Intelligent control method and system for lock disassembly and assembly process

Abstract

The present invention discloses an intelligent control method for the process of disassembling and assembling locks, which can make the disassembling and releasing of locks and the guiding of container trucks be executed synchronously, optimize the process of disassembling and assembling locks of a locking button machine, greatly shorten the time of a single task, and improve the parallel processing efficiency of disassembling and assembling operations. The container truck of the previous task can be guided when the container truck of the previous task has not completely left the locking button machine, thus saving the waiting time between tasks, being able to distinguish abnormalities according to their actual states, reducing the abnormalities that need to be handled manually, and calculating the positions of the four corner points of the container at the same time before the container truck guiding task is completed, and using the calculated position data as the reference position when the visual perception system of the disassembling and assembling unit locates the lock button, thus avoiding disassembling and assembling abnormalities caused by wrong photographing position.

Description

Technical Field

[0001] The invention relates to the technical field of assembly and disassembly of a lock button machine, and in particular to an intelligent control method and system for a lock assembly and disassembly process. Background Art

[0002] With the increasing demand for port automation, more and more automated equipment and systems are being applied to port operations. In the port operation tasks, the disassembly and assembly of lock buttons is an indispensable and important link. At present, various types of lock button machines have gradually been used in major domestic ports. Due to the high difficulty of disassembling and assembling lock buttons, the traditional disassembly and assembly of lock buttons is completely completed manually. However, the working environment in the port is relatively harsh and the pressure of manual operation is relatively high. In addition, due to the complexity of the lock button mechanical structure, the difficulty of automated disassembly and assembly is great, which makes the lock button machines implemented at the port site often have low efficiency and high abnormality rate.

[0003] Conventional lock button machines generally use a robotic arm to complete the disassembly and assembly of the lock button, such as the automatic disassembly and assembly process of the container lock button proposed in patent CN202110237572.1: when performing a lock installation task, the robotic arm takes the lock from the designated position in advance and waits for the container truck loaded with the container to arrive near the robotic arm according to the guidance. The robotic arm performs the lock installation according to the positioning results recognized by the visual system to complete the lock installation task; when performing a lock removal task, the robotic arm waits for the vehicle to arrive, and the robotic arm performs the lock removal according to the visual positioning results. After the lock is removed, the robotic arm puts the lock in the designated position to complete the lock removal task.

[0004] After the task is completed, the next task will be issued only after the current container truck has completely left. After completing the interactive operation with the vehicle, the unlocking task also needs to release the lock before continuing to the next task, resulting in much lower efficiency of unlocking than installing the lock. In addition, the number of lock buttons that need to be disassembled and installed in a port operation task is a multiple of 4. In order to improve efficiency, the automated lock button equipment generally has at least four robotic arms to simultaneously complete the disassembly and installation of a container lock button. If any of the robotic arms fails during the operation, due to the danger of the operation, the lock button machine needs to stop working immediately and wait for manual processing of the exception before resuming the operation. However, the speed of manual processing is often uncontrollable, which also makes the efficiency of disassembly and installation of the lock lower.

[0005] In view of this, it is necessary to provide a method and system for intelligently controlling the process of disassembling and assembling a lock to overcome the above-mentioned defects. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent control method for the lock disassembly and installation process, which can enable the lock disassembly and release and container truck guidance to be executed synchronously, optimize the lock disassembly and installation process of the lock button machine, greatly shorten the single task time, and improve the parallel processing efficiency of the disassembly and installation operations.

[0007] In order to achieve the above object, the present invention provides a method for intelligently controlling the process of disassembling and assembling a lock, comprising the following steps:

[0008] S1: After receiving the lock installation or lock removal operation instruction from the remote management system, the central control system determines the lock installation or lock removal or lock removal and lock placement position of the current task according to the lock warehouse inventory, and sends the lock position and the task received from the remote management system to the disassembly unit;

[0009] S2: The central control system controls and detects whether there is a container truck approaching the entrance gate. If a vehicle is detected approaching, the lifting arm of the entrance gate is controlled to open, and the container truck loaded with containers drives along the lane into the locking machine;

[0010] S3: After receiving the task sent by the central control system, the disassembly and assembly unit executes the corresponding lock installation and lock removal or lock removal and lock release action. The lock removal and lock release is to put the lock removed by the previous lock removal task. Before releasing the lock, the disassembly and assembly unit detects whether there is a lock on the current robot arm to avoid abnormalities caused by releasing the lock without a lock. After the execution is completed, the disassembly and assembly unit waits for the container truck to arrive and uploads the "waiting for the container truck to arrive" status to the central control system;

[0011] S4: After the container truck enters the lock button machine, while the disassembly and assembly unit in S3 performs lock installation and lock removal or lock removal and lock release, the central control system controls the container truck guidance system to guide the container truck to the position. When the container truck is in position and the status of the disassembly and assembly unit is "waiting for the container truck to arrive", a request for arrival is sent to the remote management system. After receiving the request, the remote management system sends the arrival task;

[0012] S5: After receiving the arrival task, the central control system sends the arrival task and the four corner points of the current container truck to the disassembly and assembly unit. After receiving the task, the disassembly and assembly unit determines the initial visual shooting position of the container lock hole according to the positions of the four corner points to avoid task abnormalities due to the absence of the lock hole in the shooting field or the shooting distance being too close or too far;

[0013] After the visual positioning is completed, the disassembly and assembly unit performs the corresponding locking or unlocking action. After the execution is completed, the "task completed" status is uploaded to the central control system. After receiving the completion status, the central control system controls the exit gate lifting bar to open, and the container truck drives out. At the same time, the "completion" status is uploaded to the remote management system, and the task is completed;

[0014] S6: When an exception occurs when the disassembly and assembly unit performs a task, the disassembly and assembly unit uploads the exception status to the central control system. The central control system determines whether the disassembly and assembly unit will collide with the container truck if the container truck directly drives away when the current exception occurs. If not, the lock is thrown into the lock box. Otherwise, it is uploaded to the remote management system for manual processing. After the exception is automatically processed, the central control system uploads the exception completion status to the remote management system, and the current task is completed;

[0015] S7: When the task is completed but the container truck of the current task has not yet left the button locking machine, if the button locking machine receives the next disassembly and assembly task at this time, the next container truck will enter the button locking machine.

[0016] Preferably, step S4 also includes step S41: when the container truck just enters the button lock machine, the radar sensing device arranged at the exit side of the button lock machine scans the point cloud of the front face of the container on the container truck, uses the least square method to fit the straight line of the front face of the container according to the acquired point cloud of the front face of the container, calculates the real-time position of the front face of the container, and uploads the position information to the remote management system and displays it on the display screen at the same time, so as to realize real-time guidance of the entry of the container truck;

[0017] S42: The central control system compares the real-time position of the front end of the container with the pre-calibrated container truck arrival area. When the front end of the container reaches the container truck arrival area and the container truck remains stationary for a certain period of time, it is considered that the container truck has arrived, and the central control system uploads the arrival request to the remote management system.

[0018] S43: When the container truck is in place, the radar sensing equipment installed on the entrance side of the lock machine and on both sides of the road scans the point cloud of the rear end face and two side faces of the container. The least squares method is also used to fit the straight lines of the rear end face and two side faces of the container, and then the intersection points of the straight lines of the four faces of the container are calculated to obtain the positions of the four corner points of the container as the reference position for the disassembly and assembly unit to visually identify and locate the container lock hole.

[0019] Preferably, step S43 further includes step S431: converting the four radar coordinate systems into the same coordinate system, calibrating the four radar sensing devices in pairs, and obtaining a conversion matrix T1 between the exit-side radar and the right-side radar of the lane facing the direction of travel of the container truck, a conversion matrix T2 between the right-side radar of the lane facing the direction of travel of the container truck and the entrance-side radar, and a conversion matrix T3 between the left-side radar of the lane facing the direction of travel of the container truck and the exit-side radar;

[0020] Assuming that all four radar sensing devices are converted to the coordinate system of the exit-side radar, the conversion matrix of the entry-side radar is T1*T2;

[0021] Calculate the straight line equation of each surface point cloud of the container; transform the collected point clouds of the right side, rear side and left side of the container into the coordinate system of the front side point cloud according to the transformation matrix, and use the least squares method to fit the straight lines of these four surface point clouds;

[0022] Assume that the equation of the line on the front face is expressed as y=kx+b using the slope-intercept form, where k is the slope of the line and b is the intercept of the line. The point cloud of the front face has N points, and their coordinates are (x1, y1), (x2, y2)...(x n , y n ), then the calculation formulas for k and b are:

[0023] ,

[0024] , calculate the straight line equations of the four sides of the container, where x i ∈(x1, x2...x n ), y i ∈(y1,y2...y n ), n is a natural number greater than 0;

[0025] Assume that the corner point where the front face of the container intersects with the right side of the container facing the direction of travel of the container truck is calculated, and the equation of the straight line of the front face is y=k1x+b1, and the equation of the straight line of the right side of the container is y=k2x+b2, then the corner point A(x a ,y a ) through the following formulas (3) and (4):

[0026] ,

[0027] , and calculate the coordinates of the four container corner points.

[0028] Preferably, step S6 also includes step S61: when performing automatic exception processing, if the task is a lock disassembly task, when the exception is an exception in the visual perception process, the disassembly and assembly unit that has normally completed the lock disassembly will be controlled to put the lock button into the warehouse; if it is a lock installation task, when the exception is an exception in the visual perception process, the disassembly and assembly unit where the exception occurs will be controlled to put the lock button into the warehouse.

[0029] Preferably, the method further comprises step S8: when a new task is received, the radar sensing device at the exit of the button lock machine starts to scan and locate the container truck. If the position of the container truck scanned by the exit radar at the beginning meets the condition for the container truck to be in place, the request for the container truck to be in place is not temporarily uploaded to the remote management system in step S4, and the radars on both sides of the lane start to scan the sides of the container.

[0030] The position of the container truck in the locking machine is determined based on the scanned point cloud features. If there are two container trucks and the first container truck is getting farther and farther away from the arrival area, it is determined that the container truck has completed the previous disassembly and assembly task. At this time, the exit radar filters the point cloud of the container truck through point cloud filtering and no longer guides the container truck.

[0031] When the front end of the container on the container truck waiting for the previous task is not sensed by the export radar, the guidance of the container truck is restarted. At this time, the guided container truck is the container truck for the new task.

[0032] An intelligent control system for the lock disassembly and assembly process includes: a central control system, a lock warehouse system, a container truck guidance system, a gate and a disassembly and assembly unit; the central control system is communicatively connected between the remote management system and the disassembly and assembly unit, and the central control system is communicatively connected with the lock warehouse system, the gate and the container truck guidance system to control and manage the lock warehouse system, the gate and the container truck guidance system.

[0033] Preferably, the lock warehouse system includes a storage tray for storing and managing the inventory of container lock buttons of the lock warehouse system; the container truck guidance system includes radar sensing devices arranged on both sides of the lock machine entrance and exit and on both sides of the driving lane, and a display screen arranged above the lock machine entrance and exit; the barrier includes a lock machine exit barrier and an entrance barrier.

[0034] Preferably, the radar sensing device is a laser sensor.

[0035] Compared with the existing technology, the beneficial effects are: 1) the unlocking and releasing of the lock and the guidance of the container truck can be executed synchronously, which optimizes the process of unlocking and installing the lock by the lock button machine, can greatly shorten the time of a single task, and improve the parallel processing efficiency of the unlocking and installing operations.

[0036] 2) The method for guiding two container trucks in an embodiment of the present invention can guide the container truck for the next task before the container truck for the previous task has completely left the button locking machine, thereby saving waiting time between tasks and improving the operating efficiency of the button locking machine.

[0037] 3) The intelligent control method for the lock disassembly and assembly process of the embodiment of the present invention can distinguish abnormalities according to their actual status, reduce the abnormalities that need to be handled manually, and improve work efficiency.

[0038] 4) The intelligent control method for the disassembly and assembly lock process of the embodiment of the present invention simultaneously calculates the positions of the four corner points of the container before the container truck guidance task is completed, and uses the calculated position data as the reference position when the disassembly and assembly unit visual perception system locates the lock button, avoiding disassembly and assembly abnormalities caused by incorrect camera positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 The present invention provides a flow chart of the intelligent control method for the lock disassembly and assembly process.

[0041] Figure 2 This is a schematic diagram of the intelligent control system for the lock disassembly and assembly process provided by the present invention.

[0042] Figure 3 This is a schematic diagram of guiding a container truck into position according to an embodiment of the present invention.

[0043] Figure numerals: 1. Driving lane; 2. Container projection diagram; 3. Container corner point; 4. Container truck arrival area. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and beneficial technical effect of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the present invention, not for limiting the present invention.

[0045] See also Figures 1 to 3 The present invention provides a method for intelligently controlling the process of disassembling and assembling a lock, comprising the following steps:

[0046] S1: After receiving the lock installation or unlocking operation instruction from the remote management system, the central control system determines the lock installation or unlocking or unlocking position of the current task according to the lock warehouse inventory, and sends the lock position and the task received from the remote management system to the lower-level installation and unlocking unit;

[0047] S2: The central control system controls and detects whether there is a container truck approaching the entrance gate. If a vehicle is detected approaching, the lifting arm of the entrance gate is controlled to open, and the container truck loaded with containers drives along the lane into the locking machine;

[0048] S3: After receiving the task sent by the central control system, the disassembly and assembly unit executes the corresponding lock installation and lock removal or lock removal and lock release action. The lock removal and lock release is to put the lock removed by the previous lock removal task. Before releasing the lock, the disassembly and assembly unit detects whether there is a lock on the current robot arm to avoid abnormalities caused by releasing the lock without a lock. After the execution is completed, the disassembly and assembly unit waits for the container truck to arrive and uploads the "waiting for the container truck to arrive" status to the central control system;

[0049] S4: After the container truck enters the locking machine, while the disassembly and assembly unit in S3 performs the installation and removal of locks or the removal and release of locks, the central control system controls the container truck guidance system to guide the container truck to the position. When the container truck is in position and the status of the disassembly and assembly unit is "waiting for the container truck to arrive", a request for arrival is sent to the remote management system, and the remote management system sends the arrival task after receiving the request.

[0050] Specifically, step S4 also includes step S41, and the specific process of container truck guidance is as follows:

[0051] When the container truck just enters the button lock machine, the radar sensing device installed at the exit side of the button lock machine scans the point cloud of the front face of the container on the container truck, and uses the least squares method to fit the straight line of the front face of the container according to the acquired point cloud of the front face of the container, calculates the real-time position of the front face of the container, and uploads the position information to the remote management system and displays it on the display screen at the same time, so as to achieve real-time guidance for the entry of the container truck;

[0052] The central control system compares the real-time position of the front end of the container with the pre-calibrated container truck arrival area. When the front end of the container reaches the container truck arrival area and the container truck remains stationary for a certain period of time, it is considered that the container truck has arrived. The central control system uploads the arrival request to the remote management system.

[0053] When the container truck is in place, the radar sensing equipment installed on the entrance side of the locking machine and on both sides of the lane scans the point cloud of the rear end and two side faces of the container. The least squares method is also used to fit the straight lines of the rear end and two side faces of the container, and then the intersection of the straight lines of the four faces of the container is calculated to obtain the positions of the four corner points of the container, which serve as the reference position for the disassembly and assembly unit to visually identify and locate the container lock hole.

[0054] Among them, since the straight lines of the four faces of the container may not be in the same plane, the intersection point cannot be calculated. In addition, the height of the corner point of the container, that is, the z-direction component perpendicular to the horizontal plane, does not change with the movement of the container. Therefore, when using the least squares method to calculate the straight lines of each face of the container, the z-direction component of the point in the point cloud is ignored, and only the x-component and y-component are used to calculate the straight line equation, that is, the four straight lines are projected to the same horizontal plane to calculate the x-component and y-component of the intersection point.

[0055] Furthermore, the specific calculation process of the corner points of the container is as follows:

[0056] In order to ensure the consistency of the coordinate system when calculating the corner points, it is necessary to calibrate the conversion relationship between the four radar sensing devices and convert the four radar coordinate systems into the same coordinate system. Due to the radar field of view, the four radar sensing devices are calibrated in pairs to obtain the conversion matrix T1 between the exit side radar and the right side radar of the lane facing the direction of the container truck, the conversion matrix T2 between the right side radar of the lane facing the direction of the container truck and the entrance side radar, and the conversion matrix T3 between the left side radar of the lane facing the direction of the container truck and the exit side radar.

[0057] Assuming that all four radar sensing devices are converted to the coordinate system of the exit-side radar, the conversion matrix of the entry-side radar is T1*T2;

[0058] Calculate the straight line equation of each surface point cloud of the container; according to the transformation matrix, transform the collected point clouds of the right side of the container, the rear end of the container, and the left side of the container into the coordinate system of the front end point cloud, and use the least squares method to fit the straight lines of these four surface point clouds.

[0059] Assume that the equation of the line on the front face is y=kx+b, and the point cloud on the front face has N points, with coordinates (x1, y1), (x2, y2)...(x n , y n ), then the calculation formulas for k and b are:

[0060] ,

[0061] , calculate the equations of the lines on the four sides of the container.

[0062] Assume that the corner point where the front face of the container intersects with the right side of the container facing the direction of travel of the container truck is calculated, and the equation of the straight line of the front face is y=k1+b1, and the equation of the straight line of the right side of the container is y=k2+b2, then the corner point A(x a ,y a ) is calculated using the following formula:

[0063] ,

[0064] ,

[0065] S5: After receiving the arrival task, the central control system sends the arrival task and the four corner points of the current container truck to the disassembly and assembly unit. After receiving the task, the disassembly and assembly unit determines the initial visual shooting position of the container lock hole according to the positions of the four corner points to avoid task abnormalities due to the absence of the lock hole in the shooting field or the shooting distance being too close or too far;

[0066] After the visual positioning is completed, the assembly and disassembly unit performs the corresponding locking or unlocking actions. After the execution is completed, the "task completed" status is uploaded to the central control system. After receiving the completion status, the central control system controls the exit gate lifting arm to open, and the container truck drives out. At the same time, the "completion" status is uploaded to the remote management system, and the task is completed.

[0067] S6: When the disassembly and assembly unit in S5 performs the task abnormally, the disassembly and assembly unit uploads the abnormal status to the central control system. The central control system determines whether the disassembly and assembly unit will collide with the container truck if the container truck drives away directly. If not, the lock will be thrown into the lock box. Otherwise, it will be uploaded to the remote management system for manual processing. After the abnormality is automatically processed, the central control system uploads the abnormal completion status to the remote management system, and the current task is completed. The button lock machine can receive the next task without waiting for manual processing.

[0068] Among them, when executing automatic exception processing, if the task is a lock disassembly task, when the exception is an exception in the visual perception process, the disassembly and assembly unit that has normally completed the lock disassembly will be controlled to put the lock button into the warehouse; if it is a lock installation task, when the exception is an exception in the visual perception process, the disassembly and assembly unit where the exception occurs will be controlled to put the lock button into the warehouse.

[0069] S7: When the task in S5 is completed but the container truck of the current task has not left the button locking machine, if the button locking machine receives the next disassembly and assembly task at this time, the next container truck will enter the button locking machine, that is, two container trucks will appear in the button locking machine.

[0070] The container truck guidance system of the present invention also supports dual-vehicle guidance, and the specific process is as follows:

[0071] When a new task is received, the radar sensing device at the exit of the button locker starts scanning and locating the container truck. If the location of the container truck scanned by the exit radar at the beginning meets the condition for the container truck to arrive, S4 will not temporarily upload the container truck arrival request to the remote management system. At this time, the radars on both sides of the lane start scanning the sides of the container.

[0072] The position of the container truck in the locking machine is determined based on the scanned point cloud features. If there are two container trucks and the first container truck is getting farther and farther away from the arrival area, it is determined that the container truck has completed the previous disassembly and assembly task. At this time, the exit radar filters the point cloud of the container truck through point cloud filtering and no longer guides the container truck.

[0073] When the front end of the container on the container truck waiting for the last task is not sensed by the export radar, the guidance of the container truck is restarted, and the container truck guided at this time is the container truck for the new task. In this way, the next container truck is guided before a container truck completely leaves the button lock machine, which saves the task waiting time and greatly improves the efficiency of the disassembly and assembly operation.

[0074] The intelligent control system for the lock disassembly and assembly process provided by the present invention is used to realize the automation of the lock disassembly and assembly of the port lock button machine, so as to improve the automation efficiency and reduce the abnormality rate, and comprises: a central control system, a lock warehouse system, a container truck guidance system, a gate and a disassembly and assembly unit;

[0075] The central control system is connected between the remote management system and the disassembly and assembly unit through communication, and serves as a central system in the port lock button machine that connects the remote management system and the disassembly and assembly unit. The central control system is connected to the lock warehouse system, the gate, and the container truck guidance system through communication to control and manage the lock warehouse system, the gate, and the container truck guidance system.

[0076] The lock warehouse system includes a storage tray for storing and managing the lock knobs of the inventory containers of the lock warehouse system; the gate includes an exit gate and an entrance gate of the lock knob machine, and each gate has a programmable logic controller (PLC) and a lifting rod for controlling the lifting rod;

[0077] The container truck guidance system consists of radar sensing devices installed on both sides of the lock machine entrance and exit and on both sides of the roadway, and a display screen installed above the lock machine entrance and exit;

[0078] Among them, the radar sensing device is a laser sensor; the disassembly and assembly unit is composed of a visual sensing device and a robotic arm.

[0079] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details, representative devices, and examples shown and described herein.

Claims

1. A method for intelligent control of lock disassembly and assembly process, characterized in that: The steps include: S1: After receiving the lock installation or lock removal operation instruction from the remote management system, the central control system determines the lock installation or lock removal or lock removal and lock placement position of the current task according to the lock warehouse inventory, and sends the lock position and the task received from the remote management system to the disassembly unit; S2: The central control system controls and detects whether there is a container truck approaching the entrance gate. If a vehicle is detected approaching, the lifting arm of the entrance gate is controlled to open, and the container truck loaded with containers drives along the lane into the locking machine; S3: After receiving the task sent by the central control system, the disassembly and assembly unit executes the corresponding lock installation and lock removal or lock removal and lock release action. The lock removal and lock release is to put the lock removed by the previous lock removal task. Before releasing the lock, the disassembly and assembly unit detects whether there is a lock on the current robot arm to avoid abnormalities caused by releasing the lock without a lock. After the execution is completed, the disassembly and assembly unit waits for the container truck to arrive and uploads the "waiting for the container truck to arrive" status to the central control system; S4: After the container truck enters the lock button machine, while the disassembly and assembly unit in S3 performs lock installation and lock removal or disassembly and lock release, the central control system controls the container truck guidance system to guide the container truck to the position. When the container truck is in position and the status of the disassembly and assembly unit is "waiting for the container truck to arrive", a request for arrival is sent to the remote management system. After receiving the request, the remote management system sends the arrival task; S5: After receiving the arrival task, the central control system sends the arrival task and the four corner points of the current container truck to the disassembly and assembly unit. After receiving the task, the disassembly and assembly unit determines the initial visual shooting position of the container lock hole according to the positions of the four corner points to avoid task abnormalities due to the absence of the lock hole in the shooting field or the shooting distance being too close or too far; After the visual positioning is completed, the disassembly and assembly unit performs the corresponding locking or unlocking action. After the execution is completed, the "task completed" status is uploaded to the central control system. After receiving the completion status, the central control system controls the exit gate lifting bar to open, and the container truck drives out. At the same time, the "completion" status is uploaded to the remote management system, and the task is completed; S6: When an exception occurs when the disassembly and assembly unit performs a task, the disassembly and assembly unit uploads the exception status to the central control system. The central control system determines whether the disassembly and assembly unit will collide with the container truck if the container truck directly drives away when the current exception occurs. If not, the lock is thrown into the lock box. Otherwise, it is uploaded to the remote management system for manual processing. After the exception is automatically processed, the central control system uploads the exception completion status to the remote management system, and the current task is completed; S7: When the task is completed but the container truck of the current task has not yet left the button locking machine, if the button locking machine receives the next disassembly and assembly task at this time, the next container truck will enter the button locking machine.

2. The intelligent control method for the lock disassembly and assembly process according to claim 1, characterized in that: Step S4 also includes step S41: when the container truck just enters the button lock machine, the radar sensing device arranged at the exit side of the button lock machine scans the point cloud of the front face of the container on the container truck, uses the least square method to fit the straight line of the front face of the container according to the acquired point cloud of the front face of the container, calculates the real-time position of the front face of the container, and uploads the position information to the remote management system and displays it on the display screen at the same time, so as to realize real-time guidance of the entry of the container truck; S42: The central control system compares the real-time position of the front end of the container with the pre-calibrated container truck arrival area. When the front end of the container reaches the container truck arrival area and the container truck remains stationary for a certain period of time, it is considered that the container truck has arrived, and the central control system uploads the arrival request to the remote management system. S43: When the container truck is in place, the radar sensing equipment installed on the entrance side of the lock machine and on both sides of the road scans the point cloud of the rear end face and two side faces of the container. The least squares method is also used to fit the straight lines of the rear end face and two side faces of the container, and then the intersection points of the straight lines of the four faces of the container are calculated to obtain the positions of the four corner points of the container as the reference position for the disassembly and assembly unit to visually identify and locate the container lock hole.

3. The intelligent control method for the lock disassembly and assembly process according to claim 1, characterized in that: Step S43 further includes step S431: converting the four radar coordinate systems into the same coordinate system, calibrating the four radar sensing devices in pairs, and obtaining a conversion matrix T1 between the exit-side radar and the right-side radar of the lane facing the direction of travel of the container truck, a conversion matrix T2 between the right-side radar of the lane facing the direction of travel of the container truck and the entrance-side radar, and a conversion matrix T3 between the left-side radar of the lane facing the direction of travel of the container truck and the exit-side radar; Assuming that all four radar sensing devices are converted to the coordinate system of the exit-side radar, the conversion matrix of the entry-side radar is T1*T2; Calculate the straight line equation of each surface point cloud of the container; transform the collected point clouds of the right side, rear side and left side of the container into the coordinate system of the front side point cloud according to the transformation matrix, and use the least squares method to fit the straight lines of these four surface point clouds; Assume that the equation of the line on the front face is expressed as y=kx+b using the slope-intercept form, where k is the slope of the line and b is the intercept of the line. The point cloud of the front face has N points, and their coordinates are (x1, y1), (x2, y2)...(x n , y n ), then the calculation formulas for k and b are: ， , calculate the straight line equations of the four sides of the container, where x i ∈(x1, x2...x n ), y i ∈(y1, y2...y n ), n is a natural number greater than 0; Assume that the corner point where the front face of the container intersects the right side of the container facing the direction of travel of the container truck is calculated, and the equation of the straight line of the front face is y=k1x+b1, and the equation of the straight line of the right side of the container is y=k2x+b2, then the corner point A(x a ,y a ) through the following formulas (3) and (4): ， , and calculate the coordinates of the four container corner points.

4. The intelligent control method for disassembling and assembling locks according to claim 1, characterized in that: Step S6 also includes step S61: when executing automatic exception processing, if the task is a lock disassembly task, when the exception is an exception in the visual perception process, the disassembly and assembly unit that has normally completed the lock disassembly will be controlled to put the lock button into the warehouse; if it is a lock installation task, when the exception is an exception in the visual perception process, the disassembly and assembly unit where the exception occurs will be controlled to put the lock button into the warehouse.

5. The intelligent control method for the lock disassembly and assembly process according to claim 1, characterized in that: The process also includes step S8: when a new task is received, the radar sensing device at the exit of the button locker starts scanning and locating the container truck. If the position of the container truck scanned by the exit radar at the beginning meets the condition for the container truck to be in place, the request for the container truck to be in place is not temporarily uploaded to the remote management system in step S4, and the radars on both sides of the lane start scanning the sides of the container. The position of the container truck in the locking machine is determined based on the scanned point cloud features. If there are two container trucks and the first container truck is getting farther and farther away from the arrival area, it is determined that the container truck has completed the previous disassembly and assembly task. At this time, the exit radar filters the point cloud of the container truck through point cloud filtering and no longer guides the container truck. When the front end of the container on the container truck waiting for the previous task is not sensed by the export radar, the guidance of the container truck is restarted. At this time, the guided container truck is the container truck for the new task.

6. The system of the intelligent control method for the lock disassembly and assembly process according to any one of claims 1 to 5, characterized in that: include: Central control system, lock system, container truck guidance system, gate and disassembly and assembly unit; The central control system is communicatively connected between the remote management system and the assembly and disassembly unit, and the central control system is communicatively connected with the lock system, the gate and the container truck guidance system to control and manage the lock system, the gate and the container truck guidance system.

7. The system of the intelligent control method for the lock disassembly and installation process according to claim 6, characterized in that: The lock warehouse system includes a storage tray for storing and managing the inventory of container lock buttons of the lock warehouse system; the container truck guidance system includes radar sensing devices arranged on both sides of the lock button machine entrance and exit and on both sides of the driving lane, and a display screen arranged above the lock button machine entrance and exit; the gate includes a lock button machine exit gate and an entrance gate.

8. The system of the intelligent control method for the lock disassembly and installation process according to claim 7, characterized in that: The radar sensing device is a laser sensor.

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