Anti-collision method and device for lock disassembling and assembling robot and automatic lock disassembling and assembling station

Abstract

The present application relates to the technical field related to container disassembly and assembly locks, and specifically to a method and device for preventing collisions with a disassembly and assembly lock robot, and an automatic disassembly and assembly lock station. The method comprises: obtaining container truck information before the container truck arrives at the disassembly and assembly lock area; the container truck information is collected by a preset container truck positioning device; based on the container truck information, estimating the docking position of the container truck when it enters the disassembly and assembly lock area; and controlling the disassembly and assembly lock robot to move to a target area; wherein the target area is an area that does not overlap with the docking position. In this way, before the container truck enters the disassembly and assembly lock area, the disassembly and assembly lock robot can be controlled to move to an area that does not overlap with the docking position in a timely manner, and avoidance can be performed in a timely manner to prevent the container truck from colliding with the disassembly and assembly lock robot.

Description

Technical Field

[0001] The present application relates to the technical field related to container disassembly and assembly locks, and in particular to a method and device for preventing collisions of a disassembly and assembly lock robot and an automatic disassembly and assembly lock station. Background Art

[0002] In actual use, container trucks constantly shuttle through the station, and the lock-installing and disassembling robot reaches the container trucks inside the station to install and disassemble the locks. This process requires close coordination between the robot and the container trucks.

[0003] If the container truck is traveling in the locking station and the lock disassembling and installing robot extends into the traveling path of the container truck, in this case, an accident may occur in which the container truck hits the lock disassembling and installing robot. Summary of the Invention

[0004] In view of this, the present application is dedicated to providing a method and device for preventing collision of a lock disassembling and assembling robot and an automatic lock disassembling and assembling station to prevent container trucks from colliding with the lock disassembling and assembling robot.

[0005] According to a first aspect of the present application, a collision prevention method for a lock disassembling and assembling robot is provided, comprising:

[0006] Before the container truck arrives at the disassembly and assembly lock area, the container truck information is obtained; the container truck information is collected by the preset container truck positioning device;

[0007] Based on the container truck information, estimate the docking position of the container truck when it enters the disassembly and assembly lock area;

[0008] Control the lock disassembly and assembly robot to move to the target area;

[0009] The target area is an area that does not overlap with the docking location.

[0010] In one embodiment, the container truck information includes the traveling direction of the container truck and the current location information of the container truck;

[0011] Based on the container truck information, the estimated docking position of the container truck when entering the disassembly and assembly lock area includes:

[0012] Based on the truck's travel direction and current location, the truck's docking location is estimated.

[0013] In one embodiment, controlling the lock disassembling and assembly robot to move to a target area includes:

[0014] Based on the docking position, a reference plane is determined, wherein the reference plane is located between the lock disassembling and assembling robot and the container truck, and is spaced a first preset distance from the lock side of the container truck;

[0015] Control the lock disassembly and assembly robot to be in the target area.

[0016] In one embodiment, the reference plane is perpendicular to the ground and parallel to the traveling direction of the container truck;

[0017] The first preset distance is determined based on the error of the container truck positioning device; the side of the reference surface close to the disassembly and assembly robot is the target area.

[0018] In one embodiment, it further includes:

[0019] Estimate the photo location based on the docking location;

[0020] Before the container truck docks, the camera device is controlled to move to the photo taking position.

[0021] In one embodiment, it further includes:

[0022] After the container truck docks, re-collect the container truck information and re-determine the docking location;

[0023] Based on the re-determined docking position, the robot pre-disassembly and assembly lock position is determined;

[0024] The pre-disassembly lock position is at a second preset distance directly below the corner of the container loaded on the container truck;

[0025] Control the lock disassembly and assembly robot to move to the pre-lock disassembly and assembly position;

[0026] In one embodiment, controlling the lock disassembly and installation robot to move to a pre-lock disassembly and installation position includes:

[0027] The height of the lock disassembling and assembling robot is controlled to the height of the pre-lock disassembling and assembling position, and then the lock disassembling and assembling robot is controlled to move to the pre-lock disassembling and assembling position.

[0028] In one embodiment, it further includes:

[0029] Determine the precise lock disassembly and assembly position based on the image captured by the camera;

[0030] Control the lock disassembly and installation robot located at the pre-lock disassembly and installation position to move to the precise lock disassembly and installation position;

[0031] Among them, the step of determining the precise disassembly and assembly lock position based on the picture taken by the camera device and the step of controlling the disassembly and assembly lock robot to move to the pre-disassembly and assembly lock position are performed simultaneously.

[0032] According to a second aspect of the present application, there is provided an anti-collision device for a lock disassembling and assembling robot, comprising:

[0033] The acquisition module is used to obtain the container truck information before the container truck arrives at the disassembly and assembly lock area; wherein the container truck information is collected by the preset container truck positioning device;

[0034] The estimation module is used to estimate the docking position of the container truck when it enters the disassembly and assembly lock area based on the container truck information;

[0035] The control module controls the lock disassembling and assembling robot to move to a target area; wherein the target area is an area that does not overlap with the docking position.

[0036] According to a third aspect of the present application, an electronic device is provided, including:

[0037] processor;

[0038] a memory for storing processor-executable instructions;

[0039] A processor is used to execute the anti-collision method for the lock disassembling and assembling robot provided in any of the above embodiments.

[0040] According to a fourth aspect of the present application, there is provided an automatic disassembly and assembly lock station, comprising: a disassembly and assembly lock robot, a container truck positioning device, and a control device;

[0041] The control device is used to execute the anti-collision method for the lock disassembling and assembling robot provided in any of the above embodiments.

[0042] The present application provides a method for preventing collisions between a truck and a lock dismantling robot. Before a truck reaches the dismantling and locking area, the robot obtains truck information collected by a preset truck positioning device. Based on the truck information, the robot estimates the truck's docking position upon entering the dismantling and locking area. The robot then controls the robot to move to an area that does not overlap with the docking position. This allows the robot to avoid collisions with the truck before the truck enters the dismantling and locking area. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended 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 of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0044] Figure 1 Shown is a structural schematic diagram of an automatic disassembly and assembly lock station provided in an embodiment of the present application.

[0045] Figure 2 The figure shows a flow chart of a lock disassembling and assembling robot anti-collision method provided by one embodiment of the present application.

[0046] Figure 3 The figure shows a partial flow chart of a lock disassembling and assembling robot anti-collision method provided by one embodiment of the present application.

[0047] Figure 4Shown is a partial flow chart of a lock disassembling and assembly robot anti-collision method provided by another embodiment of the present application.

[0048] Figure 5 Shown is a schematic diagram of the positional relationship between a lock disassembling and assembly robot and a container truck provided in one embodiment of the present application.

[0049] Figure 6 Shown is a schematic diagram of the positional relationship between a lock disassembling and assembling robot and a container truck provided in another embodiment of the present application.

[0050] Figure 7 Shown is a block diagram of a lock disassembly and assembly robot anti-collision device provided by one embodiment of the present application.

[0051] Figure 8 Shown is a structural block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0053] Application Overview

[0054] Currently, containers are mainly secured by locks installed at the four corners of the container. This means that during the container's operation, the locks must be installed and removed at the lock station.

[0055] In actual operation at a locking station, container trucks constantly shuttle inside the station; a lock-installing and disassembling robot reaches the container truck's location inside the station to install and disassemble the lock. This process requires close coordination between the robot and the container truck.

[0056] If the container truck is traveling in the locking station and the lock disassembling and installing robot extends into the traveling path of the container truck, in this case, an accident may occur in which the container truck hits the lock disassembling and installing robot.

[0057] To address the aforementioned issues, the present application provides a method for preventing collisions with a lock dismantling robot. The method includes first obtaining truck information before the truck arrives at the lock dismantling area; the truck information is collected by a preset truck positioning device; based on the truck information, the truck's docking position when entering the lock dismantling area is estimated; and the lock dismantling robot is controlled to move to a target area; wherein the target area is an area that does not overlap with the docking position. With this arrangement, the lock dismantling robot can be controlled to move to an area that does not overlap with the docking position before the truck enters the lock dismantling area, allowing for timely avoidance to prevent the truck from colliding with the lock dismantling robot.

[0058] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0059] Exemplary Automatic Disassembly and Assembly Lock Station

[0060] Figure 1 An automatic disassembly and assembly lock station provided by one embodiment of the present application comprises: a disassembly and assembly lock robot 1, a container truck positioning device 2 and a control device;

[0061] Specifically, the container truck positioning device 2 can be as follows Figure 1 The two scanners shown in the figure can also be a camera device 3, a radio frequency module, a laser distance measuring device, etc. The main purpose of the container truck positioning device 2 is to locate the container truck. The higher the accuracy of the container truck positioning device 2, the better.

[0062] The lock disassembly robot 1 and the truck positioning device 2 are in communication with a control device. Specifically, the controller is configured to obtain truck information before the truck arrives at the lock disassembly area; this truck information is collected by the preset truck positioning device 2; based on this truck information, it estimates the truck's docking position upon entering the lock disassembly area; and controls the lock disassembly robot 1 to move to a target area, where the target area does not overlap with the docking position. This allows the lock disassembly robot 1 to be controlled to move to an area that does not overlap with the docking position before the truck enters the lock disassembly area, allowing for timely avoidance to prevent the truck from colliding with the lock disassembly robot 1.

[0063] Furthermore, the automated lock disassembly and assembly station also includes a camera device 3, which can be mounted on the lock disassembly and assembly robot 1 or separately. The control device is further configured to control the camera device 3 to advance to a capture position. This configuration not only allows for immediate capture of container trucks as they dock, but also accelerates the lock disassembly and assembly process. When the camera device 3 is in the capture position, it maintains a certain distance from the container truck, thus preventing collisions between the container truck and the camera device 3 during travel.

[0064] Exemplary Methods

[0065] Figure 2It is a flowchart of a lock disassembly and assembly robot anti-collision method provided by an embodiment of the present application. Figure 2 The method can be executed by the control device of the exemplary automatic disassembly and assembly lock station, and the embodiment of the present application does not limit this. Figure 2 As shown, the anti-collision method for the lock disassembling and assembling robot includes the following contents.

[0066] S210, before the container truck arrives at the disassembly and assembly lock area, obtain the container truck information.

[0067] Among them, the container truck information is collected by a preset container truck positioning device; specifically, the container truck positioning device can be: a first scanner, a second scanner and a positioning control module; the first scanner is used to collect information on the first plane, the first plane is a plane that is lower than the height of the front of the container truck, higher than the height of the box corner below the container on the container truck, and parallel to the ground; the second scanner is used to collect information on the second plane, the second plane is a plane that is higher than the height of the front of the container truck, lower than the height of the container, and parallel to the ground; the positioning control module is used to obtain the scanning results, the scanning results include: data obtained by the first scanner through information collection and data obtained by the second scanner through information collection; based on the scanning results, the box type and docking position of the container loaded on the container truck can be determined.

[0068] S220: Based on the container truck information, estimate the docking position of the container truck when it enters the disassembly and assembly lock area.

[0069] It should be noted that the disassembly and assembly lock area refers to the position where the container truck stops for disassembly and assembly locks. After determining the position changes of the container truck over a period of time, the historical movement trajectory of the container truck can be obtained. After the container truck enters the lock station, it can be assumed that the driving direction of the container truck will not change, and the next trajectory of the container truck can be predicted based on the historical movement trajectory of the container truck. Furthermore, when the corner of the container loaded on the container truck is aligned with the corresponding disassembly and assembly lock robot, the container truck stops moving. Based on the above information, the position of the container truck when it stops when entering the disassembly and assembly lock area can be estimated, that is, the docking position of the container truck after entering the disassembly and assembly lock area can be estimated. It should be noted that in the embodiment of the present application, the main purpose of estimating the docking position is to determine the extent to which the container truck deviates to the left or the right on the driving path inside the lock station. Avoid colliding with the disassembly and assembly lock robot on that side due to excessive deviation to one side.

[0070] S230: Control the lock disassembling and assembly robot to move to a target area, wherein the target area is an area that does not overlap with the docking position.

[0071] With this arrangement, the lock disassembling and assembling robot can be controlled to move to an area that does not overlap with the docking position before the container truck enters the lock disassembling and assembling area, and avoid it in time to avoid the container truck colliding with the lock disassembling and assembling robot.

[0072] Specifically, the container truck information includes the traveling direction of the container truck and the current location information of the container truck.

[0073] In one embodiment, step S220 of "estimating the docking position of the container truck when it enters the disassembly and assembly lock area based on the container truck information" includes:

[0074] Based on the truck's travel direction and current location, the truck's docking location is estimated.

[0075] In order to better illustrate the solution provided by this application, a specific three-dimensional coordinate system is used for auxiliary explanation: Figure 1 , the Y-axis direction of the three-dimensional coordinate system is the direction of the road in the lock station; the Z-axis direction is the direction perpendicular to the ground; the X-axis direction is the direction of the Y-axis and the Z-axis;

[0076] It should be noted that the main reason a truck accidentally collides with a locking robot is that the truck's centerline is significantly offset from the path centerline, causing the truck's left or right edge to collide with the locking robot. During operation within the locking station, the truck's travel path is short, and its direction of travel is generally the same as the direction of the road within the station. Therefore, when estimating the truck's docking position, it can be assumed that the truck's centerline's offset from the path centerline remains unchanged after entering the locking station. This means that the X-coordinates of each point on the truck remain unchanged; that is, the X-coordinates of the truck's left and right edges, as described in "Obtaining truck information before the truck reaches the locking area," are the same as the X-coordinates of the truck's left and right edges after it has docked.

[0077] Of course, the position of the truck when it stops can also be estimated based on the truck's driving direction. For example, if the truck's driving direction is different from the Y-axis direction, the truck's docking position can be estimated based on the truck's driving direction and the truck's current position information to determine the truck's leftmost X coordinate and the truck's rightmost X coordinate when it stops.

[0078] In one embodiment, referring to Figure 3 , control the disassembly and assembly lock robot to move to the target area, including:

[0079] S231: Determine a reference plane based on the docking position.

[0080] The reference plane is located between the lock disassembling and assembling robot and the container truck, and is spaced a first preset distance from the lock side of the container truck;

[0081] It should be noted that, referring to Figure 5The lock side of a truck refers to the plane parallel to the vehicle's travel direction and perpendicular to the ground, where the point on the truck farthest from the truck's centerline lies. Because the truck and the lock station are symmetrically arranged, there are two lock sides. For example, if the X coordinates of the point on the truck farthest from the truck's centerline are a1 and b1, and the truck's travel direction is the Y axis, then there are two lock sides: one is the plane with X=a1 (the first lock side), and the other is the plane with X=b1 (the second lock side). Furthermore, since the lock disassembling and assembling robots in the lock station are symmetrically arranged, there are two reference planes, namely the first reference plane and the second reference plane. The first reference plane is the plane with X=a in the coordinate system; the second reference plane is the plane with X=b in the coordinate system. The first reference plane is located on the side of the first lock away from the container truck (the left side of the first lock); the first reference plane is separated from the first lock side by a first preset distance; the second reference plane is located on the side of the second lock away from the container truck (the right side of the second lock); the second reference plane is separated from the second lock side by a first preset distance; the first reference plane is perpendicular to the ground and parallel to the direction of travel of the container truck; the second reference plane is perpendicular to the ground and parallel to the direction of travel of the container truck; the first preset distance is determined based on the error of the container truck positioning device; the side of the first reference plane close to the disassembling and assembling robot and the side of the second reference plane close to the disassembling and assembling robot are the target areas. In this way, the lock disassembling and assembling robot can be controlled to be on the side of the first reference plane close to the disassembling and assembling robot or the side of the second reference plane close to the disassembling and assembling robot to avoid the container truck.

[0082] Specifically, refer to Figure 5 The X-coordinate of the portion of the truck closest to the first reference plane is a1, and the X-coordinate of the portion of the truck closest to the second reference plane is b1, where a > a1 > b1 > b; a - a1 = b1 - b = k. k is determined based on the positioning accuracy of the truck positioning device. Higher accuracy results in smaller k values, while lower accuracy results in larger k values. This ensures that even with inaccurate positioning information, the truck will not collide with the lock disassembly and assembly robot.

[0083] S232, controlling the disassembling and assembling lock robot to be on the side of the reference surface close to the disassembling and assembling robot.

[0084] Specifically, the X coordinate of the lock disassembling and assembling robot can be controlled to be greater than a or less than b. This setting can ensure that the lock disassembling and assembling robot is outside the area where the container truck may pass, so as to avoid the container truck colliding with the lock disassembling and assembling robot.

[0085] In one embodiment, referring to Figure 4 , the solution provided by this application also includes:

[0086] S410, estimating a photo taking position based on the docking position;

[0087] It should be noted that during the process of removing and installing the lock, it is necessary to take pictures of the corners of the box to determine the specific position of the lock, that is, to determine the precise position of the lock. In automated locking stations, a camera is often used to take pictures of the corners of the box. In order to enable the camera to accurately capture the corners of the box and make the corners fall into a better shooting field of view, it is necessary to adjust the position of the camera based on the position of the corners of the box when the container truck is docked.

[0088] Specifically, the best shooting effect is achieved when the lateral distance (in the x direction) between the camera device and the box corner is H. Based on this, the Y coordinate and Z coordinate of the shooting position of the camera device can be made the same as the Y coordinate and Z coordinate of the corresponding box corner. For the camera device on the left side of the container truck, the Y coordinate of the shooting position of the camera device can be made the Y coordinate of the corresponding box corner plus H; for the camera device on the right side of the container truck, the Y coordinate of the shooting position of the camera device can be made the Y coordinate of the corresponding box corner minus H.

[0089] It should be noted that when determining the photographing position, it is also necessary to ensure that the camera device is in the target area.

[0090] S420, before the container truck docks, control the camera device to move to a photo taking position.

[0091] With this arrangement, the camera device moves to the photographing position in advance and takes a picture of the container truck immediately after it stops, thus saving the time of disassembling and assembling the lock.

[0092] It should be noted that, in the solution provided in the present application, the camera device is moved to the photographing position. If the actual moving path of the container truck is different from the estimated moving path during the driving process of the container truck, a collision may occur. Based on this, after the camera device is moved to the photographing position, the distance between the container truck and the camera device can be judged in real time. If the distance is too short, an alarm is issued and the container truck is controlled to stop moving.

[0093] It should be noted that there are two ways to set up the camera device. One is to install the camera device on the lock-installing robot. In this case, the camera device can be considered as the lock-installing robot. Furthermore, the camera device can also be installed separately. When the camera device is installed separately, to avoid collisions between the lock-installing robot and the container truck due to the actual path of the container truck differing from the estimated path, the distance between the container truck and the lock-installing robot can be determined in real time. If the distance is too short, an alarm is issued and the container truck is controlled to stop moving.

[0094] It should be noted that in actual applications, after the container truck has come to a complete stop, the camera device needs to be controlled to capture an image, and then the precise location of the lock assembly and disassembly system is determined based on the captured image. The time required to "determine the precise location of the lock assembly and disassembly system based on the image captured by the camera device" is generally 7 seconds, during which the lock assembly and disassembly robot can be simultaneously moved to the approximate location of the lock assembly and disassembly system. Based on this, in one embodiment, the anti-collision method for the lock assembly and disassembly robot further includes:

[0095] S430, after the container truck docks, re-collect the container truck information and re-determine the docking position;

[0096] S440, determining a robot pre-disassembly lock position based on the re-determined docking position;

[0097] The pre-disassembly lock position is the second preset distance directly below the corner of the container loaded on the container truck. Figure 6 The second preset distance is n.

[0098] S450, controlling the lock disassembly and assembly robot to move to a pre-lock disassembly and assembly position.

[0099] With this arrangement, the lock disassembly and assembly robot can be controlled to move to the pre-disassembly and assembly lock position within the time of "determining the precise disassembly and assembly lock position based on the picture taken by the camera device". After determining the precise disassembly and assembly lock position, the lock disassembly and assembly robot can be directly controlled to move from the pre-disassembly and assembly lock position to the "precise disassembly and assembly lock position".

[0100] Specifically, step S450 "controlling the lock disassembly and assembly robot to move to the pre-lock disassembly and assembly position" includes:

[0101] The height of the lock disassembling and assembling robot is controlled to the height of the pre-lock disassembling and assembling position, and then the lock disassembling and assembling robot is controlled to move to the pre-lock disassembling and assembling position.

[0102] It should be noted that, given the container truck's structure and the fact that the lock-installing and disassembling robot is located below the truck during lock installation and removal, the robot can be first controlled to the pre-lock installation position, where it is located below the container, where there is more space. The robot can then be controlled to move to the pre-lock installation position. This prevents the robot from colliding with the container truck during movement.

[0103] To illustrate this using the above coordinate system, first, control the Z coordinate of the lock disassembly and assembly robot to be no greater than c. Here, c is the Z coordinate of the corner of the box minus n, or the Z coordinate of the lowest point of the lock on the corner of the box minus n. This setting ensures that the lock disassembly and assembly robot will not collide with the container truck when moving to the pre-lock disassembly and assembly position.

[0104] S460: Control the camera device to take a picture, and determine the precise disassembly and assembly lock position based on the picture taken by the camera device.

[0105] It should be noted that step S460 and steps S430 to S450 are executed simultaneously. The precise lock disassembly and assembly position is the position where the lock disassembly and assembly robot is located when disassembling and assembling the lock. After the precise lock disassembly and assembly position is obtained and the lock disassembly and assembly robot moves to the pre-lock disassembly and assembly position, step S470 is executed.

[0106] S470, controlling the lock disassembly and assembly robot located at the pre-lock disassembly and assembly position to move to the precise lock disassembly and assembly position.

[0107] With this arrangement, the lock disassembling and assembling robot is controlled to move to the pre-disassembling and assembling lock position in advance within the time of determining the precise disassembling and assembling lock position, thereby saving time.

[0108] Exemplary devices

[0109] The device embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

[0110] Figure 7 The figure shows a block diagram of a lock disassembly and assembly robot anti-collision device provided by an embodiment of the present application. Figure 7 As shown, the device includes:

[0111] The acquisition module 71 is used to obtain the container truck information before the container truck arrives at the disassembly and assembly lock area;

[0112] Among them, the container truck information is collected by the preset container truck positioning device;

[0113] An estimation module 72 is used to estimate the docking position of the container truck when it enters the disassembly and assembly lock area based on the container truck information;

[0114] Control module 73, controls the lock disassembling and assembly robot to move to the target area;

[0115] The target area is an area that does not overlap with the docking location.

[0116] Exemplary electronic devices

[0117] See also Figure 8 , Figure 8 For a structural block diagram of an electronic device provided by an embodiment of the present invention, see Figure 8 As shown, it may include: at least one processor 810 , at least one communication interface 820 , at least one memory 830 and at least one communication bus 840 .

[0118] In the embodiment of the present invention, the number of the processor 810, the communication interface 820, the memory 830, and the communication bus 840 is at least one, and the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840; obviously, Figure 8 The illustrated communication connections of processor 810, communication interface 820, memory 830, and communication bus 840 are merely optional.

[0119] The processor 810 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0120] The memory 830 stores application programs and may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0121] The processor 810 is specifically configured to execute an application program in the memory to implement any embodiment of the aforementioned anti-collision method for the lock disassembling and assembling robot.

[0122] Exemplary computer program products and computer-readable storage media

[0123] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the anti-collision method of the disassembly and assembly lock robot according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0124] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone 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.

[0125] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the anti-collision method for the disassembly and assembly lock robot according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0126] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with 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 thereof.

[0127] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of 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 preventing collision of a lock disassembling robot, characterized in that: include: Obtain the container truck information before it arrives at the disassembly and assembly lock area; The container truck information is collected by a preset container truck positioning device; wherein the container truck positioning device includes: a first scanner, a second scanner, and a positioning control module; the first scanner is used to collect information on a first plane, which is a plane below the height of the container truck head, above the height of the lower corner of the container on the container truck, and parallel to the ground; the second scanner is used to collect information on a second plane, which is above the height of the container head, below the height of the container, and parallel to the ground; the positioning control module is used to obtain scanning results, which include: data collected by the first scanner and data collected by the second scanner; based on the scanning results, the container type and docking position of the container loaded on the container truck can be determined; Based on the container truck information, estimating the docking position of the container truck when it enters the disassembly and assembly lock area; Controlling the lock disassembling and assembling robot to move to a target area; Wherein, the target area is an area that does not overlap with the docking position; Based on the docking position, a photographing position is estimated; before the container truck docks, a camera device is controlled to move to the photographing position; After the container truck docks, the container truck information is recollected and the docking position is re-determined; based on the re-determined docking position, a pre-disassembly and locking position of the robot is determined; wherein the pre-disassembly and locking position is a second preset distance directly below the corner position of the container loaded on the container truck; and the disassembly and locking robot is controlled to move to the pre-disassembly and locking position; The controlling the lock disassembling and assembling robot to move to the target area includes: determining a reference plane based on the docking position, wherein the reference plane is located between the lock disassembling and assembling robot and the container truck, and is spaced a first preset distance from the lock side of the container truck, and the first preset distance is determined based on the error of the container truck positioning device; controlling the lock disassembling and assembling robot to be in the target area; the side of the reference plane close to the lock disassembling and assembling robot is the target area.

2. The anti-collision method for a lock disassembling robot according to claim 1, characterized in that: The container truck information includes the traveling direction of the container truck and the current location information of the container truck; The estimating, based on the container truck information, the docking position of the container truck when entering the disassembly and assembly lock area includes: The docking position of the container truck is estimated based on the traveling direction of the container truck and the current position information of the container truck.

3. The anti-collision method for a lock disassembling robot according to claim 1, characterized in that: The reference plane is perpendicular to the ground and parallel to the traveling direction of the container truck.

4. The anti-collision method for a lock disassembling robot according to claim 1, characterized in that: The controlling the lock disassembly and assembly robot to move to the pre-lock disassembly and assembly position includes: The height of the lock disassembling and assembling robot is controlled to reach the height of the pre-disassembling and assembling lock position, and then the lock disassembling and assembling robot is controlled to move to the pre-disassembling and assembling lock position.

5. The anti-collision method for a lock disassembling robot according to claim 4, characterized in that: Also includes: Determining the precise location of the lock for disassembly and assembly based on the image captured by the camera device; Controlling the lock disassembly and assembly robot located at the pre-lock disassembly and assembly position to move to the precise lock disassembly and assembly position; Among them, the step of determining the precise disassembly and assembly lock position based on the picture taken by the camera device, and the step of controlling the disassembly and assembly lock robot to move to the pre-disassembly and assembly lock position are performed simultaneously.

6. A lock disassembly and assembly robot anti-collision device, characterized in that: include: An acquisition module is configured to acquire truck information before the truck reaches the loading and unloading lock area; the truck information is acquired by a preset truck positioning device; the truck positioning device comprises a first scanner, a second scanner, and a positioning control module; the first scanner is configured to acquire information from a first plane, which is a plane that is lower than the truck's front height, higher than the bottom corner of the container on the truck, and parallel to the ground; the second scanner is configured to acquire information from a second plane, which is higher than the truck's front height, lower than the container, and parallel to the ground; the positioning control module is configured to acquire scanning results, which include data acquired by the first scanner and data acquired by the second scanner; the type and docking position of the container loaded on the truck can be determined based on the scanning results; An estimation module, configured to estimate, based on the container truck information, a docking position of the container truck when entering the disassembly and assembly lock area; A control module controls the lock disassembling and assembling robot to move to a target area; wherein the target area is an area that does not overlap with the docking position; The control module is specifically configured to determine a reference plane based on the docking position, wherein the reference plane is located between the lock disassembling and assembling robot and the container truck and is spaced a first preset distance from the lock side of the container truck, the first preset distance being determined based on an error of the container truck positioning device; control the lock disassembling and assembling robot to be in a target area; a side of the reference plane close to the lock disassembling and assembling robot being the target area; The control module is further specifically configured to estimate a photographing position based on the docking position; control the camera device to move to the photographing position before the container truck docks; re-collect the container truck information and redetermine the docking position after the container truck docks; determine a robot pre-disassembly and locking position based on the redetermined docking position; wherein the pre-disassembly and locking position is a second preset distance directly below the corner position of the container loaded on the container truck; and control the disassembly and locking robot to move to the pre-disassembly and locking position.

7. An automatic disassembly and assembly lock station, comprising: Disassembly and assembly of locking robots, truck positioning devices and control devices; The control device is used to execute the anti-collision method for a lock disassembling and assembling robot according to any one of claims 1 to 5.

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