Hazardous chemical substance monitoring and early warning method and platform based on industrial 3D visual sensor

Abstract

The invention relates to the technical field of hazardous chemical substance detection, and provides a hazardous chemical substance monitoring and early warning method and platform based on an industrial 3D visual sensor. The method comprises the following steps: acquiring multi-dimensional image information of a monitored area, and acquiring environmental parameter information of the monitored area; determining hazardous chemical substance information in the monitored area based on the multi-dimensional image information; the hazardous chemical substance information comprises the name of the hazardous chemical substance and the position of each hazardous chemical substance in the monitored area; performing combination treatment on all the hazardous chemicals to obtain a plurality of hazardous chemical combinations corresponding to all the hazardous chemicals; and for each hazardous chemical substance combination, determining whether the hazardous chemical substance combination causes potential safety hazards to the monitored area based on the name of the hazardous chemical substance in the hazardous chemical substance combination, the position of each hazardous chemical substance and the environmental parameter information. The method achieves the comprehensive prediction of the potential safety hazards in the monitored area, and facilitates the improvement of the safety of the monitored area.

Description

Technical Field

[0001] The present application relates to the technical field of hazardous chemicals detection, and in particular to a hazardous chemicals monitoring and early warning method and platform based on industrial 3D vision sensors. Background Art

[0002] As the scale of industrial production continues to expand, the use and storage of hazardous chemicals are also increasing. In high-risk industries such as chemicals, energy, and pharmaceuticals, accidents such as leakage and explosion of hazardous chemicals occur from time to time, often bringing great safety risks. Therefore, how to monitor and warn hazardous chemicals in real time and efficiently has become the core demand for the storage of hazardous chemicals in these high-risk industries.

[0003] Traditional methods of monitoring hazardous chemicals mostly rely on regular manual inspections and gas sensors, which often make it difficult to detect and respond to potential safety hazards in a timely manner. Summary of the invention

[0004] The present application provides a method and platform for monitoring and early warning of hazardous chemicals based on industrial 3D vision sensors to solve the problems raised by the above background technology.

[0005] In a first aspect, the present application provides a hazardous chemicals monitoring and early warning method based on an industrial 3D visual sensor, comprising: Acquire multi-dimensional image information of the monitored area through a preset 3D visual sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device; Determine the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area; All hazardous chemicals are processed in combination to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; For each of the hazardous chemical combinations, it is determined whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

[0006] In a possible implementation, the multidimensional image information includes a macroscopic image, a structured light spectrum, and an infrared spectrum of the monitored area, and determining the hazardous chemical information in the monitored area based on the multidimensional image information includes: Inputting the macro image into a preset semantic recognition model to obtain semantic recognition information of each object in the macro image; wherein the semantic recognition model is a pre-trained neural network model; For each object in the macro image, judging whether the object is a container based on semantic recognition information of the object, and determining that the object is a target object if the object is a container; Annotating contour areas of each target object in the macro image; For each of the target objects, mapping a contour area of ​​the target object from the macro image to the structured light map, and determining structural information of the target object based on a structured light area corresponding to the contour area in the structured light map; For each of the target objects, mapping the contour area of ​​the target object from the macroscopic image to the infrared spectrum map, and determining the chemical composition information of the target object based on the infrared spectrum area corresponding to the contour area in the infrared spectrum map; For each of the target objects, judging whether the target object is a hazardous chemical container based on the structural information of the target object and the chemical composition information of the target object; if the target object is a hazardous chemical container, determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information, determining the position of the target object based on the macro image, and constructing a mapping relationship between the name of the hazardous chemical and the position; The various mapping relationships are integrated to obtain the hazardous chemicals information.

[0007] In a possible implementation, mapping the contour area of ​​the target object from the macro image to the structured light map includes: The preset three-dimensional rectangular coordinate system of the monitored area is mapped to the macro image and the structured light spectrum respectively according to the preset coordinate system mapping rule; wherein the spatial position corresponding to the position of the coordinate origin of the preset three-dimensional rectangular coordinate system in the macro image is consistent with the spatial position corresponding to the position in the structured light spectrum; Determining the coordinate point corresponding to the center of gravity of the contour area of ​​the target object in the macro image mapped with the preset three-dimensional rectangular coordinate system; The coordinate point is determined in a structured light map mapped with the preset three-dimensional rectangular coordinate system, and based on the position of the coordinate point in the structured light map, the contour area of ​​the target object is mapped to the structured light map.

[0008] In a possible implementation, the determining whether the target object is a hazardous chemical container based on the structure information of the target object and the chemical composition information of the target object includes: Traversing a preset chemical composition information library of hazardous chemical containers to determine whether the chemical composition information exists in the chemical composition information library of hazardous chemical containers; If the chemical composition information exists in the chemical composition information library of the hazardous chemical container, obtain the hazardous chemical container structure information library corresponding to the chemical composition information, and traverse the hazardous chemical container structure information library to determine whether the structure information of the target object exists in the hazardous chemical container structure information library; If the structure information of the target object exists in the hazardous chemicals container structure information database, it is determined that the target object is a hazardous chemicals container.

[0009] In a possible implementation, the determining the name of the hazardous chemical contained in the target object based on the structure information and the chemical composition information includes: Encoding the structural information based on a preset structural information encoding rule to obtain a first encoding sequence corresponding to the structural information, and encoding the chemical component information based on a preset chemical component information encoding rule to obtain a second encoding sequence corresponding to the chemical component information; Generate a hazardous chemical category code based on the first coding sequence and the second coding sequence; The name of the hazardous chemical contained in the target object is determined based on the hazardous chemical category code.

[0010] In a possible implementation, the generating the hazardous chemical category code based on the first coding sequence and the second coding sequence includes: Extracting the first character at the specified position of the first coding sequence, extracting the second character at the specified position of the second coding sequence, and recording the sequence number of each of the second characters in the second coding; For each of the first characters, an initial target character sequence corresponding to the first character is obtained from a preset character sequence database; wherein the initial target character sequence includes one of the first characters; For each of the second characters, based on the serial number corresponding to the second character, determine an intermediate target character sequence corresponding to the second character in each of the initial target character sequences; wherein the sum of the numbers in the intermediate target character sequence is an integer multiple of the number corresponding to the serial number of the second character; The repeated character sequences in each of the intermediate target character sequences are removed to obtain multiple target character sequences, and the characters at the specified positions of each of the target character sequences are extracted, and the characters extracted from each of the target character sequences are arranged in sequence based on a preset sorting method to obtain the hazardous chemical category code.

[0011] In a possible implementation, judging whether the hazardous chemical combination causes a safety hazard to the monitored area based on the names of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information includes: Determine the distance between each two hazardous chemicals in the hazardous chemicals combination based on the position of each hazardous chemical in the hazardous chemicals combination; Comparing each of the distance values ​​with a preset distance value respectively; If all of the distance values ​​are greater than the preset distance value, it is determined that the hazardous chemicals combination does not pose a safety hazard to the monitored area; If any of the distance values ​​is not greater than the preset distance value, traverse the preset chemical reaction database to determine whether there is a chemical reaction equation between the hazardous chemicals corresponding to the distance value in the chemical reaction database; If a chemical reaction equation between hazardous chemicals corresponding to the distance value exists in the chemical reaction database, obtaining the chemical reaction equation in the chemical reaction database; Determining whether the environmental parameter information satisfies the reaction conditions of the chemical reaction equation; If the environmental parameter information satisfies the reaction conditions of the chemical reaction equation, it is determined that the hazardous chemical combination poses a safety hazard to the monitored area.

[0012] In the second aspect, the present application provides a hazardous chemicals monitoring and early warning platform based on industrial 3D visual sensors, including: An acquisition module, used to acquire multi-dimensional image information of the monitored area through a preset 3D visual sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device; A determination module, configured to determine the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area; A combination processing module is used to perform combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; The judgment module is used to judge, for each of the hazardous chemical combinations, whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

[0013] The present application provides a method and platform for monitoring and early warning of hazardous chemicals based on industrial 3D vision sensors. The method includes: obtaining multi-dimensional image information of the monitored area through a preset 3D vision sensor module, and obtaining environmental parameter information of the monitored area through a preset environmental parameter detection device; determining hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area; combining all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; for each hazardous chemical combination, judging whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemical in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information. The method, on the one hand, acquires multi-dimensional image information of the monitored area in real time through the 3D vision sensor module, and determines the hazardous chemical information in the monitored area based on the multi-dimensional image information, which helps to improve the accuracy of the hazardous chemical information, thereby improving the accuracy of the safety hazard prediction results in the monitored area. On the other hand, by combining all hazardous chemicals, multiple hazardous chemical combinations corresponding to all hazardous chemicals are obtained, and for each hazardous chemical combination, based on the name of the hazardous chemical in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information, it is judged whether the hazardous chemical combination causes safety hazards to the monitored area, thereby achieving a comprehensive prediction of the safety hazards in the monitored area and helping to improve the safety of the monitored area. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0015] Figure 1 A flow chart of a hazardous chemicals monitoring and early warning method based on an industrial 3D visual sensor provided in an embodiment of the present application; Figure 2 A schematic block diagram of the structure of a hazardous chemicals monitoring and early warning platform based on an industrial 3D vision sensor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0018] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0019] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0020] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] See also Figure 1 , Figure 1 A flow chart of a hazardous chemicals monitoring and early warning method based on an industrial 3D visual sensor provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the hazardous chemicals monitoring and early warning method based on industrial 3D vision sensors provided in the embodiment of the present application includes steps S1 to S4.

[0022] Step S1: acquiring multi-dimensional image information of a monitored area through a preset 3D vision sensor module, and acquiring environmental parameter information of the monitored area through a preset environmental parameter detection device.

[0023] Step S2: determining the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area.

[0024] Step S3: combine all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals.

[0025] Step S4: for each of the hazardous chemical combinations, determine whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemical in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

[0026] In this embodiment, as described in step S1 above, the multi-dimensional image information of the monitored area is obtained through a preset 3D vision sensor module, and the environmental parameter information of the monitored area is obtained through a preset environmental parameter detection device. Wherein, the 3D vision sensor module includes a macroscopic object camera device, a structured light imaging device and an infrared spectrum device, the multi-dimensional image information includes a macroscopic image, a structured light spectrum and an infrared spectrum of the monitored area, the environmental parameter detection device includes but is not limited to a temperature sensor, a humidity sensor and a light intensity sensor, the server obtains the macroscopic image through the macroscopic object camera device, obtains the structured light spectrum through the structured light imaging device, and obtains the infrared spectrum through the infrared spectrum device.

[0027] As described in step S2 above, the hazardous chemical information in the monitored area is determined based on the multi-dimensional image information. Specifically, the server determines the containers in the monitored area based on the macro image, and for each container, determines whether the container is a hazardous chemical container based on the structural spectrum and the infrared spectrum, and if the container is a hazardous chemical container, determines the name of the hazardous chemical in the hazardous chemical container based on the structural spectrum information and infrared spectrum information corresponding to the hazardous chemical container.

[0028] As described in step S3 above, all hazardous chemicals are combined to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals. Specifically, the server performs a combination operation on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals. For example, the hazardous chemicals include hazardous chemical 1, hazardous chemical 2, and hazardous chemical 3, then the hazardous chemical combination includes (hazardous chemical 1, hazardous chemical 2), (hazardous chemical 1, hazardous chemical 3), (hazardous chemical 2, hazardous chemical 3), (hazardous chemical 1, hazardous chemical 2, hazardous chemical 3).

[0029] As described in step S4 above, for each of the hazardous chemicals combinations, based on the names of the hazardous chemicals in the hazardous chemicals combination, the location of each hazardous chemical, and the environmental parameter information, it is determined whether the hazardous chemicals combination poses a safety hazard to the monitored area. Specifically, based on the names of the hazardous chemicals in the hazardous chemicals combination, the location of each hazardous chemical, and the environmental parameter information, the server determines whether the hazardous chemicals in the hazardous chemicals combination have the possibility of chemical reaction. If so, it is determined that the hazardous chemicals combination poses a safety hazard to the monitored area, and the safety hazard is sent to the terminal device of the hazardous chemicals management personnel.

[0030] The method provided in this embodiment, on the one hand, acquires multi-dimensional image information of the monitored area in real time through the 3D vision sensor module, and determines the hazardous chemicals information in the monitored area based on the multi-dimensional image information, which helps to improve the accuracy of the hazardous chemicals information, thereby improving the accuracy of the safety hazard prediction results in the monitored area; on the other hand, by combining all hazardous chemicals, a plurality of hazardous chemical combinations corresponding to all hazardous chemicals are obtained, and for each hazardous chemical combination, based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information, it is judged whether the hazardous chemical combination causes safety hazards to the monitored area, thereby achieving a comprehensive prediction of the safety hazards in the monitored area and helping to improve the safety of the monitored area.

[0031] In some embodiments, the determining the hazardous chemicals information in the monitored area based on the multi-dimensional image information comprises the following steps: Inputting the macro image into a preset semantic recognition model to obtain semantic recognition information of each object in the macro image; wherein the semantic recognition model is a pre-trained neural network model; For each object in the macro image, judging whether the object is a container based on semantic recognition information of the object, and determining that the object is a target object if the object is a container; Marking the contour area of ​​each target object in the macro image; specifically, using the Canny edge detection algorithm to mark the contour area of ​​each target object in the macro image; For each of the target objects, mapping a contour area of ​​the target object from the macro image to the structured light map, and determining structural information of the target object based on a structured light area corresponding to the contour area in the structured light map; For each of the target objects, mapping the contour area of ​​the target object from the macroscopic image to the infrared spectrum map, and determining the chemical composition information of the target object based on the infrared spectrum area corresponding to the contour area in the infrared spectrum map; For each of the target objects, judging whether the target object is a hazardous chemical container based on the structural information of the target object and the chemical composition information of the target object; if the target object is a hazardous chemical container, determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information, determining the position of the target object based on the macro image, and constructing a mapping relationship between the name of the hazardous chemical and the position; The various mapping relationships are integrated to obtain the hazardous chemicals information.

[0032] In this embodiment, mapping the contour area of ​​the target object from the macro image to the structured light map includes the following steps: The preset three-dimensional rectangular coordinate system of the monitored area is mapped to the macro image and the structured light spectrum respectively according to the preset coordinate system mapping rule; wherein the spatial position corresponding to the position of the coordinate origin of the preset three-dimensional rectangular coordinate system in the macro image is consistent with the spatial position corresponding to the position in the structured light spectrum; Determining the coordinate point corresponding to the center of gravity of the contour area of ​​the target object in the macro image mapped with the preset three-dimensional rectangular coordinate system; The coordinate point is determined in a structured light map mapped with the preset three-dimensional rectangular coordinate system, and based on the position of the coordinate point in the structured light map, the contour area of ​​the target object is mapped to the structured light map.

[0033] In this embodiment, mapping the contour area of ​​the target object from the macro image to the infrared spectrum includes the following steps: The preset three-dimensional rectangular coordinate system of the monitored area is mapped to the macro image and the infrared spectrum respectively according to the preset coordinate system mapping rule; wherein the spatial position corresponding to the position of the coordinate origin of the preset three-dimensional rectangular coordinate system in the macro image is consistent with the spatial position corresponding to the position in the infrared spectrum; Determining the coordinate point corresponding to the center of gravity of the contour area of ​​the target object in the macro image mapped with the preset three-dimensional rectangular coordinate system; The coordinate point is determined in an infrared spectrum map mapped with the preset three-dimensional rectangular coordinate system, and based on the position of the coordinate point in the infrared spectrum map, the contour area of ​​the target object is mapped to the infrared spectrum map.

[0034] In this embodiment, judging whether the target object is a hazardous chemical container based on the structural information of the target object and the chemical composition information of the target object includes the following steps: Traversing a preset chemical composition information library of hazardous chemical containers to determine whether the chemical composition information exists in the chemical composition information library of hazardous chemical containers; If the chemical composition information exists in the chemical composition information library of the hazardous chemical container, obtain the hazardous chemical container structure information library corresponding to the chemical composition information, and traverse the hazardous chemical container structure information library to determine whether the structure information of the target object exists in the hazardous chemical container structure information library; If the structure information of the target object exists in the hazardous chemicals container structure information database, it is determined that the target object is a hazardous chemicals container.

[0035] In this embodiment, determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information includes the following steps: Encoding the structural information based on a preset structural information encoding rule to obtain a first encoding sequence corresponding to the structural information, and encoding the chemical component information based on a preset chemical component information encoding rule to obtain a second encoding sequence corresponding to the chemical component information; Generate a hazardous chemical category code based on the first coding sequence and the second coding sequence; The name of the hazardous chemical contained in the target object is determined based on the hazardous chemical category code. Specifically, a preset hazardous chemical category database is traversed to determine the name of the hazardous chemical corresponding to the hazardous chemical category code. The hazardous chemical category database stores the correspondence between the hazardous chemical category code and the hazardous chemical name.

[0036] In this embodiment, generating the hazardous chemicals category code based on the first coding sequence and the second coding sequence includes the following steps: Extracting the first character at the specified position of the first coding sequence, extracting the second character at the specified position of the second coding sequence, and recording the sequence number of each of the second characters in the second coding; For each of the first characters, an initial target character sequence corresponding to the first character is obtained from a preset character sequence database; wherein the initial target character sequence includes one of the first characters; For each of the second characters, based on the serial number corresponding to the second character, determine an intermediate target character sequence corresponding to the second character in each of the initial target character sequences; wherein the sum of the numbers in the intermediate target character sequence is an integer multiple of the number corresponding to the serial number of the second character; The repeated character sequences in each of the intermediate target character sequences are removed to obtain multiple target character sequences, and the characters at the specified positions of each of the target character sequences are extracted, and the characters extracted from each of the target character sequences are arranged in sequence based on a preset sorting method to obtain the hazardous chemical category code.

[0037] The method provided in this embodiment realizes the accurate identification and positioning of hazardous chemical containers in the monitored area through comprehensive processing of the multi-dimensional image information, and accurately determines the names of hazardous chemicals in the hazardous chemical containers, thereby improving the accuracy and efficiency of hazardous chemical identification, realizing the automated management of hazardous chemical information, and improving monitoring efficiency.

[0038] In some embodiments, the determining whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information includes the following steps: Determine the distance between each two hazardous chemicals in the hazardous chemicals combination based on the position of each hazardous chemical in the hazardous chemicals combination; Comparing each of the distance values ​​with a preset distance value respectively; If all of the distance values ​​are greater than the preset distance value, it is determined that the hazardous chemicals combination does not pose a safety hazard to the monitored area; If any of the distance values ​​is not greater than the preset distance value, traverse the preset chemical reaction database to determine whether there is a chemical reaction equation between the hazardous chemicals corresponding to the distance value in the chemical reaction database; If a chemical reaction equation between hazardous chemicals corresponding to the distance value exists in the chemical reaction database, obtaining the chemical reaction equation in the chemical reaction database; Determining whether the environmental parameter information satisfies the reaction conditions of the chemical reaction equation; If the environmental parameter information satisfies the reaction conditions of the chemical reaction equation, it is determined that the hazardous chemical combination poses a safety hazard to the monitored area.

[0039] The method provided in this embodiment provides a comprehensive method for determining safety hazards through precise chemical reaction analysis, and has extremely high application value in ensuring the safe management of hazardous chemicals.

[0040] See also Figure 2 , Figure 2 A schematic block diagram of the structure of a hazardous chemicals monitoring and early warning platform 100 based on an industrial 3D visual sensor provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the hazardous chemicals monitoring and early warning platform 100 based on industrial 3D visual sensors provided in the embodiment of the present application includes: The acquisition module 110 is used to acquire multi-dimensional image information of the monitored area through a preset 3D visual sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device.

[0041] The determination module 120 is used to determine the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area.

[0042] The combination processing module 130 is used to perform combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals.

[0043] The judgment module 140 is used to judge, for each of the hazardous chemical combinations, whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

[0044] It should be noted that technical personnel in the relevant technical field can clearly understand that, for the convenience and conciseness of description, the specific working processes of the platform and each module described above can refer to the corresponding processes in the aforementioned embodiment of the hazardous chemicals monitoring and early warning method based on industrial 3D vision sensors, and will not be repeated here.

[0045] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A hazardous chemicals monitoring and early warning method based on industrial 3D visual sensors, characterized in that: include: Acquire multi-dimensional image information of the monitored area through a preset 3D visual sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device; Determine the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area; All hazardous chemicals are processed in combination to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; For each of the hazardous chemical combinations, it is determined whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

2. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 1 is characterized in that: The multi-dimensional image information includes a macroscopic image, a structured light spectrum, and an infrared spectrum of the monitored area, and determining the hazardous chemicals information in the monitored area based on the multi-dimensional image information includes: Inputting the macro image into a preset semantic recognition model to obtain semantic recognition information of each object in the macro image; wherein the semantic recognition model is a pre-trained neural network model; For each object in the macro image, judging whether the object is a container based on semantic recognition information of the object, and determining that the object is a target object if the object is a container; Annotating contour areas of each target object in the macro image; For each of the target objects, mapping a contour area of ​​the target object from the macro image to the structured light map, and determining structural information of the target object based on a structured light area corresponding to the contour area in the structured light map; For each of the target objects, mapping the contour area of ​​the target object from the macroscopic image to the infrared spectrum map, and determining the chemical composition information of the target object based on the infrared spectrum area corresponding to the contour area in the infrared spectrum map; For each of the target objects, judging whether the target object is a hazardous chemical container based on the structural information of the target object and the chemical composition information of the target object; if the target object is a hazardous chemical container, determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information, determining the position of the target object based on the macro image, and constructing a mapping relationship between the name of the hazardous chemical and the position; The various mapping relationships are integrated to obtain the hazardous chemicals information.

3. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 2 is characterized in that: The mapping of the contour area of ​​the target object from the macro image to the structured light map includes: The preset three-dimensional rectangular coordinate system of the monitored area is mapped to the macro image and the structured light spectrum respectively according to the preset coordinate system mapping rule; wherein the spatial position corresponding to the position of the coordinate origin of the preset three-dimensional rectangular coordinate system in the macro image is consistent with the spatial position corresponding to the position in the structured light spectrum; Determining the coordinate point corresponding to the center of gravity of the contour area of ​​the target object in the macro image mapped with the preset three-dimensional rectangular coordinate system; The coordinate point is determined in a structured light map mapped with the preset three-dimensional rectangular coordinate system, and based on the position of the coordinate point in the structured light map, the contour area of ​​the target object is mapped to the structured light map.

4. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 2 is characterized in that: The determining whether the target object is a hazardous chemical container based on the structural information of the target object and the chemical composition information of the target object includes: Traversing a preset chemical composition information library of hazardous chemical containers to determine whether the chemical composition information exists in the chemical composition information library of hazardous chemical containers; If the chemical composition information exists in the chemical composition information library of the hazardous chemical container, obtain the hazardous chemical container structure information library corresponding to the chemical composition information, and traverse the hazardous chemical container structure information library to determine whether the structure information of the target object exists in the hazardous chemical container structure information library; If the structure information of the target object exists in the hazardous chemicals container structure information database, it is determined that the target object is a hazardous chemicals container.

5. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 2 is characterized in that: The determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information includes: Encoding the structural information based on a preset structural information encoding rule to obtain a first encoding sequence corresponding to the structural information, and encoding the chemical component information based on a preset chemical component information encoding rule to obtain a second encoding sequence corresponding to the chemical component information; Generate a hazardous chemical category code based on the first coding sequence and the second coding sequence; The name of the hazardous chemical contained in the target object is determined based on the hazardous chemical category code.

6. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 5 is characterized in that: The generating of the hazardous chemicals category code based on the first coding sequence and the second coding sequence includes: Extracting the first character at the specified position of the first coding sequence, extracting the second character at the specified position of the second coding sequence, and recording the sequence number of each of the second characters in the second coding; For each of the first characters, an initial target character sequence corresponding to the first character is obtained from a preset character sequence database; wherein the initial target character sequence includes one of the first characters; For each of the second characters, based on the serial number corresponding to the second character, determine an intermediate target character sequence corresponding to the second character in each of the initial target character sequences; wherein the sum of the numbers in the intermediate target character sequence is an integer multiple of the number corresponding to the serial number of the second character; The repeated character sequences in each of the intermediate target character sequences are removed to obtain multiple target character sequences, and the characters at the specified positions of each of the target character sequences are extracted, and the characters extracted from each of the target character sequences are arranged in sequence based on a preset sorting method to obtain the hazardous chemical category code.

7. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 1 is characterized in that: The determining whether the hazardous chemical combination causes a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information includes: Determine the distance between each two hazardous chemicals in the hazardous chemicals combination based on the position of each hazardous chemical in the hazardous chemicals combination; Comparing each of the distance values ​​with a preset distance value respectively; If all of the distance values ​​are greater than the preset distance value, it is determined that the hazardous chemicals combination does not pose a safety hazard to the monitored area; If any of the distance values ​​is not greater than the preset distance value, traverse the preset chemical reaction database to determine whether there is a chemical reaction equation between the hazardous chemicals corresponding to the distance value in the chemical reaction database; If a chemical reaction equation between hazardous chemicals corresponding to the distance value exists in the chemical reaction database, obtaining the chemical reaction equation in the chemical reaction database; Determining whether the environmental parameter information satisfies the reaction conditions of the chemical reaction equation; If the environmental parameter information satisfies the reaction conditions of the chemical reaction equation, it is determined that the hazardous chemical combination poses a safety hazard to the monitored area.

8. A hazardous chemicals monitoring and early warning platform based on industrial 3D visual sensors, characterized in that: include: An acquisition module, used to acquire multi-dimensional image information of the monitored area through a preset 3D visual sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device; A determination module, configured to determine the hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the name of the hazardous chemical and the location of each hazardous chemical in the monitored area; A combination processing module is used to perform combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; The judgment module is used to judge, for each of the hazardous chemical combinations, whether the hazardous chemical combination poses a safety hazard to the monitored area based on the name of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information.

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