Risk identification management and control method for building material hoisting

Abstract

The invention relates to the technical field of risk identification management and control for hoisting, and discloses a risk identification management and control method for building material hoisting, which comprises the following steps: carrying out weight distribution detection and zoning processing on bagged materials, obtaining a vertical projection graph of the bagged materials through a weighing area, dividing the vertical projection graph into four areas, and enabling each area to correspond to a group of pressure sensing units, the weight of each area is calculated, the component weight of the bagged materials is determined according to weight distribution, the stacking robot executes a stacking prevention strategy according to the component weight of the bagged materials, the materials are reasonably placed on a tray, balance is optimized through a weight fine adjustment strategy, the stacking stability on the tray is ensured, and the transportation and storage risks are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of risk identification and control for hoisting, and in particular to a risk identification and control method for building material hoisting. Background Art

[0002] In the field of safe production, especially in the handling and palletizing operations involving bagged materials, how to improve the stability and safety of operations has always been the focus of attention; at present, conventional palletizing operations are usually performed manually or with traditional automated equipment; manual operations have the problems of high labor intensity, low efficiency, and insufficient precision, and there are also safety hazards caused by improper operation; and although traditional automated palletizing equipment can improve efficiency to a certain extent, most of them lack the ability to intelligently analyze and adjust material characteristics; especially in the handling and palletizing process of bagged materials, the weight distribution inside the bagged materials may be uneven, resulting in poor stability of the stacked pallet structure, and even the risk of collapse; in addition, since the bagged materials have complex shapes and are easily deformed by external forces, the traditional equipment has relatively simple actions for grabbing and placing materials during handling and palletizing, and cannot adapt to complex and changing operational requirements.

[0003] In the prior art, the palletizing method for bagged materials is usually to carry and stack them in a fixed manner; for example, after the bagged materials are transported to the palletizing position by a conveyor belt, they are stacked by a robot or a gripping device; however, this method is insufficient when dealing with uneven weight distribution; some solutions attempt to weigh the bagged materials before palletizing, and then adjust their stacking order and position on the pallet to optimize the palletizing stability; but most of these technologies are limited to global weight measurement and simple distribution, and it is difficult to refine them to the precise adjustment of the internal weight distribution of a single bagged material; in addition, in terms of safety management of material storage areas, traditional technologies usually use a fixed risk level classification method; this static safety management mode is often unable to respond and adjust in a timely manner when faced with palletizing instability or abnormal pallet structure, and cannot achieve real-time monitoring of risk changes.

[0004] To this end, this solution proposes a method to adjust the bagged materials accordingly during stacking according to the weight distribution of each bagged material, thereby improving the structural stability of the stacked material pile; at the same time, in the material storage area, according to the specific conditions of the stacked pallet material pile, the risk level of the material storage area is dynamically adjusted to ensure the safety of the material storage area. Summary of the invention

[0005] The present invention provides a risk identification and control method for building material hoisting, which promotes solving the problems mentioned in the above background technology.

[0006] The present invention provides the following technical solution: a risk identification and control method for building material hoisting, comprising:

[0007] Get the area where the palletizing operation is performed, and record it as the palletizing area;

[0008] Risk management and control of the palletizing area, including:

[0009] Use conveyor belts to transport bagged materials to handling locations;

[0010] Set up a weighing area on the conveyor belt and control the bagged materials to pass through the weighing area in sequence to obtain the weight distribution of the bagged materials:

[0011] When the bagged material completely enters the weighing area, the conveyor belt is controlled to stop and weigh;

[0012] When the weighing area has finished weighing the bagged materials, the conveyor belt is controlled to start and continue to transport the bagged materials to the handling position;

[0013] When the bagged material completely enters the weighing area, a rectangular projection of the bagged material vertically downward in the weighing area is obtained, and the rectangular projection is recorded as a projection figure;

[0014] Obtain the midpoints of the four sides of the projection figure respectively, and connect the midpoints of two sets of mutually parallel sides in the projection figure respectively to obtain two mutually perpendicular lines;

[0015] Two mutually perpendicular lines divide the projection figure into four areas, and each area is recorded as a projection division area;

[0016] In the weighing area, the pressure sensing units covered by each projection divided area are respectively obtained and recorded as the covered pressure sensing units of the projection divided area;

[0017] For each projected divided area, obtain the weight value detected by each covering pressure sensing unit of the projected divided area, and calculate the sum of the weight values ​​detected by all covering pressure sensing units of the projected divided area, and record it as the total weight of the projected divided area;

[0018] Obtain the portion of the bagged material in each projection divided area as a bagged material component;

[0019] Divide each projected divided area and the bagged material components located in the projected divided area into one group;

[0020] The total weight of each projected divided area is taken as the weight of the bagged material component belonging to the same group as the projected divided area, and is recorded as the component weight of the bagged material component;

[0021] Considering the weight distribution of bagged materials, the preventive palletizing strategy is implemented by using palletizing robots to palletize bagged materials at the handling position onto pallets.

[0022] When the palletizing of bagged materials on the pallet is completed, the pallet and the bagged materials on the pallet are transferred to the material storage area;

[0023] Based on the stacking conditions of bagged materials on pallets, a temporary risk level control strategy is implemented for the material storage area.

[0024] Optionally, the method of implementing a preventive palletizing strategy by using a palletizing robot in combination with the weight distribution of the bagged materials to palletize the bagged materials at the transporting position onto a pallet includes:

[0025] Use a palletizing robot to palletize bagged materials onto pallets, with two bags per layer;

[0026] The four sides of the upper surface of the tray are respectively recorded as the first side, the second side, the third side and the fourth side, wherein the first side and the second side are parallel to each other, and the third side and the fourth side are parallel to each other;

[0027] Dividing the upper surface of the tray into a first area, a second area, a third area, and a fourth area;

[0028] When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an odd-numbered layer:

[0029] S1. Numbering the four bagged material components of the bagged material as the first component, the second component, the third component and the fourth component respectively;

[0030] S2, executing a component weight comparison strategy for the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close;

[0031] S3. If the weights of the first component, the second component, the third component and the fourth component are close, the bagged materials are moved onto the pallet, and the rectangular projection of the bagged materials on the upper surface of the pallet is located vertically downward within the first area and the second area, and any one of the two longer sides of the rectangular projection is parallel to the first side of the pallet;

[0032] S4. If the weights of the first component, the second component, the third component and the fourth component are not close, performing a weight comparison of the components;

[0033] S5, the weight comparison of the execution components, specifically:

[0034] S6, respectively obtaining the weights of the first component and the second component, and obtaining the sum of the weights of the first component and the second component, which is recorded as the first side weight;

[0035] S7, respectively obtaining the weights of the third component and the fourth component, and obtaining the sum of the weights of the third component and the fourth component, which is recorded as the second side weight;

[0036] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the second area, and the distance between the first component and the second component and the first side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the first side of the upper surface of the pallet;

[0037] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet is located within the first area and the second area, and the distance between the third component and the fourth component and the first side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the first side of the upper surface of the pallet;

[0038] When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an odd-numbered layer of materials:

[0039] Execute steps S1-S2. If the weights of the first component, the second component, the third component and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the third area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the second side of the pallet;

[0040] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0041] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the third area and the fourth area, and the distance between the first component and the second component and the second side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the second side of the upper surface of the pallet;

[0042] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet and a weight fine-tuning strategy is implemented during the transport process, so that the rectangular projection of the bagged material vertically downward on the upper surface of the pallet is located within the third area and the fourth area, and the distance between the third component and the fourth component and the second side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the second side of the upper surface of the pallet.

[0043] Optionally, dividing the upper surface of the tray into a first area, a second area, a third area, and a fourth area includes:

[0044] Obtain the midpoints of the first side, the second side, the third side and the fourth side of the upper surface of the tray respectively;

[0045] Connect the midpoints of the first side and the second side to form a first connecting line; connect the midpoints of the third side and the fourth side to form a second connecting line;

[0046] Number the four areas formed by the first and second lines and the first, second, third and fourth sides:

[0047] The area including the first side and the third side is recorded as the first area;

[0048] The area including the first side and the fourth side is recorded as the second area;

[0049] The area including the second side and the third side is recorded as the third area;

[0050] The region including the second side and the fourth side is referred to as the fourth region.

[0051] Optionally, the four bagged material components of the bagged material are numbered as a first component, a second component, a third component and a fourth component, respectively, including:

[0052] For all bagged materials, obtain the bag mouth and bag bottom, and select one bag edge as the selected side;

[0053] The bagged material component including the bag opening and the selected side is recorded as the first component;

[0054] The bagged material component including the bag bottom and selected side edges is recorded as the second component;

[0055] The bagged material component including the bag opening and excluding the selected side is recorded as the third component;

[0056] The component of the bagged material including the bag bottom and excluding the selected side edges is recorded as the fourth component.

[0057] Optionally, executing a component weight comparison strategy on the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close includes:

[0058] Get the total weight of the bagged material, recorded as A;

[0059] Calculate A÷4 and record the result as B;

[0060] Subtract the weight of the first component, the second component, the third component and the fourth component from B, take the absolute value of the difference, calculate the ratio of the absolute value of the difference to B, and record them as the deviation values ​​of the first component, the second component, the third component and the fourth component respectively;

[0061] If the deviation values ​​of the first component, the second component, the third component and the fourth component are all less than or equal to 5%, it is determined that the component weights of the first component, the second component, the third component and the fourth component are close;

[0062] Otherwise, it is determined that the component weights of the first component, the second component, the third component, and the fourth component are not close.

[0063] Optionally, the method of implementing a preventive palletizing strategy by using a palletizing robot to palletize the bagged materials at the transporting position onto a pallet in combination with the weight distribution of the bagged materials also includes:

[0064] When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an even-numbered layer:

[0065] Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the first area and the third area, and make any one of the two longer sides of the rectangular projection parallel to the third side of the pallet;

[0066] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0067] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the third area, and the distance between the first component and the second component and the third side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the third side of the upper surface of the pallet;

[0068] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet vertically downward is located within the first area and the third area, and the distance between the third component and the fourth component and the third side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the third side of the upper surface of the pallet;

[0069] When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an even-numbered layer of materials:

[0070] Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the second area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the fourth side of the pallet;

[0071] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0072] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located vertically downward within the second area and the fourth area, and the distance between the first component and the second component and the fourth side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet;

[0073] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet and a weight fine-tuning strategy is implemented during the transport process, so that the rectangular projection of the bagged material vertically downward on the upper surface of the pallet is located within the second area and the fourth area, and the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the fourth side of the upper surface of the pallet.

[0074] Optionally, the weight fine-tuning strategy is implemented during the handling process, including:

[0075] The gripper of the palletizing robot for grabbing bagged materials includes two gripping cylinders and two gripping parts, each gripping part is connected to a telescopic rod of a gripping cylinder, each gripping part includes two telescopic cylinders and two slides, each telescopic cylinder is connected to a slider, the slider is located in the slide, driven by the telescopic cylinder to slide in the slide, and one end of the slider is connected to a roller;

[0076] When the clamping cylinder contracts, the bagged material is clamped, and the four rollers on the clamping component are in contact with the first component, the second component, the third component and the fourth component of the bagged material respectively. When the telescopic cylinder performs telescopic movement, the rollers are driven by the telescopic cylinder to push the contents of the first component and the third component in the bagged material to the positions of the second component and the fourth component, or to push the contents of the second component and the fourth component in the bagged material to the positions of the first component and the third component;

[0077] Obtaining the weights of the first component and the third component respectively, and obtaining the sum of the weights of the first component and the third component, which is recorded as the third side weight;

[0078] Obtaining the component weights of the second component and the fourth component respectively, and obtaining the sum of the component weights of the second component and the fourth component, which is recorded as the fourth side weight;

[0079] Obtain the total weight of the bagged material and take half of the total weight as C;

[0080] Obtain the difference between the weight on the third side and the weight on the fourth side, and calculate the ratio of the difference to C, and record the ratio as the opposite side deviation value;

[0081] Set adjustment thresholds;

[0082] If the contralateral deviation value is 0, the weight fine-tuning strategy is not executed;

[0083] If the opposite side deviation value is a positive number, the first comparison adjustment strategy is executed;

[0084] The first comparison adjustment strategy includes:

[0085] comparing the contralateral deviation value to an adjustment threshold;

[0086] If the deviation value on the opposite side is less than or equal to the adjustment threshold, the telescopic cylinder is controlled to move the rollers in contact with the first component and the third component toward the bottom of the bag, so as to push the contents of the first component and the third component in the bagged material toward the position of the second component and the fourth component;

[0087] If the deviation value on the opposite side is greater than the adjustment threshold, all telescopic cylinders are controlled to move all rollers toward the bottom of the bag, pushing the contents of the bagged material to the bottom of the bag;

[0088] If the opposite side deviation value is negative, the second comparison adjustment strategy is executed;

[0089] The first comparison adjustment strategy includes:

[0090] Obtain the absolute value of the contralateral deviation value, recorded as the contralateral deviation absolute value;

[0091] The absolute value of the contralateral deviation is compared to the adjustment threshold;

[0092] If the absolute value of the deviation on the opposite side is less than or equal to the adjustment threshold, the telescopic cylinder is controlled to move the rollers in contact with the second component and the fourth component toward the bag opening, so as to push the contents of the second component and the fourth component in the bagged material toward the position of the first component and the third component;

[0093] If the absolute value of the deviation on the opposite side is greater than the adjustment threshold, all telescopic cylinders are controlled to move all rollers toward the bag opening, pushing the contents of the bagged material toward the bag opening.

[0094] Optionally, the temporary risk level control strategy for the material storage area is implemented according to the stacking conditions of the bagged materials on the pallet, including:

[0095] If the weights of the four components of each bagged material on the palletized pallet are close, the risk level temporary control strategy will not be implemented;

[0096] If the weights of the four components of the bagged material on the pallet after palletizing are not close, the position of the pallet after palletizing is obtained and recorded as the target position;

[0097] If the target location is not adjacent to walls or other pallets that have been palletized, a temporary risk level control strategy will be implemented for the target location area, including:

[0098] Get the area around the target location that is not adjacent to the wall and other pallets that have been palletized, and temporarily increase the risk level of the area by one level;

[0099] When the pallets that have been palletized at the target location are transported away from the target location, the area around the target location with the temporarily increased risk level will be restored to the original risk level of the area.

[0100] The present invention has the following beneficial effects:

[0101] 1. By arranging pressure sensing units in the weighing area to form a pressure sensing unit network, the weight data of bagged materials can be fully collected to improve the reliability of the data; when the bagged materials enter the weighing area, this pressure sensing unit network can monitor the pressure changes in each area in real time and quickly identify possible problems; compared with traditional single-point measurement, multi-point sensors can more comprehensively reflect the weight distribution, avoid missing key information, and provide a more comprehensive reference for subsequent operations.

[0102] 2. By setting the weighing area on the conveyor belt, it is ensured that the bagged materials pass through one by one accurately; the overall weight of the bagged materials is detected by the pressure sensing unit, and further refined into the total weight of the four projection division areas, which significantly improves the understanding of the weight distribution inside each bagged material; this design not only improves the weighing efficiency, but also provides high-quality data support for weight control in the subsequent palletizing process; this weight distribution analysis method refined to the projection area can effectively identify potential weight unevenness problems inside the bagged materials, facilitate precise adjustment during palletizing, and minimize the risk of pallet tilting, offset or instability after palletizing; in addition, this data-driven weighing method can continuously optimize each palletizing step, form a dynamic monitoring of weight distribution and risks, thereby greatly improving the safety and reliability of the overall operation.

[0103] 3. By adopting staggered placement during the palletizing process of even and odd layers, the overall sliding risk of palletizing can be effectively reduced; this staggered palletizing mode makes full use of the principle of gravity centering, so that the materials on the pallet support each other and form a tighter structure; in addition, this placement method can better cope with vibrations or external force impacts during transportation, and avoid slipping due to loose palletizing surface.

[0104] 4. When stacking bagged materials on the pallet, the weight distribution of the bagged materials is obtained to select and adjust the position of the bagged materials on the pallet: if the weights of the four components of the bagged materials are close, they are directly stacked on the pallet without special adjustment to their positions; when the weights of the four components of the bagged materials are not close, the weight of the first side and the weight of the second side of the bagged materials are compared, and the side with the larger weight is selected. When the bagged materials are stacked on the pallet, the side with the larger weight is placed closer to one side of the pallet, so that when two bagged materials are stacked on the pallet, the side with the larger weight is on the outside of the two bagged materials, and the side with the lighter weight is located between the two bags. The inside of the bagged materials; because the heavier side will have a certain bulge compared to the lighter side, when the two heavier sides are on the outside, the load-bearing positions of the two bagged materials in contact with the upper and lower bagged materials on the pallet and the upper bagged materials are on the outside. If the heavier side is on the inside so that the load-bearing position is on the inside, the bagged materials on the inside will bulge, which will cause the bagged materials to slide outward. The heavier side is on the outside so that the load-bearing position is on the outside, even if the bagged materials slide, they will slide inward, which will cause the bagged materials to tighten inward, which can enhance the stability of the bagged materials on the pallet, reduce the risk of dumping of the material pile, and ensure safe production.

[0105] 5. By adopting a weight fine-tuning strategy, the telescopic cylinder is controlled to drive the rollers in contact with the bagged materials, so that the contents of the first and third components in the bagged materials are pushed to the positions of the second and fourth components, or the contents of the second and fourth components in the bagged materials are pushed to the positions of the first and third components. In this way, when the deviation between the weight on the third side and the weight on the fourth side is less than or equal to the adjustment threshold, the contents in the bagged materials can be adjusted by the movement of some rollers, so that the middle position of the bagged materials presents a convex state, and then the convexity is fit with the gap between the two bagged materials in the next layer, further increasing the stability of the bagged materials on the pallet; at the same time, when the deviation between the weight on the third side and the weight on the fourth side is greater than the adjustment threshold, by controlling the movement of all rollers, the contents of the bagged materials are adjusted to the side with lower weight as much as possible, so that the weight on the third side and the weight on the fourth side of the bagged materials are balanced, ensuring the stability of the material pile on the pallet after palletizing, reducing the risk of dumping the material pile, and ensuring safe production.

[0106] 6. By analyzing the stacking conditions of bagged materials on pallets, the risk level of the storage area is dynamically adjusted, greatly enhancing the safety of material storage. When the weights of the four components of the bagged materials on the pallet are not close, the impact of potential accidents is reduced by increasing the risk level of the surrounding area. This temporary risk level control strategy is an efficient emergency management method that can significantly improve the risk prevention and control capabilities of the production site. This mechanism not only reduces the risk losses that may occur during production and storage, but also significantly enhances the safety and reliability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] Figure 1 This is a schematic diagram of the projection division area of ​​the present invention.

[0108] Figure 2 It is a schematic diagram of the first area, the second area, the third area and the fourth area of ​​the present invention.

[0109] Figure 3 It is a schematic diagram of the first component, the second component, the third component and the fourth component of the present invention.

[0110] Figure 4 This is a schematic diagram of the clamping jaws viewed from above.

[0111] Figure 5 This is a schematic diagram of the front view observation clamping jaw of the present invention.

[0112] Figure 6 It is a schematic diagram of the side observation clamping jaw of the present invention. DETAILED DESCRIPTION

[0113] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0114] Embodiment, a risk identification and control method for building material hoisting, comprising:

[0115] Get the area where the palletizing operation is performed, and record it as the palletizing area;

[0116] Risk management and control of the palletizing area, including:

[0117] Use conveyor belts to transport bagged materials to handling locations;

[0118] A weighing area is set on the conveyor belt, and the bagged materials are controlled to pass through the weighing area in sequence to obtain the weight distribution of the bagged materials: the bagged materials have the same size and shape, and the same weight; a plurality of pressure sensing units are evenly distributed in the weighing area; by arranging the pressure sensing units in the weighing area to form a pressure sensing unit network, the weight data of the bagged materials can be fully collected to improve the reliability of the data; when the bagged materials enter the weighing area, this pressure sensing unit network can monitor the pressure changes in each area in real time and quickly identify possible problems; compared with traditional single-point measurement, multi-point sensors can more comprehensively reflect the weight distribution, avoid missing key information, and provide a more comprehensive reference for subsequent operations.

[0119] When the bagged material completely enters the weighing area, the conveyor belt is controlled to stop and weigh;

[0120] When the weighing area has finished weighing the bagged materials, the conveyor belt is controlled to start and continue to transport the bagged materials to the handling position;

[0121] Reference Figure 1 , when the bagged material completely enters the weighing area, obtain the rectangular projection of the bagged material vertically downward in the weighing area, and record the rectangular projection as a projection figure;

[0122] Obtain the midpoints of the four sides of the projection figure respectively, and connect the midpoints of two sets of mutually parallel sides in the projection figure respectively to obtain two mutually perpendicular lines;

[0123] Two mutually perpendicular lines divide the projection figure into four areas, and each area is recorded as a projection division area;

[0124] In the weighing area, the pressure sensing units covered by each projection divided area are respectively obtained and recorded as the covered pressure sensing units of the projection divided area;

[0125] For each projected divided area, obtain the weight value detected by each covering pressure sensing unit of the projected divided area, and calculate the sum of the weight values ​​detected by all covering pressure sensing units of the projected divided area, and record it as the total weight of the projected divided area;

[0126] Obtain the portion of the bagged material in each projection divided area as a bagged material component;

[0127] Divide each projected divided area and the bagged material components located in the projected divided area into one group;

[0128] The total weight of each projected area is taken as the weight of the bagged material component that belongs to the same group as the projected area, and is recorded as the component weight of the bagged material component; the weighing area is set on the conveyor belt to ensure that the bagged materials pass through one by one accurately; the overall weight of the bagged material is detected by the pressure sensor unit, and further refined into the total weight of the four projected areas, which significantly improves the understanding of the weight distribution inside each bagged material; such a design not only improves the weighing efficiency, but also provides high-quality data support for weight control in the subsequent palletizing process; this weight distribution analysis method refined to the projection area can effectively identify potential weight unevenness problems inside the bagged material, facilitate precise adjustment during palletizing, and minimize the risk of pallet tilting, offset or instability after palletizing; in addition, this data-driven weighing method can continuously optimize each palletizing step, form dynamic monitoring of weight distribution and risks, thereby greatly improving the safety and reliability of the overall operation.

[0129] Considering the weight distribution of bagged materials, the preventive palletizing strategy is implemented by using palletizing robots to palletize bagged materials at the handling position onto pallets.

[0130] When the palletizing of bagged materials on the pallet is completed, the pallet and the bagged materials on the pallet are transferred to the material storage area;

[0131] Based on the stacking conditions of bagged materials on pallets, a temporary risk level control strategy is implemented for the material storage area.

[0132] The method combines the weight distribution of the bagged materials and uses a palletizing robot to execute a preventive palletizing strategy to palletize the bagged materials at the transporting position onto a pallet, including:

[0133] Use a palletizing robot to palletize bagged materials onto pallets, with two bags per layer;

[0134] The four sides of the upper surface of the tray are respectively recorded as the first side, the second side, the third side and the fourth side, wherein the first side and the second side are parallel to each other, and the third side and the fourth side are parallel to each other;

[0135] Dividing the upper surface of the tray into a first area, a second area, a third area, and a fourth area;

[0136] When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an odd-numbered layer:

[0137] S1. Numbering the four bagged material components of the bagged material as the first component, the second component, the third component and the fourth component respectively;

[0138] S2, executing a component weight comparison strategy for the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close;

[0139] S3. If the weights of the first component, the second component, the third component and the fourth component are close, the bagged materials are moved onto the pallet, and the rectangular projection of the bagged materials on the upper surface of the pallet is located vertically downward within the first area and the second area, and any one of the two longer sides of the rectangular projection is parallel to the first side of the pallet;

[0140] S4. If the weights of the first component, the second component, the third component and the fourth component are not close, performing a weight comparison of the components;

[0141] S5, the weight comparison of the execution components, specifically:

[0142] S6, respectively obtaining the weights of the first component and the second component, and obtaining the sum of the weights of the first component and the second component, which is recorded as the first side weight;

[0143] S7, respectively obtaining the weights of the third component and the fourth component, and obtaining the sum of the weights of the third component and the fourth component, which is recorded as the second side weight;

[0144] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the second area, and the distance between the first component and the second component and the first side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the first side of the upper surface of the pallet;

[0145] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet is located within the first area and the second area, and the distance between the third component and the fourth component and the first side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the first side of the upper surface of the pallet;

[0146] When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an odd-numbered layer of materials:

[0147] Execute steps S1-S2. If the weights of the first component, the second component, the third component and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the third area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the second side of the pallet;

[0148] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0149] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the third area and the fourth area, and the distance between the first component and the second component and the second side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the second side of the upper surface of the pallet;

[0150] If the weight on the second side is greater than the weight on the first side, the bagged materials are moved to the pallet, and the weight fine-tuning strategy is implemented during the movement, so that the rectangular projection of the bagged materials on the upper surface of the pallet vertically downward is located in the third area and the fourth area, and the distance between the third component and the fourth component and the second side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the second side of the upper surface of the pallet. By adopting the staggered placement method in the palletizing process of even and odd layers, the overall sliding risk of palletizing can be effectively reduced; this staggered palletizing mode makes full use of the principle of gravity centering, so that the materials on the pallet support each other and form a more compact structure; in addition, this placement method can better cope with vibrations or external force impacts during transportation, and avoid slipping due to loose palletizing surfaces.

[0151] The method of dividing the upper surface of the tray into a first area, a second area, a third area and a fourth area comprises: referring to Figure 2 ,

[0152] Obtain the midpoints of the first side, the second side, the third side and the fourth side of the upper surface of the tray respectively;

[0153] Connect the midpoints of the first side and the second side to form a first connecting line; connect the midpoints of the third side and the fourth side to form a second connecting line;

[0154] Number the four areas formed by the first and second lines and the first, second, third and fourth sides:

[0155] The area including the first side and the third side is recorded as the first area;

[0156] The area including the first side and the fourth side is recorded as the second area;

[0157] The area including the second side and the third side is recorded as the third area;

[0158] The region including the second side and the fourth side is referred to as the fourth region.

[0159] The four bagged material components of the bagged material are numbered as a first component, a second component, a third component and a fourth component, respectively, and include:

[0160] For all bagged materials, obtain the bag mouth and bag bottom, and select one bag edge as the selected side; refer to Figure 3 ,

[0161] The bagged material component including the bag opening and the selected side is recorded as the first component;

[0162] The bagged material component including the bag bottom and selected side edges is recorded as the second component;

[0163] The bagged material component including the bag opening and excluding the selected side is recorded as the third component;

[0164] The component of the bagged material including the bag bottom and excluding the selected side edges is recorded as the fourth component.

[0165] The step of performing a component weight comparison strategy on the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close to each other comprises:

[0166] Get the total weight of the bagged material, recorded as A;

[0167] Calculate A÷4 and record the result as B;

[0168] Subtract the weight of the first component, the second component, the third component and the fourth component from B, take the absolute value of the difference, calculate the ratio of the absolute value of the difference to B, and record them as the deviation values ​​of the first component, the second component, the third component and the fourth component respectively;

[0169] If the deviation values ​​of the first component, the second component, the third component and the fourth component are all less than or equal to 5%, it is determined that the weights of the first component, the second component, the third component and the fourth component are close; the 5% is the maximum deviation between the weights of the first component, the second component, the third component and the fourth component allowed and B, which can be adjusted accordingly according to actual needs;

[0170] Otherwise, it is determined that the component weights of the first component, the second component, the third component, and the fourth component are not close.

[0171] The method combines the weight distribution of the bagged materials and uses a palletizing robot to execute a preventive palletizing strategy to palletize the bagged materials at the transporting position onto a pallet, and further includes:

[0172] When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an even-numbered layer:

[0173] Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the first area and the third area, and make any one of the two longer sides of the rectangular projection parallel to the third side of the pallet;

[0174] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0175] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the third area, and the distance between the first component and the second component and the third side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the third side of the upper surface of the pallet;

[0176] If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet vertically downward is located within the first area and the third area, and the distance between the third component and the fourth component and the third side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the third side of the upper surface of the pallet;

[0177] When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an even-numbered layer of materials:

[0178] Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the second area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the fourth side of the pallet;

[0179] If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7;

[0180] If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located vertically downward within the second area and the fourth area, and the distance between the first component and the second component and the fourth side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet;

[0181] If the weight of the second side is greater than the weight of the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is implemented during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet vertically downward is located within the second area and the fourth area, and the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the fourth side of the upper surface of the pallet. When stacking the bagged material on the pallet, the weight distribution of the bagged material is obtained to select and adjust the position of the bagged material on the pallet: if the weights of the four components of the bagged material are close, they are directly stacked on the pallet without special adjustments to their positions; when the weights of the four components of the bagged material are not close, the weights of the first side and the second side of the bagged material are compared, and the side with the larger weight is selected. When the bagged material is stacked on the pallet, the side with the larger weight is placed closer to one side of the pallet, so that when two bagged materials are stacked on the pallet, the side with the larger weight is on the outside of the two bagged materials, and the side with the smaller weight is on the inside of the two bagged materials. The inside of the material; because the heavier side will have a certain bulge compared to the lighter side, when the two heavier sides are on the outside, the load-bearing positions of the two bagged materials in contact with the upper and lower bagged materials on the pallet and the upper bagged materials are on the outside. If the heavier side is on the inside so that the load-bearing position is on the inside, the bagged materials on the inside will bulge, which will cause the bagged materials to slide outward. If the heavier side is on the outside so that the load-bearing position is on the outside, even if the bagged materials slide, they will slide inward, which will cause the bagged materials to tighten inward, which can enhance the stability of the bagged materials on the pallet, reduce the risk of dumping of the material pile, and ensure safe production.

[0182] Describe and implement weight fine-tuning strategies during handling, including:

[0183] Reference Figure 4 , Figure 5 and Figure 6 The gripper of the palletizing robot for grabbing bagged materials includes two gripping cylinders and two gripping parts, each gripping part is connected to a telescopic rod of a gripping cylinder, each gripping part includes two telescopic cylinders and two slides, each telescopic cylinder is connected to a slider, the slider is located in the slide, driven by the telescopic cylinder to slide in the slide, and one end of the slider is connected to a roller;

[0184] When the clamping cylinder contracts, the bagged material is clamped, and the four rollers on the clamping component are in contact with the first component, the second component, the third component and the fourth component of the bagged material respectively. When the telescopic cylinder performs telescopic movement, the rollers are driven by the telescopic cylinder to push the contents of the first component and the third component in the bagged material to the positions of the second component and the fourth component, or to push the contents of the second component and the fourth component in the bagged material to the positions of the first component and the third component;

[0185] Obtaining the weights of the first component and the third component respectively, and obtaining the sum of the weights of the first component and the third component, which is recorded as the third side weight;

[0186] Obtaining the component weights of the second component and the fourth component respectively, and obtaining the sum of the component weights of the second component and the fourth component, which is recorded as the fourth side weight;

[0187] Obtain the total weight of the bagged material and take half of the total weight as C;

[0188] Obtain the difference between the weight on the third side and the weight on the fourth side, and calculate the ratio of the difference to C, and record the ratio as the opposite side deviation value;

[0189] Setting an adjustment threshold; the adjustment threshold is used to determine whether to implement a weight fine-tuning strategy for bagged materials;

[0190] If the contralateral deviation value is 0, the weight fine-tuning strategy is not executed;

[0191] If the opposite side deviation value is a positive number, the first comparison adjustment strategy is executed;

[0192] The first comparison adjustment strategy includes:

[0193] comparing the contralateral deviation value to an adjustment threshold;

[0194] If the deviation value on the opposite side is less than or equal to the adjustment threshold, indicating that the deviation between the weight on the third side and the weight on the fourth side is not large, the telescopic cylinder is controlled to move the rollers in contact with the first component and the third component toward the bottom of the bag, pushing the contents of the first component and the third component in the bagged material toward the positions of the second component and the fourth component. By adopting a weight fine-tuning strategy, the telescopic cylinder is controlled to drive the rollers in contact with the bagged material to push the contents of the first component and the third component in the bagged material toward the positions of the second component and the fourth component, or to push the contents of the second component and the fourth component in the bagged material toward the positions of the first component and the third component. This method can be used on the third side. When the deviation between the weight on the third side and the weight on the fourth side is less than or equal to the adjustment threshold, the contents of the bagged material are adjusted through the movement of some rollers, so that the middle position of the bagged material is raised, and then the raised part is fit into the gap between the two bagged materials in the next layer, thereby further increasing the stability of the bagged material on the pallet; at the same time, when the deviation between the weight on the third side and the weight on the fourth side is greater than the adjustment threshold, the movement of all rollers is controlled to adjust the contents of the bagged material to the side with lower weight as much as possible, thereby achieving a balance between the weight on the third side and the weight on the fourth side of the bagged material, thereby ensuring the stability of the material pile on the pallet after palletizing, reducing the risk of dumping the material pile, and ensuring safe production.

[0195] If the deviation value of the opposite side is greater than the adjustment threshold, it means that the deviation between the weight of the third side and the weight of the fourth side is large, and the weight of the third side and the weight of the fourth side need to be adjusted to the maximum, then all telescopic cylinders are controlled to move all rollers toward the bottom of the bag, pushing the contents of the bagged material to the bottom of the bag;

[0196] If the opposite side deviation value is negative, the second comparison adjustment strategy is executed;

[0197] The first comparison adjustment strategy includes:

[0198] Obtain the absolute value of the contralateral deviation value, recorded as the contralateral deviation absolute value;

[0199] The absolute value of the contralateral deviation is compared to the adjustment threshold;

[0200] If the absolute value of the deviation on the opposite side is less than or equal to the adjustment threshold, it means that the deviation between the weight on the third side and the weight on the fourth side is not large, then the telescopic cylinder is controlled to move the rollers in contact with the second component and the fourth component toward the bag opening, so as to push the contents of the second component and the fourth component in the bagged material toward the position of the first component and the third component;

[0201] If the absolute value of the deviation on the opposite side is greater than the adjustment threshold, it means that the deviation between the weight on the third side and the weight on the fourth side is large, and the weight on the third side and the weight on the fourth side need to be adjusted to the maximum extent. Then, all telescopic cylinders are controlled to move all rollers toward the bag opening to push the contents of the bagged material toward the bag opening.

[0202] The temporary risk level control strategy for the material storage area is implemented according to the stacking conditions of the bagged materials on the pallet, including:

[0203] If the weights of the four components of each bagged material on the palletized pallet are close, the risk level temporary control strategy will not be implemented;

[0204] If the weights of the four components of the bagged material on the pallet after palletizing are not close, the position of the pallet after palletizing is obtained and recorded as the target position;

[0205] If the target location is not adjacent to walls or other pallets that have been palletized, a temporary risk level control strategy will be implemented for the target location area, including:

[0206] Get the area around the target location that is not adjacent to the wall and other pallets that have been palletized, and temporarily increase the risk level of the area by one level;

[0207] When the pallet that has been palletized at the target location is transported away from the target location, the area around the target location with the temporarily increased risk level will be restored to the original risk level of the area. By analyzing the palletizing of bagged materials on the pallet, the risk level of the storage area is dynamically adjusted, which greatly enhances the safety of material storage; when the weights of the four components of the bagged materials on the pallet are not close, the impact range of potential accidents is reduced by increasing the risk level of the surrounding area; this risk level temporary control strategy is an efficient emergency management method that can significantly improve the risk prevention and control capabilities of the production site; this mechanism not only reduces the risk losses that may occur during production and storage, but also significantly enhances the safety and reliability of the overall operation.

[0208] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0209] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A risk identification and control method for building material hoisting, characterized in that: include: Get the area where the palletizing operation is performed, and record it as the palletizing area; Risk management and control of the palletizing area, including: Use conveyor belts to transport bagged materials to handling locations; Set up a weighing area on the conveyor belt and control the bagged materials to pass through the weighing area in sequence to obtain the weight distribution of the bagged materials: When the bagged material completely enters the weighing area, the conveyor belt is controlled to stop and weigh; When the weighing area has finished weighing the bagged materials, the conveyor belt is controlled to start and continue to transport the bagged materials to the handling position; When the bagged material completely enters the weighing area, a rectangular projection of the bagged material vertically downward in the weighing area is obtained, and the rectangular projection is recorded as a projection figure; Obtain the midpoints of the four sides of the projection figure respectively, and connect the midpoints of two sets of mutually parallel sides in the projection figure respectively to obtain two mutually perpendicular lines; Two mutually perpendicular lines divide the projection figure into four areas, and each area is recorded as a projection division area; In the weighing area, the pressure sensing units covered by each projection divided area are respectively obtained and recorded as the covered pressure sensing units of the projection divided area; For each projected divided area, obtain the weight value detected by each covering pressure sensing unit of the projected divided area, and calculate the sum of the weight values ​​detected by all covering pressure sensing units of the projected divided area, and record it as the total weight of the projected divided area; Obtain the portion of the bagged material in each projection divided area as a bagged material component; Divide each projected divided area and the bagged material components located in the projected divided area into one group; The total weight of each projected divided area is taken as the weight of the bagged material component belonging to the same group as the projected divided area, and is recorded as the component weight of the bagged material component; Considering the weight distribution of bagged materials, the preventive palletizing strategy is implemented by using palletizing robots to palletize bagged materials at the handling position onto pallets. When the palletizing of bagged materials on the pallet is completed, the pallet and the bagged materials on the pallet are transferred to the material storage area; Based on the stacking conditions of bagged materials on pallets, a temporary risk level control strategy is implemented for the material storage area.

2. A risk identification and control method for building material hoisting according to claim 1, characterized in that: The method combines the weight distribution of the bagged materials and uses a palletizing robot to execute a preventive palletizing strategy to palletize the bagged materials at the transporting position onto a pallet, including: Use a palletizing robot to palletize bagged materials onto pallets, with two bags per layer; The four sides of the upper surface of the tray are respectively recorded as the first side, the second side, the third side and the fourth side, wherein the first side and the second side are parallel to each other, and the third side and the fourth side are parallel to each other; Dividing the upper surface of the tray into a first area, a second area, a third area, and a fourth area; When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an odd-numbered layer: S1. Numbering the four bagged material components of the bagged material as the first component, the second component, the third component and the fourth component respectively; S2, executing a component weight comparison strategy for the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close; S3. If the weights of the first component, the second component, the third component and the fourth component are close, the bagged materials are moved onto the pallet, and the rectangular projection of the bagged materials on the upper surface of the pallet is located vertically downward within the first area and the second area, and any one of the two longer sides of the rectangular projection is parallel to the first side of the pallet; S4. If the weights of the first component, the second component, the third component and the fourth component are not close, performing a weight comparison of the components; S5, the weight comparison of the execution components, specifically: S6, respectively obtaining the weights of the first component and the second component, and obtaining the sum of the weights of the first component and the second component, which is recorded as the first side weight; S7, respectively obtaining the weights of the third component and the fourth component, and obtaining the sum of the weights of the third component and the fourth component, which is recorded as the second side weight; If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the second area, and the distance between the first component and the second component and the first side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the first side of the upper surface of the pallet; If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet is located within the first area and the second area, and the distance between the third component and the fourth component and the first side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the first side of the upper surface of the pallet; When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an odd-numbered layer of materials: Execute steps S1-S2. If the weights of the first component, the second component, the third component and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the third area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the second side of the pallet; If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7; If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the third area and the fourth area, and the distance between the first component and the second component and the second side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the second side of the upper surface of the pallet; If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet and a weight fine-tuning strategy is implemented during the transport process, so that the rectangular projection of the bagged material vertically downward on the upper surface of the pallet is located within the third area and the fourth area, and the distance between the third component and the fourth component and the second side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the second side of the upper surface of the pallet.

3. A risk identification and control method for building material hoisting according to claim 2, characterized in that: The method of dividing the upper surface of the tray into a first area, a second area, a third area and a fourth area comprises: Obtain the midpoints of the first side, the second side, the third side and the fourth side of the upper surface of the tray respectively; Connect the midpoints of the first side and the second side to form a first connecting line; connect the midpoints of the third side and the fourth side to form a second connecting line; Number the four areas formed by the first and second lines and the first, second, third and fourth sides: The area including the first side and the third side is recorded as the first area; The area including the first side and the fourth side is recorded as the second area; The area including the second side and the third side is recorded as the third area; The region including the second side and the fourth side is referred to as the fourth region.

4. A risk identification and control method for building material hoisting according to claim 2, characterized in that: The four bagged material components of the bagged material are numbered as a first component, a second component, a third component and a fourth component, respectively, and include: For all bagged materials, obtain the bag mouth and bag bottom, and select one bag edge as the selected side; The bagged material component including the bag opening and the selected side is recorded as the first component; The bagged material component including the bag bottom and selected side edges is recorded as the second component; The bagged material component including the bag opening and excluding the selected side is recorded as the third component; The component of the bagged material including the bag bottom and excluding the selected side edges is recorded as the fourth component.

5. A risk identification and control method for building material hoisting according to claim 2, characterized in that: The step of performing a component weight comparison strategy on the first component, the second component, the third component and the fourth component to determine whether the component weights of the first component, the second component, the third component and the fourth component are close to each other comprises: Get the total weight of the bagged material, recorded as A; Calculate A÷4 and record the result as B; Subtract the weight of the first component, the second component, the third component and the fourth component from B, take the absolute value of the difference, calculate the ratio of the absolute value of the difference to B, and record them as the deviation values ​​of the first component, the second component, the third component and the fourth component respectively; If the deviation values ​​of the first component, the second component, the third component and the fourth component are all less than or equal to 5%, it is determined that the component weights of the first component, the second component, the third component and the fourth component are close; Otherwise, it is determined that the component weights of the first component, the second component, the third component, and the fourth component are not close.

6. A risk identification and control method for building material hoisting according to claim 2, characterized in that: The method combines the weight distribution of the bagged materials and uses a palletizing robot to execute a preventive palletizing strategy to palletize the bagged materials at the transporting position onto a pallet, and further includes: When the bagged material that the palletizing robot stacks on the pallet is the first bagged material in an even-numbered layer: Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the first area and the third area, and make any one of the two longer sides of the rectangular projection parallel to the third side of the pallet; If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7; If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located within the first area and the third area, and the distance between the first component and the second component and the third side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the third side of the upper surface of the pallet; If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet vertically downward is located within the first area and the third area, and the distance between the third component and the fourth component and the third side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the third side of the upper surface of the pallet; When the bagged material that the palletizing robot stacks on the pallet is the second bagged material in an even-numbered layer of materials: Execute steps S1-S2. If the weights of the first component, the second component, the third component, and the fourth component are close, move the bagged material onto the pallet, and make the rectangular projection of the bagged material on the upper surface of the pallet vertically downward located within the second area and the fourth area, and make any one of the two longer sides of the rectangular projection parallel to the fourth side of the pallet; If the weights of the first component, the second component, the third component and the fourth component are not close, then execute steps S4-S7; If the weight on the first side is greater than or equal to the weight on the second side, the bagged material is transported to the pallet, and a weight fine-tuning strategy is performed during the transport process, so that the rectangular projection of the bagged material on the upper surface of the pallet after transport is located vertically downward within the second area and the fourth area, and the distance between the first component and the second component and the fourth side of the upper surface of the pallet is smaller than the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet; If the weight on the second side is greater than the weight on the first side, the bagged material is transported to the pallet and a weight fine-tuning strategy is implemented during the transport process, so that the rectangular projection of the bagged material vertically downward on the upper surface of the pallet is located within the second area and the fourth area, and the distance between the third component and the fourth component and the fourth side of the upper surface of the pallet is smaller than the distance between the first component and the second component and the fourth side of the upper surface of the pallet.

7. A risk identification and control method for building material hoisting according to claim 6, characterized in that: Describe and implement weight fine-tuning strategies during handling, including: The gripper of the palletizing robot for grabbing bagged materials includes two gripping cylinders and two gripping parts, each gripping part is connected to a telescopic rod of a gripping cylinder, each gripping part includes two telescopic cylinders and two slides, each telescopic cylinder is connected to a slider, the slider is located in the slide, driven by the telescopic cylinder to slide in the slide, and one end of the slider is connected to a roller; When the clamping cylinder contracts, the bagged material is clamped, and the four rollers on the clamping component are in contact with the first component, the second component, the third component and the fourth component of the bagged material respectively. When the telescopic cylinder performs telescopic movement, the rollers are driven by the telescopic cylinder to push the contents of the first component and the third component in the bagged material to the positions of the second component and the fourth component, or to push the contents of the second component and the fourth component in the bagged material to the positions of the first component and the third component; Obtaining the weights of the first component and the third component respectively, and obtaining the sum of the weights of the first component and the third component, which is recorded as the third side weight; Obtaining the component weights of the second component and the fourth component respectively, and obtaining the sum of the component weights of the second component and the fourth component, which is recorded as the fourth side weight; Obtain the total weight of the bagged material and take half of the total weight as C; Obtain the difference between the weight on the third side and the weight on the fourth side, and calculate the ratio of the difference to C, and record the ratio as the opposite side deviation value; Set adjustment thresholds; If the contralateral deviation value is 0, the weight fine-tuning strategy is not executed; If the opposite side deviation value is a positive number, the first comparison adjustment strategy is executed; The first comparison adjustment strategy includes: comparing the contralateral deviation value to an adjustment threshold; If the deviation value on the opposite side is less than or equal to the adjustment threshold, the telescopic cylinder is controlled to move the rollers in contact with the first component and the third component toward the bottom of the bag, so as to push the contents of the first component and the third component in the bagged material toward the position of the second component and the fourth component; If the deviation value on the opposite side is greater than the adjustment threshold, all telescopic cylinders are controlled to move all rollers toward the bottom of the bag, pushing the contents of the bagged material to the bottom of the bag; If the opposite side deviation value is negative, the second comparison adjustment strategy is executed; The first comparison adjustment strategy includes: Obtain the absolute value of the contralateral deviation value, recorded as the contralateral deviation absolute value; The absolute value of the contralateral deviation is compared to the adjustment threshold; If the absolute value of the deviation on the opposite side is less than or equal to the adjustment threshold, the telescopic cylinder is controlled to move the rollers in contact with the second component and the fourth component toward the bag opening, so as to push the contents of the second component and the fourth component in the bagged material toward the position of the first component and the third component; If the absolute value of the deviation on the opposite side is greater than the adjustment threshold, all telescopic cylinders are controlled to move all rollers toward the bag opening, pushing the contents of the bagged material toward the bag opening.

8. A risk identification and control method for building material hoisting according to claim 1, characterized in that: The temporary risk level control strategy for the material storage area is implemented according to the stacking conditions of the bagged materials on the pallet, including: If the weights of the four components of each bagged material on the palletized pallet are close, the risk level temporary control strategy will not be implemented; If the weights of the four components of the bagged material on the pallet after palletizing are not close, the position of the pallet after palletizing is obtained and recorded as the target position; If the target location is not adjacent to walls or other pallets that have been palletized, a temporary risk level control strategy will be implemented for the target location area, including: Get the area around the target location that is not adjacent to the wall and other pallets that have been palletized, and temporarily increase the risk level of the area by one level; When the pallets that have been palletized at the target location are transported away from the target location, the area around the target location with the temporarily increased risk level will be restored to the original risk level of the area.

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