CN117671905A - Safety early warning system for loading and unloading operation of tank areas of chemical enterprises - Google Patents

Abstract

The invention provides a safety pre-warning system for loading and unloading operations of a tank farm of chemical enterprises, which comprises: the information monitoring module comprises an environment information monitoring unit, a loading and unloading area equipment condition monitoring unit, a vehicle monitoring unit, a meteorological information monitoring unit and a nearby equipment monitoring unit; the judging module is in signal connection with the information monitoring module and is used for receiving the monitoring signal and outputting a judging result signal based on the monitoring signal; the central control module is in signal connection with the judging module, and is used for receiving the judging result signal, controlling the running state of the loading and unloading area based on the judging result signal and outputting an alarm signal; and the alarm module is in signal connection with the central control module and is used for receiving the alarm signal and carrying out early warning based on the alarm signal. The safety early warning system for the loading and unloading operation of the tank farm of the chemical industry has the effect of reducing the condition that the system is damaged due to misoperation or illegal operation in the loading and unloading operation of the tank farm of the chemical industry.

Description

A safety early warning system for loading and unloading operations in tank areas of chemical enterprises

Technical field

The invention relates to the technical field of safety early warning for tank areas of chemical enterprises, and in particular to a safety early warning system for loading and unloading operations in tank areas of chemical enterprises.

Background technique

The chemical plant tank area refers to the area in the chemical plant used to store and process various chemical substances. The storage tank area is an important part of the chemical enterprise and is also a sensitive part of safety issues. The tank area stores a large amount of flammable, explosive, Materials with corrosive properties are the key objects of enterprise control.

During the loading and unloading operation in the storage tank area of a chemical enterprise, the system can easily be damaged due to workers' misoperation or illegal operation. Once a safety accident occurs in the tank area, it will often cause casualties and environmental pollution, and also trigger panic among the public. The detection range of the existing alarm equipment used in the tank area is relatively single, and existing safety problems cannot be discovered in time. The use of alarm equipment in the tank area is restricted, and multiple detection equipment are detected and displayed separately, making it impossible for monitoring personnel to detect The results are summarized and recorded for analysis, which is not conducive to the daily safety management of the tank farm.

Contents of the invention

In view of this, the present invention provides a safety early warning system for loading and unloading operations in a chemical enterprise's tank area to solve the above problems.

The invention provides a safety early warning system for loading and unloading operations in a tank area of a chemical enterprise, which includes: an information monitoring module (1). The information monitoring module (1) includes an environmental information monitoring unit (11), a loading and unloading area equipment condition monitoring unit (12), and a vehicle. Monitoring unit (13) meteorological information monitoring unit (14) and nearby equipment monitoring unit (15); wherein, the environmental information monitoring unit (11) includes an environmental information detection component (111), and the environmental information detection component (111) is used to monitor the environment Information and output monitoring signals, the vehicle monitoring unit (13) includes a vehicle monitoring component (131), the vehicle monitoring unit (13) is used to monitor vehicle operation, trajectory and tracking signals in real time; the judgment module (2), the judgment module (2) and The information monitoring module (1) is signal-connected for receiving monitoring signals and outputting judgment result signals based on the monitoring signals; the central control module (3) is signal-connected to the judgment module (2) for receiving judgments. The result signal controls the operating status of the loading and unloading area based on the judgment result signal and outputs an alarm signal. The operating status of the loading and unloading area includes material input, output or pause; alarm module (4), the alarm module (4) is signal connected with the central control module (3) , used to receive alarm signals and provide early warning based on the alarm signals.

In another implementation of the present invention, the environmental information detection component (111) includes an AI camera (1111), a temperature sensor (1112), a distance sensor (1113) and an image sensor (1114), and the monitoring signals include video monitoring signals, temperature Distribution signal, distance signal and image monitoring signal; AI camera (1111) is used to monitor the operating conditions of the loading and unloading area and output video monitoring signals; the temperature sensor (1112) is used to detect the interface, tank, input and output of the vehicle during loading and unloading operations Temperature distribution signals of equipment and pipelines; the distance sensor (1113) is used to monitor the distance between vehicles operating in the loading and unloading area and obstacles, and outputs a distance signal; the image sensor (1114) is used to monitor images of debris near the location of the loading and unloading area, and Output image monitoring signal.

In another implementation of the present invention, the judgment module (2) receives the video monitoring signal, the temperature distribution signal, the distance signal and the image monitoring signal, performs judgment, and outputs the judgment result signal.

In another implementation of the present invention, the equipment condition monitoring unit (12) in the loading and unloading area includes a pressure sensor. The pressure sensor is installed at the input port and output port of the loading and unloading operation and in the tank, and is used to monitor the pressure of each part during the loading and unloading operation. signal; the judgment module (2) receives the pressure signal and determines whether it is abnormal. If the pressure signal is abnormal, it outputs an emergency braking signal. The central control module (3) receives the emergency braking signal and controls the stop of loading and unloading operations.

In another implementation of the present invention, the vehicle monitoring component (131) includes a dangerous goods transport vehicle (1311), a vehicle-mounted terminal (1312), a system server (1313), a database (1314), and a communication terminal (1315).

In another implementation of the present invention, the judgment module (2) receives vehicle operation, trajectory and tracking signals and makes judgments, and outputs an emergency deceleration signal; the central control module (3) receives the emergency deceleration signal and controls the loading and unloading rate and whether the loading and unloading operation is brake.

In another implementation of the present invention, the central control module (3) includes a controller (31), which receives the judgment result signal and controls the speed and operation or stop of the loading and unloading operation.

In another implementation manner of the present invention, the alarm module (4) includes a voice alarm device and an LED alarm device. The voice alarm device and the LED alarm device receive alarm signals and make early warnings based on the alarm signals.

The chemical enterprise tank area loading and unloading safety early warning system of the present invention has the following beneficial effects:

1. Use the environmental information detection component to monitor environmental information and output monitoring signals. The judgment module receives the monitoring signals, makes judgments based on the monitoring signals and outputs judgment result signals. The central control module receives the judgment result signals to control the operation of loading and unloading operations and output alarm signals. The module receives alarm signals and provides timely warning, effectively reducing the occurrence of equipment damage;

2. Use the pressure sensors installed on the tank and the connecting device to monitor the pressure during operation in real time. When the pressure is abnormal, the loading and unloading operation will be stopped in time, thus effectively reducing the occurrence of equipment damage;

3. Through the set voice alarm device and LED alarm device, staff are reminded from both auditory and visual aspects.

Description of drawings

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings needed to describe the embodiments or the prior art. By reading the detailed description of the embodiments below, the solutions The advantages and benefits will become apparent to those skilled in the art. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the invention. In the attached picture:

Figure 1 is an overall module block diagram of a safety early warning system for loading and unloading operations in a chemical enterprise's tank farm according to one embodiment of the present invention.

Figure 2 is a module block diagram of an environmental information monitoring unit according to an embodiment of the present invention.

Figure 3 is a module block diagram of a vehicle information monitoring unit according to an embodiment of the present invention.

Explanation of reference signs: 1. Information monitoring module; 11. Environmental information monitoring unit; 111. Environmental information detection component; 1111. AI camera; 1112. Temperature sensor; 1113. Distance sensor; 1114. Image sensor; 12. Loading and unloading area equipment Condition monitoring unit; 13. Vehicle monitoring unit; 131 vehicle monitoring components; 1311. Dangerous goods transport vehicle; 1312. Vehicle-mounted terminal; 1313. System server; 1314. Database; 1315. Terminal; 1316. Monitoring personnel; 14. Meteorological information monitoring Unit; 15. Nearby environmental equipment and vehicle monitoring unit; 2. Judgment module; 3. Central control module; 31. Controller; 4. Sound and light alarm module.

Detailed ways

In order to enable those in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and in detail below in conjunction with the drawings in the embodiments of the present invention. Obviously, the description The embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art should fall within the scope of protection of the embodiments of the present invention.

Figure 1 is an overall module block diagram of a chemical enterprise tank farm loading and unloading safety early warning system provided by an embodiment of the present invention. As shown in Figure 1, this embodiment mainly includes:

Information monitoring module (1). The information monitoring module (1) includes an environmental information monitoring unit (11), a loading and unloading area equipment condition monitoring unit (12), a vehicle monitoring unit (13), a meteorological information monitoring unit (14) and a nearby equipment monitoring unit. (15).

For example, the weather information monitoring unit 14 can monitor the weather information at the location of the vehicle in real time and output breath information signals; the nearby environmental equipment and vehicle monitoring unit 15 includes a radar device that can emit electromagnetic waves to monitor other vehicles and obstacles near the work vehicle. When a target is detected, it is illuminated and its echo is received, thereby obtaining the distance from the target to the electromagnetic wave emission point and outputting a position signal.

Among them, the environmental information monitoring unit (11) includes an environmental information detection component (111), which is used to monitor environmental information and output monitoring signals. The vehicle monitoring unit (13) includes a vehicle monitoring component (131). The monitoring unit (13) is used to monitor vehicle operation, trajectory and tracking signals in real time.

The judgment module (2) is signal-connected to the information monitoring module (1) for receiving monitoring signals and outputting judgment result signals based on the monitoring signals.

For example, the environmental information monitoring unit 11 , the loading and unloading area equipment condition monitoring unit 12 , the vehicle monitoring unit 13 , the weather information monitoring unit 14 and the nearby environmental equipment and vehicle monitoring unit 15 are all connected with the judgment module 2 via signals.

It should be understood that the judgment module 2 receives the signal from the information monitoring module 1 and makes a judgment. When a signal abnormality is detected, the judgment module 2 outputs an emergency braking signal to the central control module 3; when the breath information signal is detected, it is not conducive to moving forward. Then, the judgment module 2 outputs the steering signal to the central control module 3; when the position signal is detected and there are other vehicles running in the loading and unloading area, the judgment module 2 outputs the emergency avoidance signal to the central control module 3; when the vehicle displacement signal in the area is monitored, After receiving the distance signal, the judgment module 2 outputs an emergency avoidance signal to the central control module 3. The central control module 3 controls the loading and unloading operation to urgently decelerate to a safe speed. When the danger information can be clearly viewed according to the video monitoring signal and image monitoring signal during deceleration, the judgment is made. Module 2 will distribute signals and danger levels according to the position. When the danger level is high, it will output an emergency stop signal to the central control module 3; when it is found that the dangerous situation disappears or the danger level is low during deceleration or braking, it will judge Module 2 outputs the forward signal to the central control module 3.

The central control module (3) is signal-connected to the judgment module (2) for receiving the judgment result signal, controlling the operating status of the loading and unloading area based on the judgment result signal, and outputting an alarm signal. The operating status of the loading and unloading area includes materials. Input, output or pause.

The alarm module (4) is signal-connected to the central control module (3) for receiving alarm signals and providing early warning based on the alarm signals.

The chemical enterprise tank area loading and unloading safety early warning system of the present invention has the following beneficial effects:

1. Use the environmental information detection component to monitor environmental information and output monitoring signals. The judgment module receives the monitoring signals, makes judgments based on the monitoring signals and outputs judgment result signals. The central control module receives the judgment result signals to control the operation of loading and unloading operations and output alarm signals. The module receives alarm signals and provides timely warning, effectively reducing the occurrence of equipment damage;

2. Use the pressure sensors installed on the tank and the connecting device to monitor the pressure during operation in real time. When the pressure is abnormal, the loading and unloading operation will be stopped in time, thus effectively reducing the occurrence of equipment damage;

3. Through the set voice alarm device and LED alarm device, staff are reminded from both auditory and visual aspects.

In another implementation of the present invention, the environmental information detection component (111) includes an AI camera (1111), a temperature sensor (1112), a distance sensor (1113) and an image sensor (1114), and the monitoring signals include video monitoring signals, temperature Distribution signal, distance signal and image monitoring signal; AI camera (1111) is used to monitor the operating conditions of the loading and unloading area and output video monitoring signals; the temperature sensor (1112) is used to detect the interface, tank, input and output of the vehicle during loading and unloading operations Temperature distribution signals of equipment and pipelines; the distance sensor (1113) is used to monitor the distance between vehicles operating in the loading and unloading area and obstacles, and outputs a distance signal; the image sensor (1114) is used to monitor images of debris near the location of the loading and unloading area, and Output image monitoring signal.

For example, as shown in FIG. 2 , the environmental information detection component 111 includes an AI camera 1111 , a temperature sensor 1112 , a distance sensor 1113 and an image sensor 1114 . AI camera 1111 is fixedly installed in the storage tank and loading and unloading area to monitor the status of the storage tank and the safe operation of loading and unloading operations in the tank area and output video monitoring signals; the temperature sensor 1112 is fixedly installed on the outside of the storage tank, transportation pipelines and vehicle parking areas in the loading and unloading area. Nearby, it is used to detect the surrounding temperature distribution at the location of the loading and unloading operation and output a position distribution signal. The distance sensor 1113 is fixedly installed on the loading and unloading equipment and storage tanks in the loading and unloading operation area, and is used to monitor the distance between the vehicle and the special equipment and output a distance signal; image Sensors 1114 are arranged around the storage tank loading and unloading area, and are used to monitor the location of the loading and unloading vehicles and images nearby and output image monitoring signals.

In another implementation of the present invention, the judgment module (2) receives the video monitoring signal, the temperature distribution signal, the distance signal and the image monitoring signal, performs judgment, and outputs the judgment result signal.

In another implementation of the present invention, the equipment condition monitoring unit (12) in the loading and unloading area includes a pressure sensor. The pressure sensor is installed at the input port and output port of the loading and unloading operation and in the tank, and is used to monitor the pressure of each part during the loading and unloading operation. signal; the judgment module (2) receives the pressure signal and determines whether it is abnormal. If the pressure signal is abnormal, it outputs an emergency braking signal. The central control module (3) receives the emergency braking signal and controls the stop of loading and unloading operations.

In another implementation of the present invention, the vehicle monitoring component (131) includes a dangerous goods transport vehicle (1311), a vehicle-mounted terminal (1312), a system server (1313), a database (1314), and a communication terminal (1315).

For example, as shown in Figure 3, the vehicle monitoring component 131 includes a dangerous goods transport vehicle 1311, a vehicle-mounted terminal 1312, a system server 1313, a database 1314, a communication terminal 1315, and a monitoring personnel 1316. When the vehicle is running, under normal circumstances, the system runs 24 hours a day on the enterprise monitoring terminal. The monitoring column on the main page of the system monitoring displays the vehicle operating data in real time. All real-time data of the vehicles managed by the enterprise will be displayed in the system monitoring column, and the latest The data is automatically updated when the vehicle is in an abnormal state. The corresponding entries in the monitoring column change color. Yellow indicates ordinary abnormalities and red indicates serious abnormalities. Monitoring personnel monitor vehicle operation data through the monitoring column and handle abnormal situations accordingly.

It should be understood that the vehicle trajectory data marks the latest online location of all vehicles managed by the enterprise on the electronic map. The essence of vehicle positioning is to visually display the longitude and latitude in the vehicle's real-time data and convert it into geographical location markers on the electronic map. Therefore, its implementation process is similar to vehicle real-time data monitoring.

It should also be understood that the vehicle tracking system is based on real-time vehicle data monitoring and vehicle positioning. Monitoring personnel can select a vehicle from the vehicle list or electronic map and send vehicle tracking instructions to it. After the vehicle terminal receives the instruction, It will speed up the frequency of information return. At the same time, on the electronic map, the vehicle position will always remain in the center of the map. When the monitoring personnel find an abnormality in the operation data of a certain vehicle through the monitoring bar, or want to focus on tracking the operation of a certain vehicle, they can click on the vehicle on the home page and select the positioning tracking function on the pop-up label. When the vehicle enters the working area, the vehicle monitoring component 131 is started. After the dangerous goods transport vehicle 1311 enters the working place, it inputs the alarm conditions and the alarm restriction information and sends instructions to the vehicle-mounted terminal 1312. After obtaining permission, the vehicle-mounted terminal 1312 sends a message to the system server 1313. Instructions, the system server 1313 sends a warning prompt to the terminal 1315 and notifies the monitoring personnel 1316. The monitoring personnel 1316 handles the warning prompt correctly or falsely and feeds it back to the terminal 1315. The terminal 1315 inputs the feedback information into the system server 1313, and the system server 1313 When the information is entered into the database 1314, the instruction is sent to the vehicle-mounted terminal 1312, and the vehicle-mounted terminal 1312 notifies the hazardous chemicals transport vehicle 1311 to implement the operation.

In another implementation of the present invention, the judgment module (2) receives vehicle operation, trajectory and tracking signals and makes judgments, and outputs an emergency deceleration signal; the central control module (3) receives the emergency deceleration signal and controls the loading and unloading rate and whether the loading and unloading operation is brake.

In another implementation of the present invention, the central control module (3) includes a controller (31), which receives the judgment result signal and controls the speed and operation or stop of the loading and unloading operation.

Exemplarily, the central control module 3 includes a controller 31. The controller 31 is configured to receive an emergency braking signal, an emergency avoidance signal, and an emergency deceleration signal. The controller 31 controls the emergency braking of loading and unloading operations according to the emergency braking signal and outputs an alarm signal. to the alarm module 4; the controller 31 controls the vehicle entry and exit according to the emergency avoidance signal and controls the emergency avoidance of the vehicle that has entered and outputs an alarm signal to the alarm module 4; the controller 31 controls the loading and unloading area operation to decelerate to a safe speed according to the emergency deceleration signal and outputs an alarm signal to the alarm module.

In another implementation manner of the present invention, the alarm module (4) includes a voice alarm device and an LED alarm device. The voice alarm device and the LED alarm device receive alarm signals and make early warnings based on the alarm signals.

Exemplarily, the alarm module 4 includes a voice alarm device and an LED alarm device. The voice alarm device and the LED alarm device receive the alarm signal and make an early warning according to the alarm signal; the voice alarm device is composed of a voice drive circuit and a speaker for A sound prompts an early warning signal; the LED alarm device is composed of red and green LED lights. When the controller 31 receives the alarm signal, the red LED light is always on; otherwise, the green LED light is always on.

In another implementation of the present invention, the working vehicle first detects the presence of obstacles when entering the tank area for loading and unloading operations through the distance sensor 1113 and then outputs a distance signal. The judgment module 2 receives the distance signal and outputs an emergency deceleration signal. The central control module 3. After receiving the emergency deceleration signal, the loading and unloading rate is controlled to decelerate. When the operation is decelerating, the monitored obstacle image is output to the judgment module 2 in combination with the video monitoring signal and image monitoring signal. The judgment module 2 receives the video monitoring signal and image monitoring signal. signal, the judgment module 2 will judge the degree of danger based on the obstacle location distribution signal, the size and material of the obstacle, etc. When it is detected that the obstacle disappears or the danger level of the obstacle is low during deceleration, the judgment module 2 will output The forward signal is sent to the controller 31, and the controller 31 receives the forward signal and controls the loading and unloading operation to continue; when the degree of danger is high, the judgment module 2 outputs the steering signal to the controller 31, and the controller 31 controls the loading and unloading operation after receiving the danger signal. Emergency brake and output alarm signal. The alarm module 4 receives the alarm signal and will sound an alarm and keep the red light on to remind the staff to change the course and effectively reduce the loading and unloading operations of equipment, tank areas or vehicles. Sabotage occurs.

Up to this point, specific embodiments of the invention have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous.

It should be noted that all directional indications (such as up, down, left, right, back...) in the embodiment of the present invention are only used to explain the relationship between components in a specific posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In the description of the present invention, the terms "first" and "second" are only used to conveniently describe different components or names, and cannot be understood to indicate or imply a sequential relationship, relative importance, or implicitly indicate the indicated technical features. quantity. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.

It should be noted that although specific embodiments of the present invention have been described in detail in conjunction with the accompanying drawings, this should not be understood as limiting the scope of the present invention. Within the scope described in the claims, various modifications and transformations that can be made by those skilled in the art without creative work still fall within the protection scope of the present invention.

The examples of the embodiments of the present invention are intended to briefly illustrate the technical features of the embodiments of the present invention, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and are not intended to limit the embodiments of the present invention unduly.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. The utility model provides a chemical industry tank field loading and unloading operation safety precaution system which characterized in that includes:

the system comprises an information monitoring module (1), wherein the information monitoring module (1) comprises an environment information monitoring unit (11), a loading and unloading area equipment condition monitoring unit (12), a vehicle monitoring unit (13), a weather information monitoring unit (14) and a nearby equipment monitoring unit (15);

the environment information monitoring unit (11) comprises an environment information detection component (111), the environment information detection component (111) is used for monitoring environment information and outputting monitoring signals, the vehicle monitoring unit (13) comprises a vehicle monitoring component (131), and the vehicle monitoring unit (13) is used for monitoring vehicle running, track and tracking signals in real time;

the judging module (2) is in signal connection with the information monitoring module (1) and is used for receiving the monitoring signal and outputting a judging result signal based on the monitoring signal;

the central control module (3) is in signal connection with the judging module (2) and is used for receiving the judging result signal, controlling the running state of the loading and unloading area based on the judging result signal and outputting an alarm signal, wherein the running state of the loading and unloading area comprises material input, output or suspension;

and the alarm module (4) is in signal connection with the central control module (3) and is used for receiving the alarm signal and carrying out early warning based on the alarm signal.

2. The system of claim 1, wherein the environmental information detection component (111) comprises an AI camera (1111), a temperature sensor (1112), a distance sensor (1113), and an image sensor (1114), the monitoring signals comprising a video monitoring signal, a temperature distribution signal, a distance signal, and an image monitoring signal;

the AI camera (1111) is used for monitoring the operation condition of the loading and unloading area and outputting the video monitoring signal;

the temperature sensor (1112) is used for detecting temperature distribution signals of an interface, a tank body, input and output equipment and a pipeline when the vehicle performs loading and unloading operation;

the distance sensor (1113) is used for monitoring the distance between a loading and unloading area running vehicle and an obstacle and outputting the distance signal;

the image sensor (1114) is used for monitoring images of sundries near the loading and unloading area and outputting the image monitoring signals.

3. The system according to claim 2, wherein the judging module (2) receives the video monitoring signal, the temperature distribution signal, the distance signal, and the image monitoring signal and makes a judgment, and outputs the judgment result signal.

4. The system of claim 1, wherein the loading and unloading area equipment condition monitoring unit (12) comprises pressure sensors arranged in the loading and unloading operation input and output ports and the tank body for monitoring pressure signals of various parts during loading and unloading operation;

the judging module (2) receives the pressure signal and judges whether the pressure signal is abnormal, if the pressure signal is abnormal, an emergency braking signal is output, and the central control module (3) receives the emergency braking signal and controls the loading and unloading operation to be stopped.

5. The system of claim 1, wherein the vehicle monitoring component (131) comprises a hazardous materials transportation vehicle (1311), an in-vehicle terminal (1312), a system server (1313), a database (1314), a communication terminal (1315).

6. The system according to claim 5, wherein the judging module (2) receives the vehicle running, trajectory and tracking signals and makes a judgment, outputting an emergency deceleration signal;

the central control module (3) receives the emergency deceleration signal and controls the loading and unloading rate and whether the loading and unloading operation is braked or not.

7. The system according to claim 1, wherein the central control module (3) comprises a controller (31), the controller (31) receiving the determination result signal and controlling the rate of the loading and unloading operations and running or stopping.

8. The system according to claim 1, characterized in that the alarm module (4) comprises a voice alarm device and an LED alarm device, which receive alarm signals and make an early warning in accordance with the alarm signals.