Hazardous Chemical Monitoring and Early Warning Method and Platform Based on Industrial 3D Vision Sensors

Abstract

This application relates to the technical field of hazardous chemical detection, and provides a method and platform for monitoring and warning of hazardous chemicals based on an industrial 3D vision sensor. The method includes obtaining multi-dimensional image information of the monitored area and obtaining environmental parameter information of the monitored area; 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 position of each hazardous chemical in the monitored area; performing combined processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; for each of the hazardous chemical combinations, determining 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 position of each hazardous chemical, and the environmental parameter information. This method realizes a comprehensive prediction of safety hazards in the monitored area, which helps to improve the safety of the monitored area.

Description

Technical Field

[0001] This application relates to the technical field of hazardous chemical detection, and particularly to a method and platform for monitoring and warning of hazardous chemicals based on an industrial 3D vision sensor. Background Art

[0002] With the continuous expansion of industrial production scale, the usage and storage volume of hazardous chemicals are also increasing day by day. In high-risk industries such as chemical engineering, energy, and pharmaceuticals, accidents such as leakage and explosion of hazardous chemicals occur frequently, often bringing great safety risks. Therefore, how to monitor and warn of hazardous chemicals in real time and efficiently has become the core requirement for the storage of hazardous chemicals in these high-risk industries.

[0003] Most traditional methods for monitoring hazardous chemicals rely on regular manual inspections and gas sensors. Such methods often have difficulty in timely discovering and dealing with potential safety hazards. Summary of the Invention

[0004] This application provides a method and platform for monitoring and warning of hazardous chemicals based on an industrial 3D vision sensor to solve the problems raised in the above background art.

[0005] In a first aspect, this application provides a method for monitoring and warning of hazardous chemicals based on an industrial 3D vision sensor, including:

[0006] 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;

[0007] Determining hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the names of hazardous chemicals and the positions of each hazardous chemical in the monitored area;

[0008] Performing combined processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals;

[0009] For each of the hazardous chemical combinations, determining whether the hazardous chemical combination poses a safety hazard to the monitored area based on the names of the hazardous chemicals in the hazardous chemical combination, the positions of each hazardous chemical, and the environmental parameter information.

[0010] In a possible implementation manner, the multi-dimensional image information includes a macroscopic image, a structured light spectrum map, and an infrared spectrum map of the monitoring area, and determining the hazardous chemical information in the monitored area based on the multi-dimensional image information includes:

[0011] Inputting the macroscopic image into a preset semantic recognition model to obtain semantic recognition information of each object in the macroscopic image; wherein, the semantic recognition model is a neural network model that has been pre-trained.

[0012] For each object in the macroscopic image, determine whether the object is a container based on the semantic recognition information of the object, and when the object is a container, determine the object as a target object;

[0013] Label the contour regions of each target object in the macroscopic image;

[0014] For each target object, map the contour region of the target object from the macroscopic image to the structured light spectrum map, and determine the structure information of the target object based on the structured light region corresponding to the contour region in the structured light spectrum map;

[0015] For each target object, map the contour region of the target object from the macroscopic image to the infrared spectrum map, and determine the chemical composition information of the target object based on the infrared spectrum region corresponding to the contour region in the infrared spectrum map;

[0016] For each target object, determine 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. If the target object is a hazardous chemical container, determine the name of the hazardous chemical contained in the target object based on the structure information and the chemical composition information, and determine the position of the target object based on the macroscopic image, and construct a mapping relationship between the name of the hazardous chemical and the position;

[0017] Integrate each of the mapping relationships to obtain the hazardous chemical information.

[0018] In a possible implementation, the mapping of the contour region of the target object from the macroscopic image to the structured light spectrum map includes:

[0019] Map the preset three-dimensional space rectangular coordinate system of the monitored area to the macroscopic image and the structured light spectrum map respectively according to a preset coordinate system mapping rule; wherein, the spatial position corresponding to the position of the coordinate origin of the preset three-dimensional space rectangular coordinate system in the macroscopic image is the same as the spatial position corresponding to the position in the structured light spectrum map;

[0020] Determine the coordinate point corresponding to the centroid of the contour region of the target object in the macroscopic image mapped with the preset three-dimensional space rectangular coordinate system;

[0021] Determine the coordinate point in the structured light spectrum map mapped with the preset three-dimensional space rectangular coordinate system, and map the contour region of the target object to the structured light spectrum map based on the position of the coordinate point in the structured light spectrum map.

[0022] In a possible implementation, determining whether the target object is a hazardous chemical container based on the structural information and chemical composition information of the target object includes:

[0023] Traverse a preset chemical composition information database of hazardous chemical containers to determine whether the chemical composition information exists in the chemical composition information database of hazardous chemical containers;

[0024] If the chemical composition information exists in the chemical composition information database of hazardous chemical containers, obtain the corresponding structural information database of hazardous chemical containers, and traverse the structural information database of hazardous chemical containers to determine whether the structural information of the target object exists in the structural information database of hazardous chemical containers;

[0025] If the structural information of the target object exists in the structural information database of hazardous chemical containers, determine that the target object is a hazardous chemical container.

[0026] In a possible implementation, determining the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information includes:

[0027] Perform encoding processing on the structural information based on a preset structural information encoding rule to obtain a first encoding sequence corresponding to the structural information, and perform encoding processing on the chemical composition information based on a preset chemical composition information encoding rule to obtain a second encoding sequence corresponding to the chemical composition information;

[0028] Generate a hazardous chemical category code based on the first encoding sequence and the second encoding sequence;

[0029] Determine the name of the hazardous chemical contained in the target object based on the hazardous chemical category code.

[0030] In a possible implementation, generating a hazardous chemical category code based on the first encoding sequence and the second encoding sequence includes:

[0031] Extract the first character at a specified position in the first encoding sequence, extract the second character at the specified position in the second encoding sequence, and record the serial number of each second character in the second encoding;

[0032] For each of the first characters, obtain an initial target character sequence corresponding to the first character in a preset character sequence database; wherein, the initial target character sequence includes one of the first characters;

[0033] 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 digits in the intermediate target character sequence is an integer multiple of the digit corresponding to the serial number of the second character;

[0034] Remove the duplicate character sequences in each of the intermediate target character sequences to obtain a plurality of target character sequences, extract the characters at the specified positions in each of the target character sequences, and arrange the characters extracted from each of the target character sequences in sequence based on a preset sorting method to obtain the hazardous chemical category code.

[0035] In a possible implementation manner, the determining whether the hazardous chemical combination poses a safety hazard to the monitored area based on the hazardous chemical name, the position of each hazardous chemical, and the environmental parameter information in the hazardous chemical combination includes:

[0036] Based on the position of each hazardous chemical in the hazardous chemical combination, determine the distance value between every two hazardous chemicals in the hazardous chemical combination;

[0037] Compare each of the distance values with a preset distance value;

[0038] If each of the distance values is greater than the preset distance value, determine that the hazardous chemical combination does not pose a safety hazard to the monitored area;

[0039] If any one of the distance values is not greater than the preset distance value, traverse a 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;

[0040] If there is a chemical reaction equation between the hazardous chemicals corresponding to the distance value in the chemical reaction database, obtain the chemical reaction equation in the chemical reaction database;

[0041] Determine whether the environmental parameter information satisfies the reaction conditions of the chemical reaction equation;

[0042] If the environmental parameter information satisfies the reaction conditions of the chemical reaction equation, determine that the hazardous chemical combination poses a safety hazard to the monitored area.

[0043] In a second aspect, the present application provides a hazardous chemical monitoring and early warning platform based on an industrial 3D vision sensor, including:

[0044] An acquisition module, configured to acquire multi-dimensional image information of a monitored area through a preset 3D vision sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device;

[0045] A determination module, configured to determine hazardous chemical information within the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the names of hazardous chemicals and the locations of each hazardous chemical within the monitored area;

[0046] A combination processing module, configured to perform combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals;

[0047] A judgment module, configured to, for each of the hazardous chemical combinations, determine whether the hazardous chemical combination poses 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.

[0048] This application provides a method and platform for monitoring and warning of hazardous chemicals based on an industrial 3D vision sensor. 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 within the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the names of hazardous chemicals and the locations of each hazardous chemical within the monitored area; performing combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals; for each of the hazardous chemical combinations, determining whether the hazardous chemical combination poses 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. On the one hand, this method obtains the multi-dimensional image information of the monitored area in real time through the 3D vision sensor module, and determines the hazardous chemical information within 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 result within the monitored area. On the other hand, by performing combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals, and for each of the hazardous chemical combinations, determining whether the hazardous chemical combination poses 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, a comprehensive prediction of the safety hazards within the monitored area is realized, which helps to improve the safety of the monitored area. Description of the Drawings

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0050] Figure 1Schematic flowchart of the hazardous chemical monitoring and early warning method based on an industrial 3D vision sensor provided by an embodiment of the present application;

[0051] Figure 2 Schematic block diagram of the structure of the hazardous chemical monitoring and early warning platform based on an industrial 3D vision sensor provided by an embodiment of the present application. Detailed implementation manners

[0052] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] The flowchart shown in the accompanying drawings is only an example illustration, and does not necessarily include all contents and operations / steps, nor does it necessarily execute in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged, so the actual execution order may change according to the actual situation.

[0054] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless otherwise clearly specified in the context, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0055] It should be further understood that the term " / and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0056] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the features in the following embodiments and the embodiments can be combined with each other.

[0057] Please refer to Figure 1 , Figure 1 Schematic flowchart of the hazardous chemical monitoring and early warning method based on an industrial 3D vision sensor provided by an embodiment of the present application. As Figure 1 shown, the hazardous chemical monitoring and early warning method based on an industrial 3D vision sensor provided by an embodiment of the present application includes steps S1 to S4.

[0058] Step S1: Obtain multi-dimensional image information of the monitored area through a preset 3D vision sensor module, and obtain environmental parameter information of the monitored area through a preset environmental parameter detection device.

[0059] Step S2: Determine the hazardous chemical information within the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the names of the hazardous chemicals and the locations of each hazardous chemical within the monitored area.

[0060] Step S3: Perform a combination process on all the hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all the hazardous chemicals.

[0061] 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 names of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information.

[0062] 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. Among them, the 3D vision sensor module includes a macroscopic object imaging device, a structured light imaging device, and an infrared spectroscopy device. The multi-dimensional image information includes the macroscopic image, the structured light spectrum, and the 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 imaging device, obtains the structured light spectrum through the structured light imaging device, and obtains the infrared spectrum through the infrared spectroscopy device.

[0063] As described in step S2 above, determine the hazardous chemical information within the monitored area based on the multi-dimensional image information. Specifically, the server determines the containers within the monitored area based on the macroscopic image. For each of the containers, it is determined whether the container is a hazardous chemical container based on the structured light spectrum and the infrared spectrum. When the container is a hazardous chemical container, the name of the hazardous chemical in the hazardous chemical container is determined based on the structured light spectrum information and the infrared spectrum information corresponding to the hazardous chemical container.

[0064] As described in step S3 above, perform a combination process on all the hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all the hazardous chemicals. Specifically, the server performs a combination operation on all the hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all the hazardous chemicals. For example, if the hazardous chemicals include Hazardous Chemical 1, Hazardous Chemical 2, and Hazardous Chemical 3, then the hazardous chemical combinations include (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).

[0065] As described in step S4 above, for each of the hazardous chemical combinations, based on the names of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information, it is determined whether the hazardous chemical combination poses a safety hazard to the monitored area. Specifically, the server determines whether there is a possibility of a chemical reaction occurring among the hazardous chemicals in the hazardous chemical combination based on the names of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information. If so, it is determined that the hazardous chemical combination poses a safety hazard to the monitored area, and this safety hazard is sent to the terminal device of the hazardous chemical management personnel.

[0066] For the method provided in this embodiment, on the one hand, the 3D vision sensor module is used to obtain the multi-dimensional image information of the monitored area in real time, and the hazardous chemical information in the monitored area is determined 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 result in the monitored area. On the other hand, by performing combination processing on all hazardous chemicals, a plurality of hazardous chemical combinations corresponding to all hazardous chemicals are obtained, and 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 names of the hazardous chemicals in the hazardous chemical combination, the location of each hazardous chemical, and the environmental parameter information, realizing a comprehensive prediction of the safety hazards in the monitored area, which helps to improve the safety of the monitored area.

[0067] In some embodiments, the determining the hazardous chemical information in the monitored area based on the multi-dimensional image information includes the following steps:

[0068] Input the macroscopic image into a preset semantic recognition model to obtain the semantic recognition information of each object in the macroscopic image; wherein, the semantic recognition model is a neural network model that has been pre-trained.

[0069] For each object in the macroscopic image, determine whether the object is a container based on the semantic recognition information of the object, and when the object is a container, determine the object as the target object.

[0070] Mark the contour areas of each target object in the macroscopic image; specifically, use the Canny edge detection algorithm to mark the contour areas of each target object in the macroscopic image.

[0071] For each of the target objects, map the contour area of the target object from the macroscopic image to the structured light map, and determine the structure information of the target object based on the structured light area corresponding to the contour area in the structured light map.

[0072] For each of the target objects, map the contour region of the target object from the macroscopic image to the infrared spectrogram, and determine the chemical composition information of the target object based on the infrared spectral region corresponding to the contour region in the infrared spectrogram;

[0073] For each of the target objects, determine whether the target object is a hazardous chemical container based on the structural information and the chemical composition information of the target object. If the target object is a hazardous chemical container, determine the name of the hazardous chemical contained in the target object based on the structural information and the chemical composition information, and determine the position of the target object based on the macroscopic image, and construct a mapping relationship between the name of the hazardous chemical and the position;

[0074] Integrate each of the mapping relationships to obtain the hazardous chemical information.

[0075] In this embodiment, the mapping of the contour region of the target object from the macroscopic image to the structured light spectrogram includes the following steps:

[0076] Map the preset three-dimensional space rectangular coordinate system of the monitored area to the macroscopic image and the structured light spectrogram 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 space rectangular coordinate system in the macroscopic image is the same as the spatial position corresponding to the position in the structured light spectrogram;

[0077] Determine the coordinate point corresponding to the center of gravity of the contour region of the target object in the macroscopic image mapped with the preset three-dimensional space rectangular coordinate system;

[0078] Determine the coordinate point in the structured light spectrogram mapped with the preset three-dimensional space rectangular coordinate system, and map the contour region of the target object to the structured light spectrogram based on the position of the coordinate point in the structured light spectrogram.

[0079] In this embodiment, the mapping of the contour region of the target object from the macroscopic image to the infrared spectrogram includes the following steps:

[0080] Map the preset three-dimensional space rectangular coordinate system of the monitored area to the macroscopic image and the infrared spectrogram 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 space rectangular coordinate system in the macroscopic image is the same as the spatial position corresponding to the position in the infrared spectrogram;

[0081] Determine the coordinate point corresponding to the center of gravity of the contour region of the target object in the macroscopic image mapped with the preset three-dimensional space rectangular coordinate system;

[0082] Determine the coordinate points in the infrared spectrogram mapped with the preset three-dimensional rectangular coordinate system, and map the contour area of the target object to the infrared spectrogram based on the positions of the coordinate points in the infrared spectrogram.

[0083] In this embodiment, the judging whether the target object is a hazardous chemical container based on the structural information and chemical composition information of the target object includes the following steps:

[0084] Traverse the preset chemical composition information database of hazardous chemical containers to judge whether the chemical composition information exists in the chemical composition information database of hazardous chemical containers;

[0085] If the chemical composition information exists in the chemical composition information database of hazardous chemical containers, obtain the structural information database of hazardous chemical containers corresponding to the chemical composition information, and traverse the structural information database of hazardous chemical containers to judge whether the structural information of the target object exists in the structural information database of hazardous chemical containers;

[0086] If the structural information of the target object exists in the structural information database of hazardous chemical containers, determine that the target object is a hazardous chemical container.

[0087] In this embodiment, the 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:

[0088] Perform encoding processing on the structural information based on the preset structural information encoding rule to obtain a first encoding sequence corresponding to the structural information, and perform encoding processing on the chemical composition information based on the preset chemical composition information encoding rule to obtain a second encoding sequence corresponding to the chemical composition information;

[0089] Generate a hazardous chemical category code based on the first encoding sequence and the second encoding sequence;

[0090] Determine the name of the hazardous chemical contained in the target object based on the hazardous chemical category code. Specifically, traverse the preset hazardous chemical category database to determine the name of the hazardous chemical corresponding to the hazardous chemical category code, and the corresponding relationship between the hazardous chemical category code and the hazardous chemical name is stored in the hazardous chemical category database.

[0091] In this embodiment, the generating a hazardous chemical category code based on the first encoding sequence and the second encoding sequence includes the following steps:

[0092] Extract the first character of the first encoding sequence at a specified position, extract the second character of the second encoding sequence at the specified position, and record the serial number of each second character in the second encoding;

[0093] For each of the first characters, obtain the initial target character sequence corresponding to the first character in a preset character sequence database; wherein, the initial target character sequence includes one of the first characters.

[0094] For each of the second characters, based on the serial number corresponding to the second character, determine the intermediate target character sequence corresponding to the second character in each of the initial target character sequences; wherein, the sum of the digits in the intermediate target character sequence is an integer multiple of the digit corresponding to the serial number of the second character.

[0095] Remove the duplicate character sequences in each of the intermediate target character sequences to obtain a plurality of target character sequences, extract the characters at the specified positions in each of the target character sequences, and arrange the characters extracted from each of the target character sequences in sequence based on a preset sorting method to obtain the hazardous chemical category code.

[0096] The method provided in this embodiment realizes the accurate identification and positioning of hazardous chemical containers in the monitored area through the comprehensive processing of the multi-dimensional image information, accurately determines the names of the hazardous chemicals in the hazardous chemical containers, improves the accuracy and efficiency of hazardous chemical identification, realizes the automated management of hazardous chemical information, and improves the monitoring efficiency.

[0097] In some embodiments, the determining whether the combination of hazardous chemicals poses a safety hazard to the monitored area based on the names of the hazardous chemicals in the combination of hazardous chemicals, the position of each hazardous chemical, and the environmental parameter information includes the following steps:

[0098] Based on the positions of each hazardous chemical in the combination of hazardous chemicals, determine the distance value between every two hazardous chemicals in the combination of hazardous chemicals.

[0099] Compare each of the distance values with a preset distance value.

[0100] If each of the distance values is greater than the preset distance value, determine that the combination of hazardous chemicals does not pose a safety hazard to the monitored area.

[0101] If any one of the distance values is not greater than the preset distance value, traverse a 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.

[0102] If there is a chemical reaction equation between the hazardous chemicals corresponding to the distance value in the chemical reaction database, obtain the chemical reaction equation in the chemical reaction database.

[0103] Determine whether the environmental parameter information satisfies the reaction conditions of the chemical reaction equation.

[0104] If the environmental parameter information meets the reaction conditions of the chemical reaction equation, it is determined that the hazardous chemical combination poses a safety hazard to the monitored area.

[0105] The method provided in this embodiment provides a comprehensive method for judging safety hazards through precise chemical reaction analysis, and has extremely high application value in ensuring the safety management of hazardous chemicals.

[0106] Please refer to Figure 2 , Figure 2 which is a schematic block diagram of the structure of the hazardous chemical monitoring and early warning platform 100 based on an industrial 3D vision sensor provided by an embodiment of the present application. As Figure 2 shown, the hazardous chemical monitoring and early warning platform 100 based on an industrial 3D vision sensor provided by an embodiment of the present application includes:

[0107] An acquisition module 110, configured to acquire multi-dimensional image information of the monitored area through a preset 3D vision sensor module, and acquire environmental parameter information of the monitored area through a preset environmental parameter detection device.

[0108] A determination module 120, configured to determine hazardous chemical information in the monitored area based on the multi-dimensional image information; the hazardous chemical information includes the names of hazardous chemicals and the positions of each hazardous chemical in the monitored area.

[0109] A combination processing module 130, configured to perform combination processing on all hazardous chemicals to obtain multiple hazardous chemical combinations corresponding to all hazardous chemicals.

[0110] A judgment module 140, configured to, for each of the hazardous chemical combinations, judge whether the hazardous chemical combination poses a safety hazard to the monitored area based on the names of the hazardous chemicals in the hazardous chemical combination, the positions of each hazardous chemical, and the environmental parameter information.

[0111] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described platform and each module can refer to the corresponding processes in the embodiment of the hazardous chemical monitoring and early warning method based on an industrial 3D vision sensor described above, and will not be elaborated here.

[0112] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present application, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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, 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 multidimensional 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 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.

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 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.

3. 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 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.

4. 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 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.

5. The method for monitoring and early warning of hazardous chemicals based on industrial 3D visual sensors according to claim 4 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.

6. 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.

7. 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; A judgment module, for judging, 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 chemical in the hazardous chemical combination, the location of each hazardous chemical and the environmental parameter information; The multidimensional 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 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.

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