Modularized full-automatic dangerous chemical liquid filling system and filling control method

Abstract

The invention provides a modularized full-automatic dangerous chemical liquid filling system and a filling control method. The system comprises a mechanical arm, a control module, a camera module and a quick-change frame on which various quick-change modules are placed, wherein the various quick-change modules comprise a blind plate quick-change module, a gasket quick-change module, a flange clamping quick-change module and a valve quick-change module; a first connecting part is arranged at the tail end of the mechanical arm, and each quick-change module is provided with a corresponding second connecting part; when the tank body is transported to a first designated area, the first camera shoots the tank body to obtain a first image for positioning, and the inlet part of the tank body is provided with a valve and a blind plate for blocking the inlet part; the control module is used for controlling the tail end of the mechanical arm to replace the corresponding quick change module based on the first image and a preset task list and controlling the corresponding quick change module to execute the corresponding preset filling process task so that the liquid adding station can fill the tank body. Therefore, the expansion of multiple tasks is facilitated, and the application scene of automatic filling is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of liquid filling, and in particular to a modular fully automatic hazardous liquid filling system and a filling control method. Background Art

[0002] In the chemical, petroleum and other industries, there is a demand for transporting hazardous liquids. Hazardous liquids refer to flammable, explosive or toxic liquids, such as industrial hydrofluoric acid liquids. During the transportation operation, the liquid stored in the filling station needs to be filled into the tank of the transport vehicle. Traditional filling operations are all performed manually on-site, and the operators need to prepare corresponding protective measures, and there are certain safety risks. Currently, there are already automated filling solutions, however, the application scenarios of such solutions are limited and not conducive to the expansion of multi-tasks. For example, in the prior art with patent publication number CN117819461A, a robot automatic filling system and method for hazardous liquids is disclosed. In this solution, pipeline clamping, visual positioning and capping functions are integrated into a single mechanical structure. However, its clamping mechanism (such as a cross clamping groove) is only suitable for specific types of filling hole covers (such as a cross protrusion type) and is not compatible with the flat sealing surface clamping required by the flange blind plate, making the application scenario of this solution single. Summary of the Invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide a modular fully automatic hazardous liquid filling system and filling control method, which can improve the limitations of automatic filling application scenarios and the problem that it is not conducive to the expansion of multiple tasks.

[0004] To achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a modular, fully automatic hazardous liquid filling system, the system comprising: a robotic arm, a control module, a camera module, and a quick-change rack on which a plurality of quick-change modules are placed, the plurality of quick-change modules comprising a blind plate quick-change module, a gasket quick-change module, a flange clamping quick-change module, and a valve quick-change module, the camera module comprising a first camera;

[0006] The end of the robotic arm is provided with a first connecting portion, and each of the quick-change modules is provided with a second connecting portion for detachably connecting to the first connecting portion;

[0007] When the tank is transported to the first designated area, the first camera is used to photograph the inlet portion of the tank and obtain a first image for positioning, wherein the inlet portion of the tank is provided with a valve and a blind plate for sealing the inlet portion;

[0008] The control module is used to control the end of the robotic arm to replace the corresponding quick-change module based on the first image and the preset task list, and control the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank. Among them, the blind plate quick-change module is used to remove the corresponding blind plate on the tank, the gasket quick-change module is used to replace the corresponding flange gasket on the tank, and the flange clamping quick-change module is used to connect the tank to the outlet of the liquid filling station, so that a conveying pipeline is formed between the tank and the liquid filling station; the valve quick-change module is used to open or close the valve.

[0009] In combination with the first aspect, in some alternative embodiments, the camera module further includes a second camera disposed on the robotic arm, and each of the quick-change modules is pre-set with a first two-dimensional code for positioning;

[0010] The control module is used to control the end of the robotic arm to replace the corresponding quick-change module based on the first image and the preset task list, and control the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank, including:

[0011] The control module determines a first deviation between the position of the inlet part of the tank and the position of the preset reference point based on the first image and the preset task list;

[0012] When the first deviation is within the first preset range, the control module controls the end of the robotic arm to move towards the quick-change rack, and based on the first two-dimensional code on the corresponding quick-change module captured by the second camera, locates and connects the blind plate quick-change module;

[0013] The control module controls the robotic arm to drive the blind plate quick-change module to move towards the inlet part of the tank, and controls the blind plate quick-change module to remove the blind plate at the inlet part, and move the removed blind plate to the first temporary storage area;

[0014] The control module controls the robotic arm to move towards the quick-change rack, and replaces the blind plate quick-change module connected to the end of the robotic arm with the gasket quick-change module;

[0015] The control module controls the robotic arm to drive the gasket quick-change module to move towards the second temporary storage area, and controls the gasket quick-change module to pick up the flange gasket pre-placed in the second temporary storage area. The second temporary storage area is a pre-planned area for placing the flange gasket;

[0016] The control module controls the robotic arm to drive the gasket quick-change module to move towards the inlet part of the tank, and controls the gasket quick-change module to place the flange gasket in the second specified area at the inlet part;

[0017] The control module controls the robotic arm to drive the gasket quick-change module to move toward the quick-change rack, and replaces the gasket quick-change module connected to the end of the robotic arm with the flange clamping quick-change module;

[0018] The control module controls the robotic arm to drive the flange clamping quick-change module to move toward the inlet portion of the tank body, and controls the flange clamping quick-change module to perform flange connection between the inlet portion and the outlet of the liquid filling station, and when the flange connection is completed, controls the robotic arm to release the connection between the end of the robotic arm and the flange clamping quick-change module, wherein the flange clamping quick-change module has a pipe for flange connection between the inlet portion and the outlet;

[0019] The control module controls the robot arm to move toward the quick-change frame, and controls the end of the robot arm to connect with the valve quick-change module;

[0020] The control module controls the robot arm to move toward the valve at the inlet, and controls the valve quick-change module to open the valve at the inlet, so that the liquid filling station delivers liquid to the tank through the outlet.

[0021] In conjunction with the first aspect, in some optional embodiments, before completing the flange connection, the control module is further configured to control the air pump to inject pressure-maintaining gas into the pipeline, and stop injecting the pressure-maintaining gas when the pressure reaches a specified pressure, so as to perform a sealing test;

[0022] When the difference between the pressure of the pressure-maintaining gas in the pipeline after the preset time period of stopping injection and the specified pressure is within a preset pressure range, the control module determines that the flange connection is completed;

[0023] When the difference is not within the preset pressure range, the flange clamping quick-change module is controlled to flange-connect the inlet part and the outlet of the liquid filling station again, and perform a sealing test until the difference is within the preset pressure range or the number of repetitions reaches a specified number.

[0024] In conjunction with the first aspect, in some optional embodiments, when the control module receives a signal indicating that the filling station has completed filling the tank, the control module controls the valve quick-change module to close the valve at the inlet, and controls the robotic arm to sequentially return the valve quick-change module and the flange clamping quick-change module to the quick-change rack;

[0025] The control module further controls the end of the robotic arm to connect to the gasket quick-change module, and controls the gasket quick-change module to recycle the flange gasket at the inlet part to the waste area, and replaces the gasket quick-change module at the end of the robotic arm with the blind plate quick-change module, and controls the blind plate quick-change module to install the blind plate in the first temporary storage area at the inlet part to block the inlet part;

[0026] When the installation of the blind plate is completed, the control module controls the robotic arm to reset to a preset initial state.

[0027] In combination with the first aspect, in some alternative embodiments, the system further includes a ground rail device, and the base of the robotic arm is arranged on the slider of the ground rail device. When the first deviation is not within the first preset range, the control module is further configured to control the ground rail device to drive the robotic arm to move through the slider based on the first deviation, so that the first deviation obtained based on the moved robotic arm is within the first preset range.

[0028] In combination with the first aspect, in some alternative embodiments, the system further includes a prompt module;

[0029] When the first deviation is not within the first preset range, the prompt module is configured to issue a first prompt message indicating that the position of the tank body is offset;

[0030] When the first deviation is within the first preset range, the prompt module is configured to issue a second prompt message indicating that the position of the tank body is accurate.

[0031] In combination with the first aspect, in some alternative embodiments, some or all of the quick-change modules are provided with corresponding third cameras and depth sensors. The third camera is configured to acquire a second two-dimensional code pre-set on a corresponding target, and the depth sensor is configured to detect the distance between the quick-change module and the corresponding target. The corresponding target includes at least one of a blind plate, a second temporary storage area for placing the flange gasket, and the inlet part of the tank body.

[0032] In a second aspect, an embodiment of the present application further provides a filling control method, which is applied to the above system. The method includes:

[0033] When the tank body is transported to the first designated area, the inlet part on the tank body is photographed by the first camera to obtain a first image for positioning;

[0034] Based on the first image and a preset task list, the control module controls the end of the robotic arm to replace the corresponding quick-change module, and controls the corresponding quick-change module to execute a corresponding preset filling process task, so that the liquid filling station fills the tank body.

[0035] In conjunction with the second aspect, in some optional embodiments, based on the first image and the preset task list, the control module controls the end of the robotic arm to replace the corresponding quick-change module, and controls the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank, including:

[0036] Based on the first image and the preset task list, determining, by the control module, a first deviation between a position of the inlet portion of the tank and a position of a preset reference point;

[0037] When the first deviation is within a first preset range, the control module controls the end of the robotic arm to move toward the quick-change frame, and locates and connects the blind plate quick-change module based on a first QR code located on the corresponding quick-change module captured by a second camera in the camera module;

[0038] The control module controls the robotic arm to drive the blind plate quick-change module to move toward the inlet of the tank body, and controls the blind plate quick-change module to remove the blind plate at the inlet, and move the removed blind plate to the first temporary storage area;

[0039] Controlling the robot arm to move toward the quick-change rack through the control module, and replacing the blind plate quick-change module connected to the end of the robot arm with the gasket quick-change module;

[0040] The control module controls the robotic arm to drive the gasket quick-change module to move to the second temporary storage area, and controls the gasket quick-change module to absorb the flange gasket pre-placed in the second temporary storage area, where the second temporary storage area is a pre-planned area for placing the flange gasket;

[0041] The control module controls the robotic arm to drive the gasket quick-change module to move toward the inlet portion of the tank body, and controls the gasket quick-change module to place the flange gasket in a second designated area of the inlet portion;

[0042] The control module controls the robotic arm to drive the gasket quick-change module to move toward the quick-change rack, and replaces the gasket quick-change module connected to the end of the robotic arm with the flange clamping quick-change module;

[0043] The control module controls the robotic arm to drive the flange clamping and quick-change module to move towards the inlet part of the tank body, and controls the flange clamping and quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station. When the flange connection is completed, the control module controls the robotic arm to release the connection between the end of the robotic arm and the flange clamping and quick-change module. Wherein, the flange clamping and quick-change module has a pipeline for flange-connecting the inlet part and the outlet.

[0044] The control module controls the robotic arm to move towards the quick-change rack, and controls the end of the robotic arm to be connected to the valve quick-change module.

[0045] The control module controls the robotic arm to move towards the valve at the inlet part, and controls the valve quick-change module to open the valve at the inlet part, so that the liquid filling station transports liquid to the tank body through the outlet.

[0046] Combined with the second aspect, in some alternative embodiments, before the flange connection is completed, the method further includes:

[0047] The control module controls an air pump to inject pressure-maintaining gas into the pipeline, and stops injecting when the pressure of the pressure-maintaining gas reaches a specified pressure for leak detection.

[0048] When the difference between the pressure of the pressure-maintaining gas in the pipeline after a preset time period from the stop of injection and the specified pressure is within a preset pressure range, the control module determines that the flange connection is completed.

[0049] When the difference is not within the preset pressure range, the control module controls the flange clamping and quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station again, and perform leak detection until the difference is within the preset pressure range or the number of repetitions reaches a specified number.

[0050] The invention adopting the above technical solution has the following advantages:

[0051] (1) In the technical solution provided by this application, by setting up various quick-change modules with different functions, such as a blind plate quick-change module, a gasket quick-change module, a flange clamping quick-change module, and a valve quick-change module, etc., and cooperating with the connection end structure between the end of the robotic arm and the quick-change module, the system can quickly switch different functional modules. Whether it is necessary to disassemble the blind plate, replace the flange gasket, connect to form a conveying pipeline, or control the valve switch, it can be achieved by replacing the corresponding quick-change module, expanding the application scenarios of the system. When facing dangerous chemical liquid tanks with different specifications and filling requirements, there is no need to carry out large-scale transformation of the system. Only by replacing the adapted quick-change module can the filling task be completed, significantly improving the adaptability of the system to diverse application scenarios.

[0052] (2) Use the first camera in the camera module to obtain the first image on the tank body, and the control module performs precise positioning based on this first image. This image-based recognition and positioning method can quickly and accurately obtain the relative position between the tank body and the robotic arm. In a complex filling environment, even if there is a certain deviation in the position of the tank body, the system can adjust the actions of the robotic arm through the recognition of the first camera and the precise calculation of the control module to ensure the accurate docking of the quick-change module with each component of the tank body, guaranteeing the accuracy and stability of the filling process.

[0053] (3) The entire filling process is automatically controlled by the control module to complete the robotic arm and the quick-change module, without manual participation, reducing the time cost of manual operation and the risk of human error. The precise actions of the robotic arm cooperate with the efficient work of the quick-change module, and can quickly and stably complete a series of filling processes from blind plate disassembly, gasket replacement, pipeline connection to valve control, greatly improving the filling production efficiency. Since dangerous chemical liquids are hazardous, fully automated operation avoids the direct contact between operators and dangerous chemical liquids, reducing the safety risk of operators and ensuring the safety of the production process. Brief Description of the Drawings

[0054] This application can be further illustrated by the non-limiting embodiments given in the drawings. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0055] Figure 1 It is a block diagram of the fully automatic dangerous chemical liquid filling system provided by the embodiment of this application.

[0056] Figure 2 It is a top view layout schematic diagram of the fully automatic dangerous chemical liquid filling system provided by the embodiment of this application.

[0057] Figure 3Schematic connection diagram of the robotic arm and the valve quick-change module provided by the embodiment of the present application.

[0058] Figure 4A Schematic structural diagram of the blind plate quick-change module provided by the embodiment of the present application.

[0059] Figure 4B Schematic structural diagram of the gasket quick-change module provided by the embodiment of the present application.

[0060] Figure 4C Schematic structural diagram of the flange clamping quick-change module provided by the embodiment of the present application.

[0061] Figure 4D Schematic structural diagram of the valve quick-change module provided by the embodiment of the present application.

[0062] Figure 5 Schematic flow diagram of the filling control method provided by the embodiment of the present application.

[0063] Icons: 100 - fully automatic hazardous chemical liquid filling system; 110 - robotic arm; 111 - first connection part; 120 - control module; 130 - camera module; 131 - third camera; 132 - third camera; 141 - first quick-change frame; 142 - second quick-change frame; 150 - blind plate quick-change module; 151 - first gripper; 152 - depth sensor; 160 - gasket quick-change module; 161 - negative pressure suction cup mechanism; 164 - flange gasket; 170 - flange clamping quick-change module; 171 - clamping mechanism; 172 - pipeline; 180 - valve quick-change module; 181 - second gripper; 182 - second connection part; 200 - tank body; 210 - inlet part. Detailed implementation manners

[0064] The following will describe the present application in detail with reference to the accompanying drawings and specific embodiments. It should be noted that in the description of the drawings or the specification, similar or identical parts are denoted by the same reference numerals, and the implementation manners not shown or described in the drawings are those known to those of ordinary skill in the art. In the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0065] Please refer to Figure 1Referring to FIGS. 1 to 4, an embodiment of the present application provides a modular fully automatic hazardous chemical liquid filling system 100 (hereinafter referred to as the present system), which can realize automatic filling of hazardous chemical liquids. The present system may include: a robotic arm 110, a control module 120, a camera module 130, and a quick-change rack on which a variety of quick-change modules are placed. The variety of quick-change modules includes a blind plate quick-change module 150, a gasket quick-change module 160, a flange clamping quick-change module 170, and a valve quick-change module 180. The camera module 130 may include multiple cameras. For example, the camera module 130 may include a first camera as a global camera, a second camera disposed on the robotic arm, etc. Hazardous chemical liquids can be understood as dangerous chemical liquids, which can be flexibly determined according to actual situations. For example, the hazardous chemical liquid can be industrial hydrofluoric acid liquid.

[0066] Each quick-change module can be signal-connected to the control module 120 through an independent signal line, and the length of the signal line can be flexibly set according to actual situations, so that the robotic arm 110 can drive the quick-change module to move flexibly.

[0067] In this embodiment, the quick-change rack can be one or more. For example, please refer to Figure 1 , the quick-change rack may include a first quick-change rack 141 and a second quick-change rack 142. The first quick-change rack 141 can place the blind plate quick-change module 150, the gasket quick-change module 160, and the valve quick-change module 180. The second quick-change rack 142 can place the flange clamping quick-change module 170.

[0068] A first connection portion 111 is provided at the end of the robotic arm 110, and each of the quick-change modules is provided with a second connection portion for detachably connecting to the first connection portion 111.

[0069] In this embodiment, the variety of quick-change modules placed on the quick-change rack is not limited to the aforementioned blind plate quick-change module 150, gasket quick-change module 160, flange clamping quick-change module 170, and valve quick-change module 180, and other quick-change modules with other functions can also be placed. The quick-change module, as the end effector of the robotic arm 110, can be flexibly designed according to different task requirements.

[0070] Please refer to Figure 3 , the first connection portion 111 at the end of the robotic arm 110 is connected to the second connection portion 182 in the valve quick-change module 180.

[0071] In this embodiment, the first connection part 111 and the second connection part cooperate with each other to realize the clamping connection between the robot arm 110 and the quick-change module. For example, the first connection part 111 is provided with a radially retractable locking bar, and the second connection part is provided with a locking hole that cooperates with the locking bar. After the first connection part 111 at the end of the robot arm 110 is aligned with the second connection part of the quick-change module, the locking bar is driven by a motor to extend into the locking hole, thereby realizing the connection between the robot arm 110 and the quick-change module. When it is necessary to release the connection between the robot arm 110 and the quick-change module, the locking bar is driven by a motor to retract, so that the locking bar is disengaged from the locking hole, thereby releasing the quick-change module connected to the robot arm 110 and realizing the disassembly of the quick-change module.

[0072] It should be noted that the manner in which the first connection portion 111 and the second connection portion are detachably connected can be flexibly set according to actual conditions and is not specifically limited here.

[0073] When the tank body 200 is transported to the first designated area, the first camera is used to photograph the inlet portion 210 on the tank body 200 and obtain a first image for positioning. The inlet portion 210 of the tank body 200 is provided with a valve and a blind plate for sealing the inlet portion 210.

[0074] The inlet portion 210 can be understood as the entrance portion for delivering liquid to the tank body 200. The tank body 200 can be provided with one or more types of inlet portions 210. For example, the tank body 200 may have both a gas phase inlet portion 210 and a liquid phase inlet portion 210. The device inlet portion 210 is used to deliver gas, while the liquid phase inlet portion 210 is used to deliver liquid. The blind plate of the gas phase inlet portion 210 is a gas phase blind plate, the flange is a gas phase flange, and its flange gasket 164 is a gas phase flange gasket 164. Similarly, the blind plate of the liquid phase inlet portion 210 is a liquid phase blind plate, the flange is a liquid phase flange, and its flange gasket 164 is a liquid phase flange gasket 164.

[0075] In this embodiment, the tank 200 is typically mounted on a tank truck or other transport vehicle, serving as a container for transporting hazardous liquids. The first camera is a calibrated camera that, based on the captured first image, determines a first deviation between the position of the inlet 210 of the tank 200 and a preset reference point. This preset reference point can be a pre-calibrated position indicating that the inlet 210 of the tank 200 is accurately positioned for filling operations.

[0076] In this embodiment, the first camera is deployed at a position where it can clearly capture the first designated area, and when the tank body 200 is in the first designated area, it can capture an image of the inlet portion 210 of the tank body 200 as the first image.

[0077] The control module 120 is used to control the end of the robotic arm 110 to replace the corresponding quick-change module based on the first image and the preset task list, and control the corresponding quick-change module to execute the corresponding preset filling process task so that the filling station can fill the tank body 200, wherein the blind plate quick-change module 150 is used to remove the corresponding blind plate on the tank body 200, the gasket quick-change module 160 is used to replace the corresponding flange gasket 164 on the tank body 200, and the flange clamping quick-change module 170 is used to connect the tank body 200 with the outlet of the filling station so that the tank body 200 and the filling station form a delivery pipeline; the valve quick-change module 180 is used to open or close the valve.

[0078] In this embodiment, the control module 120 can be a conventional module such as a controller or industrial computer with data processing and control capabilities. The preset task list includes the process tasks and execution order for each step in the filling process. The preset task list can be flexibly adjusted to suit different filling tasks, enabling the system to support automated operations for a wide range of filling tasks. The process tasks for each step include the pre-planned motion trajectory of the robotic arm 110, control instructions for replacing the quick-change module at the end of the robotic arm 110, and instructions for controlling the quick-change module to execute the corresponding preset filling process tasks.

[0079] After receiving a mission to transport hazardous liquids, the driver drives the tank truck to a first designated area. The first camera captures the inlet 210 of the tank 200, generating a first image. The control module 120 then identifies the flange or blind plate at the inlet 210 in the first image and detects the center point of the flange or blind plate. The pixel coordinates of the center point in the first image are the location of the inlet 210.

[0080] If the distance difference between the pixel coordinates of the center point and the coordinates of the preset reference point (ie, the first deviation) is within the first preset range, it means that the position of the entrance portion 210 is accurate and within the working space of the robot arm 110 .

[0081] If the difference between the pixel coordinates of the center point and the coordinates of the preset reference point (i.e., the first deviation) is not within the first preset range, it indicates that the position deviation of the inlet portion 210 of the tank body 200 is large, which means that the position of the inlet portion 210 exceeds the working space of the robot arm 110. The driver needs to be notified to drive the tank truck to adjust the position of the inlet portion 210; or the position of the robot arm 110 can be directly adjusted so that the working space of the robot arm 110 can cover the inlet portion 210 of the tank body 200. The method of identifying flanges and blind plates is conventional and will not be repeated here.

[0082] In this embodiment, the camera module 130 also includes a second camera provided on the robotic arm 110, and each of the quick-change modules is pre-set with a QR code for positioning, namely a first QR code. The location of the first QR code can be flexibly determined according to actual conditions, as long as the first QR code is provided to facilitate image acquisition by the second camera. The first QR code may carry the type information or other identification of the quick-change module. The type information or identification can be used to distinguish different types of quick-change modules, such as the blind plate quick-change module 150, the gasket quick-change module 160, the flange clamping quick-change module 170, and the valve quick-change module 180.

[0083] As an example, please refer to Figures 4A to 4B The control module 120 is used to control the end of the robotic arm 110 to replace the corresponding quick-change module based on the first image and the preset task list, and control the corresponding quick-change module to perform the corresponding preset filling process task so that the liquid filling station fills the tank body, which may include:

[0084] The control module 120 first determines a first deviation between a position of an inlet portion of the tank and a position of a preset reference point using the first image based on a preset task list;

[0085] When the first deviation is within a first preset range, the control module 120 controls the end of the robotic arm 110 to move toward the quick-change rack, and locates and connects the blind plate quick-change module 150 based on the first QR code on the corresponding quick-change module captured by the second camera; wherein the movement trajectory may be a pre-planned trajectory;

[0086] The control module 120 controls the robotic arm 110 to drive the blind plate quick-change module 150 to move toward the inlet of the tank body, and controls the blind plate quick-change module 150 to remove the blind plate at the inlet, and move the removed blind plate to a first temporary storage area. The first temporary storage area is a pre-planned area for placing the removed blind plates, and the temporary storage area can be flexibly planned according to actual conditions.

[0087] The control module 120 controls the robot arm 110 to move toward the quick-change rack, and replaces the blind plate quick-change module 150 connected to the end of the robot arm 110 with the gasket quick-change module 160;

[0088] The control module 120 controls the robotic arm 110 to drive the gasket quick-change module 160 to move to the second temporary storage area, and controls the gasket quick-change module 160 to absorb the flange gasket 164 pre-placed in the second temporary storage area. The second temporary storage area is a pre-planned area for placing the flange gasket 164.

[0089] The control module 120 controls the robotic arm 110 to drive the gasket quick-change module 160 to move towards the inlet part of the tank body, and controls the gasket quick-change module 160 to place the flange gasket 164 in the second specified area of the inlet part;

[0090] The control module 120 controls the robotic arm 110 to drive the gasket quick-change module 160 to move towards the quick-change rack, and replaces the gasket quick-change module 160 connected to the end of the robotic arm 110 with the flange clamping quick-change module 170;

[0091] The control module 120 controls the robotic arm 110 to drive the flange clamping quick-change module 170 to move towards the inlet part of the tank body, and controls the flange clamping quick-change module 170 to perform flange connection on the inlet part and the outlet of the liquid filling station. When the flange connection is completed, the control module 120 controls the robotic arm 110 to release the connection between the end of the robotic arm 110 and the flange clamping quick-change module 170. Among them, the flange clamping quick-change module 170 has a pipeline for flange connection between the inlet part and the outlet;

[0092] The control module 120 controls the robotic arm 110 to move towards the quick-change rack, and controls the end of the robotic arm 110 to be connected to the valve quick-change module 180;

[0093] The control module 120 controls the robotic arm 110 to move towards the valve at the inlet part, and controls the valve quick-change module 180 to open the valve at the inlet part, so that the liquid filling station transports liquid to the tank body through the outlet. The outlet of the liquid filling station is usually the outlet of the loading arm. As the connecting pipeline for the liquid filling station to transport liquid to the tank body, the outlet of the loading arm is provided with a corresponding flange for cooperating with the flange clamping quick-change module 170 to realize the pipeline connection between the liquid filling station and the tank body.

[0094] Before the flange connection is completed, the control module 120 is further used to control the air pump to inject pressurized gas into the pipeline, and stop injecting when the pressure of the pressurized gas reaches the specified pressure for leak tightness detection.

[0095] When the difference between the pressure of the pressurized gas in the pipeline after the preset time (which can be flexibly set according to the actual situation, such as 30 seconds, 40 seconds) of stopping injection and the specified pressure is within the preset pressure range, the control module determines that the flange connection is completed.

[0096] If the difference is not within the preset pressure range, the flange clamping quick-change module is controlled to re-connect the flanges of the inlet and the outlet of the filling station and perform a sealing test until the difference is within the preset pressure range or the number of repetitions reaches a specified number, which can be flexibly set according to actual conditions, such as 3 times or 5 times. If the difference is not within the preset pressure range after the specified number of repetitions, the lifting module will issue a corresponding alarm prompt.

[0097] Understandably, taking the tank having both a gas phase inlet portion and a liquid phase inlet portion as an example, the process of the control module implementing the preset task list may be as follows:

[0098] The first step is to locate the tank inlet on the tank truck. After the tank truck enters the work area (the first designated area), the first camera captures an image. Using conventional image processing algorithms, the color features of the gas and liquid flanges are extracted. The two-dimensional (X, Y) coordinates of the center points of the gas and liquid flanges are calculated within the image. This coordinate system then generates a tank truck position deviation vector (the first deviation). Based on this first deviation, the control module uses the signal lights in the prompt module to guide the driver to adjust the vehicle's position until the deviation between the flange center and the preset reference point is less than 5 pixels, or another preset threshold.

[0099] The second step is the blind plate disassembly operation, which includes the connection of the blind plate quick-change module and the disassembly of the blind plate. The gas phase blind plate and the liquid phase blind plate are implemented with the same blind plate quick-change module. If the robot arm is not connected to a blind plate quick-change module, the robot arm needs to be controlled to place the other connected quick-change modules in an empty position on the quick-change rack, and then replace the blind plate quick-change module. If the end of the robot arm is not connected to a blind plate quick-change module, the end of the robot arm is controlled to move to the position where the blind plate quick-change module is placed on the quick-change rack, which is a pre-planned position. Next, the second camera on the robot arm is used to capture the first QR code on the blind plate quick-change module, and the depth sensor is used to detect the distance between the first connection part at the end of the robot arm and the second connection part of the blind plate quick-change module. The first QR code can be used to calculate the horizontal (X-axis) and vertical (Y-axis) positional deviations between the first and second connecting parts. The depth sensor at the end of the robotic arm can be used to calculate the depth (Z-axis) distance between the first and second connecting parts. Based on the positional deviations in three directions in space, the PID algorithm is used to achieve docking between the first and second connecting parts. The first and second connecting parts are locked or clamped to achieve a stable connection between the robotic arm and the blind plate quick-change module. The docking control operation method is conventional and will not be repeated here.

[0100] After the robotic arm completes the connection of the blind flange quick-change module, the control module controls the robotic arm to drive the blind flange quick-change module and move it to a preset coordinate near the liquid-phase flange. The third camera 131 in the blind flange quick-change module is activated to identify the liquid-phase blind flange at the inlet part and calculate the center point of the liquid-phase blind flange for precise positioning. The control module can extract the feature points of the blind flange based on the HSV (Hue-Saturation-Value) color recognition algorithm to obtain the two-dimensional center point of the blind flange. The end effector (blind flange quick-change module) of the robotic arm moves towards the center of the liquid-phase blind flange along the planned path. The positioning error in the XY plane of the working coordinate system of the robotic arm is corrected in real time through the closed-loop control of the PID algorithm. The Z-axis movement is controlled by the depth distance collected by the depth sensor 152 in the blind flange quick-change module. When the depth sensor 152 in the blind flange quick-change module is triggered, it indicates that the blind flange quick-change module has reached a position suitable for grasping the liquid-phase blind flange. At this time, the grasping action is executed and completed. That is, the blind flange is grasped by the first gripper 151 in the blind flange quick-change module and disassembled. Then, the robotic arm drives the blind flange quick-change module to move to transfer the liquid-phase blind flange to the first temporary storage area. The disassembly process of the gas-phase blind flange is the same as that of the liquid-phase blind flange. The system sequentially completes the disassembly of the double blind flanges, and the integrity of the operation is verified in real time through the image (referred to as the second image) collected by the third camera in the blind flange quick-change module. If blind flange residue or abnormal displacement is detected based on this second image, an alarm is immediately triggered and the process is paused.

[0101] The third step is the process of placing gaskets, including replacing the gasket quick-change module and placing the flange gaskets. The gas-phase flange gasket and the liquid-phase flange gasket are realized using the same gasket quick-change module. First, the control module controls the robotic arm to place the blind flange quick-change module on the robotic arm on the quick-change rack. After removing the blind flange quick-change module, the gasket quick-change module is then connected. The method of replacing the gasket quick-change module is similar to the process of connecting the blind flange quick-change module described above and will not be elaborated here.

[0102] After the robotic arm completes the connection of the gasket quick-change module, the control module controls the robotic arm to drive the gasket quick-change module and move it above the gasket storage area (i.e., the second temporary storage area), and sucks the flange gasket through the negative pressure suction cup mechanism 161 in the gasket quick-change module. The structure of the negative pressure suction cup mechanism 161 is a conventional structure and will not be elaborated here. Then, the robotic arm uses the gasket quick-change module to carry the (gas-phase) flange gasket and move it above the gas-phase flange at the inlet part of the tank body, uses the third camera 132 in the gasket quick-change module to collect images, and based on the collected images, identifies the two-dimensional center point of the gas-phase flange. The method of identifying the center point is a conventional method. Then, the end effector of the robotic arm (gasket quick-change module) moves towards the center of the gas-phase flange along the planned path. In the working coordinate system of the robotic arm, the positioning error in the XY plane is corrected in real time through closed-loop control by the PID algorithm. The movement of the Z axis is controlled by the depth distance collected by the depth sensor in the gasket quick-change module. When the depth sensor is triggered, the vacuum release valve in the negative pressure suction cup mechanism opens, and the gasket accurately falls into the specified position on the gas-phase flange, thus realizing the simulation of the gas-phase flange gasket. The installation of the liquid-phase flange gasket repeats the above process.

[0103] The fourth step is flange connection. The flange clamping quick-change module includes a clamping mechanism 171 and a pipe 172. The pipe 172 is used to connect the inlet of the tank body and the outlet of the liquid filling station, and the clamping mechanism 171 is used to clamp and seal the connection parts at both ends of the pipe. The flange clamping quick-change modules can be divided into two categories, such as the gas phase flange clamping quick-change module and the liquid phase flange clamping quick-change module. The gasket quick-change module connected at the end of the robotic arm is replaced with a gas phase flange clamping quick-change module, and the replacement method is similar to the aforementioned replacement of the gasket quick-change module. After the end of the robotic arm completes the connection of the gas phase flange clamping quick-change module, the robotic arm drives the gas phase flange clamping quick-change module to move above the gas phase flange interface. The camera in the gas phase flange clamping quick-change module captures images and recognizes the pre-set QR code on the flange end face based on the image. By decoding the QR code, the flange model and installation parameters (such as clamping force, installation position, etc.) are obtained. The robotic arm uses the gas phase flange to clamp the quick-change module and moves it to the top of the gas phase flange with the gasket. The control module recognizes the image captured by the camera and obtains the two-dimensional center point of the gas phase flange at the gas phase inlet of the tank. The robotic arm end effector moves along the planned path to the flange center. The positioning error in the XY plane is corrected in real time through the PID algorithm closed-loop control. The Z-axis movement is controlled by the depth sensor. When the depth sensor is triggered, the clamping action is completed, and the flange connection between the inlet and the outlet of the filling station is achieved. Next, a sealing test is performed. During the sealing test phase, the system injects pressurized gas into the pipeline until the pressure reaches the specified pressure and maintains the pressure for 30 seconds. After the pressure is maintained for 30 seconds, if the pressure is lower than the specified pressure and the difference with the specified pressure is not within the preset pressure range (the range value can be flexibly set according to actual conditions), a leak is determined and the gas phase flange is used to clamp the quick-change module to re-connect the flange between the inlet and the outlet of the filling station. The liquid phase flange connection process is the same as the gas phase. After the double flange docking is completed, the system generates a sealing test report and uploads it to the database.

[0104] The fifth step is valve operation and filling control. The valve quick-change module has a second gripper 181, which can be used to grasp the valve handle. The second gripper 181 is driven forward and reverse by the motor to realize the opening and closing operation of the valve. The robotic arm replaces the valve quick-change module and moves to the vicinity of the gas phase valve. The camera in the valve quick-change module captures the image of the gas phase valve and extracts the image feature points based on the HSV algorithm to obtain the valve center point and rotation angle. The end effector of the robotic arm moves along the planned path toward the center of the gas phase valve. In the working coordinate system of the robotic arm, the positioning error in the XY plane is corrected in real time through the PID algorithm closed-loop control. The Z-axis movement is controlled by the depth distance collected by the depth sensor in the valve quick-change module. When the depth sensor is triggered, the valve opening operation is completed. The liquid phase valve process is exactly the same as the gas phase. After the double valves are opened, the liquid filling station will transport liquid to the tank body and wait for the canning to be completed.

[0105] Step 6: Reset, recovery, and system self-check. After the filling is completed, the robotic arm uses the valve quick-change module to close the gas-phase and liquid-phase valves in sequence, disassembles the flange clamping quick-change module, and uses the gasket quick-change module to recover the gasket to the waste bin, and reinstalls the blind plate using the blind plate quick-change module. The end effector (each quick-change module) resets to the initial position.

[0106] In this embodiment, when the control module receives a signal indicating that the liquid filling station has completed the filling of the tank, the control module controls the valve quick-change module to close the valve at the inlet part, and controls the robotic arm to reset the valve quick-change module and the flange clamping quick-change module to the quick-change rack in sequence;

[0107] The control module also controls the end of the robotic arm to connect to the gasket quick-change module, and controls the gasket quick-change module to recover the flange gasket at the inlet part to the waste area, and replaces the gasket quick-change module at the end of the robotic arm with the blind plate quick-change module, and controls the blind plate quick-change module to install the blind plate in the first temporary storage area at the inlet part to block the inlet part;

[0108] When the installation of the blind plate is completed, the control module controls the robotic arm to reset to the preset initial state.

[0109] In this embodiment, the system further includes a ground rail device, and the base of the robotic arm is arranged on the slider of the ground rail device. When the first deviation is not within the first preset range, the control module is further configured to control the ground rail device to drive the robotic arm to move through the slider based on the first deviation, so that the first deviation obtained based on the moved robotic arm is within the first preset range (this range can be flexibly set according to the actual situation).

[0110] The ground rail device can be used to flexibly adjust the position of the robotic arm, so that the working space range of the robotic arm is larger.

[0111] In this embodiment, the system may further include a prompt module;

[0112] When the first deviation is not within the first preset range, the prompt module is used to issue a first prompt message indicating that the position of the tank is offset;

[0113] When the first deviation is within the first preset range, the prompt module is used to issue a second prompt message indicating that the position of the tank is accurate.

[0114] The prompt module may include, but is not limited to, a prompt light, a horn, a display screen, etc., and can be flexibly set according to the actual situation. The content or type of the prompt message (the first prompt message and the second prompt message) can be flexibly set according to the actual situation.

[0115] Some or all of the quick-change modules are provided with a corresponding third camera and a depth sensor. The third camera is used to obtain a second QR code pre-set on a corresponding target. The depth sensor is used to detect the distance between the quick-change module and the corresponding target. The corresponding target includes at least one of a blind plate, a second temporary storage area for placing the flange gasket, and the inlet part of the tank body.

[0116] Based on the above design, this system solves the existing problems of functional rigidity, high cost, and positioning instability in automated filling by switching end effectors (various quick-change modules) and using dynamic visual positioning. This facilitates multi-task adaptation with millimeter-level accuracy. Different tasks can be adapted by designing corresponding quick-change modules, which helps reduce costs.

[0117] Please refer to Figure 5 The present application provides a filling control method that can be applied to the above-mentioned fully automatic hazardous liquid filling system. The filling control method may include the following steps:

[0118] Step S310: When the tank is transported to the first designated area, the inlet portion of the tank is photographed by the first camera to obtain a first image for positioning;

[0119] Step S320, based on the first image and the preset task list, the control module controls the end of the robotic arm to replace the corresponding quick-change module, and controls the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank body.

[0120] In this embodiment, step S320 may include:

[0121] Based on the first image and the preset task list, determining, by the control module, a first deviation between a position of the inlet portion of the tank and a position of a preset reference point;

[0122] When the first deviation is within a first preset range, the control module controls the end of the robotic arm to move toward the quick-change frame, and locates and connects the blind plate quick-change module based on a first QR code located on the corresponding quick-change module captured by a second camera in the camera module;

[0123] The control module controls the robotic arm to drive the blind plate quick-change module to move toward the inlet of the tank body, and controls the blind plate quick-change module to remove the blind plate at the inlet, and move the removed blind plate to the first temporary storage area;

[0124] The control module controls the robotic arm to move towards the quick-change rack and replaces the blind flange quick-change module connected to the end of the robotic arm with the gasket quick-change module;

[0125] The control module controls the robotic arm to drive the gasket quick-change module to move towards the second temporary storage area, and controls the gasket quick-change module to pick up the flange gasket pre-placed in the second temporary storage area, where the second temporary storage area is a pre-planned area for placing the flange gasket;

[0126] The control module controls the robotic arm to drive the gasket quick-change module to move towards the inlet part of the tank body, and controls the gasket quick-change module to place the flange gasket in the second designated area of the inlet part;

[0127] The control module controls the robotic arm to drive the gasket quick-change module to move towards the quick-change rack, and replaces the gasket quick-change module connected to the end of the robotic arm with the flange clamping quick-change module;

[0128] The control module controls the robotic arm to drive the flange clamping quick-change module to move towards the inlet part of the tank body, and controls the flange clamping quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station. When the flange connection is completed, the control module controls the robotic arm to release the connection between the end of the robotic arm and the flange clamping quick-change module, where the flange clamping quick-change module has a pipeline for flange connecting the inlet part and the outlet;

[0129] The control module controls the robotic arm to move towards the quick-change rack and controls the connection between the end of the robotic arm and the valve quick-change module;

[0130] The control module controls the robotic arm to move towards the valve at the inlet part and controls the valve quick-change module to open the valve at the inlet part, so that the liquid filling station transports liquid to the tank body through the outlet.

[0131] In this embodiment, before completing the flange connection, the method may further include:

[0132] The control module controls the air pump to inject pressurized gas into the pipeline and stops injecting when the pressure of the pressurized gas reaches the specified pressure for leak detection;

[0133] When the difference between the pressure of the pressurized gas in the pipeline after the preset time since the injection stopped and the specified pressure is within the preset pressure range, the control module determines that the flange connection is completed;

[0134] When the difference is not within the preset pressure range, the flange clamping quick-change module is controlled to flange-connect the inlet part and the outlet of the liquid filling station again, and perform a sealing test until the difference is within the preset pressure range or the number of repetitions reaches a specified number.

[0135] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the filling control method described above can refer to the corresponding execution process of each module in the aforementioned fully automatic hazardous liquid filling system, and will not be elaborated here.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0137] In the embodiments provided in the present application, it should be understood that the disclosed devices, systems and methods can also be implemented in other ways. The device, system and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of code, and a part of the module, program segment or code includes one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0138] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A modular fully automatic hazardous chemical liquid filling system, characterized in that, The system includes: a robotic arm, a control module, a camera module, and a quick-change rack with multiple quick-change modules. The multiple quick-change modules include a blank flange quick-change module, a gasket quick-change module, a flange clamping quick-change module, and a valve quick-change module. The camera module includes a first camera; A first connection part is provided at the end of the robotic arm, and each quick-change module is provided with a second connection part for detachably connecting to the first connection part; When the tank body is transported to the first designated area, the first camera is used to photograph the inlet part of the tank body and obtain a first image for positioning. A valve and a blank flange for blocking the inlet part are provided at the inlet part of the tank body; The control module is used to control the end of the robotic arm to replace the corresponding quick-change module based on the first image and a preset task list, and control the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank body. Among them, the blank flange quick-change module is used to remove the corresponding blank flange on the tank body, the gasket quick-change module is used to replace the corresponding flange gasket on the tank body, the flange clamping quick-change module is used to connect the tank body to the outlet of the liquid filling station, so that a conveying pipeline is formed between the tank body and the liquid filling station; the valve quick-change module is used to open or close the valve.

2. The system according to claim 1, characterized in that, The camera module further includes a second camera provided on the robotic arm, and each quick-change module is pre-set with a first two-dimensional code for positioning; The control module is used to control the end of the robotic arm to replace the corresponding quick-change module based on the first image and a preset task list, and control the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank body, including: The control module determines a first deviation between the position of the inlet part of the tank body and the position of a preset reference point based on the first image and the preset task list; When the first deviation is within a first preset range, the control module controls the end of the robotic arm to move towards the quick-change rack, and based on the first two-dimensional code photographed by the second camera on the corresponding quick-change module, locates and connects the blank flange quick-change module; The control module controls the robotic arm to drive the blank flange quick-change module towards the inlet part of the tank body, controls the blank flange quick-change module to remove the blank flange at the inlet part, and moves the removed blank flange to a first temporary storage area; The control module controls the robotic arm to move towards the quick-change rack, and replaces the blank flange quick-change module connected to the end of the robotic arm with the gasket quick-change module; The control module controls the robotic arm to drive the gasket quick-change module towards a second temporary storage area, and controls the gasket quick-change module to pick up a flange gasket pre-placed in the second temporary storage area. The second temporary storage area is a pre-planned area for placing the flange gasket; The control module controls the robotic arm to drive the gasket quick-change module towards the inlet part of the tank body, and controls the gasket quick-change module to place the flange gasket in a second designated area at the inlet part; The control module controls the robotic arm to drive the gasket quick-change module to move towards the quick-change rack, and replaces the gasket quick-change module connected to the end of the robotic arm with the flange clamping quick-change module; The control module controls the robotic arm to drive the flange clamping quick-change module to move towards the inlet part of the tank body, and controls the flange clamping quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station. When the flange connection is completed, the control module controls the robotic arm to release the connection between the end of the robotic arm and the flange clamping quick-change module. Among them, the flange clamping quick-change module has a pipeline for flange-connecting the inlet part and the outlet; The control module controls the robotic arm to move towards the quick-change rack, and controls the connection between the end of the robotic arm and the valve quick-change module; The control module controls the robotic arm to move towards the valve at the inlet part, and controls the valve quick-change module to open the valve at the inlet part, so that the liquid filling station transports liquid to the tank body through the outlet.

3. The system according to claim 2, wherein Before the flange connection is completed, the control module is also used to control the air pump to inject pressure-holding gas into the pipeline, and stop injecting when the pressure of the pressure-holding gas reaches the specified pressure for leak detection; When the difference between the pressure of the pressure-holding gas in the pipeline after a preset duration of stopping injection and the specified pressure is within the preset pressure range, the control module determines that the flange connection is completed; When the difference is not within the preset pressure range, control the flange clamping quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station again, and perform leak detection until the difference is within the preset pressure range or the number of repetitions reaches the specified number.

4. The system according to claim 2, wherein When the control module receives a signal indicating that the liquid filling station has completed filling the tank body, the control module controls the valve quick-change module to close the valve at the inlet part, and controls the robotic arm to reset the valve quick-change module and the flange clamping quick-change module to the quick-change rack in sequence; The control module also controls the connection between the end of the robotic arm and the gasket quick-change module, and controls the gasket quick-change module to recycle the flange gasket at the inlet part to the waste area, and replaces the gasket quick-change module at the end of the robotic arm with the blind plate quick-change module, and controls the blind plate quick-change module to install the blind plate in the first temporary storage area at the inlet part to block the inlet part; When the installation of the blind plate is completed, the control module controls the robotic arm to reset to the preset initial state.

5. The system according to claim 2, wherein The system also includes a ground rail device. The base of the robotic arm is arranged on the slider of the ground rail device. When the first deviation is not within the first preset range, the control module is also used to control the ground rail device to drive the robotic arm to move through the slider based on the first deviation, so that the first deviation obtained based on the moved robotic arm is within the first preset range.

6. The system according to claim 2, wherein The system also includes a prompt module; When the first deviation is not within the first preset range, the prompting module is configured to issue a first prompting message indicating the position deviation of the tank body. When the first deviation is within the first preset range, the prompting module is configured to issue a second prompting message indicating the accurate position of the tank body.

7. The system according to claim 1, wherein Part or all of the quick-change modules are provided with corresponding third cameras and depth sensors. The third cameras are used to acquire second two-dimensional codes pre-set on corresponding targets, and the depth sensors are used to detect the distance between the quick-change modules and the corresponding targets. The corresponding targets include at least one of a blind plate, a second temporary storage area for placing the flange gasket, and the inlet part of the tank body.

8. A filling control method, characterized in that Applied to the system according to any one of claims 1-7, the method includes: When the tank body is transported to the first designated area, the inlet part of the tank body is photographed by the first camera to obtain a first image for positioning. Based on the first image and the preset task list, the control module controls the end of the robotic arm to replace the corresponding quick-change module, and controls the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank body.

9. The method according to claim 8, wherein Based on the first image and the preset task list, the control module controls the end of the robotic arm to replace the corresponding quick-change module, and controls the corresponding quick-change module to execute the corresponding preset filling process task, so that the liquid filling station fills the tank body, including: Based on the first image and the preset task list, the control module determines a first deviation between the position of the inlet part of the tank body and the position of the preset reference point. When the first deviation is within the first preset range, the control module controls the end of the robotic arm to move towards the quick-change rack, and based on the first two-dimensional code photographed by the second camera in the camera module and located on the corresponding quick-change module, locates and connects the blind plate quick-change module. The control module controls the robotic arm to drive the blind plate quick-change module to move towards the inlet part of the tank body, and controls the blind plate quick-change module to remove the blind plate at the inlet part, and move the removed blind plate to the first temporary storage area. The control module controls the robotic arm to move towards the quick-change rack, and replaces the blind plate quick-change module connected to the end of the robotic arm with the gasket quick-change module. The control module controls the robotic arm to drive the gasket quick-change module to move towards the second temporary storage area, and controls the gasket quick-change module to suck up the flange gasket pre-placed in the second temporary storage area. The second temporary storage area is a pre-planned area for placing the flange gasket. The control module controls the robotic arm to drive the gasket quick-change module to move towards the inlet part of the tank body, and controls the gasket quick-change module to place the flange gasket in the second designated area at the inlet part. The control module controls the robotic arm to drive the gasket quick-change module to move towards the quick-change rack, and replaces the gasket quick-change module connected to the end of the robotic arm with the flange clamping quick-change module. The control module controls the robotic arm to drive the flange clamping quick-change module to move towards the inlet part of the tank body, and controls the flange clamping quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station. When the flange connection is completed, the control module controls the robotic arm to release the connection between the end of the robotic arm and the flange clamping quick-change module. Wherein, the flange clamping quick-change module has a pipeline for flange-connecting the inlet part and the outlet. The control module controls the robotic arm to move towards the quick-change rack and controls the connection between the end of the robotic arm and the valve quick-change module. The control module controls the robotic arm to move towards the valve at the inlet part and controls the valve quick-change module to open the valve at the inlet part, so that the liquid filling station transports liquid to the tank body through the outlet.

10. The method according to claim 9, wherein Before the flange connection is completed, the method further includes: The control module controls the air pump to inject pressurized gas into the pipeline and stops injecting when the pressure of the pressurized gas reaches a specified pressure for leak detection. When the difference between the pressure of the pressurized gas in the pipeline after a preset duration from the stop of injection and the specified pressure is within a preset pressure range, the control module determines that the flange connection is completed. When the difference is not within the preset pressure range, the control module controls the flange clamping quick-change module to perform flange connection on the inlet part and the outlet of the liquid filling station again and perform leak detection until the difference is within the preset pressure range or the number of repetitions reaches a specified number.

Images