In petroleum, chemical, and related industries, large volumes of hazardous liquid chemicals need to be loaded into transport vehicles. Manual filling can involve significant safety risks, while chemical vapors may also be harmful to operators. By introducing a 3D vision system, the customer scans and locates the filling port and guides loading arms or other actuators to complete the filling process. The entire operation is highly automated and unmanned, with no odor released during the process and improved environmental performance.