Container unlocking control method, device, equipment and system

Abstract

This application relates to the technical field of container unlocking related processing, and specifically relates to a container unlocking control method, device, equipment and system. The container unlocking control method includes: obtaining target data; the target data is obtained by a preset lock identification ranging sensor collecting information on the locks on the container; based on the target data, determining the position information of at least two preset points related to the locks; based on the position information of the preset points, determining the position information of the locks; and based on the position information, controlling the unlocking robot to perform unlocking. With such a setting, the positioning of the locks can be completed by the equipment. After the positioning of the locks is performed, the corresponding unlocking robot is controlled to perform unlocking, reducing the processes that require workers to participate in the unlocking process, reducing the dependence on manpower, avoiding the influence of workers' energy on unlocking, and performing unlocking in an automated manner to improve the unlocking efficiency.

Description

Technical Field

[0001] This application relates to the technical field of container unlocking related processing, and particularly relates to a container unlocking control method, device, equipment and system. Background Art

[0002] Currently, the fixation of containers on truck trailers mainly relies on the locks installed in the four corner fittings of the container. In this way, during the transportation of the container, manual locking and unlocking are required. In this working mode, a large number of locking workers and unlocking workers need to be equipped, which wastes manpower, and the manual unlocking is limited by the energy of the workers, resulting in low efficiency. Summary of the Invention

[0003] In view of this, embodiments of this application are committed to providing a container unlocking control method, device, equipment and system to improve the unlocking efficiency.

[0004] In a first aspect, an embodiment of this application provides a container unlocking control method, including:

[0005] Obtain target data; the target data is obtained by a preset lock identification and ranging sensor collecting information on the lock of the container;

[0006] Based on the target data, determine the position information of at least two preset points related to the lock;

[0007] Based on the position information of the preset points, determine the position information of the lock;

[0008] Based on the position information, control the unlocking robot to unlock.

[0009] In one embodiment, at least two preset points related to the lock include: the center of the corner hole of the box and at least one lock reference point.

[0010] In one embodiment, the target data is point cloud data or image data.

[0011] In one embodiment, the container unlocking control method further includes:

[0012] Before the truck trailer drives into the unlocking position, obtain the information of the truck trailer and the container;

[0013] Based on the information of the truck trailer and the container, determine the information collection position;

[0014] Move the lock identification and ranging sensor to the information collection position.

[0015] In one embodiment, it further includes:

[0016] Based on the target data, determine the model of the lock;

[0017] When the fixture of the corresponding lock-picking robot does not match the model of the lock, replace the fixture of the lock-picking robot.

[0018] In one embodiment, before controlling the lock-picking robot to pick the lock based on the position information, it further includes:

[0019] Determine the probability of replacing the fixture of the lock-picking robot;

[0020] After that, execute the steps of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points;

[0021] When the probability is not greater than the preset value, simultaneously execute the steps of determining the model of the lock based on the target data, and determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points.

[0022] In one embodiment, determining the probability of replacing the fixture of the lock-picking robot includes:

[0023] Obtain the historical data on whether to replace the fixture when the lock-picking robot performs the lock-picking task, and determine the probability of replacing the fixture of the lock-picking robot based on the historical data; or,

[0024] Use an artificial intelligence algorithm to predict the probability of replacing the fixture.

[0025] In a second aspect, an embodiment of the present application provides a container lock-picking control device, including:

[0026] An acquisition module, configured to acquire target data; the target data is obtained by a preset lock identification ranging sensor collecting information on the lock on the container;

[0027] A determination module, configured to determine the position information of at least two preset points related to the lock based on the target data, and determine the position information of the lock based on the position information of the preset points;

[0028] A control module, based on the position information, controls the lock-picking robot to pick the lock.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0030] A processor;

[0031] A memory for storing processor-executable instructions;

[0032] The processor is configured to execute the container lock-picking control method provided in any one of the above embodiments.

[0033] Fourth aspect, an embodiment of the present application provides a container unlocking system, which is characterized by including: a lock identification ranging sensor, an unlocking robot, and a controller;

[0034] The controller is configured to execute the container unlocking control method provided in any one of the above embodiments.

[0035] For a container unlocking control method provided by an embodiment of the present application, target data is first obtained; the target data is obtained by a preset lock identification ranging sensor collecting information on the locks on the container; then, based on the target data, the position information of at least two preset points related to the locks is determined; based on the position information of the preset points, the position information of the locks is determined; based on the position information, the unlocking robot is controlled to perform unlocking. By setting like this, the positioning work of the locks can be completed by equipment. After positioning the locks, the corresponding unlocking robot is controlled to perform unlocking, reducing the processes that require workers to participate in the unlocking process, reducing the dependence on manpower, avoiding the influence of workers' energy on unlocking, and performing unlocking in an automated manner to improve the unlocking efficiency. Further, when determining the position information of the locks, it is determined based on the position information of two preset points related to the locks, which can partially eliminate the random error of the position of the locks at the corners of the container and make the position of the locks more accurate. In this way, the unlocking robot can use the fixture to unlock the locks on the container more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0037] Figure 1a The figure shows a schematic structural diagram of a container unlocking system provided by an embodiment of the present application.

[0038] Figure 1b The figure shows a schematic structural diagram of another container unlocking system provided by an embodiment of the present application.

[0039] Figure 1c As shown in Figure 1b A partial enlarged view of part A of a container unlocking system provided.

[0040] Figure 2 The figure shows a schematic flowchart of a container unlocking control method provided by an embodiment of the present application.

[0041] Figure 3The figure shows a partial flowchart of a container unlocking control method provided by an embodiment of the present application.

[0042] Figure 4 The figure shows a partial flowchart of a container unlocking control method provided by an embodiment of the present application.

[0043] Figure 5 The figure shows a partial flowchart of a container unlocking control method provided by an embodiment of the present application.

[0044] Figure 6 The figure shows a partial flowchart of a container unlocking control method provided by an embodiment of the present application.

[0045] Figure 7 The figure shows a partial flowchart of a container unlocking control method provided by an embodiment of the present application.

[0046] Figure 8 The figure shows a block diagram of a container unlocking control device provided by an embodiment of the present application.

[0047] Figure 9 The figure shows a block diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 without creative efforts shall fall within the protection scope of the present invention.

[0049] Application Overview

[0050] When a container is on a ship, locking devices are needed to fix the upper and lower containers to prevent them from slipping during transportation. Before the container is unloaded from the ship and enters the terminal yard, the container locking devices need to be removed to prevent the container from getting hung up during yard transfer and affecting the transfer. Currently, the loading and unloading of container locking devices are basically completed manually, which seriously affects the automation and unmanned construction of the terminal.

[0051] To solve the above problems, an embodiment of the present application provides a container unlocking control method. First, target data is obtained; the target data is obtained by a preset lock identification and ranging sensor collecting information on the locks of the container; then, based on the target data, the position information of at least two preset points related to the locks is determined; based on the position information of the preset points, the position information of the locks is determined; and based on the position information, a lock removal robot is controlled to perform lock removal. By setting it like this, the lock removal operation can be quickly completed by the device, reducing the dependence on manpower during the lock removal process and improving the efficiency of lock removal.

[0052] Further, when determining the position information of the locks, it is determined based on the position information of two preset points related to the locks, which can partially eliminate the random error of the position of the locks at the corners of the container and make the position of the locks more accurate. In this way, the lock removal robot can use the fixture to unlock the locks of the container more accurately.

[0053] After introducing the basic principle of the present application, various non-limiting embodiments of the present application will be specifically introduced with reference to the accompanying drawings.

[0054] Exemplary Container Unlocking System

[0055] Refer to Figure 1a 、 Figure 1b and Figure 1c An embodiment of the present application provides a container unlocking system, including: a lock identification and ranging sensor 1, a lock removal robot 2, and a controller;

[0056] The controller obtains target data; the target data is obtained by a preset lock identification and ranging sensor 1 collecting information on the locks of the container; based on the target data, the position information of at least two preset points related to the locks is determined; based on the position information of the preset points, the position information of the locks is determined; and based on the position information, the lock removal robot 2 is controlled to perform lock removal.

[0057] Among them, the controller is communicatively connected to the lock identification and ranging sensor 1 and the lock removal robot 2.

[0058] There are mainly two settings for the lock identification and ranging sensor. One is set on the lock removal robot (such as Figure 1b ), and the other is set separately at a position near the lock removal machine in the lock station (such as Figure 1a ).

[0059] By setting it like this, the positioning of the locks can be completed by the device. After the positioning of the locks, the corresponding lock removal robot is controlled to perform lock removal, reducing the processes that require workers to participate in the lock removal process, reducing the dependence on manpower, avoiding the influence of workers' energy on lock removal, and performing lock removal in an automated manner to improve the efficiency of lock removal.

[0060] Specifically, the lock recognition and ranging sensor is a sensor for measuring the distance to and recognizing a lock. Specifically, the lock recognition and ranging sensor can be a camera device or a scanner. Both the camera device and the scanner can well complete the acquisition of information about the lock. The acquired information (i.e., target information) can be used for distance measurement or for recognizing the model of the lock.

[0061] Exemplary Method

[0062] Figure 2 It is a schematic flowchart of a container unlocking control method provided by an embodiment of the present application. Figure 2 The method can be executed by a controller in an exemplary container unlocking system, and the embodiments of the present application do not limit this. As Figure 2 shown, the container unlocking control method includes the following contents.

[0063] S210, obtain target data; the target data is obtained by a preset lock recognition and ranging sensor collecting information about the lock on the container;

[0064] It should be noted that the lock recognition and ranging sensor can be a camera device or a scanner. Both the camera device and the scanner can well complete the acquisition of information about the lock. The acquired information can be used for distance measurement and / or for recognizing the lock model.

[0065] S220, based on the target data, determine the position information of at least two preset points related to the lock;

[0066] S230, based on the position information of the preset points, determine the position information of the lock;

[0067] S240, based on the position information, control the unlocking robot to unlock the lock.

[0068] With such settings, the positioning of the lock can be completed by the device. After the positioning of the lock, the corresponding lock removal robot is controlled to remove the lock, reducing the processes that require workers' participation in the lock removal process, reducing the dependence on manpower, avoiding the influence of workers' energy on lock removal, and removing the lock in an automated manner to improve the efficiency of lock removal. With such settings, the lock removal operation can be quickly completed by the device, reducing the dependence on manpower in the lock removal process and improving the efficiency of lock removal. Further, when determining the position information of the lock, it is determined based on the position information of two preset points related to the lock, which can partially eliminate the random error of the position of the lock at the corner of the container and make the position of the lock more accurate. In this way, the lock removal robot can use the fixture to remove the lock of the container more accurately. Further, when determining the position information of the lock, it is determined based on the position information of two preset points related to the lock, which can partially eliminate the random error of the position of the lock at the corner of the container and make the position of the lock more accurate. In this way, the lock removal robot can use the fixture to remove the lock of the container more accurately.

[0069] Specifically, when determining the position of the lock, the main purpose is to determine the position of lock removal. Based on this, the essence of determining the position information of the lock is to determine the position of lock removal. The position of lock disassembly and assembly is directly below the lock. According to the outer dimensions of the container corner and the outer dimensions of the lock, the deviation from directly below the lock to the center hole of the container corner can be theoretically calculated. Then, based on the center coordinates of the container corner hole, the coordinates below the lock can be calculated. Based on this, the center position of the container corner hole can be directly obtained, and the position information of the lock can be marked through the center position of the container corner hole. However, in actual applications, only the position information of one point is used, without considering the influence of the lock shaking and tilting inside the container corner, resulting in a large error between the determined position information of the lock and the actual position of lock removal, causing the fixture to need to accommodate a larger error and increasing the difficulty of fixture design.

[0070] Based on this, referring to Figure 1c , at least two preset points related to the lock in step S220 may include: at least two preset points related to the lock include: the center 4 of the container corner hole and at least one lock reference point 3.

[0071] In this way, based on the target data, the position information of the center 4 of the container corner hole and the position information of at least one lock reference point 3 are determined;

[0072] Based on the position information of the center 4 of the container corner hole, the position information of the lock reference point 3, and the outer dimension information of the lock, the position information of the lock is determined.

[0073] With such settings, the position of lock removal can be revised based on the position information of at least one lock reference point, making the deviation between the lock position obtained from the target data and the actual lock position smaller.

[0074] In practical applications, based on the position information of multiple lock reference points, the overall orientation and position of the lock can be determined, and the position and posture of unlocking can be accurately constructed in the 3D model, facilitating unlocking.

[0075] Of course, to simplify the calculation process and reduce the demand for device computing power, a lock reference point can also be selected, and the position information of the center of the box corner hole and the position information of the lock reference point are weighted and calculated to obtain the position information of the lock.

[0076] Specifically as follows: Po = X * Pol + Y * Po2.

[0077] Among them, the position information of the lock (i.e., the position information of the corrected lock reference point) is P0.

[0078] The coordinates of the center of the box corner hole converted to the lock reference point in the robot coordinate system (the coordinates of the center of the box corner + the coordinates of the theoretical lock reference point at the center of the box corner hole) are:

[0079] Po1 = [Xol Yo1 Zol δXol δYo1 δZo1] T

[0080] Since the deflection angle of the box corner is small and the theoretical lock reference point has no inclination, the deflection angle of the box corner can be ignored, and let δXo1 = δYo1 = δZo1 = 0.

[0081] That is: Po1 = [Xo1 Yo1 Zo1 0 0 0] T

[0082] The coordinates of the lock reference point in the robot coordinate system are:

[0083] Po2 = [Xo2 Yo2 Zo2 δXo2 δYo2 δZo2] T

[0084] X and Y are the weights of the coordinates Po1 and Po2 respectively, and X and Y satisfy the following conditions: X + Y = 1 and both X and Y are non - negative numbers.

[0085] Then, according to the outer dimensions of the lock and P0, correct the P0 coordinates. For example, Figure 1c , subtract the distance between the lowest end of the lock and the reference point position from the coordinate value in the height direction, so that the corrected P0 is below the lock to prevent the fixture from hitting the lock during operation.

[0086] The coordinates of the robot can be selected as the robot's earth coordinates, or the end - effector coordinate system, or other coordinate systems, such as the global coordinate of the lock station, etc.

[0087] In this way, according to the coordinate deviation values from the lower part of each lock to the center of the corner hole of the container, the unlocking position can be determined more reasonably. Using the corrected center point of the corner hole of the container to represent the unlocking position takes into account the position deviation of the lock at the corner of the container and factors such as the inclination of the lock, which is more conducive to the fixture unlocking. With such a setting, the fixture can consider the actual position of the lock at the corner of the container, repair part of the deviation, and then disassemble and assemble the lock, reducing the requirements for the compatibility of the fixture.

[0088] In one embodiment, it is necessary to wait for the truck to stop or the container to be stationary before the preset lock recognition and ranging sensor can reach the information collection position, resulting in low efficiency. Based on this, the container unlocking control method provided in this application refers to Figure 3 and further includes:

[0089] S310, before the truck drives into the unlocking position, obtain the information of the truck and the container;

[0090] Specifically, the obtained truck position information mainly includes the position information of the container at the lock station, the width information of the truck, the container type information, etc. The unlocking position refers to the position where the truck stops when the robot performs unlocking after the truck stops moving.

[0091] S320, based on the information of the truck and the container, determine the information collection position;

[0092] Specifically, the specific method for determining the information collection position is as follows: Based on the width of the truck and the width direction of the container at the lock station position, estimate the position where the truck stops, and then based on the position of the container on the vehicle after the truck stops, determine the position of the information collection position in the width direction of the lock station. It should be noted that when estimating the container stop position, the main consideration is the distance by which the container deviates left or right from the center line of the approaching path when it stops. When this deviation distance is too large, the appropriate information may not be collected at the theoretical information collection position, or the information collection position may be hit by the truck. At this time, it is necessary to correct the information collection position according to the estimated container stop position to avoid the collection device being too far from the corner of the container or the collection device colliding with the truck or the container.

[0093] S330, move the lock recognition and ranging sensor to the information collection position.

[0094] It should be noted that there are mainly two settings for the lock recognition and ranging sensor. One is set on the unlocking robot, and the other is set separately near the unlocking machine in the lock station. No matter which method is adopted, to enable the lock recognition and ranging sensor to better collect the information of the lock, the lock recognition and ranging sensor needs to be movably set at the preset position. In this way, when collecting information, it can be adjusted based on the position where the truck stops to better collect information and obtain more accurate, comprehensive, and clear data.

[0095] In the solution provided by this application, when the lock recognition ranging sensor is installed at the end of the lock removal robot, the docking position of the container truck can be estimated before the container truck travels to the lock removal location within the lock station. Based on the estimated docking position of the container truck, the information collection position is determined, and the lock recognition ranging sensor is moved to the information collection position in advance; when the lock recognition ranging sensor is separately set at a position near the lock removal machine within the lock station, the position of the lock recognition ranging sensor is automatically adjusted before the container arrives at the lock removal location to adapt to different position deviations. Since the sensor is far from the corner of the container and the field of view of the sensor is large, the position deviation may not need to be adjusted. In this way, the lock recognition ranging sensor can be controlled to collect information at the first moment when the container truck stops stably, reducing the time required for lock removal, accelerating the speed of lock removal, and avoiding the accidental collision of the container truck or the container with the lock recognition ranging sensor.

[0096] In practical applications, when removing the lock of the lock, it is necessary to determine the position and model of the lock in order to use the fixture corresponding to the lock for lock removal.

[0097] Based on this, the container lock removal control method provided by this application, referring to Figure 4 , further includes:

[0098] S410, determining the model of the lock based on the target data;

[0099] S420, when the fixture of the corresponding lock removal robot does not match the model of the lock, replacing the fixture of the lock removal robot.

[0100] In this way, the lock can be removed by a suitable fixture.

[0101] It should be noted that in practical applications, both "determining the model of the lock based on the target data" and "determining the position information of the lock based on the target data" require a certain amount of time. To further improve the efficiency of lock removal; referring to Figure 5 , the solution provided by this application further includes:

[0102] S510, determining the probability of replacing the fixture of the lock removal robot;

[0103] It should be noted that the specific method of "determining the probability of replacing the fixture of the lock removal robot" can be: obtaining the historical data of whether the fixture is replaced when the lock removal robot executes the lock removal task; based on the historical data, determining the probability of replacing the fixture of the lock removal robot. The probability obtained in this way is more real and reliable. Further, in practical applications, the probability of replacing the fixture can also be input by the employee himself, or the probability of replacing the fixture can be predicted by advanced algorithms such as artificial intelligence.

[0104] S520. When the probability is greater than the preset value, first execute the step of determining the model of the lock based on the target data, and then execute the step of determining the position information of at least two preset points related to the lock based on the target data. Based on the position information of the preset points, determine the position information of the lock;

[0105] Then execute the step of determining the position information of the lock based on the target data;

[0106] It should be noted that when the probability is greater than the preset value, that is, when the probability of replacing the fixture is relatively high, the identification of the lock type can be preferentially performed. After completing the identification of the lock type, if the fixture needs to be replaced, the fixture replacement is immediately performed, and at the same time, the step of "determining the position information of the lock based on the target data" is executed. Such a setting can complete "replacing the fixture" and "determining the position information of the lock based on the target data" within the same time, improving the efficiency of unlocking the lock.

[0107] S530. When the probability is not greater than the preset value, simultaneously execute the step of determining the model of the lock based on the target data and the step of determining the position information of at least two preset points related to the lock based on the target data. Based on the position information of the preset points, determine the position information of the lock.

[0108] It should be noted that when the probability is not greater than the preset value, that is, when the probability of replacing the fixture is small. It can be defaulted that there is basically no need to replace the lock. At this time, simultaneously execute the step of "determining the model of the lock based on the target data" and the step of "determining the position information of the lock based on the target data", and the above two steps can be processed in parallel to speed up the unlocking speed.

[0109] Specifically, for the situation shown in step S520, refer to Figure 6 , the specific process is as follows:

[0110] S601. The truck arrives at the station.

[0111] S602. Obtain the truck information and the container information.

[0112] S603. Based on the truck information and the container information, determine the information collection position.

[0113] Specifically, based on the truck information and the container information, estimate the truck parking position and the position of the container when the truck is parked, and determine the information collection position.

[0114] S604. The truck arrives at the unlocking position and stops.

[0115] S605. The target data obtained by the lock identification ranging sensor for collecting information on the lock on the container.

[0116] S606. Based on the target data, determine the model of the lock.

[0117] S607, If the model of the lock does not match the fixture of the robot, replace the fixture.

[0118] S608, Based on the target data, determine the position information of the lock.

[0119] Specifically, step S608 includes: based on the target data, determine the position information of at least two preset points related to the lock, and based on the position information of the preset points, determine the position information of the lock.

[0120] S609, Perform unlocking.

[0121] Specifically, for the situation shown in step S530, refer to Figure 7 , the specific process is as follows:

[0122] S701, The container truck enters the station.

[0123] S702, Obtain the container truck information and the container information.

[0124] S703, Based on the container truck information and the container information, determine the information collection position.

[0125] Specifically, based on the container truck information and the container information, estimate the container truck parking position and the position of the container when the container truck parks, and determine the information collection position.

[0126] S704, The container truck arrives at the unlocking position and parks.

[0127] S705, The lock identification ranging sensor collects the target data of the lock on the container.

[0128] S706, Based on the target data, determine the model of the lock.

[0129] S707, Based on the target data, determine the position information of the lock.

[0130] Specifically, step S707 includes: based on the target data, determine the position information of at least two preset points related to the lock, and based on the position information of the preset points, determine the position information of the lock.

[0131] S708, If the model of the lock does not match the fixture of the robot, replace the fixture.

[0132] S709, Perform unlocking.

[0133] Exemplary Device

[0134] The device embodiment of the present application can be used to execute the method embodiment of the present application. For the details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0135] Figure 8 The following shows a container unlocking control device of the present application, including:

[0136] An acquisition module 81, configured to acquire target data; the target data is obtained by a preset lock identification ranging sensor collecting information on the locks on the container;

[0137] A determination module 82, configured to determine the position information of at least two preset points related to the lock based on the target data, and determine the position information of the lock based on the position information of the preset points;

[0138] A control module 83, based on the position information, controls the unlocking robot to perform unlocking.

[0139] In one embodiment, at least two preset points related to the lock include: the center of the corner hole of the box and at least one lock reference point.

[0140] In one embodiment, the target data is point cloud data or image data.

[0141] In one embodiment, the acquisition module 81 is further configured to: before the truck enters the unlocking position, acquire the information of the truck and the information of the container; determine the information acquisition position based on the information of the truck and the information of the container; move the lock identification ranging sensor to the information acquisition position.

[0142] In one embodiment, the control module 83 is further configured to: determine the model of the lock based on the target data; when the fixture of the corresponding unlocking robot does not match the model of the lock, replace the fixture of the unlocking robot.

[0143] In one embodiment, the determination module 82 is further configured to: determine the probability of replacing the fixture of the unlocking robot; when the probability is greater than a preset value, preferentially execute the step of determining the model of the lock based on the target data, and then execute the step of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; when the probability is not greater than the preset value, simultaneously execute the step of determining the model of the lock based on the target data and the step of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points.

[0144] In one embodiment, determining the probability of replacing the fixture of the unlocking robot includes: acquiring historical data on whether the fixture is replaced when the unlocking robot performs the unlocking task, and determining the probability of replacing the fixture of the unlocking robot based on the historical data; or, predicting the probability of replacing the fixture using an artificial intelligence algorithm.

[0145] Exemplary Electronic Device

[0146] See Figure 9 , Figure 9 which is a structural block diagram of the electronic device provided by an embodiment of the present invention. As shown in Figure 9 , it may include: at least one processor 910, at least one communication interface 920, at least one memory 930, and at least one communication bus 940.

[0147] In the embodiment of the present invention, the number of the processor 910, the communication interface 920, the memory 930, and the communication bus 940 is at least one, and the processor 910, the communication interface 920, and the memory 930 complete communication with each other through the communication bus 940; obviously, Figure 9 the communication connection schematic diagram of the processor 910, the communication interface 920, the memory 930, and the communication bus 940 shown is only optional.

[0148] The processor 910 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0149] The memory 930 stores application programs, which may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0150] Among them, the processor 910 is specifically configured to execute the application programs in the memory to implement any one of the above-mentioned container unlocking control methods.

[0151] Exemplary Computer Program Product and Computer Readable Storage Medium

[0152] In addition to the above methods and devices, the embodiments of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are run by the processor, the processor is caused to execute the steps in the container unlocking control method according to various embodiments of the present application described in the "Exemplary Method" section of this specification.

[0153] A computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0154] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions, when run by a processor, cause the processor to execute the steps in the container unlocking control method according to various embodiments of the present application described in the "Exemplary Method" section above of this specification.

[0155] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0156] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling the unlocking of a container, characterized in that, Including: Obtain target data; The target data is obtained by a preset lock identification and ranging sensor collecting information on the lock on the container; Based on the target data, determine the position information of at least two preset points related to the lock; Based on the position information of the preset points, determine the position information of the lock; Based on the position information, control the unlocking robot to unlock; Among them, the method further includes: Based on the target data, determine the model of the lock; When the fixture of the corresponding unlocking robot does not match the model of the lock, replace the fixture of the unlocking robot; Before the step of controlling the unlocking robot to unlock based on the position information, it further includes: Determine the probability of the unlocking robot replacing the fixture; When the probability is greater than a preset value, preferentially execute the step of determining the model of the lock based on the target data, and then execute the steps of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; When the probability is not greater than the preset value, simultaneously execute the step of determining the model of the lock based on the target data and the steps of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; The at least two preset points related to the lock include: the center of the corner hole of the box and at least one lock reference point; Among them, determining the position information of the lock based on the position information of the preset points includes: determining the position information of the lock based on the position information of the center of the corner hole of the box, the position information of at least one lock reference point, and the external dimension information of the lock.

2. The container unlocking control method according to claim 1, wherein, The target data is point cloud data or image data.

3. The container unlocking control method according to claim 1, wherein It also includes: Before the truck enters the unlocking position, obtain the information of the truck and the information of the container; Based on the information of the truck and the information of the container, determine the information collection position; Move the lock identification and ranging sensor to the information collection position.

4. The container unlocking control method according to claim 1, wherein The determination of the probability of the unlocking robot replacing the fixture includes: Obtain the historical data on whether the unlocking robot replaces the fixture when performing the unlocking task, and based on the historical data, determine the probability of the unlocking robot replacing the fixture; or, Use an artificial intelligence algorithm to predict the probability of replacing the fixture.

5. A container unlocking control device, characterized in that, Including: An acquisition module for obtaining target data; The target data is obtained by a preset lock identification and ranging sensor collecting information on the lock on the container; A determination module for determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; A control module for controlling the unlocking robot to unlock based on the position information; Among them, the control module is further used for: determining the model of the lock based on the target data; When the fixture of the corresponding unlocking robot does not match the model of the lock, replace the fixture of the unlocking robot; The determination module is further used for: Determine the probability of the unlocking robot replacing the fixture; When the probability is greater than a preset value, first execute the step of determining the model of the lock based on the target data, and then execute the step of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; When the probability is not greater than the preset value, simultaneously execute the step of determining the model of the lock based on the target data and the step of determining the position information of at least two preset points related to the lock based on the target data, and determining the position information of the lock based on the position information of the preset points; The at least two preset points related to the lock include: the center of the box corner hole and at least one lock reference point; Wherein, determining the position information of the lock based on the position information of the preset points includes: determining the position information of the lock based on the position information of the center of the box corner hole and the position information of at least one lock reference point, and the external dimension information of the lock.

6. An electronic device, comprising: A processor; A memory for storing executable instructions of the processor; The processor is configured to execute the container unlocking control method according to any one of claims 1 to 4 above.

7. A container unlocking system, characterized in that, Including: A lock recognition and ranging sensor, an unlocking robot, and a controller; The controller is configured to execute the container unlocking control method according to any one of claims 1 to 4 above.

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