CN113898252A

CN113898252A - Robot, unlocking and locking method of robot to cabinet lock and cabinet lock

Info

Publication number: CN113898252A
Application number: CN202111154859.4A
Authority: CN
Inventors: 文琪; 刘仙; 封晨颖; 刘魏; 王珂
Original assignee: Zhuhai Unitech Power Technology Co Ltd
Current assignee: Zhuhai Unitech Power Technology Co Ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-01-07
Anticipated expiration: 2041-09-29
Also published as: CN113898252B

Abstract

The invention discloses a robot, a method for unlocking and locking a cabinet lock of the robot and the cabinet lock, wherein the robot comprises a robot body, a vision module, an unlocking mechanical arm and a control module; the visual module, the unlocking mechanical arm and the control module are all arranged on the machine body, and the visual module and the unlocking mechanical arm are all electrically connected with the control module; the control module comprises a memory, a processor and a control program of the robot stored on the memory, and when the control program of the robot runs on the processor, the control module executes the steps of the unlocking method of the robot on the cabinet lock or the locking method of the robot on the cabinet lock. So set up, not only can reduce the manufacturing cost of robot, still be favorable to the robot to patrol and examine the application of preventing the mistake field of touching at electric power.

Description

Robot, unlocking and locking method of robot to cabinet lock and cabinet lock

Technical Field

The invention relates to the technical field of electric power inspection misoperation prevention, in particular to a robot for unlocking and locking operation of a cabinet lock, an unlocking and locking method and the cabinet lock.

Background

The robot is used for completing daily inspection, infrared temperature measurement, equipment state inspection and other work of indoor and outdoor equipment of the transformer substation, and the robot is an important auxiliary means for the inspection of the transformer substation equipment. The existing robot automatically operates along a set fixed route to detect equipment exposed to the environment indoors and outdoors in a transformer substation.

For the equipment or the box body configured with the cabinet lock, due to the fact that the unlocking action of the cabinet lock is various, when the robot unlocks the cabinet lock, actions such as opening the dust cover and driving the handle to rotate need to be completed through writing of the two mechanical arms, so that the difficulty is high, a large amount of time is needed for completing unlocking, and the practicability of unlocking and locking the cabinet lock is low.

Disclosure of Invention

The invention mainly aims to provide a robot for unlocking and locking a cabinet lock, an unlocking and locking method and the cabinet lock, and aims to facilitate the robot to unlock and lock the cabinet lock.

In order to achieve the above object, the present invention provides a method for unlocking a cabinet lock by a robot, where the method for unlocking the cabinet lock by the robot includes:

step S110: acquiring an image of a cabinet lock to be unlocked through a vision module of the robot, and determining the type of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked;

step S120: determining the position information of an unlocking part on a lock cylinder of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked;

step S130: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with an unlocking part on a lock cylinder of the cabinet lock to be unlocked according to the position information of the unlocking part on the lock cylinder of the cabinet lock to be unlocked;

step S140: based on the type of the cabinet lock to be unlocked, controlling an unlocking head on an unlocking mechanical arm of the robot to unlock an unlocking part on a lock cylinder of the cabinet lock to be unlocked, so that an unlocking handle of the cabinet lock to be unlocked is released;

step S150: acquiring an unlocking handle image of the cabinet lock to be unlocked through a vision module of the robot, and determining position information of an operation interface on an unlocking handle of the cabinet lock to be unlocked based on the unlocking handle image of the cabinet lock to be unlocked;

step S160: controlling an upper unlocking head of an unlocking mechanical arm of the robot to be in butt joint with an upper operation interface of an unlocking handle of the cabinet lock to be unlocked according to the position information of the upper operation interface of the unlocking handle of the cabinet lock to be unlocked;

step S170: and controlling an unlocking mechanical arm of the robot to operate an unlocking handle of the cabinet lock to be unlocked based on the type of the cabinet lock to be unlocked, so that a locking module of the cabinet lock to be unlocked is switched from a locking state to an unlocking state.

In some embodiments of the invention, the position information of the unlocking part on the lock cylinder comprises three-dimensional coordinates of the unlocking part and a butt joint angle of the unlocking part; the position information of the operation interface on the unlocking handle of the cabinet lock to be unlocked comprises the following steps: the three-dimensional coordinate position of the operation interface and the butt joint angle of the operation interface.

In some embodiments of the present invention, the step S120 further includes:

step S115: judging whether a dustproof cover for shielding an unlocking part on a lock cylinder of the cabinet lock to be unlocked exists on the cabinet lock to be unlocked or not based on the image of the cabinet lock to be unlocked;

if not, go to step S120;

if yes, executing step S116, where step S116 includes:

step S1161: determining the position information of a stressed part on a dustproof cover of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked;

step S1162: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with a stress part on the dust cover of the cabinet lock to be unlocked based on the position information of the stress part on the dust cover of the cabinet lock to be unlocked;

step S1163: and controlling an unlocking mechanical arm of the robot to perform corresponding action on a dustproof cover of the cabinet lock to be unlocked based on the type of the cabinet lock to be unlocked, so that an unlocking part of a lock cylinder of the cabinet lock to be unlocked is exposed.

In some embodiments of the present invention, the step S110 further includes:

step S101: acquiring an unlocking instruction through a communication module of the robot, wherein the unlocking instruction comprises position information of equipment to be unlocked and identity information of a cabinet lock to be unlocked;

step S102: guiding the robot to a position indicated by the position information of the equipment to be unlocked in the unlocking instruction through a navigation module of the robot;

step S103: and acquiring the identity information of the cabinet lock to be unlocked on the equipment to be unlocked through the vision module of the robot, and confirming the position information of the cabinet lock to be unlocked.

The invention also provides a method for locking the cabinet lock by the robot, which comprises the following steps:

step S210: acquiring an image of a cabinet lock to be locked through a vision module of the robot, and determining the type of the cabinet lock to be locked based on the image of the cabinet lock to be locked;

step S220: determining position information of an operating interface on an unlocking handle of the cabinet lock to be locked based on the image of the cabinet lock to be locked;

step S230: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with an operation interface on an unlocking handle of the cabinet lock to be locked according to the position information of the operation interface on the unlocking handle of the cabinet lock to be locked;

step S240: controlling an unlocking mechanical arm of the robot to operate an unlocking handle of the cabinet lock to be locked based on the type of the cabinet lock to be locked, so that a locking module of the cabinet lock to be unlocked is switched from an unlocking state to a locking state;

step S250: based on the type of the cabinet lock to be locked, the unlocking mechanical arm of the robot is controlled to operate the lock cylinder of the cabinet lock to be locked so as to lock the unlocking handle of the cabinet lock to be locked.

In some embodiments of the present invention, the step S250 comprises:

step S251: controlling an unlocking mechanical arm of the robot to operate an unlocking handle of the cabinet lock to be locked based on the type of the cabinet lock to be locked so as to align an upper locking part on a lock cylinder of the cabinet lock to be locked with an operation interface on the unlocking handle of the cabinet lock to be locked;

step S252: determining position information of an unlocking part on a lock cylinder of the cabinet lock to be locked based on the image of the cabinet lock to be locked;

step S253: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with an unlocking part on the lock cylinder of the locking cabinet lock according to the position information of the unlocking part on the lock cylinder of the locking cabinet lock;

step S254: based on the type of the cabinet lock to be locked, an unlocking head on an unlocking mechanical arm of the robot is controlled to operate a lock cylinder of the cabinet lock to be unlocked, so that an unlocking handle of the cabinet lock to be locked is locked.

In some embodiments of the present invention, the method for locking the cabinet lock by the robot further includes:

step S260: determining position information of a stressed part of a dustproof cover on the cabinet lock to be locked based on the image of the cabinet lock to be locked;

step S270: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with a stress part on the dust cover of the cabinet lock to be locked based on the position information of the stress part of the dust cover of the cabinet lock to be locked;

step S280: and controlling an unlocking mechanical arm of the robot to perform corresponding action on a dustproof cover of the cabinet lock to be locked based on the type of the cabinet lock to be unlocked, so that the dustproof cover of the cabinet lock to be locked covers the lock cylinder.

The invention also provides a robot which is characterized by comprising a robot body, a vision module, an unlocking mechanical arm and a control module; wherein the content of the first and second substances,

the visual module, the unlocking mechanical arm and the control module are all arranged on the machine body, and the visual module and the unlocking mechanical arm are all electrically connected with the control module;

the control module comprises a memory, a processor and a control program of the robot stored on the memory, and when the control program of the robot runs on the processor, the control module executes the steps of the unlocking method of the robot on the cabinet lock or the steps of the locking method of the robot on the cabinet lock.

In some embodiments of the present invention, the unlocking mechanical arm includes a multi-degree-of-freedom mechanical arm and an unlocking head, the multi-degree-of-freedom mechanical arm includes a connecting end and an operating end, the connecting end of the multi-degree-of-freedom mechanical arm is connected to the machine body, and the unlocking head and the vision module are both mounted at the operating end of the multi-degree-of-freedom mechanical arm.

In some embodiments of the present invention, the robot further includes a walking module and a navigation module electrically connected to the control module, and both the walking module and the navigation module are mounted on the machine body.

The invention also provides a cabinet lock, which is characterized in that the cabinet lock is suitable for the robot and comprises a lock body, a locking module, an unlocking handle and a lock cylinder; wherein the content of the first and second substances,

the locking module is arranged on the lock body and moves relative to the lock body to have a locking state and an unlocking state;

the unlocking handle is movably arranged on the lock body and is in transmission connection with the locking module, the unlocking handle is used for driving the locking module to be switched between a locking state and an unlocking state, and the unlocking handle is provided with an operation interface;

the lock cylinder is arranged on the lock body and provided with an unlocking part and a locking part which are exposed out of the lock body, the unlocking part is driven to drive the upper locking part to move so as to lock or unlock an operation interface on the unlocking handle, and the unlocking part and the operation interface are identical in structure.

In some embodiments of the present invention, a surface of the lock body is concavely provided with a mounting groove, the lock cylinder is mounted in the mounting groove, the unlocking part is exposed from a notch of the mounting groove, and the locking part is located in the mounting groove;

the rack lock also comprises a transmission shaft, the transmission shaft is rotatably arranged on the lock body and is in transmission connection with the locking module, and one end of the transmission shaft extends into the mounting groove and is arranged at a position far away from the lock cylinder; one end of the handle is rotatably connected with the transmission shaft, and the other end of the unlocking handle is provided with the operation interface.

In some embodiments of the present invention, the cabinet lock includes an ejection elastic member, and the ejection elastic member is mounted on the lock body and acts on the unlocking handle to drive an end of the unlocking handle far away from the transmission shaft to extend out of the mounting groove.

In some embodiments of the present invention, the cabinet lock further includes a dust cover movably mounted on the lock body, the dust cover is provided with a stressed portion having the same structure as the unlocking portion, and the stressed portion is driven by an external force to drive the dust cover to move relative to the lock body so as to cover or open the lock cylinder.

In the process of unlocking and locking the cabinet lock, the robot only needs to apply acting force on the unlocking part on the lock cylinder of the cabinet lock and the operating interface on the handle, so that two unlocking processes of the cabinet lock can be completed, and meanwhile, the unlocking part on the lock cylinder of the cabinet lock and the operating interface on the handle have the same structure, so that only one unlocking head needs to be arranged on the unlocking mechanical arm of the robot, and the robot is convenient to unlock and lock the cabinet lock, and the robot is favorable for popularization and application in the field of power inspection and mistaken touch prevention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of a cabinet lock of the present invention;

FIG. 2 is a schematic view of the cabinet lock of FIG. 1 in another state;

FIG. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a first state of the robot unlocking a cabinet lock according to the present invention;

FIG. 5 is a schematic diagram of a second state of the robot unlocking the cabinet lock according to the present invention;

FIG. 6 is a schematic diagram of a third state of the robot in the process of unlocking the cabinet lock according to the present invention;

FIG. 7 is a schematic diagram illustrating a fourth state of the robot in the process of unlocking the cabinet lock according to the present invention;

FIG. 8 is a schematic diagram of a second state of the robot unlocking the cabinet lock according to the present invention;

fig. 9 is a schematic flowchart of an embodiment of a method for unlocking a cabinet lock by a robot according to the present invention;

FIG. 10 is a flowchart illustrating a method for unlocking a cabinet lock by a robot according to another embodiment of the present invention;

FIG. 11 is a schematic flowchart illustrating a method for unlocking a cabinet lock by a robot according to another embodiment of the present invention

Fig. 12 is a flowchart illustrating an embodiment of a method for locking a cabinet lock by a robot according to the present invention;

fig. 13 is a detailed flowchart of step S250 in fig. 12.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Cabinet lock	141	Stress part
110	Lock body	200	Robot
				111	Mounting groove	210	Machine body
120	Unlocking handle	220	Unlocking mechanical arm
				121	Operation interface	221	Multi-degree-of-freedom mechanical arm
130	Lock core	222	Unlocking head
				131	Unlocking part	230	Vision module
132	Upper locking part	240	Walking module
				140	Dust-proof cover

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.

The invention provides a cabinet lock which is suitable for a robot, so that the robot can conveniently unlock and lock in multiple steps through one unlocking head, the problem that the existing single-arm robot is difficult to unlock and lock the cabinet lock with multiple processes is solved, the number of unlocking mechanical arms in the robot can be reduced, the production cost of the robot can be greatly reduced, and the robot is further favorably applied to the field of electric power inspection error prevention.

Referring to fig. 1, the cabinet lock 100 is mounted on a cabinet, and includes a lock body 110, a locking module (not shown), an unlocking handle 120, and a lock cylinder 130; wherein the content of the first and second substances,

the lock body 110 is installed on a cabinet door of a cabinet, the lock body 110 provides an installation position for the key cylinder 130, the locking part 132, the unlocking handle 120 and the locking module, the shape of the lock body 110 is various, and may be a cylinder, a square column and other shapes, and the shape of the lock body 110 may be set according to specific situations, and is not limited specifically herein.

The locking module is movably mounted on the lock body 110, the locking module can rotate relative to the lock body 110 or make telescopic movement relative to the lock body 110, and the locking module can move relative to the lock body 110 under the driving of an external force, so that the locking module has a locking state and an unlocking state.

The unlocking handle 120 is movably mounted on the lock body 110 and is in driving connection with the locking module, the unlocking handle 120 may be understood as a portion of the locking module extending out of the lock body 110, and the unlocking handle 120 is driven by external force to move relative to the lock body 110 and drive the locking module to switch between the locking state and the unlocking state.

The unlocking handle 120 may move relative to the lock body 110 in various manners, the unlocking handle 120 may rotate relative to the lock body 110, the unlocking handle 120 may also slide relative to the lock body 110, and the unlocking handle 120 may also move relative to the lock body 110, which is not limited in this respect.

Considering that the unlocking handle 120 needs to move the locking module, the movement pattern of the unlocking handle 120 may be set based on the movement pattern of the locking module relative to the lock body 110, for example, the locking module may rotate relative to the lock body 110, and the unlocking handle 120 is correspondingly configured to be rotatably connected to the lock body 110, so that the state of the locking module may be switched by rotating the unlocking handle 120.

For another example, the locking module may perform a reciprocating telescopic motion with respect to the lock body 110, and the unlocking handle 120 may be correspondingly configured to be able to slide on the lock body 110, so that the state of the locking module may be switched by sliding the unlocking handle 120.

The unlocking handle 120 is provided with an operation interface 121, the structure of the operation interface 121 is various, the operation interface 121 may be a hole structure formed by an inner concave, and the operation interface 121 may be a bolt structure formed by an outer convex, and the structure of the operation interface 121 is not limited herein. The operation interface 121 may limit the movement of the unlocking handle 120 relative to the lock body 110 when constrained, and the operation interface 121 may release the unlocking handle 120 when unconstrained, so that the unlocking handle 120 can move relative to the lock body 110.

The key cylinder 130 is mounted on the lock body 110 and partially exposed from the surface of the lock body 110, and the key cylinder 130 is provided with an unlocking portion 131 and a locking portion 132, wherein the unlocking portion 131 is driven to move the locking portion 132 to lock or unlock the operation interface 121 of the locking handle 120.

The unlocking portion 131 can move in various manners, for example, the unlocking portion 131 can rotate relative to the lock body 110 to move the upper lock portion 132 in a telescopic or rotational manner. For another example, the unlocking portion 131 can be pressed to move the upper locking portion 132 in a telescopic manner. The unlocking portion 131 is not limited to move relative to the lock body 110.

The structure of the unlocking part 131 is the same as that of the operation interface 121 on the unlocking handle 120, that is, when the operation interface 121 of the key cylinder 130 is a key hole, the operation interface 121 on the unlocking handle 120 corresponds to the key hole; when the unlocking part 131 on the lock cylinder 130 is of a key head structure, the upper locking part 132 on the unlocking handle 120 is of a key head structure; it is sufficient to ensure that the unlocking portion 131 of the lock cylinder 130 and the upper locking portion 132 of the unlocking knob 120 are identical or similar.

The structure of the locking part 132 is determined by the structure of the operation interface 121, and when the operation interface 121 is of a hole type, the locking part 132 is of a pin type, and when the operation interface 121 is of a pin type, the locking part 132 is of a hole type, and the locking part 132 may be of other structures.

Referring to fig. 4 to 8, when the cabinet lock 100 is unlocked, an acting force may be applied to the unlocking portion 131 on the lock cylinder 130 to drive the locking portion 132 of the lock cylinder 130 to move, the locking portion 132 of the lock cylinder 130 is switched from the locking position to the unlocking position, at this time, the locking portion 132 of the cabinet lock 100 removes the constraint on the operation interface 121 of the unlocking handle 120, the operation interface 121 of the unlocking handle 120 is exposed outside at this time, and the acting force is applied to the operation interface 121 on the unlocking handle 120 to drive the unlocking handle 120 to move relative to the lock body 110, so as to drive the locking module to be switched from the locking state to the unlocking state, thereby completing the unlocking process of the cabinet lock 100.

When the cabinet is locked, an acting force is applied to the operation interface 121 on the unlocking handle 120 to drive the handle to move relative to the lock body 110, so as to drive the locking module to switch from the unlocked state to the locked state, then an acting force is applied to the unlocking handle 120 to drive the unlocking handle 120 to move relative to the lock body 110, and then an acting force is applied to the unlocking part 131 on the lock cylinder 130 to drive the locking part 132 of the lock cylinder 130 to switch from the unlocked position to the locked position, so that the unlocking handle 120 is locked, and the locking process of the cabinet lock 100 is completed.

In the unlocking process and the locking process of the cabinet lock 100, acting force is only required to be applied to the lock cylinder 130 and the unlocking handle 120, and the unlocking part 131 for bearing force on the lock cylinder 130 and the operation interface 121 on the unlocking handle 120 are identical in structure, so that only one unlocking head is arranged on the unlocking mechanical arm 220 of the robot 200 suitable for the cabinet lock 100, and the robot 200 can unlock and lock the cabinet lock 100 conveniently, and the popularization and application of the robot 200 in the field of power inspection and mistaken touch prevention are facilitated.

In view of the fact that the operation interface 121 on the unlocking handle 120 and the upper locking portion on the lock cylinder 130 are exposed to the outside and easily interfered by external influences, and thus the overall effectiveness of the cabinet lock 100 is affected, in some embodiments of the present invention, referring to fig. 1 and fig. 2, the lock body 110 is concavely provided with the installation groove 111, the installation groove 111 is concavely provided on the surface of the lock body 110 exposed from the cabinet door, the lock cylinder 130 is installed in the installation groove 111, the operation interface 121 on the lock cylinder 130 is exposed from the notch of the installation groove 111, and the locking portion of the lock cylinder 130 is located in the installation groove 111. The cabinet lock 100 further includes a transmission shaft (not shown) rotatably installed on the lock body 110 and in transmission connection with the locking module, and one end of the transmission shaft extends into the installation groove 111. One end of the unlocking handle 120 is rotatably connected to the transmission shaft, and the other end of the unlocking handle 120 is provided with an operation interface 121.

It should be noted that the unlocking handle 120 and the transmission shaft may be rotatably connected through a damping rotation shaft, the unlocking handle 120 and the transmission shaft may also be connected through a hinge structure, and the unlocking handle 120 may also be connected through other structures capable of realizing the rotatable connection, which is not limited in particular herein.

The rotation axis of the transmission shaft and the rotation axis of the unlocking handle 120 form an included angle, preferably, the rotation axis of the transmission shaft and the rotation axis of the unlocking handle 120 are perpendicular to each other, at this time, the rotation axis of the transmission shaft extends along the direction in which the notch of the mounting groove 111 is close to the groove bottom of the mounting groove 111, and the rotation axis of the unlocking handle 120 extends in the direction parallel to the groove bottom of the mounting groove 111.

Based on the above technical solution, when the cabinet lock 100 is unlocked, the locking portion 132 of the lock cylinder 130 is driven to switch from the locking position to the unlocking position by applying an acting force to the unlocking portion 131 on the lock cylinder 130 and removing the constraint applied to the operation interface 121 of the unlocking handle 120, the free end of the unlocking handle 120 extends out of the mounting groove 111 by applying an acting force to the unlocking handle 120, and then the transmission shaft is driven to drive the locking module to switch from the locking state to the unlocking state by rotating the unlocking handle 120, so as to unlock the cabinet lock 100.

It should be noted that the locking process of the cabinet lock 100 is a reverse process of the unlocking process of the cabinet lock 100, that is, the operation sequence of the cabinet lock 100 when being locked is exactly opposite to the operation sequence of the cabinet lock 100 when being unlocked, and details of how to lock the cabinet lock 100 are not described herein.

Further, the cabinet lock 100 further includes an ejection elastic member (not shown), which may be a spring, a spring plate, or other structural members capable of generating elastic deformation, and the ejection elastic member is mounted to the lock body 110 and acts on the unlocking handle 120, so that an end of the unlocking handle 120 adjacent to the lock cylinder 130 always has a tendency to rotate relative to the lock body 110 and extend out of the mounting groove 111. With such an arrangement, after the upper locking portion 132 cancels the restriction on the unlocking handle 120, the unlocking handle 120 can be ejected out of the mounting groove 111 under the action of the ejection elastic member, so that the locking and unlocking processes of the cabinet lock 100 can be simplified, and the efficiency of the robot 200 in locking and unlocking the cabinet lock 100 can be improved.

In view of the fact that when the lock cylinder 130 of the cabinet lock 100 is exposed, the unlocking portion 131 on the lock cylinder 130 is easily contaminated by dust, and especially when the unlocking portion 131 is a keyhole, the keyhole is also easily blocked by insects and other sundries, in some embodiments of the present invention, the cabinet lock 100 further includes a dust cover 140 movably mounted on the lock body 110, the dust cover 140 is provided with a stressed portion 141 having the same structure as the unlocking portion 131, and the stressed portion 141 is driven by an external force to drive the dust cover 140 to move relative to the lock body 110 so as to cover or open the lock cylinder 130.

There are various ways of moving the dust cap 140 relative to the lock body 110, the dust cap 140 can slide relative to the lock body 110, the dust cap 140 can rotate relative to the lock body 110, and the dust cap 140 can also make other movements relative to the lock body 110, which are not listed here, as long as it can cover and open the lock cylinder 130.

Based on the above technical solution, in the unlocking process of the cabinet lock 100, the dust cover 140 needs to be opened to expose the lock cylinder 130, and in the locking process of the cabinet lock 100, the dust cover 140 also needs to be closed to cover the lock cylinder 130 by the dust cover 140.

Referring to fig. 3, the present invention is directed to the cabinet lock 100, and further provides a robot 200 suitable for the cabinet lock 100, wherein the robot 200 includes a robot body 210, an unlocking mechanical arm 220, a vision module 230, a navigation module (not shown), a walking module 240 and a control module (not shown), and the unlocking mechanical arm 220, the vision module 230 and the control module are all mounted on the robot body 210.

The unlocking mechanical arm 220 comprises a multi-degree-of-freedom mechanical arm 221 and an unlocking head 222, wherein the multi-degree-of-freedom mechanical arm 221 is provided with a connecting end and an operating end, the connecting end of the multi-degree-of-freedom mechanical arm 221 is connected with the machine body 210, the operating end of the multi-degree-of-freedom mechanical arm 221 can perform stretching, rotating and other actions, the unlocking head 222 and a vision module 230 are both installed at the operating end of the multi-degree-of-freedom mechanical arm 221, and the unlocking head 222 can apply acting force to the unlocking part 131 and the stress part 141 under the driving of the multi-degree-of-freedom mechanical arm 221 so as to complete corresponding actions.

The multi-degree-of-freedom robot 221 may be of various types, and the multi-degree-of-freedom robot 221 may be a four-degree-of-freedom robot, a six-degree-of-freedom robot, a seven-degree-of-freedom robot, or another type of robot, as long as it can perform operations such as extension and retraction, rotation, and the like.

The type of the unlocking head 222 is adapted to the operation interface 121, the unlocking portion 131, and the force-receiving portion 141 of the cabinet lock 100, when the operation interface 121, the unlocking portion 131, and the force-receiving portion 141 are all hole structures, the unlocking head 222 is correspondingly provided with a position-pin-shaft-like structure, and when the operation interface 121, the unlocking portion 131, and the force-receiving portion 141 are all pin-shaft-like structures, the unlocking head 222 is correspondingly provided with a hole structure.

The vision module 230 is generally a camera capable of capturing images, the vision module 230 may also be composed of a camera and a data processing module, and the vision module 230 may also be a binocular camera, that is, composed of a two-dimensional camera and a three-dimensional camera, where the specific type of the vision module 230 is not limited as long as the vision module 230 at least has a function of capturing images.

The vision module 230 can be directly installed on the machine body 210, and the vision module 230 can also be indirectly installed on the machine body 210, that is, the vision module 230 is installed on the machine body 210 by being installed on the unlocking mechanical arm 220, preferably, the vision module 230 is installed on the unlocking mechanical arm 220, so that the shooting position and the shooting angle of the vision module 230 can be conveniently adjusted.

The navigation module can adopt a GPS global positioning system, a Beidou positioning system and other positioning systems, which are not listed one by one.

The walking module 240 is mounted on the machine body 210, and the walking module 240 is used for driving the machine body 210 to travel on the ground. The walking module 240 can be composed of a driving motor and walking wheels, the walking module 240 can also be composed of a driving motor and a crawler structure, the walking module 240 can also be composed of a driving motor and walking joints, and the walking module 240 can also be composed of other structural members, which are not listed.

The control module may be a single chip, a PWM controller, a microcontroller, or the like, and may be installed on the machine body 210, or may be installed at a position other than the machine body 210, and is not limited specifically here.

This control module installs on machine body 210 and is connected with unblock arm 220 and visual module 230 electricity, and the mode of electricity connection has two kinds, and one is wired connection, and this control module passes through the wire promptly and is connected with visual module 230 and unblock arm 220 electricity, and its two is wireless connection, and control module passes through modes such as bluetooth, WIFI promptly and is connected with visual module 230 and unblock arm 220 electricity.

The control module includes a memory, a processor, and a control program of the robot 200 stored in the memory, and when the control program of the robot 200 runs on the processor, the control program can control the robot 200 to unlock or lock the cabinet lock 100.

Referring to fig. 9, fig. 9 is a schematic flowchart illustrating an embodiment of a method for unlocking a cabinet lock 100 by a robot 200 according to the present invention, where the method for unlocking the cabinet lock 100 by the robot 200 includes the following steps:

step S110: the method comprises the steps of obtaining an image of a cabinet lock to be unlocked through a vision module of a robot, and determining the type of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked.

It should be noted that each cabinet lock 100 is provided with its unique features, which may be an identification code (such as a bar code, a two-dimensional code, etc.), a size feature (such as a length, a width), and an identification image (such as a five-pointed star, a peony flower, etc.), and all of the features can be used to distinguish different types.

The database of the control module stores multiple types of cabinet locks 100, each type of cabinet lock 100 correspondingly has a specific characteristic, the visual module 230 transmits a shot image of the cabinet lock 100 to be unlocked to the control module, the control module searches and matches the characteristic carried by the cabinet lock 100 to be unlocked in the image shot by the visual module 230, and if the characteristic carried by the cabinet lock 100 stored in the database of the control module is consistent with the characteristic carried by the cabinet lock 100 to be unlocked, the currently searched type of the cabinet lock 100 can be determined to be the type of the cabinet lock 100 to be unlocked.

Step S120: and determining the position information of an unlocking part on the lock cylinder of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked.

It should be noted that the position information of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked includes a three-dimensional coordinate position of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked and a butting angle of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked.

The vision module 230 adopts a binocular camera, which includes a two-dimensional camera and a three-dimensional camera, the two-dimensional camera shoots two-dimensional images of the cabinet lock 100 to be unlocked, the three-dimensional camera shoots three-dimensional images of the cabinet lock 100 to be unlocked, and the control module processes the two-dimensional images shot by the two-dimensional camera and the three-dimensional images shot by the three-dimensional camera to obtain the three-dimensional coordinate position of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked.

Specifically, the control module may determine the docking angle of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked by detecting an included angle between a connecting line of two points on the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked and a horizontal reference plane (generally, a ground plane) and an included angle between a connecting line of two points on the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked and a vertical reference plane (generally, a cabinet door surface).

Step S130: according to the position information of the unlocking part on the lock cylinder of the cabinet lock to be unlocked, the unlocking head on the unlocking mechanical arm of the robot is controlled to be in butt joint with the unlocking part on the lock cylinder of the cabinet lock to be unlocked.

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked, and the unlocking mechanical arm 220 makes telescopic, rotary and other actions under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked and is butted with the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked.

Step S140: based on the type of the cabinet lock to be unlocked, the unlocking head on the unlocking mechanical arm of the control robot is used for unlocking the unlocking part on the lock cylinder of the cabinet lock to be unlocked, so that the unlocking handle of the cabinet lock to be unlocked is released.

It should be noted that the lock cylinder 130 of each type of cabinet lock 100 is unlocked differently, for example, the lock cylinder 130 of the cabinet lock 100 is unlocked by rotating, for example, the lock cylinder 130 of the cabinet lock 100 is unlocked by pressing, and for example, the lock cylinder 130 of the cabinet lock 100 is explained by toggling, which is not listed here.

The unlocking mechanical arm 220 of the robot 200 performs corresponding actions according to the unlocking mode of the lock cylinder 130 of the cabinet lock 100, for example, the lock cylinder 130 of the cabinet lock 100 is unlocked in a rotating mode, and the control module controls the unlocking mechanical arm 220 to rotate so as to unlock the lock cylinder 130 of the cabinet lock 100; if the lock cylinder 130 of the cabinet lock 100 is interpreted in a pressing manner, the control module controls the unlocking mechanical arm 220 to move forward, so as to unlock the lock cylinder 130 of the cabinet lock 100.

After the unlocking mechanical arm 220 of the robot 200 performs a corresponding action on the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked, the locking part 132 in transmission connection with the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked is switched from the locking position to the unlocking position, so that the unlocking handle 120 of the cabinet lock 100 to be unlocked is restrained, and the unlocking handle 120 of the cabinet lock 100 to be unlocked can move relative to the lock body 110.

Step S150: the method comprises the steps of obtaining an image of an unlocking handle of a cabinet lock to be unlocked through a vision module of a robot, and determining position information of an operation interface on the unlocking handle of the cabinet lock to be unlocked based on the image of the cabinet lock to be unlocked.

It should be noted that, after the lock cylinder 130 is unlocked, the position of the unlocking handle 120 where the operation interface 121 is disposed is exposed, the operation interface 121 of the unlocking handle 120 may be directly exposed outside the lock body 110, the unlocking handle 120 may also be disposed to extend out of the lock body 110 after the lock cylinder 130 is unlocked, and the specific implementation manner that the unlocking handle 120 extends out of the lock body 110 after the lock cylinder 130 is unlocked may refer to the above-mentioned embodiment in the cabinet lock 100, and is not described herein again.

The position information of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked includes: the three-dimensional coordinate position of the operation interface 121 and the docking angle of the operation interface 121 may be obtained by processing the image captured by the vision module 230 through the control module.

Specifically, the two-dimensional camera in the vision module 230 captures a two-dimensional image of the unlocking handle 120 of the cabinet lock 100 to be unlocked, the three-dimensional camera in the vision module 230 captures a three-dimensional image of the unlocking handle 120 of the cabinet lock 100 to be unlocked, and the control module processes the two-dimensional image captured by the two-dimensional camera and the three-dimensional image captured by the three-dimensional camera to obtain a three-dimensional coordinate position of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked.

The control module may determine the butt joint angle of the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked by detecting an included angle between a connecting line of two points on the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked and a horizontal reference plane (typically, a ground plane) and an included angle between a connecting line of two points on the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked and a vertical reference plane (typically, a cabinet door surface).

Step S160: according to the position information of the operating interface on the unlocking handle of the cabinet lock to be unlocked, the unlocking head on the unlocking mechanical arm of the robot is controlled to be in butt joint with the operating interface on the unlocking handle of the cabinet lock to be unlocked.

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked, and the unlocking mechanical arm 220 makes telescopic movement, rotation and the like under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked and is in butt joint with the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be unlocked.

Step S170: based on the type of the cabinet lock to be unlocked, the unlocking mechanical arm of the robot is controlled to operate the unlocking handle of the cabinet lock to be unlocked, so that the locking module of the cabinet lock to be unlocked is switched to the unlocking state from the locking state.

It should be noted that the unlocking handle 120 of each type of cabinet lock 100 is different from each other, for example, the unlocking handle 120 of the cabinet lock 100 is unlocked by rotating, for example, the unlocking handle 120 of the cabinet lock 100 is unlocked by pressing, and for example, the unlocking handle 120 of the cabinet lock 100 is explained by dialing, which are not listed here.

The unlocking mechanical arm 220 performs corresponding actions according to the unlocking mode of the unlocking handle 120 of the cabinet lock 100, for example, the lock cylinder 130 of the cabinet lock 100 is unlocked in a rotating mode, and the control module controls the unlocking mechanical arm 220 to rotate so as to unlock the unlocking handle 120 of the cabinet lock 100; if the unlocking handle 120 of the cabinet lock 100 is interpreted in a pressing manner, the control module controls the unlocking mechanical arm 220 to move forward, so as to unlock the unlocking handle 120 of the cabinet lock 100.

In view of the fact that when the lock cylinder 130 of the cabinet lock 100 is exposed, the unlocking portion 131 on the lock cylinder 130 is easily contaminated by dust, and especially when the unlocking portion 131 is a keyhole, the keyhole is also easily blocked by insects and other sundries, the cabinet lock 100 further includes a dust cover 140 movably mounted on the lock body 110, the dust cover 140 is provided with a stressed portion 141 having the same structure as the unlocking portion 131, and the stressed portion 141 is driven by an external force to drive the dust cover 140 to move relative to the lock body 110 so as to cover or open the lock cylinder 130.

In some embodiments of the present invention, referring to fig. 10, before step S120, the method further includes:

step S115: and judging whether a dustproof cover for shielding the unlocking part on the lock cylinder of the cabinet lock to be unlocked exists on the cabinet lock to be unlocked or not based on the image of the cabinet lock to be unlocked.

If not, go to step S120;

if yes, step S116 is executed, where step S116 includes:

step S1162: controlling an unlocking head on an unlocking mechanical arm of the robot to be in butt joint with a stress part on a dustproof cover of the cabinet lock to be unlocked based on the position information of the stress part on the dustproof cover of the cabinet lock to be unlocked;

step S116: step S1163: based on the type of the cabinet lock to be unlocked, the unlocking mechanical arm of the robot is controlled to execute corresponding actions on the dustproof cover of the cabinet lock to be unlocked, so that the unlocking part of the lock cylinder of the cabinet lock to be unlocked is exposed.

The control module determines whether there are various ways to shield the dust cap 140 of the lock cylinder 130 of the cabinet lock 100 to be unlocked according to the image of the cabinet lock 100 to be unlocked, and for convenience of understanding, the following description is made in detail by using different examples.

For example, whether the dust cover 140 of the lock cylinder 130 of the cabinet lock 100 to be unlocked exists on the cabinet lock 100 to be unlocked can be determined by comparing gray values of the images, specifically, the gray values of the images of the lock cylinder 130 of the cabinet lock 100 to be unlocked, which are not shielded by the dust cover 140, are stored in the control module, the gray values of the images of the lock cylinder 130 of the cabinet lock 100 to be unlocked, which are not shielded by the dust cover 140, are compared with the gray values of the images of the cabinet lock 100 to be unlocked, which are shot by the vision module 230, if the gray values are the same, it is indicated that the lock cylinder 130 of the cabinet lock 100 to be unlocked is not shielded by the dust cover 140, and if the gray values are different, it is indicated that the lock cylinder 130 of the cabinet lock 100 to be unlocked is shielded by the dust cover 140.

For another example, it may be determined whether the dust cap 140 of the lock cylinder 130 of the cabinet lock 100 to be unlocked exists on the cabinet lock 100 to be unlocked by comparing features in the image, specifically, an image in which the lock cylinder 130 of the cabinet lock 100 to be unlocked is not shielded by the dust cap 140 is stored in the control module, the control module correspondingly stores features (the lock body 110, the unlocking handle 120, the lock cylinder 130, the operation interface 121, and the like) in the image in which the lock cylinder 130 of the cabinet lock 100 to be unlocked is not shielded by the dust cap 140, the control module processes the image of the cabinet lock 100 to be unlocked, obtains the features in the image of the cabinet lock 100 to be unlocked and compares the features in the image in which the lock cylinder 130 of the cabinet lock 100 to be unlocked is not shielded by the dust cap 140, if the number of features and the type correspond to each other, it represents that the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 to be unlocked is not shielded, if the number of features and the type are not matched, it represents that the unlocking part 131 is blocked when it is desired to unlock the lock cylinder 130 of the cabinet lock 100.

The position information of the force-bearing part 141 of the dust-proof cover 140 on the cabinet lock 100 to be unlocked includes: the three-dimensional coordinate position of the force-receiving portion 141 and the docking angle of the force-receiving portion 141, and the three-dimensional coordinate position of the force-receiving portion 141 and the docking angle of the force-receiving portion 141 can be obtained by processing the image captured by the vision module 230 through the control module.

Specifically, the two-dimensional camera in the vision module 230 captures a two-dimensional image of the dust cap 140 of the cabinet lock 100 to be unlocked, the three-dimensional camera in the vision module 230 captures a three-dimensional image of the dust cap 140 of the cabinet lock 100 to be unlocked, and the control module processes the two-dimensional image captured by the two-dimensional camera and the three-dimensional image captured by the three-dimensional camera to obtain a three-dimensional coordinate position of the stressed portion 141 of the dust cap 140 of the cabinet lock 100 to be unlocked.

The control module may determine the butt joint angle of the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be unlocked by detecting an included angle between a connection line of two points on the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be unlocked and a horizontal reference surface (generally, the ground) and an included angle between a connection line of two points on the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be unlocked and a vertical reference surface (generally, a cabinet door surface).

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the stress part 141 on the dust cover 140 of the cabinet lock 100 to be unlocked, and the unlocking mechanical arm 220 makes telescopic, rotary and other actions under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the stress part 141 on the dust cover 140 of the cabinet lock 100 to be unlocked and is in butt joint with the stress part 141 on the dust cover 140 of the cabinet lock 100 to be unlocked.

It should be noted that the movement of the dust cap 140 of each type of cabinet lock 100 is different, for example, the dust cap 140 of the cabinet lock 100 opens the lock cylinder 130 by rotating, and for example, the dust cap 140 of the cabinet lock 100 opens the lock cylinder 130 by sliding, which is not always the same as the movement of the dust cap 140 of the cabinet lock 100.

The unlocking mechanical arm 220 performs corresponding actions according to the movement mode of the dust cover 140 of the cabinet lock 100, for example, the dust cover 140 of the cabinet lock 100 opens the lock cylinder 130 in a rotating mode, and the control module controls the unlocking mechanical arm 220 to rotate so as to drive the dust cover 140 to rotate; if the dust cover 140 of the cabinet lock 100 opens the lock cylinder 130 in a sliding manner, the control module controls the unlocking mechanical arm 220 to translate so as to drive the dust cover 140 to translate.

In some embodiments of the present invention, referring to fig. 11, step S110 further includes the following steps:

step S101: and acquiring an unlocking instruction through a communication module of the robot, wherein the unlocking instruction comprises the position information of the equipment to be unlocked and the identity information of the cabinet lock to be unlocked.

The unlocking instruction obtained by the communication module of the robot 200 is from a terminal, the terminal may be a computer, a remote controller, an Ipad, a mobile phone, or the like, and no specific limitation is made herein, and the communication module of the robot may establish communication connection with the terminal through WIFI, infrared, or the like.

Since there are usually a plurality of lockers in the power equipment, and different lockers use different cabinet locks 200 to lock, when the terminal sends an unlocking instruction to the robot 200, the unlocking instruction requires the location information of the equipment to be unlocked and the identity information of the cabinet lock to be unlocked, the robot 200 may move to a target location according to the location information of the equipment to be unlocked, and the robot 200 determines the target cabinet lock 100 according to the identity information of the cabinet lock to be unlocked.

Step S102: and guiding the unlocking instruction to the position indicated by the position information of the equipment to be unlocked in the unlocking instruction through a navigation module of the robot.

Step S103: the identity information of the cabinet lock to be unlocked on the equipment to be unlocked is acquired through the vision module of the robot, and the position information of the cabinet lock to be unlocked is confirmed.

It should be noted that each cabinet lock on the device to be unlocked carries identification information, which may be a two-dimensional code, a barcode, or other identification information, and when the robot 200 moves to the location of the device to be unlocked, the identification information of each cabinet lock on the device to be unlocked is obtained first, and then the obtained identification information of each cabinet lock is matched with the identity information of the cabinet lock to be unlocked in the unlocking instruction, if the identification information is the same as the identity information of the cabinet lock to be unlocked, it is determined that the current cabinet lock 100 is the target cabinet lock, and if the identification information is different, it is determined that the current cabinet lock 100 is not the target cabinet lock.

According to the invention, the unlocking head 222 on the unlocking mechanical arm 220 of the robot 200 is matched with the dust cover 140, the lock cylinder 130 and the unlocking handle 120 of the cabinet lock 100, so that the dust cover 140 is opened, the lock cylinder 130 is unlocked and the unlocking handle 120 is unlocked, and therefore, the cabinet lock 100 is unlocked by one unlocking mechanical arm 220, so that the robot 200 is favorably popularized and applied to the field of electric power inspection and mistaken touch prevention.

Referring to fig. 12, fig. 12 is a flowchart illustrating an embodiment of a method for locking a cabinet lock 100 by a robot 200 according to the present invention, wherein the method for locking the cabinet lock 100 by the robot 200 includes the following steps:

step S210: the method comprises the steps of obtaining an image of a cabinet lock to be locked through a vision module of the robot, and determining the type of the cabinet lock to be locked based on the image of the cabinet lock to be locked.

Each cabinet lock 100 is provided with its unique features, which may be identification codes (such as bar codes, two-dimensional codes, etc.), size features (such as length, width), identification images (such as five-pointed star, peony, etc.), and all of them can be used as features for distinguishing different types.

The database of the control module stores multiple types of cabinet locks 100, each type of cabinet lock 100 has a specific characteristic correspondingly, the vision module 230 transmits the shot image of the cabinet lock 100 to be locked to the control module, the control module searches and matches the characteristic carried by the cabinet lock 100 to be locked in the image shot by the vision module 230, and if the characteristic carried by the cabinet lock 100 stored in the database of the control module is consistent with the characteristic carried by the cabinet lock 100 to be locked, the currently searched cabinet lock 100 type can be determined to be the type of the cabinet lock 100 to be locked.

Step S220: based on the image of the cabinet lock to be locked, the position information of the operation interface on the unlocking handle of the cabinet lock to be locked is determined.

It should be noted that, before the unlocking handle 120 is unlocked, the position of the unlocking handle 120 where the operation interface 121 is disposed is exposed, the operation interface 121 of the unlocking handle 120 may be directly exposed outside the lock body 110, the unlocking handle 120 may also be disposed to extend out of the lock body 110 after the lock core 130 is unlocked, and the specific implementation manner that the unlocking handle 120 extends out of the lock body 110 after the lock core 130 is unlocked may refer to the above-mentioned embodiment in the cabinet lock 100, and will not be described again here.

The position information of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked includes: the three-dimensional coordinate position of the operation interface 121 and the docking angle of the operation interface 121 may be obtained by processing the image captured by the vision module 230 through the control module.

Specifically, the two-dimensional camera in the vision module 230 captures a two-dimensional image of the unlocking handle 120 of the cabinet lock 100 to be locked, the three-dimensional camera in the vision module 230 captures a three-dimensional image of the unlocking handle 120 of the cabinet lock 100 to be locked, and the control module processes the two-dimensional image captured by the two-dimensional camera and the three-dimensional image captured by the three-dimensional camera to obtain a three-dimensional coordinate position of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked.

The control module may determine the butt joint angle of the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 to be locked by detecting an angle between a connecting line of two points on the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked and a horizontal reference plane (typically, the ground) and an angle between a connecting line of two points on the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked and a vertical reference plane (typically, the surface of a cabinet door).

Step S230: according to the position information of the operating interface on the unlocking handle of the cabinet lock to be locked, the unlocking head on the unlocking mechanical arm of the robot is controlled to be in butt joint with the operating interface on the unlocking handle of the cabinet lock to be locked.

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked, and the unlocking mechanical arm 220 makes telescopic movement, rotation and the like under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked and is in butt joint with the operation interface 121 on the unlocking handle 120 of the cabinet lock 100 to be locked.

Step S240: based on the type of the cabinet lock to be locked, the unlocking mechanical arm of the robot is controlled to operate the unlocking handle of the cabinet lock 100 to be locked, so that the locking module of the cabinet lock to be locked is switched from the unlocking state to the locking state.

It should be noted that each type of the cabinet lock 100 has different locking manners of the unlocking handle 120, such as the locking module of the cabinet lock 100 is locked by rotating, the locking module of the cabinet lock 100 is locked by pressing, and the unlocking handle 120 of the cabinet lock 100 is locked by toggling, which are not listed here.

The unlocking mechanical arm 220 performs corresponding actions according to the locking mode of the locking module of the cabinet lock 100, for example, the locking module of the cabinet lock 100 is locked in a rotating mode, and the control module controls the unlocking mechanical arm 220 to drive the unlocking handle 120 to rotate so as to lock the locking module of the cabinet lock 100; if the locking module of the cabinet lock 100 is locked by pressing, the control module controls the unlocking mechanical arm 220 to move forward and press the handle, so as to lock the locking module of the cabinet lock 100.

It should be noted that the lock cylinder 130 of each type of cabinet lock 100 locks the handle differently, for example, the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 drives the upper locking portion 132 to lock the unlocking handle 120 by rotating, and for example, the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 drives the upper locking portion 132 to lock the unlocking handle 120 by sliding in the horizontal direction, and what way the unlocking portion 131 on the lock cylinder 130 of the cabinet lock 100 locks the unlocking handle 120 is not limited in detail.

The unlocking mechanical arm 220 performs corresponding actions according to the way that the lock cylinder 130 of the cabinet lock 100 locks the handle, for example, the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 locks the locking part 132 in a rotating way, and the control module controls the unlocking mechanical arm 220 to rotate, so as to complete the locking of the unlocking handle 120 of the cabinet lock 100; if the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 is locked in a sliding manner, the control module controls the unlocking mechanical arm 220 to move transversely, so that the unlocking handle 120 of the cabinet lock 100 is locked.

Step S260: and determining the position information of the stressed part of the dustproof cover on the cabinet lock to be locked based on the image of the cabinet lock to be locked.

The position information of the force-receiving portion 141 of the dust cover 140 on the cabinet lock 100 to be locked includes: the three-dimensional coordinate position of the force-receiving portion 141 and the docking angle of the force-receiving portion 141, and the three-dimensional coordinate position of the force-receiving portion 141 and the docking angle of the force-receiving portion 141 can be obtained by processing the image captured by the vision module 230 through the control module.

Specifically, the two-dimensional camera in the vision module 230 captures a two-dimensional image of the dust cover 140 of the cabinet lock 100 to be locked, the three-dimensional camera in the vision module 230 captures a three-dimensional image of the dust cover 140 of the cabinet lock 100 to be locked, and the control module processes the two-dimensional image captured by the two-dimensional camera and the three-dimensional image captured by the three-dimensional camera to obtain a three-dimensional coordinate position of the stressed portion 141 of the dust cover 140 of the cabinet lock 100 to be locked.

The control module may determine the butt joint angle of the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be locked by detecting an included angle between a connection line of two points on the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be locked and a horizontal reference surface (typically, the ground) and an included angle between a connection line of two points on the stressed portion 141 on the dust-proof cover 140 of the cabinet lock 100 to be locked and a vertical reference surface (typically, a cabinet door surface).

Step S270: based on the position information of the stress part of the dust cover on the cabinet lock to be locked, the unlocking head on the unlocking mechanical arm of the robot is controlled to be in butt joint with the stress part of the dust cover on the cabinet lock to be locked.

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the stress part 141 on the dust cover 140 of the cabinet lock 100 to be locked, and the unlocking mechanical arm 220 makes telescopic, rotary and other actions under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the stress part 141 on the dust cover 140 of the cabinet lock 100 to be locked and is in butt joint with the stress part 141 on the dust cover 140 of the cabinet lock 100 to be locked.

Step S290: based on the type of the cabinet lock to be unlocked, the unlocking mechanical arm of the robot is controlled to execute corresponding actions on the dustproof cover of the cabinet lock to be locked, so that the dustproof cover of the cabinet lock to be locked covers the lock cylinder.

In some embodiments of the present invention, referring to fig. 13, the step S250 of the locking method for the cabinet lock of the robot includes:

step S251: based on the type of the cabinet lock to be locked, the unlocking mechanical arm of the control robot operates the unlocking handle of the cabinet lock to be locked, so that the upper locking part on the lock cylinder of the cabinet lock to be locked is aligned with the upper operation interface of the unlocking handle of the cabinet lock to be locked.

Since the unlock handle 120 of the cabinet lock 100 to be locked is disposed to be offset from the upper lock portion 132 of the cabinet lock 100 to be locked before unlocking, the unlock handle 120 of the cabinet lock 100 to be locked needs to be aligned with the upper lock portion 132 of the cabinet lock 100 to be locked before the unlock handle 120 of the cabinet lock 100 to be locked is locked.

The movement manners of the unlocking handle 120 of the different types of locking cabinet locks 100 with respect to the lock body 110 are different, for example, the unlocking handle 120 of the cabinet lock 100 is rotatably connected to the lock body 110, at this time, the unlocking mechanical arm 220 of the robot 200 is required to drive the unlocking handle 120 of the cabinet lock 100 to be locked to rotate, and if the unlocking handle 120 of the cabinet lock 100 is slidably connected to the lock body 110, at this time, the unlocking mechanical arm 220 of the robot 200 is required to drive the unlocking handle 120 of the cabinet lock 100 to be locked to slide, which is not listed here.

It should be noted that, whether the upper locking portion 132 on the lock cylinder 130 of the cabinet lock 100 to be locked is aligned with the operation interface 121 on the unlock handle 120 of the cabinet lock 100 to be locked may be determined by an image captured by the vision module 230 of the robot 200, that is, the control module of the robot 200 compares the grayscale value of the image when the upper locking portion 132 on the lock cylinder 130 of the cabinet lock 100 is aligned with the operation interface 121 on the unlock handle 120 with the grayscale value of the image when the upper locking portion 132 on the lock cylinder 130 of the cabinet lock 100 to be locked is aligned with the operation interface 121 on the unlock handle 120 of the cabinet lock 100 to be locked, and if the grayscale values are the same, it is determined that the upper locking portion 132 on the lock cylinder 130 of the cabinet lock 100 to be locked is aligned with the operation interface 121 on the unlock handle 120 of the cabinet lock 100 to be locked.

In addition, the photoelectric transmitter and the photoelectric receiver may be separately disposed on the upper lock portion 132 of the lock cylinder 130 of the cabinet lock 100 and the operation interface 121 of the unlocking handle 120, and then the photoelectric receiver is communicatively connected to the robot 200, so that the robot 200 may determine, according to the received signal, whether the upper lock portion 132 of the lock cylinder 130 of the cabinet lock 100 to be locked is aligned with the operation interface 121 of the unlocking handle 120 of the cabinet lock 100 to be locked.

Step S252: and determining the position information of the unlocking part on the lock cylinder of the cabinet lock to be locked based on the image of the cabinet lock to be locked.

The position information of the unlocking part 131 on the key cylinder 130 of the cabinet lock 100 to be locked includes the three-dimensional coordinate position of the unlocking part 131 on the key cylinder 130 of the cabinet lock 100 to be locked and the butt angle of the unlocking part 131 on the key cylinder 130 of the cabinet lock 100 to be locked.

The vision module 230 adopts a binocular camera, the binocular camera includes a two-dimensional camera and a three-dimensional camera, the two-dimensional camera shoots two-dimensional images of the cabinet lock 100 to be locked, the three-dimensional camera shoots three-dimensional images of the cabinet lock 100 to be locked, and the control module processes the two-dimensional images shot by the two-dimensional camera and the three-dimensional images shot by the three-dimensional camera to obtain the three-dimensional coordinate position of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked.

Specifically, the control module may determine the butting angle of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked by detecting an included angle between a connecting line of two points on the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked and a horizontal reference surface (generally, a ground surface) and an included angle between a connecting line of two points on the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked and a vertical reference surface (generally, a cabinet door surface).

Step S253: according to the position information of the unlocking part on the lock cylinder of the cabinet lock to be locked, the unlocking head on the unlocking mechanical arm of the robot is controlled to be in butt joint with the unlocking part on the lock cylinder of the cabinet lock to be locked.

The control module formulates a movement path of an unlocking head 222 on an unlocking mechanical arm 220 of the robot 200 according to the position information of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked, and the unlocking mechanical arm 220 makes telescopic, rotary and other actions under the control of the control module, so that the unlocking head 222 of the unlocking mechanical arm 220 moves to the position of the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked and is butted with the unlocking part 131 on the lock cylinder 130 of the cabinet lock 100 to be locked.

Step S254: based on the type of the cabinet lock to be locked, an unlocking head on an unlocking mechanical arm of the robot is controlled to operate a lock cylinder of the cabinet lock to be locked, so that an unlocking handle of the cabinet lock to be locked is locked.

It should be noted that the lock cylinder 130 of each type of cabinet lock 100 is locked differently, for example, the lock cylinder 130 of the cabinet lock 100 is locked by rotation, for example, the lock cylinder 130 of the cabinet lock 100 is locked by pressing, and for example, the lock cylinder 130 of the cabinet lock 100 is locked by toggling, which are not listed here.

The unlocking mechanical arm 220 of the robot 200 performs corresponding actions according to the locking mode of the lock cylinder 130 of the cabinet lock 100, for example, the lock cylinder 130 of the cabinet lock 100 is locked in a rotating mode, and the control module controls the unlocking mechanical arm 220 to rotate so as to lock the lock cylinder 130 of the cabinet lock 100; if the lock cylinder 130 of the cabinet lock 100 is interpreted in a pressing manner, the control module controls the unlocking mechanical arm 220 to move forward, so as to lock the lock cylinder 130 of the cabinet lock 100.

According to the invention, the unlocking head 222 on the unlocking mechanical arm 220 of the robot 200 is matched with the dust cover 140, the lock cylinder 130 and the unlocking handle 120 of the cabinet lock 100, so that the dust cover 140 is closed, the lock cylinder 130 is locked and the unlocking handle 120 is locked, and therefore, the cabinet lock 100 is locked by one unlocking mechanical arm 220, so that the robot 200 is favorably popularized and applied to the field of power inspection and mistaken touch prevention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method for unlocking a cabinet lock by a robot is characterized by comprising the following steps:

2. The method for unlocking the cabinet lock by the robot as claimed in claim 1, wherein the position information of the unlocking part on the lock cylinder comprises three-dimensional coordinates of the unlocking part and a butt joint angle of the unlocking part;

the position information of the operation interface on the unlocking handle of the cabinet lock to be unlocked comprises the following steps: the three-dimensional coordinate position of the operation interface and the butt joint angle of the operation interface.

3. The method for unlocking a cabinet lock by a robot according to claim 1, wherein the step S120 is preceded by:

if not, go to step S120;

if yes, executing step S116, where step S116 includes:

4. The method for unlocking a cabinet lock by a robot according to claim 1, wherein the step S110 is preceded by:

5. A method for locking a cabinet lock by a robot is characterized by comprising the following steps:

6. A method for locking a cabinet lock by a robot according to claim 5, wherein the step S250 includes:

7. The method for locking a cabinet lock by a robot according to claim 5, wherein the method for locking a cabinet lock by a robot further comprises:

8. A robot is characterized by comprising a robot body, a vision module, an unlocking mechanical arm and a control module; wherein the content of the first and second substances,

the control module comprises a memory, a processor and a control program of the robot stored on the memory, wherein the control program of the robot executes the steps of the method for unlocking the cabinet lock by the robot according to any one of claims 1 to 3 or the steps of the method for locking the cabinet lock by the robot according to any one of claims 4 to 5 when the control program of the robot runs on the processor.

9. The robot of claim 8, wherein the unlocking mechanical arm comprises a multi-degree-of-freedom mechanical arm and an unlocking head, the multi-degree-of-freedom mechanical arm comprises a connecting end and an operating end, the connecting end of the multi-degree-of-freedom mechanical arm is connected with the machine body, and the unlocking head and the vision module are both mounted at the operating end of the multi-degree-of-freedom mechanical arm.

10. The robot of claim 8, further comprising a walking module and a navigation module electrically connected to the control module, the walking module and the navigation module both being mounted to the machine body.

11. A cabinet lock, characterized in that the cabinet lock is adapted for use with a robot according to any of claims 8-10, the cabinet lock comprising a lock body, a locking module, an unlocking handle and a lock cylinder; wherein the content of the first and second substances,

12. The cabinet lock of claim 11, wherein a surface of the lock body is recessed with a mounting groove, the lock cylinder is mounted in the mounting groove, the unlocking portion is exposed from a notch of the mounting groove, and the locking portion is located in the mounting groove;

13. The cabinet lock of claim 12, wherein the cabinet lock includes an ejection spring mounted to the lock body and acting on the release handle to urge an end of the release handle distal from the drive shaft out of the mounting slot arrangement.

14. The cabinet lock according to claim 11, wherein the cabinet lock further comprises a dust cover movably mounted to the lock body, the dust cover is provided with a force-receiving portion having the same structure as the unlocking portion, and the force-receiving portion is driven by an external force to move the dust cover relative to the lock body so as to cover or uncover the lock cylinder.