Automatic loading method, control system and device for liquid hazardous chemicals tank truck

Abstract

The present invention proposes an automatic loading method, control system and device for a tank truck of liquid hazardous chemicals. The method includes controlling the tank truck to drive into a designated position, and obtaining the target position of the filling cap and the orifice height of the filling hole at the designated position, so as to provide a guarantee for the accurate and safe filling operation. The robot is controlled to automatically open the cap, insert the crane into the filling hole, fill the cap and tighten the cap, which further ensures the integrity and safety of the filling operation, reduces manpower requirements and improves work efficiency. At the same time, the standardization of the robot operation can also improve the consistency and repeatability of the operation. Therefore, the present invention significantly reduces human intervention and shortens the filling time through automated operation. In particular, when handling hazardous liquids, liquid leakage and other safety hazards can be reduced, and the standardized process enables each operation to achieve the same effect, which not only helps quality control, but also greatly improves efficiency.

Description

Technical Field

[0001] The invention belongs to the field of chemical equipment, and in particular relates to an automatic loading method, control system and device for a liquid hazardous chemical tank truck. Background Art

[0002] When performing traditional filling operations for hazardous chemicals, workers usually wear protective clothing to pull the crane pipe into the tank truck. The main problems in this filling operation are high labor intensity, great safety hazards, and serious physical harm to personnel by toxic and harmful media.

[0003] Based on this, relevant institutions at home and abroad have carried out the research and development of automatic docking devices for fluid tank trucks. The existing automatic loading of fluid tank trucks is based on the traditional mechanical crane pipe. The various joints of the crane pipe are modified, and the joints are automatically controlled by hydraulic, pneumatic or electric means. At the same time, an optical camera is used to collect images of the top of the tank truck, identify the position of the tank mouth, and solve and drive the coordinated movement of the joints of the crane pipe to realize the alignment of the liquid-filling vertical pipe in the crane pipe with the tank truck's liquid-filling port and insert it into the tank to a specified depth. However, since the liquid-filling vertical pipe needs to be installed with a lifting drive mechanism, a scraping mechanism, and a liquid-supporting mechanism, its structure is relatively complex, its weight is large, and it is far away from the column. The bending moment caused to the rotating joint at the end of the column is large, the rotating joint at the end of the column is seriously worn, and the working safety of the entire mechanism is poor; at the same time, due to the lack of a reasonable design of the entire tank truck automatic loading process, not only the working efficiency of the automatic loading of liquid hazardous chemicals tank trucks is low, but also there are great safety hazards.

[0004] Therefore, it is necessary to design an automatic loading method, control system and device for liquid hazardous chemicals tank trucks to improve the reliability of liquid hazardous chemicals tank truck loading work. Summary of the invention

[0005] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a method, control system and device for automatic loading of liquid hazardous chemicals tank trucks. The robot cooperates with the filling operation to complete the automated unmanned filling in a standardized manner, which greatly improves the safety and efficiency of hazardous chemicals filling.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a method for automatically loading a liquid hazardous chemical tanker, comprising:

[0007] Identify the type of tank truck and instruct the tank truck to drive to a preset designated location according to the type of tank truck;

[0008] At the designated position, obtaining the target position of the filling cap of the tank truck and the orifice height information of the filling hole;

[0009] Control the robot to perform a cover opening action at the target position;

[0010] Based on the orifice height information, control the robot to insert the lifting pipe into the filling hole, and perform the filling operation by controlling the lifting pipe;

[0011] When the filling operation is finished, the robot is controlled to take out the lifting tube and perform a cap tightening operation at the target position.

[0012] In a preferred embodiment of the present invention, the step of determining the end of the filling operation includes:

[0013] Obtaining the model of the tank truck, and setting the filling volume according to the model;

[0014] Obtaining a real-time filling volume according to the real-time weight of the tank truck, and determining whether the real-time filling volume reaches the set filling volume;

[0015] When the real-time filling volume reaches the set filling volume, it is determined that the filling operation is completed; otherwise, the filling operation continues.

[0016] In another preferred embodiment of the present invention, the step of determining the end of the filling operation includes:

[0017] Obtaining the measured liquid level of the liquid level detection sensor;

[0018] Determining whether the measured liquid level reaches a preset liquid level value;

[0019] When the measured liquid level reaches the preset liquid level value, the filling operation is determined to be finished; otherwise, the filling operation is continued.

[0020] In one embodiment of the present invention, controlling the robot to insert the crane tube into the filling hole comprises the following steps:

[0021] Controlling the robot to grab the crane pipe;

[0022] Insert the crane pipe into the verification tank, and detect the state of the liquid level float of the crane pipe through a sensor to verify its normality;

[0023] When the liquid level float is normal, the robot is controlled to insert the lifting tube into the filling hole based on the orifice height information.

[0024] In a preferred embodiment of the present invention, controlling the robot to insert the lifting tube into the filling hole also includes the following steps:

[0025] Controlling the robot to move the crane pipe to a first set position;

[0026] Controlling the robot to tilt the lifting tube upward from the first set position to lift it, and then tilt it downward to insert it into the filling hole;

[0027] Determine the specific position of the lifting pipe inserted into the filling hole according to the height of the orifice;

[0028] Determine whether the specific position reaches the preset position of the filling operation, and when it reaches the preset position, the lifting pipe is inserted in place;

[0029] Wherein, the first set position is a preset tilt angle and height.

[0030] In order to achieve the purpose and other purposes of the present invention, the present invention also provides an automatic loading control system for a liquid hazardous chemical tanker, comprising:

[0031] An identification module, for identifying the type of tank truck and instructing the tank truck to drive to a preset designated location according to the type of tank truck;

[0032] An acquisition module, used for acquiring the target position of the filling cap of the tank truck and the orifice height information of the filling hole at the designated position;

[0033] An execution module, the execution module comprising:

[0034] The first execution unit is used to control the robot to perform the cap opening operation at the target position and to control the robot to perform the cap tightening operation after the filling operation is completed;

[0035] The second execution unit is used to control the robot to insert the lifting tube into the filling hole based on the hole height information, and to control the lifting tube to perform the filling operation and to control the robot to take out the lifting tube after the filling operation is completed.

[0036] In a preferred embodiment of the present invention, it also includes a status monitoring module for determining whether to end the filling operation based on the real-time weight of the tank truck or the measured liquid level value in the tank truck.

[0037] To achieve the purpose and other purposes of the present invention, the present invention also includes an automatic loading device for a liquid hazardous chemical tanker, comprising:

[0038] A platform, the platform comprising a robot platform and a truck scale, the truck scales being respectively arranged on both sides of the robot platform;

[0039] A robot, the robot being mounted on the robot platform, and a 3D vision module and a gripping mechanism being mounted on the end flange of the robot;

[0040] A crane pipe, which is installed on the robot platform and close to the robot;

[0041] A distance measuring mechanism is arranged on the truck scale and is used to detect the arrival position of the tank truck.

[0042] In a preferred embodiment of the present invention, a valve assembly is installed on the lifting pipe, and the lifting pipe is controlled by controlling the valve assembly to perform filling operations on the tank truck.

[0043] In a preferred embodiment of the present invention, the gripping mechanism includes a connecting plate, a first gripper and a second gripper, the first gripper and the second gripper are respectively mounted at two ends of the connecting plate, and the 3D vision module is mounted on the connecting plate between the first gripper and the second gripper.

[0044] The beneficial technical effects of the present invention include at least:

[0045] The present invention proposes an automatic loading method, control system and device for a tank truck of liquid hazardous chemicals, including controlling the tank truck to drive into a preset designated position, obtaining the target position of the filling cap at the designated position and the orifice height information of the filling hole; controlling the robot to perform the opening action; controlling the robot to insert the crane tube into the filling hole in place, and performing the filling operation by controlling the crane tube; when the filling operation is completed, controlling the robot to take out the crane tube and tighten the filling cap. The above-mentioned processes are completed automatically in sequence, realizing the automated filling and loading process, significantly reducing the time required for manual operation, thereby improving the overall efficiency of loading, and is particularly suitable for the rapid loading needs of large liquid hazardous chemicals. Furthermore, with the help of automated systems and precise visual recognition technology, the risk of human error is reduced, ensuring the safety of loading, and effectively preventing accidents. The collaborative operation of multiple components, including robots, 3D vision modules, crane tubes, ranging mechanisms, etc., simplifies the filling and loading process and improves the fluency and controllability of the overall operation. Therefore, the present invention realizes the automated loading of liquid hazardous chemicals, and by reducing the reliance on manual labor and improving work efficiency, the enterprise significantly reduces operating costs, enhances the reliability and punctuality of product delivery, and improves loading efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only 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 creative work.

[0047] Figure 1 The present invention is a flowchart of a method for automatically loading a tank truck with liquid hazardous chemicals in one embodiment of the present invention.

[0048] Figure 2 The system block diagram of the automatic loading control system of a liquid hazardous chemical tanker in one embodiment of the present invention.

[0049] Figure 3 The present invention is a schematic structural diagram of an automatic loading device for a liquid hazardous chemical tanker in one embodiment.

[0050] Figure 4 Schematic diagram of the structure of a robot in one embodiment of the present invention.

[0051] Explanation of reference numerals: 1. robot; 2. crane pipe; 3. robot platform; 4. tank truck; 5. truck scale; 11. first gripper; 12. second gripper; 13. connecting plate; 10. identification module; 20. acquisition module; 30. execution module. DETAILED DESCRIPTION

[0052] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0053] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0054] See also Figure 1 To achieve the above-mentioned purpose and other related purposes, the present invention provides a method for automatically loading a liquid hazardous chemical tanker, comprising the following steps:

[0055] S1, identifying the type of tank truck 4, and instructing the tank truck 4 to drive to a preset designated position according to the type of tank truck;

[0056] It should be noted that the type of tank truck 4 is identified through sensors or visual recognition technology. Once the type of tank truck 4 is identified, the tank truck 4 will be instructed to autonomously or semi-autonomously drive to a preset designated location, which is usually an area for filling operations. Accurate identification of the type of tank truck 4 can improve the safety and efficiency of the filling operation, ensure that the tank truck 4 can operate in the correct location, and avoid delays or equipment damage caused by incorrect positioning.

[0057] After the tank truck 4 enters the preset designated position, a signal light may be given to indicate that the driver stops the vehicle, turns off the engine and gets off the vehicle.

[0058] S2. At the designated position, obtain the target position of the filling cap of the tank truck 4 and the orifice height information of the filling hole.

[0059] It should be noted that obtaining accurate target position and orifice height information can reduce the risk of failure due to improper operation, ensure the smooth insertion of the crane pipe 2 into the filling hole during the filling process, and improve the accuracy and safety of the overall operation.

[0060] S3, controlling the robot 1 to perform the cover opening action at the target position.

[0061] It should be noted that the end effector of the robot 1 can perform preset actions, such as rotating the filling cap to complete the opening of the cap. Automatic opening of the cap reduces manual intervention, saves time, and reduces errors or safety hazards that may be caused by manual operation.

[0062] S4. Based on the hole height information, control the robot 1 to insert the lifting pipe 2 into the filling hole, and perform the filling operation by controlling the lifting pipe 2.

[0063] It should be noted that the crane pipe 2 may be connected to a vacuum pipe, which forms a negative pressure during the filling process to discharge excess air and maintain the stability of the internal environment. The vacuum pipe can be connected to a vacuum pump to reduce the air pressure by extracting the air inside the tanker 4, thereby ensuring smooth flow of liquid during filling, improving filling efficiency, and preventing gas accumulation, so as to better complete the filling operation.

[0064] The crane pipe 2 is provided with a valve assembly, and the crane pipe 2 can be controlled to perform filling operation on the tank truck 4 by controlling the valve assembly. The valve assembly can be controlled by the system controlling the robot 1. Before the filling operation, the system can record the empty weight data of the tank truck 4 through the truck scale 5.

[0065] S5. When it is determined that the filling operation is finished, the robot 1 is controlled to take out the lifting tube 2 and perform the cap tightening operation at the target position; otherwise, the filling operation is continued.

[0066] When the filling operation is completed, all the total amount data can be transmitted to the background; the robot 1 is reset, and the system notifies the driver of the tank truck 4 to leave the site.

[0067] It should be noted that the automatic loading method of the liquid hazardous chemical tanker 4 of the present invention controls the tanker 4 to enter the designated position, and obtains the target position of the filling cap and the orifice height of the filling hole at the designated position, which provides guarantee for the accurate and safe filling operation, and the robot 1 operates the opening of the cap, the crane 2 inserts the filling hole, the filling operation and the tightening of the cap are all completed automatically and sequentially, which further ensures the integrity and safety of the filling operation, reduces the manpower demand, and improves the work efficiency. At the same time, the standardization of the operation of the robot 1 can also improve the consistency and repeatability of the operation.

[0068] Therefore, it significantly reduces human intervention and shortens filling time through automated operation. Especially when handling hazardous liquids, it can reduce liquid leakage and other safety hazards. The standardized process enables each operation to achieve the same results, which helps quality control.

[0069] In a preferred embodiment of the present invention, the step of determining the end of the filling operation includes:

[0070] S51, obtaining the model of the tank truck 4, and setting the filling volume according to the model;

[0071] S52, obtaining a real-time filling volume according to the real-time weight of the tank truck 4, and determining whether the real-time filling volume reaches a set filling volume;

[0072] S53. When the real-time filling volume reaches the set filling volume, it is determined that the filling operation is completed; otherwise, the filling operation continues.

[0073] It should be noted that the real-time weight monitoring can eliminate the influence of factors such as bubbles and volatilization on the filling volume, ensuring accurate filling volume. Tank trucks of different models may have different requirements. The filling volume can be automatically matched through model identification to facilitate adaptation to various operational requirements. Automated detection and judgment reduces the need for manual inspection, reduces the risk of human error, and improves work efficiency.

[0074] In another preferred embodiment of the present invention, the step of determining the end of the filling operation includes:

[0075] S51, setting the liquid level value according to the type of tank truck 4;

[0076] S52, obtaining the measured liquid level value of the liquid level detection sensor;

[0077] S53, judging whether the measured liquid level value reaches a preset liquid level value, and when the preset liquid level value is reached, determining that the filling operation is finished; otherwise, continuing the filling operation.

[0078] It should be noted that liquid level detection is an intuitive and easy-to-implement method that can quickly obtain liquid level information and is easy to operate. It has strong versatility. The liquid level detection sensor can feedback the liquid level changes in real time, which is convenient for rapid response and adjustment operations, and further improves the reliability of the system.

[0079] It should be noted that both of the above two embodiments can be used to determine whether the filling operation is completed, and you can choose either one. However, the control of filling is mainly achieved through the filling volume, because it is very likely that the car is not fully filled. At this time, it is necessary to determine whether the filling volume meets the requirements based on the filling input information setting, and the filling operation is terminated when the requirements set by the input information are met. The liquid level detection is mainly a high-level limit. At this time, the preset liquid level value can be the maximum liquid level limit value to prevent overflow.

[0080] In one embodiment of the present invention, controlling the robot 1 to insert the lifting tube 2 into the filling hole comprises the following steps:

[0081] S41, controlling the robot 1 to grab the crane pipe 2;

[0082] S42, inserting the crane pipe 2 into the verification tank, and detecting the state of the liquid level float of the crane pipe 2 through the sensor to verify its normality;

[0083] S43. When the liquid level float is normal, based on the hole height information, the robot 1 is controlled to insert the lifting pipe 2 into the filling hole.

[0084] It should be noted that by first testing the crane tube 2 in the verification tank, unqualified crane tubes 2 can be prevented from entering the liquid filling environment, which helps to avoid potential safety hazards such as leakage, contamination and other problems. The liquid level float is an important device for controlling the liquid level. By detecting the state of the float, it is possible to quickly determine whether the function of the crane tube 2 is normal. If the float fails to respond normally, it indicates that the crane tube 2 may need to be repaired or replaced. If the float detection is normal, information can be fed back to the system, so that the robot 1 can be controlled according to the orifice height information to safely and accurately insert the crane tube 2 into the filling hole. The safety and efficiency of the entire process are effectively improved.

[0085] In a preferred embodiment of the present invention, controlling the robot 1 to insert the crane tube 2 into the filling hole also includes the following steps:

[0086] S431, controlling the robot 1 to move the crane pipe 2 to a first set position;

[0087] S432, controlling the robot 1 to tilt the lifting pipe 2 upward from the first set position to lift it, and then tilt it downward to insert it into the filling hole;

[0088] S433, determining the specific position of the crane pipe 2 inserted into the filling hole according to the height of the hole;

[0089] S434, determining whether the specific position reaches the preset position of the filling operation, and when it reaches the preset position, the crane pipe 2 is inserted in place;

[0090] The first setting position is a preset tilt angle and height.

[0091] It should be noted that the first setting position is a preset tilt angle and height, which is strictly calculated, taking into account the optimal angle when the crane tube 2 is inserted into the filling hole, and needs to be set in combination with the structural characteristics of the filling equipment, the physical characteristics of the crane tube 2 (such as length, diameter) and the user's operating requirements to ensure the safety, accuracy and convenience of the operation.

[0092] It should be noted that step S432 can avoid physical interference between the crane tube 2 and surrounding equipment during the insertion process by tilting upward, ensuring smooth passage and reducing possible collision risks. When tilting downward to insert into the filling hole, the robot 1 holding the crane tube 2 will have a better view of the surrounding environment, which helps the robot 1 to more accurately judge the alignment of the filling hole, thereby improving the stability of the overall insertion process. If the mouth of the filling hole is low, tilting upward first can effectively reduce liquid splashing or leakage during the insertion process, improving the safety and hygiene of the operation.

[0093] See also Figure 2 As shown, in order to achieve the purpose and other purposes of the present invention, the present invention also provides an automatic loading control system for a liquid hazardous chemical tanker 4, including an identification module 10, an acquisition module 20, and an execution module 30.

[0094] The identification module 10 identifies the type of the tank truck 4 and instructs the tank truck 4 to drive to a preset designated position according to the type of the tank truck;

[0095] The acquisition module 20 is used to acquire the target position of the filling cap of the tank truck 4 and the orifice height information of the filling hole at the designated position;

[0096] The execution module 30 includes a first execution unit and a second execution unit. The first execution unit is used to control the robot 1 to perform the cap opening action at the target position and to control the robot 1 to perform the cap tightening operation after the filling operation is completed. The second execution unit is used to control the robot 1 to insert the crane tube 2 into the filling hole based on the hole height information, and to control the crane tube 2 to perform the filling operation and to control the robot 1 to take out the crane tube 2 after the filling operation is completed.

[0097] In a preferred embodiment of the present invention, a state monitoring module is further included, which is used to determine whether to end the filling operation according to the real-time weight of the tank truck 4 or the measured liquid level value in the tank truck 4. That is, the filling amount method determination of the filling operation or the liquid level detection method determination.

[0098] See also Figure 3 and Figure 4As shown, in order to achieve the purpose and other purposes of the present invention, the present invention also includes an automatic loading device for a liquid hazardous chemical tanker 4, including a platform, a robot 1, a crane 2 and a distance measuring mechanism. The platform includes a robot platform 3 and a truck scale 5, and a truck scale 5 is respectively arranged on both sides of the robot platform 3. The robot 1 is installed on the robot platform 3, and a 3D vision module and a gripping mechanism are installed on the end flange of the robot 1; the crane 2 is installed on the robot platform 3 and close to the robot 1; the distance measuring mechanism is arranged on the truck scale 5, which is used to detect the arrival position of the tanker 4.

[0099] It should be noted that the robot platform 3 includes a stand erected at a certain height. Because the speed of the tanker is high and the filling hole is located at the top of the tanker 4, the robot 1 needs to be at a certain height to grab the crane 2 for filling. The robot 1 is a six-axis industrial robot arm with high load, large arm span and protection, and is installed on the stand of the robot platform 3 through a fixed seat. The column of the crane 2 is also fixedly installed on the stand.

[0100] The robot platform 3 also includes a turntable and a crane pipe 2 shelf. Specifically, the turntable is formed by extending the edge of the shelf to both sides. When the tank truck 4 arrives at the designated position, the turntable is close to the filling hole of the tank truck 4 and is used to place the filling cap removed from the filling hole. The crane pipe 2 shelf is fixedly installed on the shelf. The crane pipe 2 shelf is used to place the vertical section of the crane pipe 2, which is convenient for the gripping mechanism of the robot 1 to grasp the crane pipe 2.

[0101] It should be noted that the 3D vision module can be a high-frame rate and high-precision industrial 3D camera, resistant to ambient light and corrosion. A 3D camera is a device that can capture three-dimensional information of an object or scene, usually using different technologies to achieve depth perception, thereby adding a three-dimensional effect to the image. The distance measurement mechanism can be multiple distance sensors.

[0102] It should be noted that the crane pipe 2 may be equipped with a vacuum tube, which forms a negative pressure during the filling process to discharge excess air and maintain the stability of the internal environment. The vacuum tube can be connected to a vacuum pump to reduce the air pressure by extracting the air inside the tanker 4, thereby ensuring smooth flow of liquid during filling, improving filling efficiency, and preventing gas accumulation, so as to better complete the filling operation.

[0103] In a preferred embodiment of the present invention, a valve assembly is installed on the lifting pipe 2, and the lifting pipe 2 is controlled by controlling the valve assembly to perform filling operation on the tank truck 4.

[0104] It should be noted that the valve assembly can be controlled by the execution module 30, and the execution module 30 can also be connected to control the control valve on the filling liquid system and the control valve on the vacuum pipe system. By coordinating and controlling the opening and closing of all valves, the filling operation can be ensured to proceed smoothly or be terminated as required. Ensure the safe control of liquid flow during loading, thereby reducing the risk of leakage or accidents.

[0105] In a preferred embodiment of the present invention, the gripping mechanism includes a connecting plate 13, a first gripper 11 and a second gripper 12, the first gripper 11 and the second gripper 12 are respectively mounted at both ends of the connecting plate 13, and the 3D vision module is mounted on the connecting plate 13 between the first gripper 11 and the second gripper 12. The connecting plate 13 can drive the 3D vision module (3D camera) to locate, take photos and identify the position and height of the filling cap.

[0106] It should be noted that the first gripper 11 is a pair of clamping plates arranged opposite to each other, and the relative movement of the pair of clamping plates can be electrically or pneumatically controlled to clamp or release the vertical section of the crane tube 2. The second gripper 12 is an air gripper or an electric gripper, which is used to grasp the filling cap, or unscrew the filling cap (open the cap), or tighten the filling cap.

[0107] The specific loading operation process of the automatic loading device of the present invention may include:

[0108] Step 1: The tank truck 4 drives in front of the truck scale 5. The driver gets off the truck and selects the corresponding vehicle model or vehicle length on the operating panel next to it. Then he gets on the truck and drives the tank truck 4 onto the table of the truck scale 5. The installed distance measuring mechanism detects that the front of the vehicle has reached the appropriate position and gives a signal light indication. The driver stops the vehicle, turns off the engine and gets off the vehicle.

[0109] Step 2: The personnel on duty shall confirm the relevant equipment parameters before the operation according to the operating specifications. After confirming that everything is correct, they shall press the "Equipment Start" button on the operation panel.

[0110] Step 3: The 3D camera visually scans the filling cap and the filling hole of the tank truck 4 to extract the target position.

[0111] Step 4: The 3D camera vision guides the robot 1 to complete the cap opening operation and place the filling cap on the turnover table.

[0112] Step 5: The 3D camera vision guides the robot 1 to grab the crane pipe 2, insert it into the verification tank first, and verify that its liquid level float is normal.

[0113] Step six: the 3D camera re-scans the canning hole without the cover and gives the height information of the filling hole. The robot 1 moves the lifting tube 2 to the corresponding position, tilts it upwards to lift it, and then tilts it downwards to insert it into place.

[0114] Step 7: Manually, automatically or semi-automatically start the valve assembly (control valve) on the crane pipe 2 according to the filling operation steps. You can also control the control valve of the filling liquid system and the control valve of the vacuum pipe. Start the canning and vacuum pipe systems and perform canning operations (before starting, record the empty vehicle weight data of the truck scale 5);

[0115] Step 8: After the liquid level detection sensor detects that the filling is in place or the load data of the corresponding vehicle type of the truck scale 5 reaches the specified value, any of the two settings is triggered, and then the control valves are closed in turn according to the operating steps to stop the filling operation;

[0116] Step nine, the robot 1 places the lifting pipe 2 and the vacuum pipe on the lifting pipe 2 shelf, grabs the filling cap and places it in the filling hole of the tanker 4, and rotates the filling cap until it is tightened;

[0117] Step 10: The truck scale 5 transmits the total amount data of the hazardous chemicals filled this time to the background; after the filling operation is completed, the robot 1 is reset and the driver of the filling truck is notified to leave the scene.

[0118] In summary, the automatic loading method, control system and device of a liquid hazardous chemical tank truck of the present invention realizes an automated loading process, significantly reduces the time required for manual operation, and thus improves the overall loading efficiency, and is particularly suitable for the rapid loading needs of large liquid hazardous chemicals.

[0119] Furthermore, with the help of automated systems and precise visual recognition technology, the risk of human error is reduced, ensuring the safety of loading and effectively preventing accidents. By reducing reliance on manual labor and improving work efficiency, the company has significantly reduced operating costs and enhanced the reliability and punctuality of product delivery. The collaborative operation of multiple components, including robot 1, 3D vision module, crane tube 2, ranging mechanism, etc., simplifies the loading process and improves the smoothness and controllability of the overall operation. Therefore, the automated loading of liquid hazardous chemicals is achieved, improving loading efficiency and safety.

[0120] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0121] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0122] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0123] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0124] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0125] As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on," unless otherwise indicated.

[0126] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0127] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0128] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A method for automatically loading a tank truck with liquid hazardous chemicals, characterized in that: include: Identify the type of tank truck and instruct the tank truck to drive to a preset designated location according to the type of tank truck; At the designated position, obtaining the target position of the filling cap of the tank truck and the orifice height information of the filling hole; Control the robot to perform a cover opening action at the target position; Based on the orifice height information, controlling the robot to insert the lifting pipe into the filling hole, and performing the filling operation by controlling the lifting pipe; When the filling operation is finished, the robot is controlled to take out the lifting tube and perform a cap tightening operation at the target position.

2. The method for automatically loading a tank truck with liquid hazardous chemicals according to claim 1, characterized in that: The determination of the end of the filling operation includes: Setting the filling volume according to the type of tank truck; Obtaining the real-time weight of the tank truck, and obtaining the real-time filling volume according to the real-time weight; It is determined whether the real-time filling volume reaches the set filling volume. When the set filling volume is reached, it is determined that the filling operation is completed; otherwise, the filling operation is continued.

3. The automatic loading method of a liquid hazardous chemical tanker according to claim 1 is characterized in that: The determination of the end of filling operation includes: Setting the liquid level value according to the type of tank truck; Obtain the measured liquid level value of the liquid level detection sensor; It is determined whether the measured liquid level value reaches a preset liquid level value. When the preset liquid level value is reached, the filling operation is determined to be completed; otherwise, the filling operation is continued.

4. The automatic loading method of a liquid hazardous chemical tanker according to claim 1 is characterized in that: Controlling the robot to insert the crane tube into the filling hole comprises the following steps: Controlling the robot to grab the crane pipe; Insert the crane pipe into the verification tank, and detect the state of the liquid level float of the crane pipe through a sensor to verify its normality; When the liquid level float is normal, the robot is controlled to insert the lifting tube into the filling hole.

5. The automatic loading method of a liquid hazardous chemical tanker according to claim 4 is characterized in that: Controlling the robot to insert the lifting tube into the filling hole also includes the following steps: Controlling the robot to move the crane pipe to a first set position; Controlling the robot to tilt the lifting tube upward from the first set position to lift it, and then tilt it downward to insert it into the filling hole; Determine the specific position of the filling hole where the lifting pipe is inserted according to the hole height information; Determine whether the specific position reaches the preset position of the filling operation, and when it reaches the preset position, the lifting pipe is inserted in place; Wherein, the first set position is a preset tilt angle and height.

6. A liquid hazardous chemicals tanker automatic loading control system, characterized in that: include: An identification module, used to identify the type of tank truck and instruct the tank truck to drive to a preset designated location according to the type of tank truck; An acquisition module, used for acquiring the target position of the filling cap of the tank truck and the orifice height information of the filling hole at the designated position; An execution module, the execution module comprising: The first execution unit is used to control the robot to perform the cap opening operation at the target position and to control the robot to perform the cap tightening operation after the filling operation is completed; The second execution unit is used to control the robot to insert the lifting tube into the filling hole based on the hole height information, and to control the lifting tube to perform the filling operation and to control the robot to take out the lifting tube after the filling operation is completed.

7. An automatic loading control system for a liquid hazardous chemicals tanker, characterized in that: It also includes a monitoring module, which is used to determine whether to end the filling operation according to the real-time weight of the tank truck or the measured liquid level value in the tank truck.

8. An automatic loading device for a liquid hazardous chemical tanker, characterized in that: include: A platform, the platform comprising a robot platform and a truck scale, the truck scales being respectively arranged on both sides of the robot platform; A robot, the robot being mounted on the robot platform, and a 3D vision module and a gripping mechanism being mounted on the end flange of the robot; A crane pipe, which is installed on the robot platform and close to the robot; A distance measuring mechanism is arranged on the truck scale and is used to detect the position of the tank truck.

9. The automatic loading device for liquid hazardous chemicals tanker according to claim 8 is characterized in that: A valve assembly is installed on the lifting pipe, and the lifting pipe is controlled by controlling the valve assembly to perform filling operation on the tank truck.

10. The automatic loading device for liquid hazardous chemicals tanker according to claim 8, characterized in that: The gripping mechanism comprises a connecting plate, a first gripper and a second gripper, wherein the first gripper and the second gripper are respectively mounted on two ends of the connecting plate, and the 3D vision module is mounted on the connecting plate between the first gripper and the second gripper.

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