A robotic transport control system and method for hazardous chemical transport

Abstract

The application provides a robot transportation control system and method for hazardous chemical transportation, relates to the technical field of robot transportation control, monitors multi-dimensional vibration data of a loading conveyor belt, and obtains a hazardous chemical cargo label; dimension vibration extraction is performed on the multi-dimensional vibration data to obtain a dimension vibration feature domain in a hazardous chemical transportation process, feature coding transformation is performed on the hazardous chemical cargo label to obtain an encoding feature vector of the hazardous chemical, and a dynamic overturn risk value is determined according to the dimension vibration feature domain and the encoding feature vector; current path environment information is collected, a load imbalance parameter is determined according to the dynamic overturn risk value and the current path environment information, an operation regulation strategy is determined according to the load imbalance parameter, and the loading conveyor belt is regulated according to the operation regulation strategy. The application can regulate the transportation robot and the loading conveyor belt according to the overturn risk and the path environment information, so as to improve the fine regulation ability of the transportation robot in the hazardous chemical transportation process.

Description

Technical Field

[0001] This application relates to the field of robot transportation control technology, and more specifically, to a robot transportation control system and method for transporting hazardous chemicals. Background Technology

[0002] Currently, in the field of hazardous chemical transportation, with the development of robotics technology and intelligent control systems, transport robots have been widely applied in chemical plants, warehousing and logistics, and emergency rescue scenarios. Existing transport robots are generally equipped with automated loading conveyor belt systems, enabling automated handling, loading, unloading, and transfer of hazardous chemical containers. Some systems have integrated multi-axis vibration sensors, position detection devices, and path planning algorithms to monitor the operational status and environmental changes during transportation. Furthermore, in terms of transportation control strategies, some high-end systems support speed adjustment, conveying mode switching, and damping control based on sensor feedback to adapt to the transportation needs of different types of hazardous chemicals.

[0003] In existing technologies, hazardous chemical transport robots primarily rely on single-axis vibration sensors and static threshold warning mechanisms. These mechanisms can only monitor mechanical vibrations in a single direction and cannot identify multi-dimensional dynamic loads. Furthermore, the hazardous chemical identification system is disconnected from safety parameters, and RFID tags only store static UN numbers without being associated with the dynamic characteristics of the chemicals. Traditional control systems employ fixed threshold alarms and independently operating path planning algorithms, failing to consider the physical characteristics of different hazardous chemicals or to achieve collaborative analysis of vibration data, chemical properties, and environmental factors. This results in difficulties in adaptively controlling the conveyor belt of the transport robot, and high control response delays, making it difficult to meet the stability requirements of hazardous chemical transport. Therefore, how to adaptively control the transport robot and its conveyor belt by combining information on the tipping risk and path environment during transport, thereby improving the refined control capabilities of transport robots in hazardous chemical transport, has become a challenge for the industry. Summary of the Invention

[0004] This application provides a robot transportation control system and method for transporting hazardous chemicals, which can adaptively regulate the transportation robot and its loading conveyor belt by combining information on the overturning risk and path environment during transportation, thereby improving the precise control capability of the transportation robot in the transportation of hazardous chemicals.

[0005] In a first aspect, this application provides a robot transportation control method for transporting hazardous chemicals, the robot transportation control method comprising the following steps:

[0006] Real-time monitoring of multi-dimensional vibration data of the loading conveyor belt of the transport robot during the transportation of hazardous chemicals, and acquisition of the hazardous chemical cargo labels currently being transported by the transport robot;

[0007] The multidimensional vibration data is subjected to dimensional vibration extraction to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals. The hazardous chemical cargo label is subjected to feature encoding transformation to obtain the coded feature vector of the hazardous chemicals. Then, the dynamic overturning risk value of the hazardous chemicals during the transportation of hazardous chemicals is determined based on the dimensional vibration feature domain and the coded feature vector.

[0008] Collect current path environment information, determine the load imbalance parameters of the transport robot loading conveyor belt based on the dynamic overturning risk value and the current path environment information, and then generate an operation control strategy for the transport robot loading conveyor belt based on the load imbalance parameters.

[0009] The loading conveyor belt of the transport robot is controlled according to the aforementioned operation control strategy.

[0010] In this embodiment, the multi-dimensional vibration data of the loading conveyor belt of the transport robot during the transportation of hazardous chemicals is monitored in real time by a multi-dimensional vibration sensor embedded in the transport robot.

[0011] In this embodiment, the dimensional vibration extraction of the multidimensional vibration data to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals specifically includes:

[0012] Extract the vibration characteristics of the loaded conveyor belt in each dimension from the multidimensional vibration data;

[0013] The effective value of vertical vibration of hazardous chemicals during transportation is determined based on the multidimensional vibration data, and then the liquid sloshing intensity of hazardous chemicals during transportation is determined based on the effective value of vertical vibration.

[0014] The dimensional vibration feature domains during transportation are determined based on the vibration characteristics of all dimensions and the intensity of liquid sloshing.

[0015] In this embodiment, the feature encoding transformation of the hazardous chemical cargo label to obtain the hazardous chemical encoded feature vector specifically includes:

[0016] The hazardous chemical cargo labels are encoded and converted to obtain numerical codes for the hazardous chemical cargoes;

[0017] The characteristic vector of hazardous chemical codes is determined by the numerical coding.

[0018] In this embodiment, determining the dynamic overturning risk value of hazardous chemicals during transportation based on the dimensional vibration feature domain and the encoded feature vector specifically includes:

[0019] The dimensional vibration feature domain and the encoded feature vector are concatenated to obtain a joint transportation feature set;

[0020] The safety distortion value of the loading conveyor belt during the transportation of hazardous chemicals is determined based on the preset safety feature vector and the transportation joint feature set.

[0021] The dynamic overturning risk value of the conveyor belt during the transportation of hazardous chemicals is determined based on the aforementioned safety deviation value.

[0022] In this embodiment, determining the load imbalance parameters of the transport robot's conveyor belt based on the dynamic overturning risk value and the current path environment information specifically includes:

[0023] Determine the path environment index based on the current path environment information;

[0024] The load imbalance parameters of the transport robot loading conveyor belt are determined by the path environment index and the dynamic overturning risk value.

[0025] In this embodiment, the control operation of the loading conveyor belt of the transport robot according to the operation control strategy specifically includes:

[0026] Extract each control parameter from the aforementioned operational control strategy;

[0027] The loading conveyor belt of the transport robot is controlled by adjusting various parameters.

[0028] Secondly, this application provides a robot transport control system for transporting hazardous chemicals, used to execute a robot transport control method for transporting hazardous chemicals, the robot transport control system comprising:

[0029] The vibration monitoring module is used to monitor the multi-dimensional vibration data of the loading conveyor belt of the transport robot in real time during the transportation of hazardous chemicals, and to obtain the label of the hazardous chemical goods currently being transported by the transport robot.

[0030] The risk determination module is used to extract the dimensional vibration from the multidimensional vibration data to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals, perform feature encoding transformation on the hazardous chemical cargo label to obtain the coded feature vector of the hazardous chemicals, and then determine the dynamic overturning risk value of the hazardous chemicals during the transportation of hazardous chemicals based on the dimensional vibration feature domain and the coded feature vector.

[0031] The control strategy module is used to collect current path environment information, determine the load imbalance parameters of the transport robot loading conveyor belt based on the dynamic overturning risk value and the current path environment information, and then generate an operation control strategy for the transport robot loading conveyor belt based on the load imbalance parameters.

[0032] The control execution module is used to control the loading conveyor belt of the transport robot according to the operation control strategy.

[0033] Thirdly, this application provides a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, so that the computer device executes the above-described robot transportation control method for transporting hazardous chemicals.

[0034] Fourthly, this application provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the aforementioned robot transportation control method for transporting hazardous chemicals.

[0035] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0036] The system monitors multi-dimensional vibration data of the loading conveyor belt of a transport robot during the transportation of hazardous chemicals in real time and obtains the hazardous chemical cargo labels currently being transported by the robot. It extracts dimensional vibrations from the multi-dimensional vibration data to obtain a dimensional vibration feature domain during the transportation of hazardous chemicals. It then performs feature encoding transformation on the hazardous chemical cargo labels to obtain a coded feature vector for the hazardous chemicals. Based on the dimensional vibration feature domain and the coded feature vector, it determines the dynamic overturning risk value of the hazardous chemicals during transportation. It collects current path environment information and determines the load imbalance parameters of the loading conveyor belt of the transport robot based on the dynamic overturning risk value and the current path environment information. Based on the load imbalance parameters, it generates an operation control strategy for the loading conveyor belt of the transport robot. Finally, it performs control operations on the loading conveyor belt of the transport robot according to the operation control strategy.

[0037] Therefore, this application demonstrates that, firstly, by real-time monitoring of the multi-dimensional vibration data of the conveyor belt loaded by the transport robot during the transportation of hazardous chemicals, and simultaneously acquiring the label information of the currently transported hazardous chemicals, it is possible to achieve a fusion perception of the transportation status and the physical properties of the hazardous chemicals, effectively improving the system's ability to identify risks during transportation. Secondly, by extracting the multi-dimensional vibration data of the conveyor belt loaded by the transport robot in real time, and combining it with the coded feature vector generated from the hazardous chemicals label, a dynamic overturning risk value is calculated. This enables accurate risk assessment for different hazardous chemicals transportation scenarios, thereby achieving precise control over the hazardous chemicals transportation process. It provides an adaptive control basis for the operating status of the transport robot and its conveyor belt, realizing an intelligent adjustment mechanism based on real-time changes in transportation risks, significantly improving... This study aims to improve the precision control and safety of transport robots and their loading conveyors in the transportation of hazardous chemicals, and lays the foundation for subsequent calculations of load imbalance parameters of the transport robot's loading conveyor. Secondly, by collecting real-time path environment information and coupling it with dynamic overturning risk values, the generated load imbalance parameters can accurately quantify the instability of the loading conveyor under complex disturbances. A graded operation control strategy based on these load imbalance parameters achieves adaptive response, significantly enhancing the stability and safety of hazardous chemical transportation under sudden road conditions. Finally, by controlling the transport robot and its loading conveyor according to the operation control strategy, precise adaptive control of the transport robot and its loading conveyor is achieved, improving the control accuracy of the transport robot and its loading conveyor.

[0038] In summary, the technical solution adopted in this application can adaptively regulate the transport robot and its loading conveyor belt by combining the overturning risk and path environment information during the transportation process, thereby improving the refined regulation capability of the transport robot in the transportation of hazardous chemicals. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this embodiment of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is an exemplary flowchart of a robot transport control method for transporting hazardous chemicals provided in this application;

[0041] Figure 2 This is an exemplary flowchart provided in this application for determining the dynamic overturning risk value of hazardous chemicals during transportation;

[0042] Figure 3This is an exemplary flowchart for determining the load imbalance parameters of the conveyor belt loaded by the transport robot, as provided in this application.

[0043] Figure 4 This is a modular structure diagram of a robot transport control system for transporting hazardous chemicals, provided in this application.

[0044] Figure 5 This is a schematic diagram of the structure of a computer device for implementing a robot transport control method for transporting hazardous chemicals, according to the present application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] This application provides a robot transportation control system and method for transporting hazardous chemicals. The core of this system is to monitor multi-dimensional vibration data of the loading conveyor belt of the transport robot in real time during the transportation of hazardous chemicals, and to acquire the hazardous chemical cargo label currently being transported by the robot. The system extracts dimensional vibration data to obtain a dimensional vibration feature domain during the transportation process. It then performs feature encoding on the hazardous chemical cargo label to obtain a coded feature vector for the hazardous chemical. Based on the dimensional vibration feature domain and the coded feature vector, it determines the dynamic overturning risk value of the hazardous chemical during transportation. The system collects current path environment information and determines the load imbalance parameters of the loading conveyor belt based on the dynamic overturning risk value and the current path environment information. Based on these parameters, it generates an operation control strategy for the loading conveyor belt. Finally, it performs control operations on the loading conveyor belt according to the operation control strategy. This approach combines the overturning risk and path environment information during transportation to adaptively control the transport robot and its loading conveyor belt, thereby improving the refined control capability of the transport robot during the transportation of hazardous chemicals.

[0047] Example 1: To better understand the above technical solution, the following will provide a detailed description of the technical solution in conjunction with the accompanying drawings and specific implementation methods. (Refer to...) Figure 1 As shown in the figure, this is an exemplary flowchart of a robot transportation control method for transporting hazardous chemicals according to this embodiment of the present application. The robot transportation control method includes the following steps:

[0048] In step S1, the multi-dimensional vibration data of the loading conveyor belt of the transport robot during the transportation of hazardous chemicals is monitored in real time, and the label of the hazardous chemical goods currently being transported by the transport robot is obtained.

[0049] In this embodiment, the multi-dimensional vibration data of the loading conveyor belt of the transport robot during the transportation of hazardous chemicals is monitored in real time by a multi-dimensional vibration sensor embedded in the transport robot.

[0050] In practical implementation, multi-dimensional vibration sensors (such as triaxial accelerometers or IMU modules) can be deployed at the four corners and load-bearing areas of the loading conveyor belt of the transport robot. Each sensor can collect triaxial linear acceleration and triaxial angular velocity data of the loading conveyor belt in real time during the transportation process, forming dynamic vibration information. This dynamic vibration information is used as the multi-dimensional vibration data of the loading conveyor belt of the transport robot during the transportation of hazardous chemicals.

[0051] In this embodiment, the label of the hazardous chemical goods currently being transported by the transport robot is obtained. Specifically, an RFID (Radio Frequency Identification) electronic tag with hazardous chemical information can be affixed to each hazardous chemical goods package. An RFID (Radio Frequency Identification) reader / writer module is configured in the cargo loading area of ​​the transport robot. When the transport robot receives the cargo loading task, it reads the RFID (Radio Frequency Identification) electronic tag to obtain the label of the hazardous chemical goods currently being transported by the transport robot. The hazardous chemical goods label refers to an information unit used to identify and structurally represent the properties of hazardous chemicals. The hazardous chemical goods label includes the hazardous chemical category, packaging grade, flash point, density, and hazardous reactivity.

[0052] It should be noted that by monitoring the multi-dimensional vibration data of the conveyor belt of the transport robot during the transportation of hazardous chemicals in real time, and simultaneously acquiring the label information of the hazardous chemicals being transported, the system can achieve a fusion perception of the transportation status and the physical properties of the hazardous chemicals, effectively improving the system's ability to identify risks during transportation.

[0053] In step S2, the multidimensional vibration data is subjected to dimensional vibration extraction to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals. The hazardous chemical cargo label is then subjected to feature encoding conversion to obtain the coded feature vector of the hazardous chemicals. Finally, the dynamic overturning risk value of the hazardous chemicals during transportation is determined based on the dimensional vibration feature domain and the coded feature vector.

[0054] In this embodiment, the extraction of dimensional vibrations from the multidimensional vibration data to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals can be achieved through the following steps:

[0055] Extract the vibration characteristics of the loaded conveyor belt in each dimension from the multidimensional vibration data;

[0056] The effective value of vertical vibration of hazardous chemicals during transportation is determined based on the multidimensional vibration data, and then the liquid sloshing intensity of hazardous chemicals during transportation is determined based on the effective value of vertical vibration.

[0057] The dimensional vibration feature domains during transportation are determined based on the vibration characteristics of all dimensions and the intensity of liquid sloshing.

[0058] In practical implementation, firstly, the vibration characteristics of the conveyor belt in various dimensions can be extracted from the multidimensional vibration data. For each dimension in the multidimensional vibration data, time-domain feature extraction is performed on the horizontal axis data corresponding to the selected dimension. That is, for the horizontal axis acceleration and angular velocity in the multidimensional vibration data, the mean, root mean square, kurtosis, and skewness of the horizontal axis acceleration and angular velocity are calculated. For example, the mean, root mean square, peak value, and skewness of the horizontal axis acceleration, as well as the mean, root mean square, peak value, and skewness of the horizontal axis angular velocity. Thus, the mean, root mean square, peak value, and skewness of the horizontal axis acceleration can be extracted. The skewness of the horizontal axis acceleration, the mean, root mean square, peak, and skewness of the horizontal axis angular velocity are used as vibration characteristics in this dimension. The vibration characteristics of the conveyor belt in each dimension can be extracted using the above method. Then, the effective value of the vertical vibration of hazardous chemicals during transportation can be determined based on the multidimensional vibration data. Furthermore, the liquid sloshing intensity of hazardous chemicals during transportation can be determined based on the effective value of the vertical vibration. It should be noted that the liquid sloshing intensity refers to the intensity of liquid sloshing during transportation; the effective value of vertical vibration refers to the effective vibration intensity in the vertical direction (Z-axis) during transportation. In practice, the effective value of vertical vibration can be determined using the following formula:

[0059]

[0060] in, Indicates the effective value of vertical vibration. This represents the number of all Z-axis accelerations. This represents the acceleration along the i-th Z-axis. This represents the mean value of the Z-axis acceleration. Therefore, the first-order natural frequency of the hazardous chemical liquid can be obtained based on historical experience. The product of the effective value of the vertical vibration of the conveyor belt and the first-order natural frequency of the hazardous chemical liquid is compared with the static restoring force scale of the hazardous chemical. The result is used as the liquid sloshing intensity of the hazardous chemical during transportation. It should be noted that the static restoring force scale refers to the scale value at which the liquid returns to rest under the action of gravity after sloshing. The result of multiplying the gravitational acceleration by the cube root of the liquid volume can be used as the static restoring force scale of the hazardous chemical liquid.

[0061] In addition, in specific implementation, the dimensional vibration feature domain during transportation can be determined based on the vibration characteristics of all dimensions and the intensity of liquid sloshing. It should be noted that the dimensional vibration feature domain is a standardized set of statistical characteristics describing the vibration state of the loading conveyor belt during transportation. That is, the vibration characteristics of the loading conveyor belt in each dimension and the static restoring force scale of the hazardous chemical liquid can be used as elements and merged into a set, which is then used as the dimensional vibration feature domain.

[0062] In this embodiment, the feature encoding transformation of the hazardous chemical cargo label to obtain the coded feature vector of the hazardous chemical can be achieved by the following steps:

[0063] The hazardous chemical cargo labels are encoded and converted to obtain numerical codes for the hazardous chemical cargoes;

[0064] The characteristic vector of hazardous chemical codes is determined by the numerical coding.

[0065] In practice, the first step is to encode the hazardous chemical goods labels to obtain numerical codes. It's important to note that these numerical codes are specific values ​​derived from categorical or textual information through numerical mapping. For example, hazardous chemical category: flammable liquid → code 3; packaging class: II → code 2; flash point: 12°C → code 0.12; density: 1.1 g / cm³ → coded as 1.1; Hazard reactivity: moderate → coded as 2. That is, the original text-type label fields of hazardous chemical goods labels can be extracted in a structured manner to form a set of structured fields. Then, numerical mapping can be used to map the discrete set of structured fields into a processable numerical code, thereby obtaining the numerical code of the hazardous chemical goods. Finally, the hazardous chemical code feature vector can be determined through the numerical code. That is, the numerical codes of hazardous chemical goods can be concatenated in the coding order, such as: (hazardous chemical category, packaging grade, flash point, density, hazard reactivity), and the hazardous chemical code feature vector = (3, 2, 0.12, 1.1, 2), thereby obtaining the hazardous chemical code feature vector.

[0066] Preferably, in this embodiment, reference Figure 2 As shown, this figure is an exemplary flowchart for determining the dynamic overturning risk value of hazardous chemicals during transportation in an embodiment of this application. In this embodiment, determining the dynamic overturning risk value of hazardous chemicals during transportation based on the dimensional vibration feature domain and the encoded feature vector can be achieved through the following steps:

[0067] In step S21, the dimensional vibration feature domain and the encoded feature vector are concatenated to obtain a joint transport feature set;

[0068] In step S22, the safety distortion value of the loading conveyor belt during the transportation of hazardous chemicals is determined according to the preset safety feature vector and the transportation joint feature set;

[0069] In step S23, the dynamic overturning risk value of the conveyor belt during the transportation of hazardous chemicals is determined based on the safety distortion value.

[0070] It should be noted that, in this application, the safety feature vector is a benchmark reference vector for the loading conveyor belt of the hazardous chemical transport robot under safe transport conditions. This safety feature vector includes (the mean, root mean square, kurtosis, and skewness of the three-axis acceleration and three-axis angular velocity, respectively, as well as the hazardous chemical category, packaging grade, flash point, density, and hazardous reactivity); the safety deviation value is an indicator of the degree of deviation between the current transport state and the preset safe state; and the dynamic overturning risk value is a measure of the real-time risk level of the cargo overturning caused by transport vibration of the loading conveyor belt of the transport robot.

[0071] In practical implementation, firstly, the dimensional vibration feature domain and the encoded feature vector can be concatenated, that is, the dimensional vibration feature domain and the encoded feature vector can be concatenated end-to-end at the vector level to obtain the transportation joint feature set; then, the safety distortion value of the conveyor belt during the transportation of hazardous chemicals can be determined according to the preset safety feature vector and the transportation joint feature set. The safety feature vector can be preset based on historical experience, and then the transportation joint feature set and the safety feature vector are normalized. In actual implementation, the safety distortion value can be determined according to the following formula:

[0072]

[0073] in, Indicates the security deviation value; The dimension representing the joint feature set of transportation; This represents the i-th feature value in the joint feature set of transportation; This represents the i-th eigenvalue in the safety feature vector. Finally, the dynamic overturning risk value of the conveyor belt during the transportation of hazardous chemicals can be determined based on the safety distortion value. That is, the maximum safety distortion value of the conveyor belt during the transportation of hazardous chemicals can be obtained from historical experimental data. The ratio of the safety distortion value obtained by the above formula to the maximum safety distortion value can be used as the dynamic overturning risk value of the conveyor belt during the transportation of hazardous chemicals.

[0074] It should be noted that by extracting multi-dimensional vibration data of the conveyor belt loaded by the transport robot in real time and combining it with the coded feature vector generated by the hazardous chemical cargo label, the dynamic overturning risk value can be calculated. This enables accurate risk assessment for different hazardous chemical transportation scenarios, thereby achieving precise control over the hazardous chemical transportation process. It provides an adaptive control basis for the operating status of the conveyor belt loaded by the transport robot, realizing an intelligent adjustment mechanism based on real-time changes in transportation risks. This significantly improves the precision control capability and transportation safety level of the transport robot in the hazardous chemical transportation process, and lays the foundation for subsequent calculation of the load imbalance parameters of the conveyor belt loaded by the transport robot.

[0075] In step S3, current path environment information is collected, and load imbalance parameters of the transport robot loading conveyor belt are determined based on the dynamic overturning risk value and the current path environment information. Then, an operation control strategy for the transport robot loading conveyor belt is generated based on the load imbalance parameters.

[0076] In practice, the current path environment information is collected through the robot's embedded navigation module and path perception module. The current path environment information includes road surface slope, road surface roughness index, and curve radius.

[0077] Preferably, in this embodiment, reference Figure 3 As shown, this figure is an exemplary flowchart for determining the load imbalance parameters of the conveyor belt loaded by the transport robot in an embodiment of this application. In this embodiment, determining the load imbalance parameters of the conveyor belt loaded by the transport robot based on the dynamic overturning risk value and the current path environment information can be achieved by the following steps:

[0078] In step S31, the path environment index is determined based on the current path environment information;

[0079] In step S32, the load imbalance parameters of the transport robot loading conveyor belt are determined by the path environment index and the dynamic overturning risk value.

[0080] In specific implementation, firstly, the path environment index can be determined based on the current path environment information. That is, the road surface slope, road surface roughness index, and curve radius of curvature in the current path environment information can be used as vector parameters. Through preset path environment weights, which can be set by expert suggestions and historical transportation experience, the road surface slope, road surface roughness index, and curve radius of curvature in the current path environment information can be weighted separately and then summed. The result is used as the path environment index. Then, the load imbalance parameter of the conveyor belt loaded by the transport robot can be determined by the path environment index and the dynamic overturning risk value. That is, the dynamic overturning risk value can be multiplied by the path environment index. The result is used as the load imbalance parameter of the conveyor belt loaded by the transport robot. It should be noted that the load imbalance parameter is a dimensionless index that quantifies the degree of load imbalance of the conveyor belt loaded by the transport robot.

[0081] In specific implementation, an operational control strategy for the transport robot loading the conveyor belt is generated based on the load imbalance parameters. That is, the operational control strategy for the transport robot loading the conveyor belt can be determined by the value range of the load imbalance parameters. It should be noted that the operational control strategy includes the value range of the load imbalance parameters, the setting of the robot speed, and the adjustment of the conveyor belt tilt angle, for example:

[0082] When the load imbalance parameter is between 0 and 0.3, set the speed compensation parameter to 1 and the loading conveyor belt tilt angle compensation parameter to 0°.

[0083] When the load imbalance parameter is between 0.3 and 0.5, set the speed compensation parameter to 0.6 and the loading conveyor belt tilt angle compensation parameter to 2°.

[0084] When the load imbalance parameter is greater than 0.5, set the speed compensation parameter to 0 and the loading conveyor belt tilt angle compensation parameter to 5°.

[0085] It should be noted that by collecting real-time path environment information and coupling it with dynamic overturning risk values, the generated load imbalance parameters can accurately quantify the instability of the conveyor belt under combined disturbances. The graded operation control strategy based on load imbalance parameters achieves adaptive response, significantly enhancing the stability and safety of hazardous chemical transportation under sudden road conditions.

[0086] In step S4, the loading conveyor belt of the transport robot is controlled according to the operation control strategy.

[0087] In this embodiment, the control operation of the loading conveyor belt of the transport robot according to the operation control strategy can be implemented by the following steps:

[0088] Extract each control parameter from the aforementioned operational control strategy;

[0089] The loading conveyor belt of the transport robot is controlled by adjusting various parameters.

[0090] In practical implementation, firstly, the various control parameters in the operation control strategy can be extracted. That is, the operation control strategy can be identified by keywords such as speed compensation parameters and loading conveyor belt tilt angle compensation parameters through the central control system embedded in the robot, thereby obtaining the various control parameters of the loading conveyor belt of the transport robot. Then, the loading conveyor belt of the transport robot can be controlled by each control parameter. Specifically, the result of multiplying the speed compensation parameter by the real-time speed can be used as the set speed of the drive motor; the loading conveyor belt tilt angle compensation parameter can be added to the current tilt angle of the loading conveyor belt to obtain the set angle of the tilt motor. The set speed of the drive motor and the set angle of the tilt motor are then transmitted to the drive motor of the robot and the tilt motor of the loading conveyor belt to complete the control operation of the loading conveyor belt of the transport robot. It should be noted that the actuators include drive motors, tilt motors, etc.

[0091] It should be noted that by adjusting the loading conveyor belt of the transport robot according to the operation control strategy, precise control of the loading conveyor belt is achieved, thereby improving the control accuracy and execution efficiency of the loading conveyor belt.

[0092] Therefore, this application demonstrates that, firstly, by real-time monitoring of the multi-dimensional vibration data of the conveyor belt loaded by the transport robot during the transportation of hazardous chemicals, and simultaneously acquiring the label information of the currently transported hazardous chemicals, it is possible to achieve a fusion perception of the transportation status and the physical properties of the hazardous chemicals, effectively improving the system's ability to identify risks during transportation. Secondly, by extracting the multi-dimensional vibration data of the conveyor belt loaded by the transport robot in real time, and combining it with the coded feature vector generated from the hazardous chemicals label, a dynamic overturning risk value is calculated. This enables accurate risk assessment for different hazardous chemicals transportation scenarios, thereby achieving precise control over the hazardous chemicals transportation process. It provides an adaptive control basis for the operating status of the transport robot and its conveyor belt, realizing an intelligent adjustment mechanism based on real-time changes in transportation risks, significantly improving... This study aims to improve the precision control and safety of transport robots and their loading conveyors in the transportation of hazardous chemicals, and lays the foundation for subsequent calculations of load imbalance parameters of the transport robot's loading conveyor. Secondly, by collecting real-time path environment information and coupling it with dynamic overturning risk values, the generated load imbalance parameters can accurately quantify the instability of the loading conveyor under complex disturbances. A graded operation control strategy based on these load imbalance parameters achieves adaptive response, significantly enhancing the stability and safety of hazardous chemical transportation under sudden road conditions. Finally, by controlling the transport robot and its loading conveyor according to the operation control strategy, precise adaptive control of the transport robot and its loading conveyor is achieved, improving the control accuracy of the transport robot and its loading conveyor.

[0093] In summary, the technical solution adopted in this application can adaptively regulate the transport robot and its loading conveyor belt by combining the overturning risk and path environment information during the transportation process, thereby improving the refined regulation capability of the transport robot in the transportation of hazardous chemicals.

[0094] Example 2: This application provides a reference for a robotic transport control system for transporting hazardous chemicals. Figure 4 As shown, this figure is a block structure diagram of a robot transportation control method according to this embodiment of the present application. The robot transportation control method includes:

[0095] The vibration monitoring module 100 monitors the multi-dimensional vibration data of the loading conveyor belt of the transport robot in real time during the transportation of hazardous chemicals, and obtains the label of the hazardous chemical goods currently being transported by the transport robot.

[0096] The risk determination module 200 performs dimensional vibration extraction on the multidimensional vibration data to obtain the dimensional vibration feature domain during the transportation of hazardous chemicals, performs feature encoding transformation on the hazardous chemical cargo label to obtain the coded feature vector of the hazardous chemicals, and then determines the dynamic overturning risk value of the hazardous chemicals during the transportation of hazardous chemicals based on the dimensional vibration feature domain and the coded feature vector.

[0097] The control strategy module 300 collects current path environment information, determines the load imbalance parameters of the transport robot loading conveyor belt based on the dynamic overturning risk value and the current path environment information, and then generates an operation control strategy for the transport robot loading conveyor belt based on the load imbalance parameters.

[0098] The control execution module 400 controls the loading conveyor belt of the transport robot according to the operation control strategy.

[0099] The foregoing has detailed examples of a robotic transport control system and method for transporting hazardous chemicals provided in the embodiments of this application. It is understood that the corresponding apparatus, in order to achieve the above functions, includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0100] In embodiment three, this application also provides a computer device, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for calling and running the computer programs from the memory, so that the computer device executes the above-described robot transportation control method for hazardous chemical transportation.

[0101] In this embodiment, reference Figure 5 The dashed lines in the figure indicate that the unit or module is optional. This figure is a structural schematic diagram of a computer device for a robot transport control system for hazardous chemical transport according to an embodiment of this application. The robot transport control method for hazardous chemical transport described in the above embodiment can be... Figure 5 The computer device shown is used to implement this, and the computer device includes at least one processor 501, a memory 502 and at least one communication unit 505. The computer device may be a terminal device, a server or a chip.

[0102] Processor 501 can be a general-purpose processor or a special-purpose processor. For example, processor 501 can be a central processing unit (CPU), which can be used to control computer devices, execute software programs, and process data from software programs. The computer device may also include a communication unit 505 to realize signal input (reception) and output (transmission).

[0103] For example, the computer device may be a chip, and the communication unit 505 may be the input and / or output circuit of the chip, or the communication unit 505 may be the communication interface of the chip, which may be a component of a terminal device, network device or other device.

[0104] For example, the computer device may be a terminal device or a server, and the communication unit 505 may be a transceiver of the terminal device or the server, or the communication unit 505 may be a transceiver circuit of the terminal device or the server.

[0105] The computer device may include one or more memories 502 storing a program 504. The program 504 can be executed by a processor 501 to generate instructions 503, causing the processor 501 to perform the methods described in the above method embodiments according to the instructions 503. Optionally, the memory 502 may also store data (such as a target audit model). Optionally, the processor 501 may also read data stored in the memory 502, which may be stored at the same storage address as the program 504, or the data may be stored at a different storage address than the program 504.

[0106] The processor 501 and memory 502 can be configured separately or integrated together, for example, integrated on the system-on-chip (SOC) of the terminal device.

[0107] It should be understood that each step of the above method embodiment can be completed by hardware logic circuits or software instructions in processor 501. Processor 501 can be a central processing unit, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA), or other programmable logic device, such as discrete gate, transistor logic device, or discrete hardware component.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] In embodiment four, this application also provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-described robot transportation control method for transporting hazardous chemicals.

[0110] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0111] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A robot transportation control method for dangerous chemical transportation, characterized by, The transportation control method comprises the following steps: Real-time monitoring of multi-dimensional vibration data of the loading conveyor belt of the transportation robot during the transportation of the hazardous chemicals, and obtaining a hazardous chemical cargo label currently transported by the transportation robot; Dimensional vibration extraction is performed on the multi-dimensional vibration data to obtain a dimensional vibration feature domain during the transportation of the hazardous chemicals, and the hazardous chemical cargo label is subjected to feature coding conversion to obtain a coding feature vector of the hazardous chemicals, and then a dynamic overturning risk value of the hazardous chemicals during the transportation of the hazardous chemicals is determined according to the dimensional vibration feature domain and the coding feature vector; Collecting current path environment information, determining a load imbalance parameter of the loading conveyor belt of the transportation robot according to the dynamic overturning risk value and the current path environment information, and then generating an operation control strategy for the loading conveyor belt of the transportation robot according to the load imbalance parameter; According to the operation control strategy, the loading conveyor belt of the transportation robot is controlled and operated; The dimensional vibration extraction of the multi-dimensional vibration data to obtain the dimensional vibration feature domain during the transportation of the hazardous chemicals specifically comprises: Extracting the vibration features of the loading conveyor belt in each dimension from the multi-dimensional vibration data, determining the vertical vibration effective value of the hazardous chemicals during the transportation according to the multi-dimensional vibration data, and then determining the liquid shaking intensity of the hazardous chemicals during the transportation according to the vertical vibration effective value; and determining the dimensional vibration feature domain during the transportation according to the vibration features of all dimensions and the liquid shaking intensity; The feature coding conversion of the hazardous chemical cargo label to obtain the coding feature vector of the hazardous chemicals specifically comprises: The hazardous chemical cargo label is subjected to coding conversion to obtain a numerical coding of the hazardous chemical cargo; and the coding feature vector of the hazardous chemicals is determined through the numerical coding; The determination of the dynamic overturning risk value of the hazardous chemicals during the transportation of the hazardous chemicals according to the dimensional vibration feature domain and the coding feature vector specifically comprises: The dimensional vibration feature domain and the coding feature vector are subjected to feature splicing to obtain a transportation joint feature set; a safety alienation value of the loading conveyor belt during the transportation of the hazardous chemicals is determined according to a preset safety feature vector and the transportation joint feature set; and the dynamic overturning risk value of the loading conveyor belt during the transportation of the hazardous chemicals is determined according to the safety alienation value; The determination of the load imbalance parameter of the loading conveyor belt of the transportation robot according to the dynamic overturning risk value and the current path environment information specifically comprises: A path environment index is determined according to the current path environment information; and the load imbalance parameter of the loading conveyor belt of the transportation robot is determined through the path environment index and the dynamic overturning risk value.

2. The robotic transportation control method for dangerous chemical transportation of claim 1, wherein, The multi-dimensional vibration data of the loading conveyor belt of the transportation robot during the transportation of the hazardous chemicals is monitored in real time by the multi-dimensional vibration sensor embedded in the transportation robot.

3. The robotic transport control method for dangerous chemical transport of claim 1, wherein, The control and operation of the loading conveyor belt of the transportation robot according to the operation control strategy specifically comprises: Extracting each control parameter in the operation control strategy; The loading conveyor belt of the transportation robot is controlled and operated through each control parameter.

4. A robot transportation control system for dangerous chemical transportation for performing a robot transportation control method for dangerous chemical transportation according to any one of claims 1 to 3, characterized by The robot transportation control system comprises: The vibration monitoring module is configured to monitor multi-dimensional vibration data of the loading conveyor belt of the transport robot in the process of transporting the dangerous goods in real time, and obtain a dangerous goods cargo label currently transported by the transport robot; The risk determination module is configured to extract dimensional vibration from the multi-dimensional vibration data to obtain a dimensional vibration feature domain in the process of transporting the dangerous goods, to perform feature coding transformation on the dangerous goods cargo label to obtain an encoding feature vector of the dangerous goods, and to determine a dynamic overturning risk value of the dangerous goods in the process of transporting the dangerous goods according to the dimensional vibration feature domain and the encoding feature vector; The control strategy module is configured to collect current path environment information, to determine a load imbalance parameter of the loading conveyor belt of the transport robot according to the dynamic overturning risk value and the current path environment information, and to generate an operation control strategy for the loading conveyor belt of the transport robot according to the load imbalance parameter; The control execution module is configured to perform a control operation on the loading conveyor belt of the transport robot according to the operation control strategy.

5. A computer device, comprising: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the robot transport control method for transporting dangerous goods in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions or codes, and when the instructions or codes run on the computer, the computer executes the robot transport control method for transporting dangerous goods in any one of claims 1 to 3.

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