation unit, configured to establish a structural segmentation sample of the sending program structure based on the first analysis instruction, input the remote control program into the structural segmentation sample to perform program segmentation, and obtain a plurality of sub-remote control programs;

[0022] A determination unit is used to parse each of the sub-remote control programs separately, obtain program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the liquid properties of the loading and unloading of hazardous chemicals based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items in the loading and unloading of hazardous chemicals based on the second semantic description.

[0023] In one practicable manner,

[0024] Also includes:

[0025] A feedback unit, configured to generate a second analysis instruction when the loadable and unloadable items are not liquid hazardous chemicals;

[0026] According to the second analysis instruction, the loading and unloading area corresponding to the loadable and unloadable article is searched in the loadable and unloadable article information list, and a feedback instruction is generated and transmitted to the display terminal in the loading and unloading area for display.

[0027] In one practicable manner,

[0028] The analysis module includes:

[0029] a first analysis unit configured to search the list of loadable and unloadable items for the liquid property, obtain loading and unloading conditions for the hazardous chemicals, extract data on the loading and unloading conditions to obtain a plurality of sampled data, determine whether the sampled data conform to a preset coarse-grained segmentation rule, and if so, establish a feature domain based on each of the sampled data;

[0030] The second analysis unit is configured to perform a coarse-grained division on the loading and unloading conditions to obtain a plurality of sub-conditions, input the sub-conditions into corresponding feature domains, generate corresponding feature classes, and respectively generate loading and unloading actions corresponding to each feature class;

[0031] a third analysis unit, configured to analyze the execution count corresponding to each loading and unloading action according to the loading and unloading quantity, match each loading and unloading action to the loading and unloading condition, establish a connection sequence between different loading and unloading actions according to the matching results, and establish an execution plan for the loading and unloading of hazardous chemicals according to the connection sequence and the execution count;

[0032] The fourth analysis unit is used to simulate the execution plan in a preset virtual space, and obtain the execution fluency between different execution processes in the execution plan during the simulation process, extract the target execution process whose execution fluency is lower than the preset fluency threshold, and perform action correction on the target execution process to obtain the loading and unloading plan for hazardous chemicals.

[0033] In one practicable manner,

[0034] Also includes:

[0035] The first analysis unit is further configured to, when the sampled data does not conform to the preset coarse-grained division rule, re-extract data on the loading and unloading conditions until the sampled data conforms to the preset coarse-grained division rule.

[0036] In one practicable manner,

[0037] The execution module includes:

[0038] A task allocation unit, configured to call corresponding preset manipulators according to the loading and unloading plan, and allocate loading and unloading tasks to each of the manipulators;

[0039] A loading and unloading execution unit, configured to control each of the preset manipulators to arrive at the loading and unloading site where the hazardous chemicals are loaded and unloaded, and to control each of the preset manipulators to perform loading and unloading work according to the loading and unloading tasks;

[0040] a loading and unloading monitoring unit, configured to collect a loading and unloading video stream of the loading and unloading site, and respectively track each of the preset manipulators in the loading and unloading video stream to obtain working information corresponding to each of the preset manipulators;

[0041] The report generating unit is used to obtain the workload of the corresponding preset manipulator in different preset time periods and the total workload of each preset manipulator according to the work information, and to establish a loading and unloading report corresponding to each preset manipulator.

[0042] In one practicable manner,

[0043] The display module includes:

[0044] a first display unit, configured to display a video stream of loading and unloading at the assembly site;

[0045] A second display unit is used to display a loading and unloading report corresponding to each of the preset manipulators;

[0046] The information storage unit is used to store the loading and unloading video stream in a preset first storage space, and to store the loading and unloading report in a preset second storage space.

[0047] A method for controlling the loading and unloading of liquid hazardous chemicals, comprising:

[0048] Step 1: Obtain the user's identity information, and retrieve the list of loadable and unloadable items corresponding to the user based on the identity information;

[0049] Step 2: Obtain the remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals and the quantity of items to be loaded and unloaded according to the remote control program;

[0050] Step 3: Searching for the liquid property in the list of loadable items, obtaining the loading and unloading conditions for the hazardous chemicals, and establishing a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded;

[0051] Step 4: Control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report;

[0052] Step 5: Display the assembly video stream of the assembly site and the loading and unloading report.

[0053] In one practicable manner,

[0054] The step 2 includes:

[0055] Step 21: Obtaining the item attributes corresponding to each removable item based on the list of removable items corresponding to the user, establishing a receiving program structure for each removable item based on the item attributes, obtaining the remote control program issued by the user, and pre-auditing the remote control program to obtain a sending program structure corresponding to the remote control program;

[0056] Step 22: Performing structural matching on the sending program structure and each receiving program structure, determining the loadable and unloadable items corresponding to the remote control program based on the matching results, and determining whether the loadable and unloadable items are liquid hazardous chemicals based on the loadable and unloadable item information list. If so, generating a first analysis instruction;

[0057] Step 23: creating a structural segmentation sample of the sending program structure based on the first analysis instruction, inputting the remote control program into the structural segmentation sample to perform program segmentation, and obtaining a plurality of sub-remote control programs;

[0058] Step 24: Analyze each of the sub-remote control programs separately to obtain the program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the liquid properties of the hazardous chemicals to be loaded and unloaded based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items to be loaded and unloaded based on the second semantic description.

[0059] The beneficial effects that can be achieved by the present invention are as follows: in order to realize remote control and unmanned fully automatic intelligent operation, the user's identity information is first analyzed before the user loads and unloads, so as to retrieve the corresponding list of information on loadable and unloadable items, and then the liquid properties of the hazardous chemicals to be loaded and unloaded and the quantity of the hazardous chemicals to be loaded and unloaded are determined according to the remote control program issued by the user, and then the corresponding liquid properties are searched in the list of information on loadable and unloadable items, and the loading and unloading conditions of the hazardous chemicals are established according to the search results, so as to establish a loading and unloading plan in combination with the loading and unloading conditions and the loading and unloading quantity. During loading and unloading, it is necessary to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading process. For the loading and unloading work of each preset robot, a loading and unloading report is established, and the assembly work progress of each preset robot is determined based on the report. Finally, in order to facilitate users to obtain information in real time, the assembly video stream and loading and unloading report of the assembly site are transmitted to the display module for display. Through the above work, not only can unmanned fully automatic intelligent operation be achieved, but users can also remotely monitor the work at the assembly site and understand the situation at the assembly site at any time. If there is an emergency, the user can also remotely suspend the assembly work. The controller uses identity authentication technology to determine the identity of the user, which can meet the needs of different users and expand the user's audience group.

[0060] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 This is a schematic diagram of the composition of a liquid hazardous chemical loading and unloading controller according to an embodiment of the present invention;

[0064] Figure 2 The figure is a schematic diagram of the workflow of a method for controlling the loading and unloading of liquid hazardous chemicals in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] Example 1

[0067] This embodiment provides a liquid hazardous chemicals loading and unloading controller and a loading and unloading control method thereof, such as Figure 1 As shown, including:

[0068] An identification module is used to obtain the user's identity information and retrieve the list of loadable and unloadable items corresponding to the user according to the identity information;

[0069] A communication module, configured to obtain a remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals, as well as the quantity of items to be loaded and unloaded, based on the remote control program;

[0070] An analysis module is configured to search the liquid property in the list of loadable and unloadable items, obtain the loading and unloading conditions for the hazardous chemicals, and establish a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded;

[0071] An execution module is used to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report;

[0072] The display module is used to display the assembly video stream of the assembly site and the loading and unloading report.

[0073] In this example, the methods for obtaining identity information include: user scanning a QR code, user swiping an ID card, user swiping an IC card, etc.

[0074] In this example, the remote control program represents an instruction for remotely controlling a preset robot to perform loading and unloading tasks;

[0075] In this example, liquid properties include: Class 1 explosives: dynamite, ammonium nitrate, nitrocellulose; Class 2 compressed gases: oxygen, hydrogen, carbon monoxide; Class 3 flammable liquids: gasoline, acetone, ethanol; Class 4 flammable solids: red phosphorus, phosphorus trisulfide, titanium hydride;

[0076] In this example, the quantity of items refers to the quantity of hazardous chemicals loaded and unloaded;

[0077] In this example, loading and unloading conditions refer to the conditions that need to be met when loading and unloading different liquid hazardous chemicals;

[0078] In this example, the loading and unloading plan represents the reference standard for actions when loading and unloading liquid hazardous chemicals;

[0079] In this example, when supervising the loading and unloading site, it is necessary to collect the loading and unloading video stream of the loading and unloading site;

[0080] In this example, the loading and unloading report represents a table that uses a table to represent dynamic data of different preset manipulator operations.

[0081] The working principle and beneficial effects of the above technical solution: In order to realize remote control and unmanned fully automatic intelligent operation, the user's identity information is analyzed before the user loads and unloads, so as to retrieve the corresponding list of information on loadable and unloadable items, and then the liquid properties of the hazardous chemicals to be loaded and unloaded and the quantity of the hazardous chemicals to be loaded and unloaded are determined according to the remote control program issued by the user, and then the corresponding liquid properties are searched in the list of information on loadable and unloadable items, and the loading and unloading conditions of the hazardous chemicals are established according to the search results, so as to establish a loading and unloading plan in combination with the loading and unloading conditions and the loading and unloading quantity. During loading and unloading, it is necessary to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and during the loading and unloading process Supervise the loading and unloading work of each preset robot, establish a loading and unloading report, and determine the assembly work progress of each preset robot based on the report. Finally, in order to facilitate users to obtain information in real time, the assembly video stream and loading and unloading report of the assembly site are transmitted to the display module for display. Through the above work, not only can unmanned fully automatic intelligent operation be achieved, but users can also remotely monitor the work at the assembly site and understand the situation at the assembly site at any time. If there is an emergency, the user can also remotely suspend the assembly work. The controller uses identity authentication technology to determine the identity of the user, which can meet the needs of different users and expand the user's audience.

[0082] Example 2

[0083] Based on Example 1, the liquid hazardous chemicals loading and unloading controller, the identification module, includes:

[0084] a collection unit, configured to collect the identity information of the user and create a user profile of the user based on the identity information;

[0085] a query unit, configured to establish a plurality of operation characteristics of the user and generate a plurality of item risk tags based on the user image, and search for each operation characteristic in a preset operation loading and unloading item library to obtain the loading and unloading items corresponding to each operation characteristic;

[0086] a classification unit, configured to respectively obtain the item attributes corresponding to each loaded and unloaded item, classify the loaded and unloaded items according to the item attributes, and establish a set of loadable and unloadable items for the user according to the classification results;

[0087] The adjustment unit is used to match a corresponding item risk tag for each of the loadable item sets, extract several liquid item sets belonging to the liquid item risk tags, and establish the loadable item information of the user based on the liquid item sets.

[0088] In this example, the user profile is the label data of each dimension of the user generated by labeling the user's identity information. One dimension corresponds to one job feature.

[0089] In this example, the operation characteristics represent the characteristics corresponding to different loading and unloading tasks that the user can perform;

[0090] In this example, the item risk label is a label corresponding to the risk level of the item that the user can load and unload;

[0091] In this example, item attributes include an item's specifications, status, and storage environment;

[0092] In this example, the preset operation loading and unloading object library contains several items that can be loaded and unloaded according to the operation characteristics, for example: the low-temperature loading and unloading process can be used to load and unload ethanol and red phosphorus;

[0093] In this example, the process of classifying loading and unloading items means grouping loading and unloading items with the same item attributes into one category;

[0094] In this example, the set of loadable and unloadable items represents the result of classifying loadable and unloadable items with the same item attributes into one category;

[0095] In this example, the loadable item information includes information about all liquid hazardous chemicals that the user can load and unload.

[0096] The working principle and beneficial effects of the above technical solution: in order to facilitate the analysis of the current user's loadable and unloadable item information, a user portrait of the user is created after collecting the user's identity information, and then the user's different operation characteristics and several item risk labels are determined based on the user portrait, and then the loading and unloading items that the user can operate are determined, and the item attributes of each loading and unloading item are further obtained, and the loading and unloading items are classified according to the item attributes to establish the user's loadable and unloadable item set, and then the liquid item set corresponding to the liquid item risk label is extracted to establish the user's loadable and unloadable item information. In this way, not only can the user's loadable and unloadable item information be quickly screened, but the loadable and unloadable items can also be classified according to risk, thereby comprehensively analyzing the user's loadable and unloadable item information, which is convenient for the subsequent generation of loading and unloading plans.

[0097] Example 3

[0098] Based on Example 1, the liquid hazardous chemicals loading and unloading controller, the communication module, includes:

[0099] a control unit configured to obtain an item attribute corresponding to each of the removable items according to the list of removable items corresponding to the user, establish a receiving program structure for each removable item according to the item attribute, obtain a remote control program issued by the user, pre-audit the remote control program, and obtain a sending program structure corresponding to the remote control program;

[0100] a definition unit, configured to perform structure matching on the sending program structure and each receiving program structure, determine the loadable and removable items corresponding to the remote control program based on the matching results, determine whether the loadable and removable items are liquid hazardous chemicals based on the loadable and removable item information list, and if so, generate a first analysis instruction;

[0101] a segmentation unit, configured to establish a structural segmentation sample of the sending program structure based on the first analysis instruction, input the remote control program into the structural segmentation sample to perform program segmentation, and obtain a plurality of sub-remote control programs;

[0102] A determination unit is used to parse each of the sub-remote control programs separately, obtain program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the liquid properties of the loading and unloading of hazardous chemicals based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items in the loading and unloading of hazardous chemicals based on the second semantic description.

[0103] In this example, the receiving program structure represents the structure of the remote control program issued when loading and unloading a type of removable item. Each type of removable item corresponds to a receiving program structure, which represents a collection of multiple variable information and array information containing the removable item.

[0104] In this example, the sending program structure represents the structure of the remote control program sent by the user;

[0105] In this example, pre-audit refers to the process of performing a structural audit on the remote control program;

[0106] In this example, the first analysis instruction represents an instruction to analyze liquid hazardous chemicals;

[0107] In this example, the structure segmentation sample represents the reference standard corresponding to when the remote control program is segmented into a number of unit sub-remote control programs;

[0108] In this example, the program characteristics represent the characteristics presented by the sub-remote control program in the remote control program;

[0109] In this example, the first semantic description and the second semantic description represent the result of expressing the meaning expressed by the program feature using semantics.

[0110] The working principle and beneficial effects of the above technical solution are as follows: In order to further determine the liquid properties and the number of items that the user loads and unloads hazardous chemicals, the item properties of each loadable and unloadable item are first searched according to the user's loadable and unloadable item information list, and then a receiving program structure of each loadable and unloadable item is established according to the item properties. The remote control program issued by the user is further pre-audited to establish a sending program structure of the remote control program, and then the sending program structure and the receiving program structure are matched, and then the loadable and unloadable items acted upon by the remote control program can be determined, and a program structure is generated by judging whether the loadable and unloadable items are liquid hazardous chemicals. Different analysis instructions are used, and when it belongs to liquid hazardous chemicals, a structural segmentation sample is established according to the sending program structure. The segmentation sample is used to segment the remote control program. After segmentation, several sub-remote control programs can be generated, and then each sub-remote control program is expressed in a semantic description manner. The corresponding liquid properties and item quantity are found in the expression result. During this period, the remote control program and the loading and unloading items are matched again, which effectively avoids the phenomenon of matching errors, and uses the semantic description method to determine the liquid properties and item quantity of the loading and unloading hazardous chemicals, laying the foundation for the subsequent establishment of the loading and unloading plan.

[0111] Example 4

[0112] Based on Example 3, the liquid hazardous chemical loading and unloading controller further includes:

[0113] A feedback unit, configured to generate a second analysis instruction when the loadable and unloadable items are not liquid hazardous chemicals;

[0114] According to the second analysis instruction, the loading and unloading area corresponding to the loadable and unloadable article is searched in the loadable and unloadable article information list, and a feedback instruction is generated and transmitted to the display terminal in the loading and unloading area for display.

[0115] The working principle and beneficial effects of the above technical solution are as follows: when the loadable items are not liquid hazardous chemicals, they will be fed back to the corresponding daily loading and unloading area.

[0116] Example 5

[0117] Based on Example 1, the liquid hazardous chemicals loading and unloading controller, the analysis module, includes:

[0118] a first analysis unit configured to search the list of loadable and unloadable items for the liquid property, obtain loading and unloading conditions for the hazardous chemicals, extract data on the loading and unloading conditions to obtain a plurality of sampled data, determine whether the sampled data conform to a preset coarse-grained segmentation rule, and if so, establish a feature domain based on each of the sampled data;

[0119] The second analysis unit is configured to perform a coarse-grained division on the loading and unloading conditions to obtain a plurality of sub-conditions, input the sub-conditions into corresponding feature domains, generate corresponding feature classes, and respectively generate loading and unloading actions corresponding to each feature class;

[0120] a third analysis unit, configured to analyze the execution count corresponding to each loading and unloading action according to the loading and unloading quantity, match each loading and unloading action to the loading and unloading condition, establish a connection sequence between different loading and unloading actions according to the matching results, and establish an execution plan for the loading and unloading of hazardous chemicals according to the connection sequence and the execution count;

[0121] The fourth analysis unit is used to simulate the execution plan in a preset virtual space, and obtain the execution fluency between different execution processes in the execution plan during the simulation process, extract the target execution process whose execution fluency is lower than the preset fluency threshold, and perform action correction on the target execution process to obtain the loading and unloading plan for hazardous chemicals.

[0122] In this example, the loading and unloading conditions represent the conditions required for loading and unloading different liquid hazardous chemicals. One type of liquid hazardous chemical corresponds to one loading and unloading condition, and one loading and unloading condition can correspond to multiple types of liquid hazardous chemicals.

[0123] In this example, data extraction refers to the process of extracting several independent data from the loading and unloading conditions;

[0124] In this example, the preset coarse-grained division rule represents a rule for classifying and dividing data according to the coarseness of the sampled data;

[0125] In this example, the feature domain represents a storage domain for storing single coarse-grained data established based on the division result after the sampled data is coarse-grained;

[0126] In this instance, one feature class corresponds to one loading and unloading action;

[0127] In this example, the greater the number of loading and unloading operations, the greater the number of corresponding executions;

[0128] In this example, the preset fluency threshold is 90%.

[0129] The working principle and beneficial effects of the above technical solution are as follows: In order to generate a usable and effective loading and unloading plan, the liquid properties are searched in the list of loadable and unloadable items before loading and unloading, and then the loading and unloading conditions for hazardous chemicals are determined. In order to refine the loading and unloading conditions, data extraction is first performed on the loading and unloading conditions to obtain a number of sampled data. The sampled data are then divided to establish a number of feature domains. The loading and unloading conditions are further coarse-grainedly divided to obtain a number of sub-conditions. The different sub-conditions are then input into the feature domain to generate corresponding feature classes. By matching loading and unloading actions for different feature classes, analyzing the connection sequence between different loading and unloading actions, and analyzing the number of executions of different loading and unloading actions, an execution plan that can be executed is established. In order to ensure the effectiveness of the plan, the execution fluency between different execution processes in the execution plan is analyzed by simulation, and corresponding adjustments are made to the target execution process with too low execution fluency. Finally, an effective loading and unloading plan is generated. In this way, not only a plan for controlling the work of the manipulator can be generated, but also the effectiveness of the plan can be guaranteed, achieving high-efficiency and high-quality loading and unloading.

[0130] Example 6

[0131] Based on Example 5, the liquid hazardous chemicals loading and unloading controller:

[0132] The first analysis unit is further configured to, when the sampled data does not conform to the preset coarse-grained division rule, re-extract data on the loading and unloading conditions until the sampled data conforms to the preset coarse-grained division rule.

[0133] The working principle and beneficial effects of the above technical solution are as follows: In order to generate a number of feature domains, the sampling data needs to be analyzed when analyzing the feature domains. If the sampling data is unreasonable, it is necessary to re-extract it.

[0134] Example 7

[0135] Based on Example 1, the liquid hazardous chemicals loading and unloading controller, the execution module, includes:

[0136] A task allocation unit, configured to call corresponding preset manipulators according to the loading and unloading plan, and allocate loading and unloading tasks to each of the manipulators;

[0137] A loading and unloading execution unit, configured to control each of the preset manipulators to arrive at the loading and unloading site where the hazardous chemicals are loaded and unloaded, and to control each of the preset manipulators to perform loading and unloading work according to the loading and unloading tasks;

[0138] a loading and unloading monitoring unit, configured to collect a loading and unloading video stream of the loading and unloading site, and respectively track each of the preset manipulators in the loading and unloading video stream to obtain working information corresponding to each of the preset manipulators;

[0139] The report generating unit is used to obtain the workload of the corresponding preset manipulator in different preset time periods and the total workload of each preset manipulator according to the work information, and to establish a loading and unloading report corresponding to each preset manipulator.

[0140] In this example, each preset robot corresponds to a piece of work information;

[0141] In this example, the preset time period is 5 minutes.

[0142] The working principle and beneficial effects of the above technical solution: in order to improve the efficiency of loading and unloading work, the corresponding preset manipulator is called according to the loading and unloading plan, and then the corresponding assembly task is configured for each preset manipulator according to the loading and unloading plan, and then the preset manipulator is controlled to perform the corresponding loading and unloading work, and then the loading and unloading video stream of the loading and unloading site is collected, and the preset manipulator is tracked in the loading and unloading video stream to obtain its work information, so as to count its workload in different time periods and establish a loading and unloading report for users to view at any time.

[0143] Example 8

[0144] Based on Example 1, the liquid hazardous chemicals loading and unloading controller, the display module, includes:

[0145] a first display unit, configured to display a video stream of loading and unloading at the assembly site;

[0146] A second display unit is used to display a loading and unloading report corresponding to each of the preset manipulators;

[0147] The information storage unit is used to store the loading and unloading video stream in a preset first storage space, and to store the loading and unloading report in a preset second storage space.

[0148] In this example, the preset first storage space represents a storage space used to store the loading and unloading video stream;

[0149] In this example, the preset second storage space represents a storage space used to store loading and unloading reports.

[0150] The working principle and beneficial effects of the above technical solution are as follows: different information is displayed through different display units, which is convenient for users to view, and is synchronously stored during the display process, which is convenient for users to search in the future.

[0151] Example 9

[0152] This embodiment discloses a method for controlling the loading and unloading of liquid hazardous chemicals. Figure 2 Shown include:

[0153] Step 1: Obtain the user's identity information, and retrieve the list of loadable and unloadable items corresponding to the user based on the identity information;

[0154] Step 2: Obtain the remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals and the quantity of items to be loaded and unloaded according to the remote control program;

[0155] Step 3: Searching for the liquid property in the list of loadable items, obtaining the loading and unloading conditions for the hazardous chemicals, and establishing a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded;

[0156] Step 4: Control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report;

[0157] Step 5: Display the assembly video stream of the assembly site and the loading and unloading report.

[0158] In this example, the methods for obtaining identity information include: user scanning a QR code, user swiping an ID card, user swiping an IC card, etc.

[0159] In this example, the remote control program represents an instruction for remotely controlling a preset robot to perform loading and unloading tasks;

[0160] In this example, liquid properties include: Class 1 explosives: dynamite, ammonium nitrate, nitrocellulose; Class 2 compressed gases: oxygen, hydrogen, carbon monoxide; Class 3 flammable liquids: gasoline, acetone, ethanol; Class 4 flammable solids: red phosphorus, phosphorus trisulfide, titanium hydride;

[0161] In this example, the quantity of items refers to the quantity of hazardous chemicals loaded and unloaded;

[0162] In this example, loading and unloading conditions refer to the conditions that need to be met when loading and unloading different liquid hazardous chemicals;

[0163] In this example, the loading and unloading plan represents the reference standard for actions when loading and unloading liquid hazardous chemicals;

[0164] In this example, when supervising the loading and unloading site, it is necessary to collect the loading and unloading video stream of the loading and unloading site;

[0165] In this example, the loading and unloading report represents a table that uses a table to represent dynamic data of different preset manipulator operations.

[0166] The working principle and beneficial effects of the above technical solution: In order to realize remote control and unmanned fully automatic intelligent operation, the user's identity information is analyzed before the user loads and unloads, so as to retrieve the corresponding list of information on loadable and unloadable items, and then the liquid properties of the hazardous chemicals to be loaded and unloaded and the quantity of the hazardous chemicals to be loaded and unloaded are determined according to the remote control program issued by the user, and then the corresponding liquid properties are searched in the list of information on loadable and unloadable items, and the loading and unloading conditions of the hazardous chemicals are established according to the search results, so as to establish a loading and unloading plan in combination with the loading and unloading conditions and the loading and unloading quantity. During loading and unloading, it is necessary to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and during the loading and unloading process Supervise the loading and unloading work of each preset robot, establish a loading and unloading report, and determine the assembly work progress of each preset robot based on the report. Finally, in order to facilitate users to obtain information in real time, the assembly video stream and loading and unloading report of the assembly site are transmitted to the display module for display. Through the above work, not only can unmanned fully automatic intelligent operation be achieved, but users can also remotely monitor the work at the assembly site and understand the situation at the assembly site at any time. If there is an emergency, the user can also remotely suspend the assembly work. The controller uses identity authentication technology to determine the identity of the user, which can meet the needs of different users and expand the user's audience.

[0167] Example 10

[0168] Based on Example 9, in the method for controlling the loading and unloading of liquid hazardous chemicals, step 2 includes:

[0169] Step 21: Obtaining the item attributes corresponding to each removable item based on the list of removable items corresponding to the user, establishing a receiving program structure for each removable item based on the item attributes, obtaining the remote control program issued by the user, and pre-auditing the remote control program to obtain a sending program structure corresponding to the remote control program;

[0170] Step 22: Performing structural matching on the sending program structure and each receiving program structure, determining the loadable and unloadable items corresponding to the remote control program based on the matching results, and determining whether the loadable and unloadable items are liquid hazardous chemicals based on the loadable and unloadable item information list. If so, generating a first analysis instruction;

[0171] Step 23: creating a structural segmentation sample of the sending program structure based on the first analysis instruction, inputting the remote control program into the structural segmentation sample to perform program segmentation, and obtaining a plurality of sub-remote control programs;

[0172] Step 24: Analyze each of the sub-remote control programs separately to obtain the program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the liquid properties of the hazardous chemicals to be loaded and unloaded based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items to be loaded and unloaded based on the second semantic description.

[0173] In this example, the receiving program structure represents the structure of the remote control program issued when loading and unloading a type of removable item. Each type of removable item corresponds to a receiving program structure, which represents a collection of multiple variable information and array information containing the removable item.

[0174] In this example, the sending program structure represents the structure of the remote control program sent by the user;

[0175] In this example, pre-audit refers to the process of performing a structural audit on the remote control program;

[0176] In this example, the first analysis instruction represents an instruction to analyze liquid hazardous chemicals;

[0177] In this example, the structure segmentation sample represents the reference standard corresponding to when the remote control program is segmented into a number of unit sub-remote control programs;

[0178] In this example, the program characteristics represent the characteristics presented by the sub-remote control program in the remote control program;

[0179] In this example, the first semantic description and the second semantic description represent the result of expressing the meaning expressed by the program feature using semantics.

[0180] The working principle and beneficial effects of the above technical solution are as follows: In order to further determine the liquid properties and the number of items that the user loads and unloads hazardous chemicals, the item properties of each loadable and unloadable item are first searched according to the user's loadable and unloadable item information list, and then a receiving program structure of each loadable and unloadable item is established according to the item properties. The remote control program issued by the user is further pre-audited to establish a sending program structure of the remote control program, and then the sending program structure and the receiving program structure are matched, and then the loadable and unloadable items acted upon by the remote control program can be determined, and a program structure is generated by judging whether the loadable and unloadable items are liquid hazardous chemicals. Different analysis instructions are used, and when it belongs to liquid hazardous chemicals, a structural segmentation sample is established according to the sending program structure. The segmentation sample is used to segment the remote control program. After segmentation, several sub-remote control programs can be generated, and then each sub-remote control program is expressed in a semantic description manner. The corresponding liquid properties and item quantity are found in the expression result. During this period, the remote control program and the loading and unloading items are matched again, which effectively avoids the phenomenon of matching errors, and uses the semantic description method to determine the liquid properties and item quantity of the loading and unloading hazardous chemicals, laying the foundation for the subsequent establishment of the loading and unloading plan.

[0181] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A liquid hazardous chemical loading and unloading controller, characterized in that: include: An identification module is used to obtain the user's identity information and retrieve the list of loadable and unloadable items corresponding to the user according to the identity information; A communication module, configured to obtain a remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals, as well as the quantity of items to be loaded and unloaded, based on the remote control program; An analysis module is configured to search the liquid property in the list of loadable and unloadable items, obtain the loading and unloading conditions for the hazardous chemicals, and establish a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded; An execution module is used to control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report; A display module, configured to display the assembly video stream of the loading and unloading site and the loading and unloading report; The communication module includes: a control unit configured to obtain an item attribute corresponding to each of the removable items according to the list of removable items corresponding to the user, establish a receiving program structure for each removable item according to the item attribute, obtain a remote control program issued by the user, pre-audit the remote control program, and obtain a sending program structure corresponding to the remote control program; a definition unit, configured to perform structure matching on the sending program structure and each receiving program structure, determine the loadable and removable items corresponding to the remote control program based on the matching results, determine whether the loadable and removable items are liquid hazardous chemicals based on the loadable and removable item information list, and if so, generate a first analysis instruction; a segmentation unit, configured to establish a structural segmentation sample of the sending program structure based on the first analysis instruction, input the remote control program into the structural segmentation sample to perform program segmentation, and obtain a plurality of sub-remote control programs; a determination unit, configured to parse each of the sub-remote control programs separately, obtain program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the properties of the liquid for loading and unloading hazardous chemicals based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items for loading and unloading hazardous chemicals based on the second semantic description; The analysis module includes: a first analysis unit configured to search the list of loadable and unloadable items for the liquid property, obtain loading and unloading conditions for the hazardous chemicals, extract data on the loading and unloading conditions to obtain a plurality of sampled data, determine whether the sampled data conform to a preset coarse-grained segmentation rule, and if so, establish a feature domain based on each of the sampled data; The second analysis unit is configured to perform a coarse-grained division on the loading and unloading conditions to obtain a plurality of sub-conditions, input the sub-conditions into corresponding feature domains, generate corresponding feature classes, and respectively generate loading and unloading actions corresponding to each feature class; a third analysis unit, configured to analyze the execution count corresponding to each loading and unloading action according to the loading and unloading quantity, match each loading and unloading action to the loading and unloading condition, establish a connection sequence between different loading and unloading actions according to the matching results, and establish an execution plan for the loading and unloading of hazardous chemicals according to the connection sequence and the execution count; The fourth analysis unit is used to simulate the execution plan in a preset virtual space, and obtain the execution fluency between different execution processes in the execution plan during the simulation process, extract the target execution process whose execution fluency is lower than the preset fluency threshold, and perform action correction on the target execution process to obtain the loading and unloading plan for hazardous chemicals.

2. A liquid hazardous chemicals loading and unloading controller according to claim 1, characterized in that: The identification module includes: a collection unit, configured to collect the identity information of the user and create a user profile of the user based on the identity information; a query unit, configured to establish a plurality of operation characteristics of the user and generate a plurality of item risk tags based on the user image, and search for each operation characteristic in a preset operation loading and unloading item library to obtain the loading and unloading items corresponding to each operation characteristic; a classification unit, configured to respectively obtain the item attributes corresponding to each loaded and unloaded item, classify the loaded and unloaded items according to the item attributes, and establish a set of loadable and unloadable items for the user according to the classification results; The adjustment unit is used to match a corresponding item risk tag for each of the loadable item sets, extract several liquid item sets belonging to the liquid item risk tags, and establish the loadable item information of the user based on the liquid item sets.

3. A liquid hazardous chemicals loading and unloading controller according to claim 1, characterized in that: Also includes: A feedback unit, configured to generate a second analysis instruction when the loadable and unloadable items are not liquid hazardous chemicals; According to the second analysis instruction, the loading and unloading area corresponding to the loadable and unloadable article is searched in the loadable and unloadable article information list, and a feedback instruction is generated and transmitted to the display terminal in the loading and unloading area for display.

4. A liquid hazardous chemical loading and unloading controller according to claim 1, characterized in that: The first analysis unit is further configured to, when the sampled data does not conform to the preset coarse-grained division rule, re-extract data on the loading and unloading conditions until the sampled data conforms to the preset coarse-grained division rule.

5. A liquid hazardous chemical loading and unloading controller according to claim 1, characterized in that: The execution module includes: A task allocation unit, configured to call corresponding preset manipulators according to the loading and unloading plan, and allocate loading and unloading tasks to each of the manipulators; A loading and unloading execution unit, configured to control each of the preset manipulators to arrive at the loading and unloading site where the hazardous chemicals are loaded and unloaded, and to control each of the preset manipulators to perform loading and unloading work according to the loading and unloading tasks; a loading and unloading monitoring unit, configured to collect a loading and unloading video stream of the loading and unloading site, and respectively track each of the preset manipulators in the loading and unloading video stream to obtain working information corresponding to each of the preset manipulators; The report generating unit is used to obtain the workload of the corresponding preset manipulator in different preset time periods and the total workload of each preset manipulator according to the work information, and to establish a loading and unloading report corresponding to each preset manipulator.

6. A liquid hazardous chemical loading and unloading controller according to claim 1, characterized in that: The display module includes: a first display unit, configured to display a video stream of loading and unloading at the loading and unloading site; A second display unit is used to display a loading and unloading report corresponding to each of the preset manipulators; The information storage unit is used to store the loading and unloading video stream in a preset first storage space, and to store the loading and unloading report in a preset second storage space.

7. A method for controlling the loading and unloading of liquid hazardous chemicals, characterized in that: include: Step 1: Obtain the user's identity information, and retrieve the list of loadable and unloadable items corresponding to the user based on the identity information; Step 2: Obtain the remote control program issued by the user, and determine the properties of the liquid used to load and unload hazardous chemicals and the quantity of items to be loaded and unloaded according to the remote control program; Step 3: Searching for the liquid property in the list of loadable items, obtaining the loading and unloading conditions for the hazardous chemicals, and establishing a loading and unloading plan based on the loading and unloading conditions and the quantity to be loaded and unloaded; Step 4: Control the preset manipulator to perform loading and unloading work according to the loading and unloading plan, and supervise the loading and unloading work corresponding to each preset manipulator at the loading and unloading site during the loading and unloading process, and create a loading and unloading report; Step 5: Displaying the assembly video stream of the loading and unloading site and the loading and unloading report; The step 2 includes: Step 21: Obtaining the item attributes corresponding to each removable item based on the list of removable items corresponding to the user, establishing a receiving program structure for each removable item based on the item attributes, obtaining the remote control program issued by the user, and pre-auditing the remote control program to obtain a sending program structure corresponding to the remote control program; Step 22: Performing structural matching on the sending program structure and each receiving program structure, determining the loadable and unloadable items corresponding to the remote control program based on the matching results, and determining whether the loadable and unloadable items are liquid hazardous chemicals based on the loadable and unloadable item information list. If so, generating a first analysis instruction; Step 23: creating a structural segmentation sample of the sending program structure based on the first analysis instruction, inputting the remote control program into the structural segmentation sample to perform program segmentation, and obtaining a plurality of sub-remote control programs; Step 24: Parse each of the sub-remote control programs separately to obtain program features corresponding to each of the sub-remote control programs, establish a first semantic description based on the program features, determine the properties of the liquid used to load and unload hazardous chemicals based on the first semantic description, establish a second semantic description based on the program features, and determine the quantity of items used to load and unload hazardous chemicals based on the second semantic description; The step 3 comprises: Step 31: Searching for the liquid attribute in the list of loadable and unloadable items to obtain the loading and unloading conditions for the hazardous chemicals, extracting data on the loading and unloading conditions to obtain a number of sampled data, and determining whether the sampled data conforms to a preset coarse-grained division rule. If so, establishing a feature domain based on each of the sampled data; Step 32: Perform a coarse-grained division on the loading and unloading conditions to obtain a number of sub-conditions, input the sub-conditions into the corresponding feature domain, generate corresponding feature classes, and generate loading and unloading actions corresponding to each feature class; Step 33: Analyze the execution times corresponding to each loading and unloading action based on the loading and unloading quantity, match each loading and unloading action to the loading and unloading conditions, establish a connection sequence between different loading and unloading actions based on the matching results, and establish an execution plan for the loading and unloading of hazardous chemicals based on the connection sequence and the execution times; Step 34: Simulate the execution plan in a preset virtual space, and obtain the execution fluency between different execution processes in the execution plan during the simulation process, extract the target execution process whose execution fluency is lower than the preset fluency threshold, perform action correction on the target execution process, and obtain the loading and unloading plan for hazardous chemicals.

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