Twist lock classification system and method

Abstract

The present disclosure describes a lock classification system for a container twist lock. The lock classification system is configured to determine whether to select a twist lock for a securing operation based on a classification of the twist lock. The lock classification system includes: a lock supply device; a lock recognizer configured to classify the twist lock according to the type and / or model of the twist lock; at least one lock separator configured to separate the twist locks from each other such that the twist locks are individually recognizable by the lock recognizer; a manipulation scheme system; and at least one lock manipulator.

Description

Technical Field

[0001] This disclosure relates to a method for classifying container twist locks and a container twist lock classification system. Background Art

[0002] Intermodal containers are used for transporting goods (mostly non-bulk goods) and are also known as marine containers and / or ISO containers due to their compliance with international (ISO) specifications. Containers are generally reusable and form the basis of the global intermodal freight transport system, in which containers can be transported by multiple modes of transport and transferred between multiple modes of transport without opening the container and moving the goods stored therein. Intermodal containers come in a variety of standard sizes, such as the so-called "20-foot container", "40-foot container" or "45-foot container", which include a rectangular cuboid container body and can be stacked tightly together for storage or transportation. For example, containers can be stacked ten or more high in a ship's hull. At least one side of the container can be opened by a lockable door so that access to the interior of the container is possible. The longitudinal dimensions of a rectangular 20-foot container, 40-foot container and 45-foot container are 20 feet (6.096 meters), 40 feet (12.192 meters) and 45 feet (13.716 meters), respectively. The standard container height is 2.5 meters or 2.9 meters.

[0003] Various systems are employed to secure stacked containers for transportation or storage. Strapping bands, removable stacking frames, twist lock connectors, center locks, stacking cones, alignment pins, latch devices and hooks are used in various combinations to ensure that the containers are secured in place for transportation. To assist in the loading, unloading, lifting and securing of containers to one another, intermodal containers include standardized mounting means in the form of cuboid corner blocks (also known as "mounting blocks" or "corner castings"). The corner blocks can accommodate fastening elements such as twist lock connectors and stacking cones, which can be used to connect the containers to one another.

[0004] In most cases, a container includes eight corner blocks, each of which is rigidly fixed at the respective corners of the rectangular cuboid container. The corner blocks are typically located in recesses such that the free outer surfaces of the corner blocks are substantially flush with or slightly protrude from the respective sides of the container associated therewith. Each corner block typically includes a hollow fabricated or cast box-like structure, usually made of steel, which defines an internal space. The outer side of the corner block defines an opening in the form of a slot of a standard size and shape leading to the internal space. The shape of the slot is typically oval and is configured to receive a corner block mounting structure, such as an alignment pin, latch device, hook, twist lock connector, stacking cone or other hardware.

[0005] Certain mounting structures (such as twist locks) can be used to connect containers (such as containers arranged in a stack) to each other. The twist lock has at least one anchor that can be used to releasably lock the twist lock to a corner casting. The anchor projects from a support body and has a shape complementary to the shape of an oval slot in the corresponding corner casting. In use, the anchor is inserted through the slot of the corresponding shape in the corner casting into the internal space of the associated corner casting and engages the inner surface of the corner casting. Once locked in place, the twist lock can be used to assist in connecting the container to another container (or another structure, such as the deck of a ship). Operationally, fitting a twist lock to a container and removing a twist lock from a container can be described as "pinning" or "pinning operation".

[0006] In some twist locks, at least one anchor is a cam that is movable relative to the support body of the twist lock. Once located within the internal space, the cam is moved, for example by rotation, such that the cam engages the inner surface of the corner casting, thereby releasably locking the twist lock to the corner casting. A twist lock for connecting containers to each other can have a second movable cam that projects from the support body in a direction opposite to that of the cam. To fix a pair of containers together (such as as part of a stack), the corresponding sides of each container are aligned so that the corresponding corner castings located on the corresponding sides are aligned with each other. The opposing cams of the twist lock are respectively inserted into the respective internal spaces of the adjacent corner castings and engage the corner castings, thereby locking the containers to each other.

[0007] Twist locks can be described as fully automatic or semi-automatic. For example, a fully automatic twist lock includes one or more anchors that automatically lock to the corresponding corner castings upon insertion. A fully automatic twist lock can have no moving parts - for example, the anchors of a fully automatic twist lock can be engaged using the relative movement when containers are connected to each other. Alternatively, a fully automatic twist lock can have moving parts that are activated upon insertion into the corner casting. A semi-automatic twist lock can include moving parts, such as the cams described above, that are automatically activated when one or more anchors are inserted into the corresponding corner castings to lock the twist lock thereto, but require manual intervention, such as by means of a lever or a cable, to release the anchors from the corner castings. Twist locks can also be fully manually operated, such as by means of a lever or a cable, which, when activated, lock one or more anchors to the corresponding corner castings or release one or more anchors from the corresponding corner castings.

[0008] In operation, intermodal containers are transported through loading and unloading facilities (such as container terminals) located at ports or freight yards. For example, at a container loading and unloading port, containers are unloaded from a ship and then loaded onto flatbed trucks or trains passing through the container terminal, or onto another ship for continued transportation. Since the containers unloaded from a ship or other vehicle type are usually not all destined for the same cargo unloading point, it may be necessary to remove the twist locks that previously held a particular container firmly in a container stack before moving the container to another location for storage or further transportation. Conversely, twist locks may need to be assembled onto the container before stacking the container inside a ship. Summary of the Invention

[0009] The present summary is intended to introduce a series of concepts in a simplified form that are further described in the detailed description below. The present summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used to help determine the scope of the claimed subject matter.

[0010] According to one aspect of the present disclosure, there is provided a lock classification system for container twist locks. The lock classification system is configured to determine whether to select a twist lock for a securing operation based on the classification of the twist lock. The lock classification system includes: a lock supply device; a lock identifier configured to classify twist locks according to the type and / or model of the twist lock; at least one lock separator configured to separate twist locks from each other such that the twist locks can be individually identified by the lock identifier; a manipulation scheme system; and at least one lock manipulator.

[0011] According to another aspect of the present disclosure, there is provided a method for classifying twist locks. The method includes: supplying a plurality of twist locks to a twist lock separator; separating twist locks from the plurality of twist locks; generating data representing the three-dimensional (3D) shape of the twist lock; and using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock.

[0012] According to another aspect of the present disclosure, there is provided a non-transitory machine-readable storage medium containing machine-readable instructions executable by a processor, the storage medium including instructions for: supplying a plurality of twist locks to a twist lock separator; separating twist locks from the plurality of twist locks; generating data representing the three-dimensional (3D) shape of the twist lock; and using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock.

[0013] According to another aspect of the present disclosure, a container fixing system for a container twist lock is provided. The container fixing system is configured to accommodate an intermodal container for a fixing operation and is configured to determine whether to select a twist lock for the fixing operation based on the classification of the twist lock. The container fixing system includes: at least one fixing station configured to perform a fixing operation on at least one corresponding corner block of the container; a lock identifier configured to classify the twist lock according to the type and / or model of the twist lock; a manipulation scheme system; and at least one lock manipulator configured to move and manipulate the twist lock in use such that the twist lock can be fixed to or removed from the corner block.

[0014] According to another aspect of the present disclosure, a method for classifying a twist lock during a fixing operation is provided. The method includes: generating data representing a three-dimensional (3D) shape of the twist lock; and using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock.

[0015] According to another aspect of the present invention, a method for fixing a classified twist lock to be fixed to or assembled to a corner block of a container during a fixing operation is provided. The method includes: obtaining the lock classification of the twist lock loaded on a universal lock carrier, wherein the twist lock is loaded on the universal lock carrier in a predetermined orientation according to the lock classification of the twist lock; preparing a lock manipulation scheme for the twist lock using the lock classification; and manipulating the twist lock according to the lock manipulation scheme to move the lock according to the predetermined orientation on the universal lock carrier to fixedly position the twist lock in the corner block.

[0016] According to another aspect of the present disclosure, a non-transitory machine-readable storage medium is provided that contains machine-readable instructions executable by a processor. The storage medium contains instructions for: generating data representing a three-dimensional (3D) shape of the twist lock; using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock; determining whether the twist lock classification matches the classification selected for operational use based on the twist lock classification; and selecting the twist lock for operational use when the twist lock classification matches the classification selected for operational use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features of the present disclosure will be described below by way of non-limiting examples of the present invention with reference to the accompanying drawings and as shown in the accompanying drawings, wherein:

[0018] Figure 1 Schematically shows the working process of a twist lock connector in a container lock management system as described herein;

[0019] Figure 2 is a schematic diagram showing an example of a container fixing system as described herein;

[0020] Figure 3is a flowchart of an example method for classifying twist locks;

[0021] Figure 4 is a flowchart of an example method for securing a twist lock to a corner casting of a container;

[0022] Figure 5 is a schematic diagram of a fixed station controller;

[0023] Figure 6 is a perspective view of a machine vision system for a container securing system as described herein;

[0024] Figure 7 illustrates an example of a semi - automatic twist lock that can be used in a container lock management system;

[0025] Figure 8 illustrates an example of a center lock that can be used in a container lock management system;

[0026] Figure 9 schematically illustrates a lock classification system as described herein;

[0027] Figure 10 is a flowchart of an example method for classifying twist locks;

[0028] Figure 11 is a schematic diagram of a classification controller;

[0029] Figure 12 is a schematic diagram of another example of a lock classification system as described herein;

[0030] Figure 13a is a perspective view of another example of a lock classification system as described herein;

[0031] Figure 13b illustrates Figure 13a a cross - sectional view of a part of a supply device of the lock classification system;

[0032] Figure 14 is a perspective view of a machine vision system for a lock classification system as described herein;

[0033] Figure 15 is a schematic diagram showing an example of a classified lock storage system as described herein;

[0034] Figure 16a is a flowchart of an example method for storing classified twist locks in a classified lock storage system;

[0035] Figure 16b is a flowchart of an example method for retrieving classified twist locks from a classified lock storage system;

[0036] Figure 17Is a perspective view of another example of a classified lock storage system as described herein;

[0037] Figure 18 Shows Figure 17 The front view and plan view of the classified lock storage system of;

[0038] Figure 19 Is Figure 17 The perspective view of the lock transportation system of the classified lock storage system of;

[0039] Figure 20 Is a schematic diagram of a lock storage controller;

[0040] Figure 21 Schematically shows a carrier support and a general lock carrier as described herein;

[0041] Figure 22 And Figure 23 Is a perspective view of an example of a general lock carrier;

[0042] Figure 24 、 Figure 25 And Figure 26 Are perspective views of examples of carrier supports;

[0043] Figure 27 Shows a conceptual perspective view of an embodiment of a container twist lock fixing / detaching assembly according to the present invention;

[0044] Figure 28 Shows a perspective top view of another embodiment of a container twist lock fixing / detaching assembly according to the present invention;

[0045] Figure 29 Shows Figure 28 Another front perspective view of the container twist lock fixing / detaching assembly of;

[0046] Figure 30 Shows Figure 28 The top view of the container twist lock fixing / detaching assembly of;

[0047] Figure 31 Shows Figure 28 The top view of the container twist lock fixing / detaching assembly of, in which, for clarity, the individual components of the assembly are not shown;

[0048] Figure 32 Shows Figure 29 An enlarged partial perspective view of a part of the assembly indicated by the reference numeral "V" in;

[0049] Figure 33 Is a conceptual top view showing Figure 28 The jaw members of the container twist lock fixing / detaching assembly of in various positions;

[0050] Figure 34a is a conceptual side view of a twist lock, showing the central axis of the twist lock aligned with the rotational axis of the twist lock;

[0051] Figure 34b is a conceptual side view of a twist lock, showing the central axis of the twist lock offset relative to the rotational axis of the twist lock;

[0052] Figure 35a shows a conceptual top view of a twist lock, showing the central axis of the twist lock aligned with the rotational axis of the twist lock;

[0053] Figure 35b shows a conceptual top view of a twist lock, showing the central axis of the twist lock offset relative to the rotational axis of the twist lock;

[0054] Figures 36a to 36d shows Figure 28 a top view of a twist lock fixing / unfixing assembly, showing the adjustable fingers of its jaw members gripping the twist lock in various configurations;

[0055] Figures 37a to 37c shows Figure 28 a twist lock fixing / unfixing assembly, showing its various movable configurations; and

[0056] Figure 38 shows Figure 28 a top view of the lower part of a twist lock fixing / unfixing assembly, with the upper components not shown for greater clarity and ease of understanding. DETAILED DESCRIPTION

[0057] In this specification, the term "container" shall be construed to mean a container of the type described above, and the terms "slot", "corner block", and "corner block mounting structure" shall be construed to mean a slot, corner block, and corner block mounting structure of the type described above.

[0058] According to the present disclosure, the various sides of a container shall be named with reference to the orientation of a stationary container. In other words, the bottom shall refer to the surface on which the container rests, the top shall refer to the opposite operative upper end of the container, and the vertical sides shall refer to the sides of the container that extend between the top and bottom of the container.

[0059] The present applicant contemplates that the systems described herein are operable to manage all corner block mounting structures of the type described herein. Accordingly, in this specification, the present applicant deems the operations, processes, methods, and devices described with reference to the management of "locks", "twist locks", or "twist lock connectors" to be described with reference to the following: alignment pins, latching devices, hooks, twist lock connectors, center locks, stacking cones, and / or other hardware that can be received within the internal space of a corner block.

[0060] In this specification, the terms "container fixing", "fixing", or "fixing operation" shall be construed to mean the process of removing or attaching a corner block mounting structure (such as a twist lock) to one or more corner blocks of an intermodal container.

[0061] In this specification, the terms "machine vision" or "machine vision system" shall be construed to mean a system configured to automatically extract information from one or more captured images (including digital images). The system may include an image processing module configured to extract information and / or determine the content of the captured images. The image processing module may be configured to output further images based on the captured images. The system may include a module configured to make decisions based on the content of the captured images and / or output these decisions to other systems via a suitable interface.

[0062] As can be seen from the above discussion, the logistics involved in managing intermodal containers at a loading and unloading facility (such as a port or a freight yard) are very complex. At a facility where many containers are loaded and unloaded, a correspondingly large number of twist locks and similar devices need to be assembled to and removed from the containers. Loading and unloading many twist locks poses a logistics challenge to the container facility. For example, assembling and removing twist locks and stacking cones is a time-consuming and laborious manual process. In addition, several different types and models of twist locks and stacking cones can be used simultaneously. A ship can use several different types of twist locks, and these types can be different from those of another ship. For example, different types of twist locks can be used to fix different containers on a ship, and the selection of twist locks for a specific container can depend on the position of the container on the ship.

[0063] The availability of a wide variety of twist locks at a container facility can pose logistics storage challenges. The storage problem is made more complex because twist locks and stacking cones have awkward shapes and are prone to tangling and jamming. Storing different types of twist locks in a single warehouse can make it difficult and time-consuming to find a suitable twist lock for a specific operation. In some container loading and unloading operations, such as during the loading and unloading of a container ship, some twist locks can be removed from the twist lock inventory of a specific ship for use in fixing operations. Any twist locks that are not used in a fixing operation and are originally provided with the ship are usually returned to the ship before departure.

[0064] Since the performance of a container loading and unloading facility is measured by the number of containers loaded, unloaded, and moved during the terminal operating hours, it is desirable to reduce the time and resources required to manage the use of twist locks in the facility.

[0065] Provided is an automated container lashing / untethering station and system that is automated and particularly beneficial in that it does not use human labor and auxiliary tools in the work area. The absence of human labor and auxiliary tools reduces the risk of death or injury to personnel in statistically high-risk occupations such as stevedores and dockworkers. In this regard, traditional container lashing / untethering operations require human labor and / or auxiliary tools to install and remove twist locks from the corner castings of interconnected containers, and thus, human assistants / workers are at risk of accidents and death.

[0066] The applicant believes that the container lock management system, container lashing system, lock classification system, carrier support, universal lock carrier, and method described herein will address these issues, particularly improving the classification of different twist lock types, saving time and costs, and reducing human labor involvement in the container work area.

[0067] A lock classification system for container twist locks includes: a lock supply device; a lock identifier configured to classify twist locks according to the type and / or model of the twist lock; at least one lock separator configured to separate the twist locks from each other such that the twist locks can be individually identified by the lock identifier; a manipulation scheme system; and at least one lock manipulator. The lock classification system is configured to determine whether to select a twist lock for a lashing operation based on the classification of the twist lock.

[0068] The lock classification system can be configured to determine whether the selected twist lock will be placed in or on a universal lock carrier by the lock manipulator. The lock classification system can be configured to determine a lock manipulation scheme based on the classification and orientation of the selected twist lock determined by the lock identifier, and the lock manipulation scheme can be used to cause the lock manipulator to move the selected twist lock to be placed in or on a universal lock carrier.

[0069] The manipulation scheme system can be configured to calculate a movement sequence of the lock manipulator to move the selected twist lock from the lock classification system to the universal lock carrier and output the movement sequence as the lock manipulation scheme. The lock manipulator can be operable to transport the selected twist lock from an identification position in the lock classification system to the universal lock carrier.

[0070] The lock identifier can include a system configured to obtain information related to the three-dimensional (3D) shape of the separated twist lock, and the lock identifier can classify the separated twist lock based on the information.

[0071] The lock classification system can include one or more carrier supports, where each carrier support is constructed to releasably support a universal lock carrier. The lock classification system can include a discharge device through which unselected twist locks are discharged from the lock classification system.

[0072] The lock classification system may include a locator configured to locate a twist lock as the twist lock passes through the lock classification system. The locator may include a plurality of deflectors.

[0073] The feeding device may include a hopper and a feeding conveyor. A motor may be mounted on the hopper and / or the feeding conveyor to vibrate the feeding device.

[0074] The lock classification system may include a plurality of lock separators. Each lock separator may include a first conveyor and a second conveyor arranged adjacent to each other. The speed of the second conveyor may be higher than the speed of the first conveyor.

[0075] The lock manipulator may include a robotic arm and a movable gripper attached to the distal end of the robotic arm.

[0076] The lock classification system may include a classification controller, where the classification controller is communicatively coupled to one or more of the following: the feeding device, the separator, the lock identifier, and / or the lock manipulator. The classification controller may include a module of the lock identifier configured to manage the lock identifier and / or make determinations related to the twist lock.

[0077] The classification controller may include a module for the manipulation scheme system that can be used to control the lock manipulator. The controller may include: a feeding device module for controlling the feeding device; a separator module for controlling the separator; an identifier module for managing and / or controlling certain systems of the lock identifier and making determinations about the twist lock through the lock classification system as described herein, such as determining the orientation and / or classification of a specific twist lock using data representing the 3D shape of the specific twist lock; a manipulation scheme module of the manipulation scheme system for generating and / or managing the output of the lock manipulation scheme based on the determined orientation and classification of the selected twist lock; and a lock manipulator module for controlling the lock manipulator.

[0078] The classification controller may include a storage module, such as for storing machine-readable instructions executable by a processing circuit and / or storing data usable by the controller, for example, data related to twist lock classification (such as a 3D model database associated with certain twist lock classifications) may be stored on the storage module.

[0079] The lock identifier may include a machine vision system communicatively coupled to the classification controller. The classification controller may include a support management module.

[0080] The container lock management system may include one or more of any container fixing system as described herein; any classification lock storage system as described herein; and any lock classification system as described herein. The container lock management system may include one or more universal lock carriers as described herein.

[0081] A container fixing system for a container twist lock, comprising: at least one fixing station configured to perform a fixing operation on at least one corresponding corner block of a container; a lock identifier configured to classify the twist lock according to the type and / or model of the twist lock; a manipulation scheme system; and at least one lock manipulator configured to move and manipulate the twist lock in use such that the twist lock can be fixed to or removed from the corner block. The container fixing system is configured to accommodate an intermodal container for a fixing operation. The container fixing system is configured to determine whether to select a twist lock for a fixing operation based on the classification of the twist lock.

[0082] The container fixing system can be configured to determine whether a selected twist lock is to be placed in or on a universal lock carrier by the lock manipulator. The container fixing system can be configured to determine a lock manipulation scheme based on the classification and orientation of the selected twist lock determined by the lock identifier, and the lock manipulation scheme can be used to cause the lock manipulator to move the selected twist lock to place it in or on the universal lock carrier.

[0083] The manipulation scheme system can be configured to calculate a movement sequence of the lock manipulator to move a selected twist lock from an identification position to the universal lock carrier and output the movement sequence as a lock manipulation scheme. The lock manipulator can be operable to transport the selected twist lock from the identification position to the universal lock carrier.

[0084] The lock identifier can include a system configured to obtain information related to the three-dimensional (3D) shape of a twist lock in or removed from a corner block, and the lock identifier can classify the twist lock based on the information. The lock identifier can include a machine vision system configured to obtain one or more images of an area inside and around the container fixing station. The machine vision system can be configured to capture one or more images of an area near a corresponding corner block when the container is in a container fixing position.

[0085] The container fixing system can include one or more carrier supports, each of which is constructed to releasably support a universal lock carrier. The lock manipulator can include a robotic arm and a fixed gripper attached to the distal end of the robotic arm.

[0086] The container fixing system can include a lock controller that controls the operation of at least one fixing station, where the lock controller is communicatively coupled to the lock identifier and / or the lock manipulator. The fixed controller can include a module of the lock identifier configured to manage the lock identifier and / or make determinations related to the twist lock. The fixed controller can include a module of the manipulation scheme system that can be used to control the lock manipulator.

[0087] The fixed controller may include: an identifier module for managing and / or controlling certain systems of a lock identifier and making determinations regarding twist locks, e.g., using data representing the 3D shape of a particular twist lock to determine the orientation and / or classification of the particular twist lock; and a manipulation scheme module of the manipulation scheme system for generating and / or managing the output of a lock manipulation scheme based on the determined orientation and classification of a selected twist lock; and a lock manipulator module for controlling a lock manipulator.

[0088] The fixed controller may include a storage module, e.g., for storing machine-readable instructions executable by a processing circuit and / or for storing data usable by the controller, e.g., data related to twist lock classification (e.g., a database of 3D models associated with certain twist lock classifications) may be stored on the storage module. The fixed controller may include a pedestal management module. The lock identifier may include a machine vision system communicatively coupled to the fixed controller.

[0089] A container lock management system may include: one or more of any container fixing system as described herein; and any classification lock storage system as described herein. The container lock management system may include any lock classification system as described herein. The container lock management system may include one or more universal lock carriers as described herein.

[0090] A method of classifying twist locks includes: feeding a plurality of twist locks to a twist lock separator; separating twist locks from the plurality of twist locks; generating data representing the three-dimensional (3D) shape of a twist lock; using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock. The method may include: based on the twist lock classification of the twist lock, determining whether the twist lock classification matches a classification selected for operational use; and in the case where the twist lock classification matches the classification selected for operational use, selecting the twist lock for operational use.

[0091] A method of classifying twist locks during a fixing operation includes: generating data representing the three-dimensional (3D) shape of a twist lock; and using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock. The method may include: based on the twist lock classification of the twist lock, determining whether the twist lock classification matches a classification selected for operational use; and in the case where the twist lock classification matches the classification selected for operational use, selecting the twist lock for operational use.

[0092] Generating data representing the 3D shape of a twist lock can include obtaining one or more images of the twist lock and using the one or more images to create a 3D model of the twist lock in a simulated 3D space. Identifying the twist lock classification of the twist lock can include comparing the 3D model of the twist lock with other classified 3D models, each of the classified 3D models representing a specific type or model of twist lock. Comparing the 3D model of the twist lock with other classified 3D models can include querying a storage medium of a database having the classified 3D models stored thereon, each of the classified 3D models representing a different type or model of twist lock, and comparing the 3D model of the twist lock with each of the classified 3D models to determine whether the 3D model of the twist lock matches any of the classified 3D models.

[0093] The method can include preparing a lock manipulation scheme for the twist lock using data representing the 3D shape of the twist lock. The method can include manipulating the twist lock according to the lock manipulation scheme to place it in a predetermined orientation on a universal lock carrier. The method can include ejecting or discarding the twist lock. In a method of classifying a twist lock during a securing operation, when generating data representing the 3D shape of the twist lock, it can include obtaining one or more images of a container corner casting where the twist lock is or was located.

[0094] A method of classifying a twist lock for securing to or assembling with a container corner casting during a securing operation, including: obtaining a lock classification of a twist lock loaded onto a universal lock carrier, where the twist lock is loaded onto the universal lock carrier in a predetermined orientation according to the lock classification of the twist lock; preparing a lock manipulation scheme for the twist lock using the lock classification; and manipulating the twist lock according to the lock manipulation scheme to move the lock from the predetermined orientation on the universal lock carrier to fixedly position the twist lock in the corner casting.

[0095] The method can include obtaining the classification of the twist lock from an inventory of stored classified twist locks. The method can include viewing a unique identifier of the universal lock carrier. The method can include querying a radio frequency identification (RFID) tag of the universal lock carrier using an RFID reader. The method can include generating data representing the 3D shape of the corner casting. Generating data representing the 3D shape of the corner casting can include obtaining one or more images of the corner casting.

[0096] A non-transitory machine-readable storage medium including machine-readable instructions executable by a processor, including instructions for: supplying a plurality of twist locks to a twist lock separator; separating a twist lock from the plurality of twist locks; generating data representing the three-dimensional (3D) shape of the twist lock; using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock. The storage medium can include instructions for: determining whether the twist lock classification matches a classification selected for operational use based on the twist lock classification of the twist lock; and selecting the twist lock for operational use if the twist lock classification matches the classification selected for operational use.

[0097] A non - transitory machine - readable storage medium includes machine - readable instructions executable by a processor, the instructions including: instructions for generating data representing the three - dimensional (3D) shape of a twist lock; using the data representing the 3D shape of the twist lock to identify the twist - lock classification of the twist lock; based on the twist - lock classification of the twist lock, determining whether the twist - lock classification matches a classification selected for operational use; and in the case where the twist - lock classification matches the classification selected for operational use, selecting the twist lock for operational use. The storage medium may include instructions for generating data representing the 3D shape of a corner block.

[0098] Other examples are described below with reference to the drawings. The list of reference numerals used in the drawings is shown below.

[0099]

[0100]

[0101]

[0102]

[0103]

[0104] Figure 1 The movement workflow of the twist - lock connectors around the container lock management system 100 as described herein is shown. Figure 1 The container lock management system 100 in an example includes: at least one container fixing system 200, at least one lock classification system 300, and at least one classified - lock storage system 400. The at least one container fixing system 200, the at least one lock classification system 300, and the at least one classified - lock storage system 400 can be set up separately from each other or together in any suitable combination in the container lock management system 100. For example, the container lock management system 100 can include only at least one classified - lock storage system 400, or have at least one container fixing system 200 without at least one lock classification system 300, and vice versa. In some examples, the container lock management system 100 can include an unclassified - lock library 500.

[0105] Each container fixing system 200 is configured to fix an intermodal container with a twist lock. In other words, each container fixing system 200 is configured to allow a twist lock to be fixed to or removed from one or more corner blocks of the intermodal container 10. The container lock management system 100 can include any suitable number of container fixing systems 200.

[0106] In use, the twist lock is in Figure 1Move or travel around the container locking management system 100 in the manner indicated by the arrows. During the securing operation, twist locks are retrieved from an intermodal container (e.g., container 10 that has been unloaded from a ship). The retrieved twist locks are sorted in the container securing system 200. The selected sorted twist locks are transported R to be stored in the sorted lock storage system 400 for later use in the securing operation.

[0107] In some examples, twist locks can be transported from an alternative independent storage facility 40 into the container locking management system 100. For example, in the case where the container locking management system 100 is implemented at a container terminal port, a container containing twist locks belonging to or associated with a particular ship can be unloaded from the ship. The twist locks can be directly supplied F from the alternative independent storage facility 40 to the lock sorting system 300. For example, a container containing twist locks belonging to a particular ship can be unloaded from the ship, and the twist locks contained therein can be directly supplied F to the lock sorting system 300. It should be understood that the independent storage facility 40 can include one or more storage repositories that can store twist locks, and the twist locks can be transported from these repositories to the lock sorting system 300. It should also be understood that the twist locks retrieved from the intermodal container 10 and the twist locks transported from the independent storage facility 40 can be from the same ship. The twist locks are sorted C using the lock sorting system 300. The selected sorted twist locks are transported S to be stored in the sorted lock storage system 400.

[0108] The sorted lock storage system 400 maintains a record based on the classification of all stored twist locks, which allows these twist locks to be retrieved according to the classification and then used on the intermodal container 10. In use, if it is determined, for example by the controller described herein, that a certain classification of twist locks is required in the securing operation (e.g., at one of the container securing systems 200), one or more twist locks of the required classification can be retrieved by the sorted lock storage system 400 and transported P to one of the container securing systems 200 to be secured to the corner blocks of the container 10.

[0109] In some examples, the lock sorting system 300 can be used to determine that the twist locks passing through the container sorting system 300 are not of the class of twist locks required for use in a particular container securing operation. For example, it may be necessary to store only certain classifications of twist locks for later use in the securing operation. Relatedly, the lock sorting system 300 can be used to determine that a certain twist lock cannot be classified at all, e.g., because the twist lock is damaged or missing parts and thus cannot be classified. In addition, the lock sorting system 300 may need to handle contaminants and foreign objects that are not twist locks at all. In these cases, the lock sorting system 300 can be configured to discharge D the unselected twist locks that do not meet the required classification or cannot be classified into the unclassified lock repository 500.

[0110] Similarly, in some examples, it can be determined in the container securing system 200 that a twist lock retrieved from the container 10 is not a twist lock of the required classification for use in a particular container securing operation or cannot be classified. In these cases, the container securing system 200 can be configured to discard such unselected twist locks. For example, although Figure 1 is not shown (for clarity of illustration only), the discarded twist locks can be discarded into the unclassified lock repository 500.

[0111] Similarly, in some examples, it can be determined, for example, by the controller described herein that certain twist locks are no longer needed to be stored within the classified lock storage system 400. In such cases, these twist locks can be emptied E from the classified lock storage system 400 into the unclassified lock repository 500.

[0112] The unclassified lock repository 500 can include any suitable number of storage repositories. For example, the twist locks discharged D from the lock classification system 300 and the twist locks emptied E from the classified lock storage system 400 can be placed in the same storage repository or in different storage repositories. In some examples, depending on the requirements of a particular container lock management system 100, there can be several storage repositories that are located far apart from each other.

[0113] In some examples, the twist locks from the unclassified lock repository 500 can be returned and supplied F to the lock classification system 300. For example, it can be determined that twist locks of a different classification are needed for use in a container securing operation, and thus the unclassified locks from the unclassified lock repository 500 can be returned to the lock classification system 300 for classification.

[0114] In addition, as described above, the twist locks removed from the intermodal container 10 may not be classifiable in the container securing system 200. For example, it may not be possible to determine the type of the twist lock removed from the container 10. As Figure 1 shown, such twist locks can also be supplied from the container securing system 200 to the lock classification system 300, where further attempts can be made to classify these twist locks. Alternatively, as described above, such twist locks can be directly transported to the unclassified lock repository 500.

[0115] Now refer to Figure 2 , which shows an example of the container securing system 200. The container securing system 200 is configured to accommodate the intermodal container 10 for securing operations. As Figure 2Illustratively, the container fixing system 200 may include a container positioning system 202 configured to ensure that the intermodal container 10 is accurately and consistently positioned at the same predetermined location so that accurate fixing operations can be performed using the container fixing system 200. The intermodal container 10 may be transported to the container fixing system 200 which is located on the container support 20. For example, the container support 20 may be included in a container moving device (such as a flatbed truck, a grapple lift, or a reach stacker). In other examples, the container fixing system 200 may include a container support on which the intermodal container 10 may be placed for fixing operations - for example, the container 10 may be positioned on the container support using a container moving device (such as a gantry crane). The container positioning system 202 may be used to ensure that the container moving device stops at the correct location or to ensure that the container is placed at the correct location for fixing operations. The container positioning system 202 may be communicatively connected to one or more controllers described herein such that positioning information may be provided to the container moving device.

[0116] The container fixing system 200 includes at least one fixing station 204. The container fixing system 200 may include a plurality of fixing stations 204. The fixing stations 204 are configured to perform fixing operations. Any suitable number of fixing stations 204 may be provided. In Figure 2 the example shown, the container 10 has been transported to the container fixing system 200 and is in a position awaiting container fixing operations. Four fixing stations 204 are provided, and each fixing station 204 is located near a corner of the container 10 when the container 10 is correctly positioned for container fixing operations.

[0117] Each container fixing station 204 is configured to perform a fixing operation on a corresponding corner block of the container 10. In other words, each container fixing station 204 is operable to insert a twist lock into and / or remove a twist lock from a position in the corner block of the container 10.

[0118] Each container fixing station 204 includes a lock manipulator 210. The lock manipulator 210 is configured to move and manipulate the twist lock in use such that the twist lock can be fixed to or removed from the corner fitting 12 of the container 10. The lock manipulator 210 may include an autonomous machine configured to manipulate and move the twist lock in three-dimensional space. For example, the lock manipulator 210 may include a movable robotic arm 212 having joints that allow rotational and / or translational movement to be applied to the twist lock. The lock manipulator 210 may include a fixed gripper 800, as further described below, which is configured to pick up and release the twist lock, hold the twist lock during rotation and / or translation of the twist lock in the three-dimensional space around the container fixing station 204, and operate the twist lock to lock the twist lock to / from the corner fitting. As further described below, in some examples, the fixed gripper 800 is configured to actuate the cam of the twist lock when needed such that the twist lock can be fixed to or removed from the corresponding corner fitting. The fixed gripper 800 is configured to be able to grip and manipulate one or more twist lock classifications. The fixed gripper 800 may be mounted at the distal end of the robotic arm 212. At the opposite proximal end, the robotic arm 212 may be mounted to a support that may provide any power source and allow connection to one or more controllers for controlling the robotic arm 212 and / or the fixed gripper 800. Each locking station 204 may include a manipulation scheme system that calculates a sequence of movements of the lock manipulator 210 that cause the lock manipulator 210 to move from one position to another, such as moving the twist lock from a first position in three-dimensional space to a second position. The manipulation scheme system may output such a planned sequence of movements of the lock manipulator 210 as a lock manipulation scheme. For example, the robotic arm 212 and / or the fixed gripper 800 may be controlled according to one or more sets of executable instructions, such as those stored on a storage medium associated with one or more controllers.

[0119] Each container fixing station 204 includes a lock identifier 220 and is configured to classify the twist lock using the lock identifier 220 according to the type and / or model of the twist lock. In one example, the lock identifier 220 may be configured to identify the twist lock in situ in the corner fitting 12 - that is, before removing the twist lock from the corner fitting 12. Identifying the twist lock while it is in the corner fitting 12 may allow the twist lock to be quickly removed from the corner fitting 12 without performing further identity analysis after removing the twist lock. The lock identifier may be configured to determine the orientation of the twist lock in three-dimensional space, such as relative to the lock manipulator 210 or other parts of the container fixing station 204.

[0120] In other examples, the lock identifier 220 may be configured to identify the twist lock after the lock manipulator 210 removes the twist lock from the corner fitting 12. For example, it may be identified while being held by the lock manipulator 210 after the twist lock has been removed.

[0121] Each container locking station 204 is also configured to determine whether a selected twist lock (or a removed twist lock) is to be selected for further securing operations, such as securing operations for a container 10 to be loaded onto a ship after completion of the current securing operation for a container 10 that has been unloaded from the ship, based on the classification of the twist lock. In some examples, the selected twist locks can be stored by a classified lock storage system (e.g., the classified lock storage system 400 described herein) for later use in securing operations. For example, a user of the container securing system 200 and / or the container lock management system 100 can select to use a certain range of models and / or types of twist locks in a securing operation and decide not to use other models and / or types of twist locks in the securing operation.

[0122] Each container securing station 204 can also be configured to determine, during a securing operation, whether to place a selected twist lock in a universal lock carrier 700 as described herein by a lock manipulator 210. Each container securing station 204 can also be configured to use a manipulation scenario system and determine a lock manipulation scenario based on the classification and orientation of the selected twist lock determined by a lock identifier 220, the lock manipulation scenario being usable to cause the lock manipulator 210 to move the selected twist lock to place it on the universal lock carrier 700.

[0123] The lock identifier 220 can include a system configured to obtain information related to the three-dimensional (3D) shape of a twist lock located in or removed from a corner block 12, and based on this information, the lock identifier 220 can classify the twist lock and / or determine the orientation of the twist lock. For example, the lock identifier 220 can be set to access information related to the 3D shapes of any number of categories of twist locks and, by comparing the obtained information with the accessible information, determine which twist lock category (if any) matches the detached twist lock. In one example, the lock identifier 220 of each container securing station 204 includes a machine vision system 222. The machine vision system 222 is configured to obtain one or more images of the area inside and around the container securing station 204. When the container 10 is in a container securing position, the machine vision system 222 can capture one or more images of the area near the corresponding corner block 12. The machine vision system 222 can capture one or more images of the area near all possible movement paths of the securing gripper 800 that can be followed when the lock manipulator 210 loads and unloads twist locks.

[0124] Once the twist lock is classified, it can be determined whether the twist lock classification is one of a set of predetermined twist lock classifications that the user wishes to select for a securing operation and, in some examples, for storage by the classified lock storage system described herein. If the selected twist lock is to be loaded onto the universal lock carrier 700, the manipulation scheme system uses the orientation of the selected twist lock to determine the twist lock movements required to move the twist lock from an identification location (e.g., within the corner block 12 or held by the lock manipulator 210) to the universal lock carrier 700. For example, the movements can include a series of twist lock translations and rotations required to move the twist lock onto the universal lock carrier 700. For example, when the twist lock is identified, the orientation of the selected twist lock can be determined by the lock identifier 220. The manipulation scheme system then calculates the corresponding movement sequences of the lock manipulator 210 that are required to move the selected twist lock from the identification location to the universal lock carrier 700. For example, the movement sequences can include a series of translations and rotations of the links that make up the robotic arm 212, which is configured to hold and move the selected twist lock. The manipulation scheme system outputs the movement sequences as a lock manipulation scheme.

[0125] The manipulation scheme system can output the lock manipulation scheme as data representing the movement sequences of the lock operator 210, where the data can be used to control the movement of the lock operator 210. The lock manipulator 210 is then operated to transport the selected twist lock from the identification location to the universal lock carrier 700. The lock identifier 210 can determine the orientation of the selected twist lock using, for example, a system configured to acquire information related to the 3D shape of the twist lock.

[0126] The container securing station 204 can include one or more securing station controllers 230 to control certain operations of the container securing station 204 and / or the container securing system 200. For clarity, Figure 2Only one controller 230 of one container fixing station 204 is shown therein. However, it should be understood that one or more controllers 230 may be provided centrally, for example, as a central control system in the container fixing system 200 (or the container lock management system 100), or provided separately for each container fixing station 204. One or more controllers 230 are configured to control the operation of the container fixing station 204, such as controlling the behavior of the lock manipulator 210 and communicating with the machine vision system 222. One or more controllers 230 may include a module of the lock identifier 220, which may be configured to manage the lock identifier 220 and / or make twist-lock related determinations as described herein. One or more controllers 230 may include a module of the manipulation scheme system, the output of which may be used by one or more controllers 230 to control the lock manipulator 210. One or more controllers 230 may be communicatively coupled to the lock manipulator 210 and / or the machine vision system 222 to send and receive control signals. One or more controllers 230 may be communicatively coupled to one or more supports 600 as described herein. Depending on the operation requirements and preferences, the control module of one or more controllers 230 may be located within and / or be part of the lock manipulator 210 and / or the machine vision system 222. One or more controllers 230 may be configured to determine the position, orientation, and / or state of the fixing gripper 800 in the three-dimensional space around the container fixing station 204 based on the captured images of the machine vision system 22. For example, one or more controllers 230 may include an image processing module (which may be a control module located within the machine vision system 222) to provide data indicating the position of the gripper 800 within the three-dimensional space. The image processing module may be part of the lock identifier 220 or provide data to the lock identifier 220. Based on the position data, one or more controllers 230 may cause the position, orientation, and / or state of the fixing gripper 800 to be modified, for example, as part of the lock manipulation scheme described herein.

[0127] In some examples, the container fixing station 204 includes a retrieved lock repository 240 for receiving twist locks that have been retrieved from the container 10 but not selected for subsequent fixing operations. For example, the unselected twist locks may not be the model or type to be used in subsequent fixing operations, may not be recognizable by the lock identifier 220 (e.g., due to time constraints or damage), or may be recognized as unusable due to damage. In some examples, in use, the unselected twist locks may be removed from the corresponding corner blocks 12 during the fixing operation and transported or discarded in the retrieved lock repository 240 by the lock manipulator 210. In some examples, once a certain number of twist locks have been retrieved from the container 10, the retrieved twist locks may be supplied to F (as Figure 1shown by the dashed line in the figure) for supply to the lock classification system 300. Thus, in some cases where there is a lock classification system 300, an attempt can be further made to identify the unselected twist locks. Alternatively, the unselected twist locks can be returned to the vessel or other source from which they originated. In certain examples, the retrieval lock repository 240 is configured to accommodate containers, such as the lock recycling bin 242, in which the unselected retrieved locks can be stored by the lock manipulator 210. Such recycling bins 242 can then be moved (e.g., using a forklift or other means) for supply to the lock classification system 300 or returned to the vessel. For example, the recycling bin 242 can be emptied manually. Additionally, the lock recycling bin 242 can be, for example, a vessel bin transported from the twist lock repository of a container ship. Thus, the lock recycling bin 242 can be part of the Figure 1 independent storage facility 40 described. Alternatively or additionally, the lock box 242 can be part of the Figure 1 unclassified lock repository 500 described. It should be understood that the lock recycling bin 242 can be the same device or interchangeable with the lock box 42 described herein. In certain examples, in use, the unselected twist locks can remain in the respective corner blocks 12 and not be removed during the securing operation.

[0128] Each container securing station 204 can include one or more carrier supports 600 as described herein. Each carrier support 600 is configured to releasably support a universal lock carrier 700 as described herein. The carrier support 600 facilitates the container securing station 204 in performing the securing operation. The storage input station, storage input / output station, and / or storage output station of the classified lock storage system described below can include one or more carrier supports 600. For example, one or more storage input / output stations of the classified lock storage system can include one or more carrier supports 600 such that the classified twist locks can be placed into the classified lock storage system and removed from the classified lock storage system at one or more storage input / output stations while being loaded onto the respective universal lock carriers 700.

[0129] In some examples, when the container fixing station 204 performs a fixing operation involving fixing a twist lock to the corner block 12, the sorted twist locks can be transported to the carrier support 600 on the universal lock carrier 700. In use, when the universal lock carrier 700 carrying the required type of twist lock has been transported to the carrier support 600, the lock manipulator 210 is moved to a position where the twist lock can be picked up by the lock manipulator 210 from the universal lock carrier 700 and is moved to a position suitable for fixing to the corner block 12. Then the twist lock can be assembled to the corner block 12 using the lock manipulator 210. Then the now-empty universal lock carrier 700 is removed from the carrier support 600. If needed, another universal lock carrier 700 carrying the required type of twist lock can be placed on the carrier support 600 so that the container fixing station 204 is ready for the next container fixing operation.

[0130] In some examples, when the container fixing station 204 is performing a fixing operation involving removing a twist lock from the corner block 12, the sorted twist locks can be placed on the universal lock carrier 700 which has been transported to the carrier support 600 for the purpose of receiving the sorted twist locks to be transported to the sorted lock repository, as described herein. In use, the empty universal lock carrier 700 is transported to the carrier support 600 to be ready to receive the sorted twist locks. Once a sorted twist lock has been selected for a subsequent fixing operation, the lock manipulator 210 (which has been holding the selected twist lock or has been moved to remove the selected twist lock from the corner block 12) is actuated to move and load the twist lock onto the universal lock carrier 700. Then, the universal lock carrier 700 is removed from the carrier support 600 and transported to a storage location, such as the sorted lock repository described herein. If needed, another empty universal lock carrier 700 can be placed on the carrier support 600 so that the container fixing station 204 can transport another selected twist lock for storage.

[0131] In some examples, the universal lock carrier 700 can be transported to and removed from the carrier support 600 using a carrier transport system as described herein.

[0132] Certain example fixing operation methods and / or processes will now be described. The method and / or process can include a method and / or process for twist lock sorting. The method and / or process can be carried out, executed, and / or implemented in any example container fixing system described herein and / or shown in any of the figures.

[0133] Figure 3The flowchart shows a method 2000 for classifying twist locks that have been or are to be removed from a container corner casting during a securing operation. The method includes: at block 2002, generating data representing the 3D shape of a twist lock; and at block 2004, using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock. Based on the twist lock classification of the twist lock, at block 2006, it is determined whether the twist lock classification matches a classification selected for use in an operation (e.g., in a securing operation). If the twist lock classification matches the classification selected for use in the operation, the twist lock can be selected for use in the operation. At block 2008, a twist lock is selected for use in the operation and any additional inspections that may be performed on the twist lock are accepted.

[0134] Generating data representing the 3D shape of a twist lock can include obtaining one or more images of the twist lock and using the one or more images to create a 3D model of the twist lock in a simulated 3D space. For example, one or more images can be obtained by a lock identifier. For example, the 3D model can be a coordinate-based representation of the twist lock generated by mapping the one or more images. The classification of the twist lock can include comparing the 3D model of the twist lock with other classified 3D models (each representing a specific type or model of twist lock). For example, the method can include querying (using a processing circuit) a storage medium having a database of classified 3D models stored thereon, each classified 3D model representing a different type or model of twist lock, and comparing the 3D model of the twist lock with each classified 3D model to determine whether the 3D model of the twist lock matches any of the classified 3D models. If a match is found, the twist lock is considered to conform to the classification corresponding to the specific classified 3D model. In some examples, generating data representing the 3D shape of a twist lock can include obtaining one or more images of the container corner casting where the twist lock is or was located. Thus, the generated data can also represent the 3D shape of the container corner casting. One or more images of the container corner casting can be used to create a 3D model of the container corner casting in a simulated 3D space. One or more images of the container corner casting can also be used to create a 3D model of the twist lock in a simulated 3D space. One or more images of the container corner casting can be obtained by the lock identifier at the same time as obtaining one or more images of the twist lock.

[0135] In some examples, selecting a twist lock for use in an operation can include performing a quality control inspection on the twist lock. For example, the twist lock can be inspected for defects or damage to determine whether the twist lock meets a predetermined standard. The quality control inspection can be performed using the data representing the 3D shape of the twist lock.

[0136] The method can include, at block 2014, discarding twist locks. For example, twist locks may be discarded because they do not match the classification selected for use in an operation or because the twist locks fail a quality control inspection. In some examples, during a securing operation, the discarded twist locks may not be removed from the container corner blocks. In other examples, the discarded twist locks may be removed from the container corner blocks during a securing operation and, for example, transported to a lock repository as described above.

[0137] In some other examples, all twist locks selected for removal from the corner blocks of a container can be used for subsequent securing operations, regardless of twist lock classification or quality control review.

[0138] Once selected, the method can include, at block 2010, using data representing the 3D shape of the twist lock to prepare a lock manipulation scheme for the twist lock. At block 2012, the twist lock is manipulated according to the lock manipulation scheme and placed in a predetermined orientation on a universal lock carrier (e.g., the universal lock carrier 700 described herein). The predetermined orientation on the universal lock carrier will depend on the classification of the twist lock. Generating the lock manipulation scheme can utilize the generated data representing the 3D shape of the twist lock. In some examples, generating the lock manipulation scheme can utilize the generated data representing the 3D shape of the container corner blocks. For example, the orientation of the twist lock at the time of identification and / or classification can be determined based on the generated data representing the 3D shape of the twist lock, and in some examples, based on the generated data representing the 3D shape of the container corner blocks. In one example, the orientation of the twist lock can be derived from a 3D model representing the twist lock and the support on which the twist lock is placed. For example, the 3D model can represent the twist lock and the corner block on which the twist lock is located, or can represent the twist lock and the fixed gripper holding the twist lock. In this way, a lock manipulation scheme can be prepared so that the lock manipulation can be performed accurately. For example, the twist lock can be removed from the corner block in a known orientation or the orientation of the twist lock held by the fixed gripper as determined. Generating the lock manipulation scheme can also utilize the twist lock classification because once classified, the 3D geometry is known. In this way, in some examples, the reference to the 3D model of the twist lock can be minimized, thereby reducing the computational effort required to generate the lock manipulation scheme.

[0139] In one example, the identification of the twist lock classification is based on generating data representative of the 3D shape of the twist lock based on the twist lock positioned in the corner block. In other examples, the identification of the twist lock classification can be based on generating data representative of the 3D shape of the twist lock after removing the twist lock from the corner block. In other words, the identification of the twist lock can be performed before or after removing the twist lock from the corner block. For example, an image of the twist lock can be generated while the lock is within the corner block or after the twist lock has been removed from the corner block (e.g., by the lock manipulator described herein). Identifying the lock in situ in the corner block before removal can help provide a faster removal operation. In some examples, generating an image of the twist lock after the twist lock has been initially removed from the corner block can be very useful if the corner block obscures the view of the lock identifier of the twist lock. Thus, data representative of the 3D shape of the twist lock can be generated with the twist lock positioned in the corner block, and removing the twist lock from the corner block of the container can be performed as part of executing a lock manipulation scheme at block 2012 to load the twist lock onto a universal lock carrier. In some examples, data representative of the 3D shape of the twist lock can be generated with the twist lock positioned in the corner block, and removing the twist lock from the corner block of the container can be performed as part of discarding unselected twist locks at block 2014. Alternatively, the method can include removing the twist lock from the corner block of the container such that data representative of the 3D shape of the twist lock can be generated, e.g., at block 2002.

[0140] Figure 4 The flow diagram of FIG. 4 illustrates a method 2500 for classifying twist locks during a securing operation, where the classified twist locks are to be secured to or assembled into the corner blocks of a container. The method includes: at block 2502, obtaining a lock classification of a twist lock loaded onto a universal lock carrier, where the twist lock is loaded onto the universal lock carrier in a predetermined orientation based on the lock classification of the twist lock; at block 2504, using the lock classification, preparing a lock manipulation scheme for the twist lock; and at block 2506, manipulating the twist lock according to the lock manipulation scheme to move the lock from the predetermined orientation on the universal lock carrier to fixedly position the twist lock in the corner block.

[0141] In certain examples, the method can include transporting the classified twist lock to a carrier support on the universal lock carrier and removing the universal lock carrier from the carrier support once the twist lock has been unloaded.

[0142] In some examples, the method can include obtaining the classification of the twist locks from an inventory of stored classified twist locks, as described herein. For example, as described herein, one or more controllers can cause data indicating the classification of the twist locks loaded onto a universal lock carrier to be retrieved from the inventory, such that a lock manipulation scheme can be generated. In some examples, the method can include viewing the unique identifier of the universal lock carrier and using that unique identifier to confirm that the correct universal lock carrier has been shipped to the carrier support and, thus, to confirm that the classification of the twist locks loaded on the universal lock carrier is consistent with the inventory. For example, the method can include interrogating the RFID tag of the universal lock carrier using a radio frequency identification (RFID) reader.

[0143] In some examples, since the twist lock classification is obtained from inventory information and / or the universal lock carrier, and the twist locks are loaded onto the universal lock carrier in a predetermined orientation, the lock manipulation system is able to calculate a lock manipulation scheme without determining the position and orientation of the starting position of the twist locks when loaded onto the universal lock carrier. In some examples, the classification, position, and / or orientation of the twist locks on the universal lock carrier can be verified before the twist locks are unloaded from the universal lock carrier. For example, the lock identifier and / or machine vision system described herein can be used to confirm the classification, position, and / or orientation of the twist locks on the universal lock carrier.

[0144] In certain examples, the method can include generating data representing the 3D shape of the corner blocks to which the twist locks are to be secured. Generating data representing the 3D shape of the corner blocks can include obtaining one or more images of the corner blocks. One or more images of the container corner blocks can be used to create a 3D model of the container corner blocks in a simulated 3D space. As described herein, one or more images of the container corner blocks can be obtained by a lock identifier. For example, the 3D model can be a coordinate-based representation of the corner blocks generated by mapping one or more images.

[0145] In certain examples, generating the lock manipulation scheme can utilize the generated data representing the 3D shape of the container corner blocks. For example, the orientation of the twist locks that allows the twist locks to be secured to the corner blocks can be determined in part based on the generated data representing the 3D shape of the container corner blocks. In some examples, the generated data representing the 3D shape of the container corner blocks can be used in combination with the predetermined orientation (or its verification) of the twist locks on the universal lock carrier to generate the lock manipulation scheme. In this way, the lock manipulation scheme can be prepared such that the lock manipulation from the universal lock carrier to the locks secured in the corner blocks can be accurately performed.

[0146] In some examples, the processing circuitry 231 provided in the container securing station 204 and / or the securing station controller 230 of the container securing system 200 can be used to perform the above and Figure 3 and Figure 4The method shown in. The processing circuitry of the controller 230 may cause the above blocks to be performed by the above container fixing station 204 and / or the container fixing system 200. As Figure 5 shown, the controller 230 may include: an identifier module 232; a manipulation scheme module 233 of the manipulation scheme system; and a lock manipulator module 234. The identifier module 232 is used to manage and / or control certain systems of the lock identifier 220 and determine the twist locks that have been removed from, will be removed from, or will be inserted into the corner blocks of the container. For example, the identifier module may use data representing the 3D shape of a specific twist lock to determine the orientation and / or classification of the specific twist lock. The manipulation scheme module 233 is used to generate and / or manage the output of the lock manipulation scheme based on the determined orientation and classification of the selected twist lock. The lock manipulator module 234 is used to control the lock manipulator 210. It should be understood that the controller 230 may include other modules, such as an image processing module. In some examples, the controller 230 includes a support management module 235. The support management module 235 may perform functions such as monitoring the presence of a universal lock carrier 700 on the carrier support 600 and / or monitoring the presence of a twist lock on the universal lock carrier 700. For example, the support management module 235 may be communicatively coupled to one or more sensors on the carrier support 600, and the sensors detect the presence of a universal lock carrier 700 on the carrier support 600 and / or the presence of a twist lock on the universal lock carrier 700.

[0147] The controller 230 may include a storage module 238, for example, for storing machine-readable instructions executable by the processing circuitry and / or storing data that can be used by the controller 230. For example, data related to twist lock classification (such as a database of 3D models associated with certain twist lock classifications) may be stored on the storage module 238. The controller 230 may include a communication interface 239 for communicatively coupling the controller 230 to the rest of the container fixing station 204 and / or the container fixing system 200.

[0148] Figure 6An example of a machine vision system 222 that can be deployed in the container securing system 200 is shown. The machine vision system 222 includes at least one (three in the example shown) image sensor 224 for capturing one or more images of the area inside and around the container securing station 204. The one or more image sensors 224 are supported on a frame 226 that allows the machine vision system 222 to be positioned in a suitable location to view the area inside and around the container securing station 204 when the container 10 is in the container securing position, such as the area near the respective corner blocks 12 when the container 10 is in the container securing position. The one or more image sensors 224 can be supported on the frame 226 by an adjustable bracket 227 that allows modification of the viewing direction of the image sensors 224, thereby ensuring that the machine vision system 222 can be correctly pointed relative to the area inside and around the container securing station 204. The machine vision system 222 can include a baffle 228 for preventing light from spilling into the one or more image sensors 224, which in some cases can reduce the quality of the captured images. The baffle 228 can also be used to prevent damage to the one or more image sensors 224, such as preventing an item, such as a misplaced twist lock or a universal lock carrier, etc., from falling onto the machine vision system 222 from above.

[0149] Figure 7 and Figure 8 An example of a twist lock 50 that can be used in the container lock management system described herein is shown. Many twist lock configurations can be used in the container lock management system, Figure 7 and Figure 8 to illustrate some specific examples thereof. Figure 7 An example of a semi-automatic twist lock is shown, and Figure 8 an example of a center lock is shown.

[0150] Figure 7 The twist lock 50 includes a pair of anchors 52, each of which can be used to releasably lock the twist lock 50 to a corner block of the container. Each anchor 52 projects from a support body 51 and has a shape complementary to the shape of an oval slot in the respective corner block. In Figure 7 the case of the twist lock 50, each anchor 52 includes a cam 54 that is movable relative to the support body 51 of the twist lock 50. The twist lock 50 also includes one or more lock actuators 56 that can be used to engage and / or disengage one or more cams 54 with the respective corner blocks.

[0151] Figure 8 The twist lock 50 also includes a pair of anchors 52, each of which can be used to releasably lock the twist lock 50 to a corner block of the container. Each anchor 52 projects from a support body 51 and has a shape complementary to the shape of an oval slot in the respective corner block. In Figure 8In the case of the twist lock 50, each anchoring member 52 is fixed relative to the support body 51 of the twist lock 50. By twisting or otherwise moving the twist lock 50 relative to the corresponding corner block, the anchoring member 52 of the twist lock 50 can be inserted into the oval slot of the corresponding corner block. Figure 8 The twist lock 50 includes a lock actuator 56 configured to move a slidable cam 57. The slidable cam 57 can be positioned to fix the twist lock 50 in the corresponding corner block.

[0152] Now refer to Figure 9 , which shows an example of a lock classification system 300. The lock classification system 300 includes a supply device 310, a lock separator 320, a lock identifier 340, a manipulation scheme system 350, and a lock manipulator 360. In some examples, the supply device 310 and the separator 320 are coupled together or arranged with one or more common components or parts. In other examples, the supply device 310 and the separator 320 are configured as separate parts of the lock classification system 300. Figure 9 The arrow in [reference] indicates the flow direction of the twist lock through the lock classification system 300.

[0153] The lock classification system 300 is configured to classify the twist lock using the lock identifier 340 according to the type and / or model of the twist lock. The lock classification system 300 is also configured to determine whether to select the twist lock for a fixing operation based on the classification of the twist lock. In some examples, the selected twist lock can be stored by a classified lock storage system (e.g., the classified lock storage system 400 described herein) for later use in a fixing operation. For example, a user of the lock classification system 300 and / or the container lock management system 100 can select to use a certain range of models and / or types of twist locks in a fixing operation. Similarly, the user can decide not to use other models and / or types of twist locks in a fixing operation and thus wishes to classify the selected twist locks from the other unselected twist locks. The lock classification system 300 can also be configured to determine whether the selected twist lock is to be placed by the lock manipulator 360 in a universal lock carrier 700 as described herein. The lock classification system 300 can also be configured to determine a lock manipulation scheme based on the classification and orientation of the selected twist lock determined by the lock identifier 340, which can be used to cause the lock operator 360 to move the selected twist lock to place it on the universal lock carrier 700.

[0154] In use, twist locks are supplied to the lock sorting system 300 by a supply device 310. A lock separator 320 is configured to separate the twist locks from each other so that they can be individually identified by a lock identifier 340. The lock identifier 340 is configured to sort the separated twist locks passing through the lock sorting system 300. The lock identifier 340 may include a system configured to obtain information related to the three-dimensional (3D) shape of the separated twist locks, and based on this information, the lock identifier 340 can sort the twist locks. For example, the lock identifier 340 may be set to access information related to the 3D shape of any number of sorted twist locks, and by comparing the obtained information with the accessible information, determine which twist lock classification (if any) matches the separated twist lock.

[0155] Once the twist lock is sorted, it can be determined whether the twist lock classification is one of a set of predetermined twist lock classifications that a user wishes to select for a securing operation, and in some examples, the twist lock classification is for storage by the classified lock storage system described herein. If a selected twist lock is to be loaded onto a universal lock carrier 700, the manipulation scheme system 350 uses the orientation of the selected twist lock to determine the twist lock movement required to move the twist lock from its current position in the lock sorting system 300 to the universal lock carrier 700. For example, the movement may include a series of twist lock translations and rotations required to move the twist lock onto the universal lock carrier 700. For example, when the twist lock is identified, the orientation of the selected twist lock may be determined by the lock identifier 340. The manipulation scheme system 350 then calculates the corresponding movement sequence of the lock manipulator 360 that is required to move the selected twist lock from the lock sorting system 300 onto the universal lock carrier 700. For example, the movement sequence may include a series of translations and rotations of the links forming a robotic arm configured to hold and move the selected twist lock. The manipulation scheme system 350 outputs the action sequence as a lock manipulation scheme. The manipulation scheme system 350 may output the lock manipulation scheme as data representing the movement sequence of the lock manipulator 360, where the data can be used to control the movement of the lock manipulator 360. The lock manipulator 360 is then operated to transport the selected twist lock from the identified position in the lock sorting system 300 to the universal lock carrier 700. The lock identifier 340 may use, for example, a system configured to obtain information related to the 3D shape of the separated twist locks to determine the orientation of the selected twist lock.

[0156] The lock sorting system 300 can include one or more carrier supports 600 as described herein. Each carrier support 600 is configured to releasably support a universal lock carrier 700 as described herein. One or more carrier supports 600 each allow a twist lock sorted using the lock sorting system 300 to be placed on the universal lock carrier 700. In use, an empty universal lock carrier 700 is transported to the carrier support 600. A selected twist lock is then placed on the universal lock carrier 700. The universal lock carrier 700 loaded with the selected twist lock is then removed from the carrier support 600 and stored, for example, by a sorted lock storage system as described herein. If desired, another empty universal lock carrier 700 can be placed on the carrier support 600. In some examples, a carrier transport system (e.g., the carrier transport system 420 as described herein) can be used to transport the universal lock carrier 600 to and from the carrier support 600. The storage input station of a sorted lock storage system as described below can include one or more carrier supports 600. For example, the storage input station of a sorted lock storage system can include one or more carrier supports 600 such that sorted twist locks can be placed into the sorted lock storage system at one or more storage input stations while being loaded onto corresponding universal lock carriers 700.

[0157] In some examples, the lock sorting system 300 includes a locator 330 that is configured to correctly position a twist lock as it passes through the lock sorting system 300. Controlling the position of the twist lock within the lock sorting system 300 allows the lock identifier 340 to reliably obtain information about the twist lock passing through the lock sorting system 300. In some examples, the locator 330 is configured to cooperate with the separator 320. For example, the locator 330 can be cooperatively coupled to the separator 320.

[0158] The lock sorting system 300 can include a discharge device 370. In such examples, if the lock identifier 340 determines that a twist lock is a non-selected twist lock (i.e., a twist lock not for a securing operation), the non-selected twist lock will be discharged from the lock sorting system 300 through the discharge device 370. Discharging the twist lock through the discharge device 370 can cause the discharged twist lock to be discharged into the unclassified bin 500 as described herein. For example, the discharge device 370 can deposit the discharged twist locks in a removable discharge bin that can be replaced with another removable discharge bin once it is full of discharged twist locks.

[0159] The lock classification system 300 may include a classification controller 380 to control certain operations of the lock classification system 300. To send and receive control signals, the controller 380 may be communicatively coupled to one or more of the following: a supply device 310, a separator 320, a lock identifier 340, and / or a lock manipulator 360. The controller 380 may include a module for the lock identifier 340, which may be configured to manage the lock identifier 340 and / or make determinations regarding twist locks, as described herein. The controller 380 may include a module for the manipulation scheme system 350, the output of which may be used by the controller 380 to control the lock manipulator 360.

[0160] Certain example twist lock classification methods and / or processes will now be described. The method and / or process may be carried out, executed, and / or implemented in any of the example lock classification systems described herein and / or shown in any of the figures.

[0161] Figure 10 The flowchart of shows a method 3000 for classifying twist locks. The method includes: at block 3002, supplying a plurality of twist locks to a twist lock separator; at block 3004, separating a twist lock from the plurality of twist locks; at block 3006, generating data representative of the 3D shape of the twist lock; and at block 3008, using the data representative of the 3D shape of the twist lock to identify the twist lock classification of the twist lock. Based on the twist lock classification of the twist lock, at block 3010, determining whether the twist lock classification matches a classification selected for operational use (e.g., in a securing operation). If the twist lock classification matches the classification selected for operational use, the twist lock may be selected for operational use. At block 3012, selecting the twist lock for operational use and accepting any additional inspections that may be performed on the twist lock.

[0162] Generating data representative of the 3D shape of the twist lock may include obtaining one or more images of the twist lock and using the one or more images to create a 3D model of the twist lock in a simulated 3D space. For example, one or more images may be obtained by a lock identifier. For example, the 3D model may be a coordinate-based representation of the twist lock generated by mapping one or more images. The classification of the twist lock may include comparing the 3D model of the twist lock to other classification 3D models (each representing a particular type or model of twist lock). For example, the method may include querying (using a processing circuit) a storage medium having a database of classification 3D models stored thereon, each classification 3D model representing a different type or model of twist lock, and comparing the 3D model of the twist lock to each classification 3D model to determine whether the 3D model of the twist lock matches any of the classification 3D models. If a match is found, the twist lock is considered to conform to the classification corresponding to the particular classification 3D model.

[0163] In some examples, selecting a twist lock for operative use can include performing a quality control inspection on the twist lock. For example, the twist lock can be inspected for defects or damage to determine if it meets a predetermined standard. The quality control inspection can be performed using data representing the 3D shape of the twist lock.

[0164] The method can include ejecting the twist lock at block 3018. For example, the twist lock can be ejected because it does not match the classification selected for operative use, or because the twist lock fails the quality control inspection.

[0165] Once selected, the method can include, at block 3014, using data representing the 3D shape of the twist lock to prepare a lock manipulation scheme for the twist lock. At block 3016, the twist lock is manipulated according to the lock manipulation scheme and placed in a predetermined orientation on a universal lock carrier (e.g., the universal lock carrier 700 described herein). The predetermined orientation on the universal lock carrier will depend on the classification of the twist lock. Generating the lock manipulation scheme can utilize the generated data representing the 3D shape of the twist lock. For example, the orientation of the twist lock at the time of identification and / or classification can be determined based on the generated data representing the 3D shape of the twist lock. In one example, the orientation of the twist lock can be derived from a 3D model of the twist lock and the identifier support on which the twist lock is placed. In this way, a lock manipulation scheme can be prepared such that lock manipulation can be accurately performed, for example, by picking up the twist lock in a known orientation. Generating the lock manipulation scheme can also utilize the twist lock classification because once classified, the 3D geometry is known. In this way, in some examples, the reference to the 3D model of the twist lock can be minimized, thereby reducing the computational effort required to generate the lock manipulation scheme.

[0166] In some examples, the processing circuitry 381 provided in the classification controller 380 of the lock classification system 300 described above can be used to perform the methods described above and Figure 10 as shown. The processing circuitry of the controller 380 can cause the above blocks to be performed by the lock classification system 300 described above. As Figure 11As shown, the controller 380 may include: a supply device module 382 for controlling the supply device 310; a separator module 383 for controlling the separator 320; an identifier module 384 for managing and / or controlling certain systems of the lock identifier 340 and for determining twist locks passing through the lock classification system 300 described herein. For example, the orientation and / or classification of a particular twist lock may be determined using data representing the 3D shape of the particular twist lock; a manipulation scheme module 385 of the manipulation scheme system 350 for generating and / or managing the output of a lock manipulation scheme based on the determined orientation and classification of the selected twist lock; and a lock manipulator module 386 for controlling the lock manipulator 360. The controller 380 may include other modules, such as an image processing module, a discharge module for controlling the discharge device 370, and a locator module for controlling the locator 330. In certain examples, the controller 380 includes a support management module 387. The support management module 387 may perform functions such as monitoring for the presence of a universal lock carrier 700 on the carrier support 600 and / or monitoring for the presence of twist locks on the universal lock carrier 700. For example, the support management module 386 may be communicatively coupled to one or more sensors on the carrier support 600 that detect the presence of a universal lock carrier 700 on the carrier support 600 and / or the presence of twist locks on the universal lock carrier 700.

[0167] The controller may include a storage module 388, such as for storing machine-readable instructions executable by a processing circuit and / or for storing data usable by the controller. For example, data related to twist lock classification (such as a database of 3D models associated with certain twist lock classifications) may be stored on the storage module 388. The controller 380 may include a communication interface 389 to communicatively couple the controller 380 to the remainder of the lock classification system 300.

[0168] Now referring to Figure 12 , which shows another example of the lock classification system 300. In this example, the lock classification system 300 includes a series of conveyors that together allow twist locks to be inspected and classified as they move through the lock classification system 300. Figure 12 A front view of the lock classification system 300 is shown at the bottom of the page, and a plan view of the lock classification system 300 is shown at the top of the page. As with Figure 9 the example shown, the lock classification system 300 includes a supply device 310, at least one twist lock separator 320, a lock identifier 340, a manipulation scheme system 350, a lock manipulator 360, and a discharge device 370. The lock classification system 300 includes a controller 380, which may include the above with respect to Figure 11One or more of the described modules, such as the manipulation scheme module of the manipulation scheme system 350, the output of which can be used by the controller 380 to control the lock manipulator 360. The lock classification system 300 includes a carrier support 600 configured to support a general lock carrier 700 as described herein.

[0169] In Figure 12 the example shown, the supply device 310 includes a hopper 312 and a supply conveyor 314. As can be seen from the figure, the hopper 312 is conical and has a lower opening such that the twist lock 50 can be supplied, for example by gravity, onto the supply conveyor 314. The twist lock 50 can be transported into the upper opening of the hopper 312. For example, the twist lock 50 can be transported from a lock box 42 carried by a forklift to the upper opening. The lock box 42 can be the same device or interchangeable with the discharge lock box 374 further described below. As Figure 12 shown, the lock classification system 300 can provide space to accommodate multiple lock boxes 42 to facilitate efficient sorting and selection of the twist locks 50. Alternatively or additionally, one or more lock boxes 42 can be, for example, ship boxes that have been transported from the twist lock library of a container ship. Thus, one or more lock boxes 42 can be part of an Figure 1 independent storage facility 40 as described. Alternatively or additionally, the lock box 42 can be part of an Figure 1 unclassified lock library 500 as described. As described below, the lock box 42 can be refilled with twist locks 50 discharged from the lock classification system 300.

[0170] The supply conveyor 314 is configured to pull out the twist lock 50 from the hopper 312 through the lower opening and then transport the twist lock 50. The lower opening of the hopper 312 and the supply conveyor 314 are configured to reduce the likelihood of the twist lock 50 getting stuck in the lower opening when passing through the lower opening. In addition, the geometry of the lower opening of the hopper 312 is configured to control the rate at which the twist lock 50 is delivered onto the supply conveyor 314. For example, the size of the lower opening of the hopper 312 can be set in proportion to a particular class of twist lock. In some examples, a motor (e.g., a pneumatic motor) is mounted on the hopper 312 and / or the supply conveyor 314 to vibrate the supply device 310 and prevent the twist lock 50 from getting stuck in the lower opening. During the twist lock sorting operation, the motor can be started continuously or intermittently. For example, in some examples, the supply device 310 can include a jam sensor configured to output a signal indicating a jam at the supply device 310 to the controller 380, and the controller 380 can respond by starting the motor. When the supply conveyor 314 pulls the twist lock 50 out of the hopper 312, the process of separating the twist lock begins. The supply conveyor 314 includes a bed (e.g., a belt), and the twist lock 50 is transported from the hopper 312 onto the bed. The bed has high wear resistance and is configured to absorb the force of the twist lock 50 falling onto the bed and the wear generated when the twist lock 50 is pulled out of the hopper 312. The high wear resistance ensures that the supply conveyor 314 has a long working life.

[0171] From Figure 12It can also be seen that the lock sorting system 300 includes a plurality of separators 320. It should be understood that any suitable number of separators 320 may exist, such as one separator 320 or multiple separators 320. In this example, each separator 320 includes a first conveyor 314 / 322a and a second conveyor 322b, each conveyor being configured to carry a twist lock 50 and being arranged adjacent to each other. The speed of the second conveyor 322a is higher than the speed of the first conveyor 314 / 322a. When the twist lock 50 approaches and initially contacts the second conveyor 322b from the first conveyor 314 / 322a, the second conveyor 322b is used to pull the twist lock 50 from the first conveyor 314 / 322a and accelerate the twist lock 50 away from the first conveyor 314 / 322a. In this way, and since in a set (i.e., a stack) of twist locks 50 discharged from the hopper 312, rarely more than one twist lock 50 will exactly simultaneously strike the second conveyor 322b, each twist lock 50 will be accelerated away and separated from any adjacent twist lock 50 in the set. By providing multiple stages of the first conveyor 314 / 322a and the second conveyor 322b, in which the twist lock 50 is repeatedly accelerated away from any adjacent twist lock 50 traveling along the conveyor, this effect can be multiplied or enhanced. The second conveyor 322b can be placed below the end of the first conveyor 314 / 322a such that the twist lock 50 falls onto the second conveyor 322b. This can help accelerate the twist lock 50 away from the first conveyor 314 / 322a. The second conveyor 322b can overlap with the first conveyor 314 / 322a. The second conveyor 322b can be arranged at an angle to the horizontal direction. Thus, for example, if multiple stages of the first conveyor 314 / 322a and the second conveyor 322b are used, the conveyors can maintain the substantially same relative vertical position of the twist lock 50 along the length of the conveyor in the lock sorting system 300.

[0172] As described above, it should be understood that a single separator 320 can perform the separation process. For example, there can be only one separator 320 defined by the supply conveyor 314 and a single adjacent conveyor. In Figure 12In the actual example shown, the lock sorting system 300 includes a plurality of separators 320 defined by a supply conveyor 314 and a series of conveyors 322. The twist lock 50 travels from the supply conveyor 314 along the series of conveyors 322 in a left-to-right direction. Thus, the series of conveyors 322 provides a plurality of separators 320, where the speed of each conveyor 322 is higher than the speed of the previous conveyor 322. Each conveyor 322 in the series overlaps with the previous conveyor 322, and each conveyor is angled with respect to the horizontal direction such that the twist lock 50 traveling along the series of conveyors 322 remains at substantially the same vertical position at the end of the series of conveyors 322 as at the starting position of the series of conveyors 322. It should be understood that not all conveyors 322 can be operated at a speed higher than the previous conveyor 322. For example, operating preferences may dictate that some conveyors 322 can travel at the same speed as the previous conveyor 322. In some examples, each conveyor 322 can be individually speed controlled to control the travel of the twist lock 50 through the lock sorting system 300. Additionally, it should be understood that in certain examples, the supply conveyor 314 is controllable such that the supply of twist locks 50 to the separators 320 can be managed. For example, the supply conveyor 314 can be stopped and started as needed and / or the operating speed can be changed as needed.

[0173] The lock sorting system 300 includes a locator 330. In Figure 12 the example shown, the locator 330 includes a plurality of deflectors 332. In other examples, any suitable number of deflectors 332 can be provided, such as a single deflector 332. The deflector 332 can be any suitable deflector that can be used to move the twist lock 50 as it travels along the series of conveyors 322. For example, the deflector can include a screen, a buffer, a pusher, or a plow. The deflectors 332 are used to correctly position the twist lock 50 such that the lock identifier 340 can operate efficiently. As can be seen from Figure 12 the plan view, in this example, the deflector 332 guides the twist lock 50 as it passes along the conveyor 322 such that the twist lock 50 is centered on the last conveyor 322 and is thus accurately positioned for identification by the lock identifier 340. In Figure 12 the case of the deflector shown, each deflector 332 includes a screen that extends along the corresponding conveyor 322 and projects substantially perpendicularly from the surface of the corresponding conveyor 332. The contact of the twist lock 50 with the deflector 332 causes the twist lock 50 to change position on the conveyor 322 but still move along the conveyor 322. As can be seen from Figure 12It can also be seen that not all conveyors 322 have corresponding diverters 322, and some conveyors 322 have more than one corresponding diverter 322, such as where the diverter 322 serves as a funnel for the twist lock 50. It should be understood that any suitable arrangement of the diverter 322 can be implemented according to the positioning requirements of the lock classification system 300.

[0174] Once separated, the twist lock 50 is transported to the lock identifier 340. For example, the separated twist lock 50 can be transported to an identifier station or support, which in this example is the identification conveyor 344. From Figure 12 it can be seen that the last conveyor 322 overhangs the identification conveyor 344 such that the separated twist lock 50 falls onto the identification conveyor 344. The identification conveyor 344 can carry the separated twist lock 50 until it is sorted and determine whether the separated twist lock 50 is to be selected.

[0175] The lock identifier 340 includes a machine vision system 342 that is communicatively coupled to a controller 380. The machine vision system 342 is configured to acquire one or more images of the area in and around the identifier support, such as the area on the identification conveyor 344 where the twist lock 50 can be disposed in use. The captured images can be used by the lock identifier 340 (such as the lock identifier module described above) to generate data representing the 3D shape of the separated twist lock 50. As described above, based on this data, the lock identifier 340 is used to classify the separated twist lock 50 according to the type and / or model of the twist lock 50, and determine whether the classified twist lock 50 should be selected based on whether the classified twist lock 50 is of a category to be selected for operational use.

[0176] If the twist lock 50 is selected, the lock manipulator 360 picks up the sorted twist lock 50 from the identifier conveyor 344. The lock manipulator 360 includes a robotic arm 362 mounted at the proximal end of a base. A movable gripper 364 is attached to the distal end of the robotic arm 362. The robotic arm 362 can be used to move the gripper 364 into position to grip the selected twist lock 50 and lift it from the identifier conveyor 344. Then, the robotic arm 362 can be used to transport the selected twist lock 50 carried by the gripper 342 to a universal lock carrier 700 temporarily supported on a carrier support 600. The selected twist lock 50 is placed on the universal lock carrier 700. The robotic arm 362 uses the gripper 364 to move the selected twist lock 50 along a motion path defined by a manipulation scheme determined by the manipulation scheme system 350 described herein. To assist in determining the manipulation scheme, the machine vision system 342 can capture one or more images of areas near all possible motion paths of the gripper 342 that can be followed when the lock manipulator 360 processes the twist lock 50. In some examples, the machine vision system 342 can provide real-time feedback to the controller 380 regarding the position of the gripper 342 within and around the identifier support and along all possible motion paths of the gripper 342. Alternatively, since the position of the universal lock carrier 700 is known based on the fixed position of the carrier support 600, the manipulation scheme can be determined primarily based on the acquired images of the area within and around the identifier support.

[0177] If the twist lock 50 is not selected, the ejection device 370 ejects the twist lock 50 from the lock sorting system 300. In this example, the unselected twist lock 50 is ejected by activating the identifier conveyor 344 to move the unselected twist lock 50 away from the lock identifier 340. In this case, the identifier conveyor 344 moves the unselected twist lock 50 in a direction perpendicular to the direction of the series conveyor 322 such that the unselected twist lock 50 falls onto the ejection conveyor 372. In this example, the ejection conveyor 372 is a return conveyor that returns the unselected twist lock 50 near the supply device 310. Then, the unselected twist lock 50 is placed in an ejection lock box 374. It should be understood that the ejection lock box 374 can be the same device as or interchangeable with the lock box 42 described above. This arrangement can be helpful because it allows for easy management of the entry and exit of twist locks 50 in the area around the supply device 310. For example, depending on the operating requirements, the ejected twist lock 50 can then be returned to the ship in the lock box 42, sent back to the supply device 310 for re-sorting / classification, or discarded completely. It should be understood that, for example, the return conveyor or the actual ejection conveyor 372 may not be provided, and instead, the twist lock 50 ejected from the lock identifier 340 can fall into an adjacent box.

[0178] Figure 13a andFigure 13b Another example of the lock classification system 300 is shown. The lock classification system 300 shown in these figures is arranged in a manner similar to Figure 12 and includes a series of conveyors that together allow the twist locks to be inspected and classified as they move through the lock classification system 300. Although there are no reference numerals for clarity of illustration, the lock classification system 300 includes a supply device 310, at least one twist lock separator 320, a lock identifier 340, a manipulation scenario system 350, a lock manipulator 360, a discharge device 370, and a controller 380, which may include one or more of the modules described above with respect to Figure 11 Some elements of the lock classification system 300 are not shown in Figure 13a and Figure 13b and the manipulation scenario system 350, the lock manipulator 360, and the controller 380 are completely omitted. Although not shown in the figures either, the lock classification system 300 may also include a carrier support 600 as described herein. Elements similar to those described with respect to Figure 12 are denoted by the same reference numerals.

[0179] Similar to the example of Figure 12 , each conveyor 322 in the series of conveyors 322 in the lock classification system 300 of Figure 13a overlaps with the previous conveyor 322. Each conveyor 322 is inclined at an angle with respect to the horizontal direction such that the twist lock 50 traveling along the series of conveyors 322 remains at substantially the same vertical position at the end of the series of conveyors 322 as at the start of the series of conveyors 322. The conveyors 322 are all driven by conveyor motors 323. A chassis 324 is provided to support the conveyors 322, the conveyor motors 323, and other components of the lock classification system 300. In the example shown in Figure 13a , a diverter 332 is provided on each conveyor 322.

[0180] Figure 13a Detail F in Figure 13b as shown is a cross-sectional view of a part of the supply device of the lock classification system 300. This cross-section is along the longitudinal direction of the supply conveyor 314 (i.e., the direction in which the twist lock travels along the conveyor 314). Figure 13b shows that the supply conveyor 314 can be arranged to assist in separating the twist locks when the twist locks are received from the hopper 312 onto the supply conveyor 314. In this example, the supply conveyor 314 includes a supply conveyor guide 315 for guiding the twist locks from the hopper 312 into a substantially straight line of twist locks. The supply conveyor guide 315 includes a pair of angled guides (the second guide is not shown in Figure 13bAs shown, it causes the twist locks stored in the hopper 312 to fall towards the center of the supply conveyor 314. Due to the presence of the supply conveyor guide 315, the twist locks cannot fall from the hopper 312 onto a large area of the supply conveyor 314, but are guided towards the center of the supply conveyor 314. Only the twist locks located at the center of the supply conveyor 314 are conveyed forward, thereby forming a row of twist locks on the supply conveyor 314.

[0181] Figure 14 is an example of the machine vision system 342 of the lock classification system 300 for Figure 12 or Figure 13a The machine vision system 342 is arranged to be positioned above the identifier station so that suitable images of the twist locks on the identification conveyor 344 can be obtained. The machine vision system 342 includes at least one (three in the illustrated example) image sensor 343 to capture one or more images of the area inside and around the identifier station. The one or more image sensors 343 are supported on a frame 346 that allows the machine vision system 343 to be positioned in a suitable location to view the area inside and around the identifier station, such as the area near the identification conveyor 344 and the area where the lock manipulator 360 moves the twist locks to the carrier support 600. The one or more image sensors 343 can be supported on the frame 346 by an adjustable bracket 347 that allows adjustment of the viewing direction of the image sensor 343, thereby ensuring that the machine vision system 343 can be correctly pointed relative to the area inside and around the identifier station.

[0182] Now refer to Figure 15 , which shows an example of a classified lock storage system 400. The classified lock storage system 400 includes a classified lock library 410 that is capable of storing a plurality of classified twist locks. The classified lock library 410 includes a plurality of storage locations, each storage location being configured to temporarily store one of the classified twist locks of the plurality of classified twist locks until the classified twist lock is retrieved for a securing operation. The classified lock storage system 400 is configured to maintain an inventory of the stored classified twist locks by classifying the twist locks stored in each storage location and storing the plurality of classified twist locks in the classified lock library 410 in an organized and traceable manner. For example, the classified lock storage system 400 can maintain a record (if any) of the type and / or model of the twist locks stored in a particular storage location. In this way, a particular class of twist locks that have been selected for a securing operation can be accurately retrieved and transported to the securing operation site, such as the container securing system 200 described herein. Since a particular class of twist locks can be easily retrieved without any further classification or inspection, the efficiency of the securing operation can be improved.

[0183] The sorting lock storage system 400 includes a sorting lock transport system 420. The sorting lock transport system 420 can be used to move twist locks around the sorting lock storage system 400. The sorting lock storage system 400 includes one or more storage input stations 430 and one or more storage output stations 440. The storage input stations among the one or more storage input stations 430 and the storage output stations among the one or more storage output stations 440 can be set together as storage input / output stations 430 / 440, such as at or within the container fixing system 200 as described herein. Thus, the sorting lock storage system 400 can include one or more storage input / output stations 430 / 440. It should be understood that the sorting lock transport system 420 can include any suitable number of storage input stations 430, storage output stations 440, and / or storage input / output stations 430 / 440. Twist locks can be placed into the sorting lock storage system 400 at one or more storage input stations 430 and removed from the sorting lock storage system 400 at one or more storage output stations 440. Twist locks can be placed into or removed from the sorting lock storage system 400 at the storage input / output stations 430 / 440. In Figure 15 In the example shown, the sorting lock storage system 400 includes one storage input station 430, one storage input / output station 430 / 440, and one storage output station 440; however, any suitable number of storage input stations, storage input / output stations, and / or storage output stations can be provided.

[0184] The sorting lock transport system 420 is configured to receive sorted twist locks from one or more storage input stations 430 in use and transport the sorted twist locks to the sorting lock library 410 for storage in one of the storage locations. The sorting lock transport system 420 is configured to retrieve sorted twist locks from the sorting lock library 410 in use and deposit the sorted twist locks at one or more storage output stations 440.

[0185] In some examples, sorted twist locks can be received at one of the one or more storage input stations 430 from a corresponding lock sorting system 300 as described herein. In Figure 15 the example, sorted twist locks can be received at a single storage input station 430 from the lock sorting system 300; however, it should be understood that any suitable number of lock sorting systems 300 can be provided, each lock sorting system transporting twist locks to a corresponding storage input station 430.

[0186] In some examples, sorted twist locks can be received at one of the one or more storage input / output stations 430 from the container fixing system 200 as described herein, or within the container fixing system 200. In Figure 10In the example, a single storage input / output station 430 / 440 is shown where sorted twist locks can be received from the container securing system 200. However, it should be understood that any suitable number of container securing systems 200 can be provided, each of which transports twist locks to one or more corresponding storage input / output stations 430 / 440. For example, as described above, the container securing system 200 can transport twist locks to four storage input / output stations 430 / 440, each corresponding to a corner of the container 10 from which the twist lock is removed.

[0187] In some examples, the recycled sorted twist locks can be stored at one or more storage input / output stations 430 / 440 for use by the corresponding container securing system 200 described herein. In Figure 15 the example, a single storage input / output station 430 / 440 is shown where sorted twist locks can be stored for use by the container securing system 200. Again, it should be understood that any suitable number of container securing systems 200 can be provided, each of which receives twist locks from one or more corresponding storage input / output stations 430 / 440. For example, as described above, the container securing system 200 can receive twist locks at four storage input / output stations 430 / 440, each corresponding to a corner of the container 10 from which the twist lock is removed.

[0188] It should be understood that in some examples, the container securing system 200 can be served by one or more storage output stations 440 where sorted twist locks can be stored for use by the container securing system 200. In other examples, the container securing system 200 can be served by one or more storage input stations 430 where sorted twist locks can be received from the container securing system 200. Additionally, other input stations, other output stations 440, and / or other storage input / output stations 430 / 440 can be provided in the sorted lock transport system 420 in addition to any input stations 430, output stations 440, and / or storage input / output stations 430 / 440 that each serve a corresponding container securing system 200.

[0189] In some examples, the sorted lock storage system 400 includes a lock storage controller 450 for controlling certain operations of the sorted lock storage system 400. To send and receive control signals, the controller 450 can be communicatively coupled to one or more of the following: the sorted lock magazine 410, the sorted lock transport system 420, one or more storage input stations 430, one or more storage output stations 440, and / or one or more storage input / output stations 430 / 440.

[0190] In some examples, the classified lock storage system 400 is configured to use the universal lock carrier 700 as described herein to manage and store each classified twist lock. In such cases, each classified twist lock to be managed and stored in the classified lock storage system 400 is loaded onto the universal lock carrier 700. As described elsewhere herein, the classified twist locks loaded onto the corresponding universal lock carriers 700 are loaded in a predetermined relationship with the universal lock carriers 700 such that it can be assumed that the classified twist locks are placed on the universal lock carriers 700 in a predetermined orientation. For example, the classified twist locks loaded onto the corresponding universal lock carriers 700 can be loaded in only one possible predetermined orientation. Regardless of the type or model of the twist lock, the universal lock carrier 700 includes a storage system interface that is the same on all universal lock carriers 700. Thus, in addition to allowing predictable manipulation of the loaded twist locks due to the known orientation of the twist locks on the universal lock carriers 700, the universal storage system interface on each universal lock carrier 700 also allows for a simplified processing scheme to be implemented in the classified lock storage system 400, which means that classified twist locks can be processed and moved within the classified lock storage system 400 without regard to the specific classification of the twist locks.

[0191] In some such examples, each storage location of the classified lock library 410 includes a berth configured to removably receive the universal lock carrier 700. For example, the classified lock library 410 can include one or more stacks of storage berths arranged substantially vertically, and each storage berth can accommodate one universal lock carrier 700. For example, the universal lock carrier 700 can be slidably received in the storage berth. Additionally, the classified lock transport system 420 is configured to transport the universal lock carrier 700. The classified lock transport system 420 is configured to transport the universal lock carrier 700 from one or more storage input stations 430 and / or one or more storage input / output stations 430 / 440 to the classified lock library 410. The classified lock transport system 420 is configured to transport the universal lock carrier 700 from the classified lock library 410 to one or more storage output stations 440 and / or one or more storage input / output stations 430 / 440. To impart motion to the universal lock carrier 700, the classified lock transport system 420 includes a carrier interface that is complementary to and engages the storage system interface of the universal lock carrier 700. In one example, the classified lock transport system 420 can include one or more guided vehicles, each of which is configured to removably receive and hold the universal lock carrier 700 for transportation.

[0192] Each input station 430 may include one or more carrier supports 600 as described herein. Similarly, each output station 440 may include one or more carrier supports 600 as described herein. Similarly, each storage input / output station 430 / 440 may include one or more carrier supports 600 as described herein. Each carrier support 600 is configured to releasably support a universal lock carrier 700 as described herein. Thus, sorting twist locks may be placed in the sorting lock storage system 400 at one or more storage input stations 430 and / or one or more storage input / output stations 430 / 440 and removed from the sorting lock storage system 400 at one or more storage output stations 440 and / or storage input / output stations 430 / 440 while loaded on their respective universal lock carriers 700. For example, as described above, sorting twist locks may be loaded onto the universal lock carrier 700 in the lock sorting system 300 at the input station 430. Alternatively, sorting twist locks loaded onto the universal lock carrier 700 from the lock sorting system 300 may be received at the input station 430. The one or more carrier supports 600 of the storage input station 430 that support the universal lock carrier 700 may be the same as the carrier supports 600 of the lock sorting system 300 described above. Thus, it should be understood that the sorting lock storage system 400 and the lock sorting system 300 may have and use common carrier supports 600. Similarly, sorting twist locks loaded onto the universal lock carrier 700 may be stored at one of the one or more storage input / output stations 430 / 440 for use by the container securing system 200. The one or more carrier supports 600 of the storage input / output station 430 / 440 that support the universal lock carrier 700 may be the same as the carrier supports 600 of the container securing system 200 described above. Thus, the sorting lock storage system 400 and the container securing system 200 may have and use common carrier supports 600.

[0193] Since the general lock carrier 700 is not always loaded with sorting twist locks or is not in use at a particular time, in some examples, the sorting lock storage system 400 can include an idle carrier repository 460. The idle carrier repository 460 is configured to store the general lock carrier 700 when it is not in use elsewhere in the sorting lock storage system 400. The sorting lock transport system 420 is configured to transport the general lock carrier 700, for example, from one or more storage output stations 440 and / or one or more storage input / output stations 430 / 440 to the idle carrier repository 460. For example, the general lock carrier 700 may be empty after depositing the twist lock at the storage output station 440 but is not immediately needed at the input station 430 and can thus be stored for later use. The idle carrier repository 460 can include a plurality of empty carrier berths, each carrier berth being configured to removably receive the general lock carrier 700 for idle storage. For example, the idle carrier repository 460 can include one or more stacks of empty carrier berths arranged substantially vertically, each empty carrier berth being capable of accommodating an empty general lock carrier 700. For example, the general lock carrier 700 can be slidably received in the empty carrier berth. Since the idle general lock carrier 700 is not loaded with twist locks, the empty carrier berth may not occupy as large a volume as the storage berths described above. In some other examples, the sorting lock repository 410 can be configured to store the general lock carrier 700 when it is not in use elsewhere in the sorting lock storage system 400. For example, an empty general lock carrier 700 can be berthed in the sorting lock storage system together with the general lock carriers 700 loaded with sorting twist locks.

[0194] As described above, additional output stations 440 can be provided. As Figure 15As shown, in addition to any storage input / output stations 430 / 440 (each serving a corresponding container securing system 200 and where twistlocks can be removed from the sorting lock storage system 400), the sorting lock storage system 400 may further include a carrier emptying station 470 where sorting twistlocks can be unloaded from the common lock carrier 700. In certain operations, it may be desirable to empty the twistlocks on the common lock carrier 700. For example, a new securing operation may be initiated that requires the use of a different class of twistlocks than those stored for a previous securing operation. Similarly, the securing operation for a particular ship may have been completed, and the twistlocks removed from the ship during the securing operation will need to be returned to the ship before it sails. Alternatively, securing operations may be performed simultaneously at separate container securing systems 200, and the sorting lock library 400 may have no storage space left to store the required number of different sorted twistlocks. In such cases, it may be necessary to empty the load in some or all of the common lock carriers 700. The unloaded common lock carrier 700 can be returned to the idle carrier library 460 or the storage input station 430 using the sorting lock transport system 420 to prepare it to receive another twistlock. Unloading the sorting twistlocks at the carrier emptying station 470 may result in the unloaded twistlocks being unloaded into the unsorted library 500 described herein. For example, unloading at the carrier emptying station 470 can deposit the unloaded twistlocks into a removable unloading lock box 472, which can be replaced with another removable unloading lock box 472 once it is full of unloaded twistlocks. It should be understood that the unloading lock box 472 can be the same device as or interchangeable with the lock box 42 described above. Thus, depending on the operational requirements, the unloaded twistlocks can be returned to the container in the lock box 472, sent back to the lock sorting system 300 for re-sorting / classifying, or discarded entirely.

[0195] The sorting lock transport system 420 can be arranged in any suitable configuration to serve the sorting lock library 410, the storage input station 430, the storage input / output stations 430 / 440, the storage output station 440, and the idle carrier library 460. For example, the sorting lock transport system 420 can form a loop, and the libraries 410, 460 and the stations 430, 430 / 440, 440 can be arranged around the loop in any suitable configuration. For example, in use, a guided vehicle can travel around the loop transporting the common lock carrier 700. In another arrangement, the sorting lock transport system 420 can be arranged along a line, with the libraries 410, 460 or the stations 430, 440 arranged at each end of the line, such as Figure 15 the arrangement shown.

[0196] In use, the sorted twistlocks are received at one or more input stations 430 and transported by a sorted lock transport system 420 to a sorted lock magazine 410 for storage. As twistlocks are introduced into the sorted lock storage system 400, the twistlock inventory managed by the sorted lock storage system 400 is updated. Updating the inventory can include recording the sorting of the twistlocks stored at a particular storage location in the sorted lock magazine 410. As needed, e.g., in response to a request to transport a particular sorted twistlock to the container securing system 200 for a securing operation, the stored twistlocks of that sort are identified from the inventory and then retrieved from the sorted lock magazine 410. The identified twistlocks are then transported by the sorted lock transport system 420 to one of the one or more storage input / output stations 430 / 440. Once the twistlocks have been removed from the sorted lock storage system 400, the inventory is updated.

[0197] In some examples, the sorted twistlocks are placed in, stored in, and removed from the sorted lock storage system 400 on a common lock carrier 700 as described above. In some such examples, the inventory of sorted twistlocks can include details of the temporary association between a particular common lock carrier 700 and the sorting of the twistlocks currently loaded onto the particular common lock carrier 700. This inventory information can be maintained and stored by a controller 450 as further described below. The controller 450 can track the movement of the common lock carrier 700 within the sorted lock storage system 400, e.g., by a list of movement instructions for the common lock carrier 700 issued by the controller 450 when managing the common lock carrier 700 in the sorted lock storage system 400. By tracking the movement of the common lock carrier 700, the controller 450 can monitor the position of the common lock carrier 700, whether a twistlock is loaded on the common lock carrier 700, and the sorting of such a twistlock.

[0198] In some examples, to assist in maintaining the inventory of sorted twistlocks, each common lock carrier 700 can include a unique identifier associated only with that common lock carrier 700. For example, each common lock carrier 700 can include a radio frequency identification (RFID) tag that can be queried by one or more RFID readers distributed throughout the sorted lock storage system 400. In some examples, RFID readers are provided at the storage input station 430, the storage input / output stations 430 / 440, and / or the storage output station 440. Other identification systems can also be used, such as machine-readable optical tags applied to the common lock carrier 700 - e.g., barcodes and quick response (QR) codes. The unique identifier allows for tracking or identification verification of the common lock carrier 700 within the sorted lock storage system 400.

[0199] In some examples, the inventory of the sorting lock can be updated by reading the RFID tag of the general lock carrier 700 when loading or unloading the twist lock to / from the general lock carrier 700. In other examples, when the controller 350 maintains a complete record of the position of a particular general lock carrier 700 within the sorting lock storage system 400 based on the controlled movement of the general lock carrier 700 around the system 400, the RFID tag can be used to verify the inventory status at a particular point (e.g., the output station 440) around the system 400.

[0200] In use, when the general lock carrier 700 loaded with the sorting twist lock is placed into the sorting lock storage system 400 at one or more storage input stations 430, the inventory can be updated to include a record associating the general lock carrier 700 with the sorting twist lock of a particular category, e.g., by using the identifier of the general lock carrier 700. Additionally, when the general lock carrier 700 loaded with the sorting twist lock is received at one of the storage locations, the inventory can be updated to include a record associating the general lock carrier 700 with the particular storage location. In this way, a record of storing the sorting twist lock of a particular category in the sorting lock library 410 can be maintained. Each storage location may include a storage address that can be used to identify the storage location, e.g., in the record associating the general lock carrier 700 with the storage location.

[0201] In response to a request to transport some categories of twist locks for securing operations, the inventory can be queried to find the storage location having the general lock carrier 700 that matches the request from the records associating the general lock carrier 700 (loaded with the appropriate category of twist lock) with the storage location. The general lock carrier 700 can then be retrieved from the storage location in the sorting lock library 410 and transported to the output station 440 for securing operations. Once the general lock carrier 700 is retrieved from the storage location, the inventory can be updated to clear or archive the record associating the general lock carrier 700 with the particular storage location. Similarly, once the sorting twist lock is removed from the general lock carrier 700, the inventory can be updated to clear or archive the record associating the general lock carrier 700 with the sorting twist lock of a particular category.

[0202] As described above, in some cases, some general lock carriers 700 will empty the sorted twist locks. In response to determining that certain categories of twist locks are to be unloaded from the general lock carrier 700, the inventory can be queried to find the storage location having the general lock carrier 700 that matches the request from the record associating the general lock carrier 700 (loaded with appropriately sorted twist locks) with the storage location. Those general lock carriers 700 can then be retrieved from the storage location and transported to the output station 440 for emptying. Similarly, once the sorted twist locks have been emptied from the general lock carrier 700, the inventory can be updated to remove or archive the record associating those general lock carriers 700 with the twist locks of a specific category.

[0203] Certain example twist lock storage methods and / or procedures will now be described. The method and / or procedure can be carried out, executed, and / or implemented in any of the example sorting lock storage systems described herein and / or shown in any of the figures.

[0204] Figure 16a The flow diagram shows a method 4000 for managing twist locks in a sorting lock storage system. The method includes: at block 4002, retrieving a general lock carrier loaded with sorted twist locks from an input station (or input / output station); at block 4004, transporting the general lock carrier to the sorting lock library; at block 4006, identifying an available (empty) storage location in the sorting lock library and assigning the storage location to the general lock carrier; and at block 4008, placing the general lock carrier in the storage location. Retrieving a general lock carrier loaded with sorted twist locks can include retrieving the general lock carrier from the container securing system or lock sorting system described herein.

[0205] The method can include at block 4010, generating data representing the association between the general lock carrier and the twist lock category, where the data is generated based on or according to data representing the association between the category and the twist locks loaded onto the general lock carrier. For example, data representing the association between the category and the twist locks loaded onto the general lock carrier may have been generated by the container securing system or lock sorting system as described herein. Additionally, the data can be generated based on a unique identifier associated only with the general lock carrier. The data representing the association between the general lock carrier and the twist lock category can be recorded in an inventory database that can be accessed by one or more controllers as described herein.

[0206] The method can include at block 4012, generating data representing the association between the storage location and the general lock carrier placed therein. The data can be generated based on a unique identifier associated only with the general lock carrier and / or a storage address that can be used to identify the storage location. The data representing the association between the storage location and the general lock carrier can be recorded in an inventory database that can be accessed by one or more controllers as described herein.

[0207] Figure 16b The flowchart shows another method 5000 for managing twist locks in a classified lock storage system. The method includes, at block 5002, retrieving a general lock carrier from a storage location using data representing the association between the storage location and the general lock carrier placed therein and data representing the association between the general lock carrier and the twist lock classification. Retrieving the general lock carrier may be in response to a request for one or more locks with a twist lock classification. For example, the request may be related to the class of twist locks selected for a securing operation. The method includes, at block 5004, transporting the general lock carrier to an output station (or an input / output station), and at block 5006, depositing the twist locks loaded on the general lock carrier at the output station (or the input / output station). Depositing the twist locks at the output station (or the input / output station) may include transporting the twist locks to a container securing system (as described herein) for a securing operation. The recorded data representing the association between the general lock carrier and the twist lock classification and the recorded data representing the association between the storage location and the general lock carrier may be updated, deleted, or archived in an inventory database.

[0208] Figure 17 Shows another example of a classified lock storage system 400. The classified lock storage system 400 includes a classified lock library 410, which is arranged in two separate twist lock storage repositories. More repositories may be provided as needed. The classified lock storage system 400 includes a classified lock transport system 420, which can be used to move twist locks around the classified lock storage system 400.

[0209] In this example of the classified lock storage system 400, the classified lock transport system 420 has a substantially linear arrangement, where the two repositories for twist lock storage are located at substantially opposite ends of the classified lock transport system 420. Classified twist locks are transported along a line between the two repositories and the storage input station 430, the storage input / output station 430 / 430, and the storage output station 440, which are also arranged along the linearly arranged classified lock transport system 420. This arrangement may be useful because the classified lock storage system 400 can be arranged along one side of a container to provide a securing operation on that side of the container. As Figure 17 shown, the classified lock storage system 400 can be connected to one or more container securing systems 200 as described herein. In this case, the classified lock storage system 400 is arranged to serve three container securing systems 200 arranged adjacent to each other. For the purpose of context, Figure 17A machine vision system 222 is also shown for capturing images of the corner blocks of the respective containers when the container fixing system 200 is in use. In this example, a single machine vision system 222 serves a single container fixing system 200. In other examples, although machine vision systems may be provided to serve more than one fixing system 200. In some examples, a duplicate and mirrored sorting lock storage system 400 may be provided on the other side of the container fixing system 200 to serve opposite sides of the container 200.

[0210] To serve the container fixing system 200, an example of the sorting lock storage system 400 is provided with four storage input / output stations 430 / 440 which allow twist locks to be added to or removed from the sorting lock storage system 400 in the manner described above. In other arrangements, different numbers of storage input / output stations 430 / 440 may be deployed.

[0211] As Figure 17 shown, the sorting lock storage system 400 may be connected to one or more lock sorting systems 300 as described herein. In this case, the lock sorting system 300 is arranged on the side of the sorting lock transport system 420 opposite the container fixing system 200. In this example, the sorting lock storage system 400 is provided with two storage input stations 430 which allow twist locks to be added to the sorting lock storage system 400 from the lock sorting system 300.

[0212] The sorting lock transport system 420 also includes two carrier emptying stations 470 (i.e., storage output stations 440) where sorted twist locks can be unloaded from the general lock carrier 700. The two carrier emptying stations 470 are located at substantially opposite ends of the sorting lock transport system 420.

[0213] Detail S shows the storage location of one of the sorting lock magazine 410 storage compartments. The storage location includes a plurality of storage berths 412. The plurality of storage berths 412 are arranged in columns and rows. Each storage berth 412 can accommodate a general lock carrier 700. In this example, each storage berth 412 includes a pair of opposing angle irons 414 which are spaced apart appropriately such that the general lock carrier 700 as described below can be slidably received in the storage berth 412. The opposing angle irons 414 of the storage berth 412 are attached to the support frame 415 of the sorting lock magazine 410 storage compartment.

[0214] For more context, Figure 18 a front view and a plan view of the sorting lock storage system are shown. For clarity, Figure 17 the machine vision system 222 of the container fixing system 200 shown in Figure 17 is not shown in Figure 18 From Figure 18As can be seen, each storage input station 430, storage input / output station 430 / 430, and carrier emptying station 470 includes a carrier support 600, as described herein. The carrier support is configured to releasably support one or more universal lock carriers 700 as described herein. Figure 18 Also shown is how the support frame 415 of the sorting lock magazine 410 storage is configured to raise the storage berth 15 and provide clearance below the sorting lock magazine 410 storage.

[0215] Figure 18 Also shown is the linear arrangement of the sorting lock transport system 420. The sorting lock transport system 420 includes guides 422 that linearly extend in the X direction. The sorting lock transport system 420 includes a guided vehicle 424 that is movable along the length of the guides 422 such that each storage input station 430, storage input / output station 430 / 430, and carrier emptying station 470 can be accessed by the guided vehicle 424. The guided vehicle 424 includes a lifting module 426 that is configured to vertically lift and lower a carrier handling member 428 in the Z direction in use such that the carrier handling member 428 can place the universal lock carrier 700 in the storage berth 412 of the sorting lock magazine 410 and on the carrier support 600. As further described below, the carrier handling member 428 can be configured to move the universal lock carrier 700 laterally with respect to the guides 422 (i.e., in the Y direction) to perform the placement operation. Thus, by a combination of movement along the guides 422, vertical movement using the lifting module 426, and lateral movement using the carrier handling member 428, the universal lock carrier 700 can be moved around the sorting lock storage system 400.

[0216] Turning to Figure 19 , which shows a more detailed view of the sorting lock transport system 420 of the sorting lock storage system 400. In the example shown, the guides 422 include a pair of rails on which the guided vehicle 424 can travel. The guided vehicle 424 can be driven along the guides 422 by a driven pinion that engages a rack 423; other means can also be used to impart motion to the guided vehicle 424.

[0217] The lifting module 426 includes a mast 4262 that projects upward from the vehicle body of the guided vehicle 434 and is mounted thereto. The mast 4262 is rotatable R about an axis extending in the Z direction relative to the vehicle body. By rotating the mast 4262, the carrier handling member 428 can be moved to a position where the carrier handling member 428 can serve both sides of the sorting lock transport system 420 (i.e., both sides of the guides 422). The guided vehicle 424 can include one or more on-vehicle motors 425 that drive the pinion in use to move the guided vehicle 424 along the guides 422 and drive the rotation of the mast 4262.

[0218] The carrier handling member 426 includes a sleeve 4282 slidably mounted to the mast 4262. The sleeve 4282 is used to guide the carrier handling member 426 along the length of the mast 4262. The lifting module 426 includes a chain drive 4264 mounted to the mast 4262. The sleeve 4282 is fixed to the chain of the chain drive 4264 such that, in use, the movement of the chain drives the sleeve 4282 to move up and down along the mast 4262. Other devices can be employed to drive the carrier handling member 426, such as a belt drive or a linear actuator. The mast 4262 and the chain drive 4264 can have a suitably configured wiring harness to allow the transfer of power and / or control signals to the components of the lifting module 426 and the carrier handling member 426.

[0219] Detail P shows the carrier handling member 426 in more detail. The carrier handling member 426 includes a carrier interface 4284 which is configured to support a general lock carrier when the general lock carrier is transported within the sorting lock storage system 400. The carrier interface 4284 is configured to be complementary to and engage with the storage system interface of the general lock carrier being transported.

[0220] In Figures 17 to 19 In the example shown, the carrier interface 4284 is configured to connect to the storage system interface 720 of the general lock carrier 700 described below. The carrier interface 4284 includes a horizontally oriented flat plate which is configured to mate with the bottom plate 724 of the general lock carrier 700. The carrier interface 4284 also includes three oriented protrusions 4286 extending upward from the flat plate. The oriented protrusions 4286 are arranged in a generally triangular configuration. Each oriented protrusion 4286 is configured to engage with a corresponding oriented slot 724 in the bottom plate 724 of the general lock carrier 700. The oriented protrusions 4286 ensure that the general lock carrier 700 is correctly positioned on the carrier interface 4284 such that the general lock carrier 700 can be reliably positioned on the carrier support 600 or in the storage berth 412.

[0221] The carrier handling member 426 includes an extensible arm 4288 that is slidably connected to a sleeve 4282. A carrier interface 4284 is mounted at the end of the extensible arm 4288. Extending the extensible arm 4288 relative to the sleeve 4282 can move the carrier interface 4284 in the Y direction such that the carrier interface 4284 can transport a universal lock carrier to a storage berth 412 or onto a carrier support 600. The final transport movement required by the sorting lock transport system 420 can also involve moving the carrier interface 4284 in the Z direction to complete placing the universal lock carrier in the storage berth 412 or onto the carrier support 600. A small movement of the carrier interface 4284 in the Z direction can be used to release the universal lock carrier from the carrier interface 4284, for example by lifting the universal lock carrier from a flat plate and over a directional projection 4286. The small movement of the carrier interface 4284 can be applied by a chain drive 4264. In Figures 17 to 19 the example shown, the extension and retraction of the extensible arm is actuated by an arm motor 4289.

[0222] In some examples, the methods described above and Figure 16a and Figure 16b shown therein can be performed using processing circuitry 451 provided in the lock storage controller 450 of the above-described sorting lock storage system 400. The processing circuitry 451 of the controller 450 can cause the above blocks to be performed by the sorting lock storage system 400. The controller 450 includes: a transport control module 452 for controlling the sorting lock transport system 420; and an inventory management module 453 for maintaining an inventory of sorting twist locks managed and stored by the sorting lock storage system 400. In some examples, the inventory management module 453 is configured to maintain records of the association between a universal lock carrier and the sorting of twist locks loaded onto the universal lock carrier, and the association between the storage locations of the sorting lock storage system and the universal lock carrier. In some examples, the inventory management module 453 is configured to assign storage locations to specific universal lock carriers. For example, the inventory management module 453 can use a storage address to assign a storage location to a universal lock carrier. It should be understood that the controller 450 can include other modules as required by the operation.

[0223] As Figure 20As shown, the controller 450 may further include a carrier monitoring module 454 configured to monitor the position of the general lock carrier within the sorting lock storage system 400. For example, the carrier monitoring module 454 may be communicatively coupled to one or more sensors of the sorting lock storage system 400. Suitable locations for the one or more sensors may be at the storage input station 430, the storage input / output station 430 / 440, and / or the storage output station 440. For example, a carrier detection sensor may be provided on each carrier support provided in the sorting lock storage system 400, where each carrier detection sensor is configured to indicate to the control monitoring module 454 when the presence of a general lock carrier is detected on the carrier support. For example, the carrier detection sensor may include a pressure switch, a proximity sensor (e.g., a sensor using electromagnetic fields or electromagnetic radiation), a barcode scanner, or an RFID reader. The carrier detection sensor may also be mounted at any suitable location within the sorting lock storage system 400, such as at certain locations along the operating path of the sorting lock transport system 420.

[0224] The controller 450 may further include a carrier identification module 455 configured to identify the general lock carrier within the sorting lock storage system 400. For example, the carrier identification module 455 may use information provided by one or more sensors of the sorting lock storage system 400 to identify a particular general lock carrier being used in the sorting lock storage system 400. For example, the identification of a particular general lock carrier may be in response to an RFID or barcode reading transmitted from any location within the sorting lock storage system 400. The identification of a particular general lock carrier may be performed by comparing the provided information with a list of unique identifiers, each unique identifier being associated with only one general lock carrier. The carrier identification module 455 may provide these identifications to other modules. For example, in some examples, the inventory management module 453 may use these identifications to maintain a record of the association between the general lock carrier and the twist lock sorting loaded onto the general lock carrier, as well as the association between the storage location of the sorting lock storage system and the general lock carrier. Similarly, the carrier monitoring module 454 may use these identifications to track the specific location of the general lock carrier within the sorting lock storage system 400. For example, the carrier monitoring module 454 may determine or confirm an expectation based on information provided by one or more sensors that a general lock carrier with a unique identification has been transported to the sorting lock library and is now ready to be stored in one of the storage locations.

[0225] The controller 450 may include a storage module 458, e.g., for storing machine-readable instructions executable by the processing circuitry and / or for storing data that may be used by the controller. For example, data related to the inventory of sorting twist locks may be stored on the storage module 458. For example, a database may be stored on the storage module 458 that includes records of the association between a generic lock carrier and the sorting of twist locks loaded onto the generic lock carrier and records of the association between the storage locations of the sorting lock storage system and the generic lock carriers. The inventory management module 453 may query the storage module 458 to obtain record data regarding the storage locations of the generic lock carriers associated with a particular sorting of twist locks.

[0226] The controller 450 may include a communication interface 459 to communicatively couple the controller 450 to the remainder of the sorting lock storage system 300. Additionally, the communication interface 459 may communicatively couple the controller 450 to other systems described herein. For example, the communication interface 459 may communicatively couple the controller 450 to the sorting controller 380, e.g., which allows the lock storage controller 450 and the sorting controller 380 to coordinate in managing the common carrier support 600 and associated sensors. Similarly, the communication interface 459 may communicatively couple the controller 450 to one or more fixed station controllers 230, e.g., which allows the lock storage controller 450 and the one or more fixed station controllers 230 to coordinate in managing the common carrier support 600 and associated sensors.

[0227] Reference will now be made to Figures 21 to 26 more detailed examples of carrier supports and generic lock carriers will be described. The carrier supports described herein provide working positions that allow for the exchange of twist locks between various parts of the container lock management system 100.

[0228] Figure 21 An example of a carrier support 600 is shown. The carrier support 600 includes a base 610 or stand and one or more bases 620. The base 610 supports the one or more bases 620. Each base 620 is configured to removably receive and support a generic lock carrier 700. The generic lock carrier 700 may load twist locks 50.

[0229] In Figure 21In the example, the base 610 supports three bases 620. It should be understood that, depending on the operating requirements, the base 610 can support any suitable number of bases 620. For example, the carrier support 600 can include one base 620 or multiple bases 620. It should also be understood that the base 610 can include separate structural supports for each respective base 620, or a single structural support for all the bases 620 of the carrier support 600. For example, the separate structural supports for each respective base 620 can be connected to each other to increase strength, or can be completely independent.

[0230] Each base 620 includes one or more positioning elements 622, which are configured such that the universal lock carrier 700 can be repeatedly (and removably) received in the same position on the base 620 relative to the base 620 and / or the carrier support 600 each time. Since the universal lock carrier 700 is interchangeable with other universal lock carriers 700, as further described below, once the universal lock carrier 700 is supported on the base 620, the positioning elements 622 can reliably determine the position of any interchangeable universal lock carrier 700 relative to the base 620 and / or the carrier support 600.

[0231] In one example, for instance Figure 21 as shown, one or more positioning elements 622 include at least one alignment pin 624 on which the universal lock carrier 700 can be mounted. In Figure 21 the example shown, the at least one alignment pin 624 restricts the position of the universal lock carrier 700 in the X-Y plane and allows the universal lock carrier 700 to linearly move in the Z direction. In some examples, the at least one alignment pin 624 can have a circular profile, i.e., a round pin. In other examples, the at least one alignment pin 624 can have a flat diamond profile or other suitable polygonal profile. Using a polygonal-shaped pin profile can improve the position accuracy of the universal lock carrier 700 in the X-Y plane. The alignment pin 624 can be tapered and / or have a spherical end. In some examples, one or more positioning elements 622 include two or more alignment pins 624. Using two or more alignment pins 624 can improve the position accuracy of the mounted universal lock carrier 700 in the X-Y plane. The two or more alignment pins 624 can have the same profile or different profiles. For example, one alignment pin 624 can include a circular profile, while another alignment pin 624 can include a polygonal shape with a flat diamond profile. Each of the two or more alignment pins 624 can have a different length or height from the other alignment pins among the two or more alignment pins 624. Providing alignment pins of different lengths can allow for a preliminary coarse alignment when loading the universal lock carrier 700 onto the base 620, followed by a finer alignment.

[0232] Also as Figure 21 shown, one or more positioning elements 622 may include a stop 626 for positioning the universal lock carrier 700 in the Z direction. When supported on the base 620, the universal lock carrier 700 is placed on the stop 626. In the example shown in FIG. 13, the stop includes a flat end pin that is separate from the alignment pin 624. The flat end pin has a flat surface that is disposed generally perpendicular to the Z direction. In other examples, the stop may include a shoulder pin or a ball head pin. For example, one or more alignment pins 624 may include shoulders on which the universal lock carrier 700 is placed when supported on the base 620. The shoulders are disposed generally perpendicular to the Z direction.

[0233] The carrier support 600 may include one or more sensors 630 that are configured to monitor the state of the carrier support 600 relative to the universal lock carrier 700. The one or more sensors 630 may be communicatively coupled to one or more controllers as described herein. For example, the one or more sensors may be configured to detect the presence and / or absence of the universal lock carrier 700 supported on the base 620. For example, when the universal lock carrier 700 is supported on the base 620, the one or more sensors 630 may be configured to detect the presence and / or absence of twist locks loaded onto the universal lock carrier 700.

[0234] The carrier support 600 may include one or more identification (ID) readers 640. The one or more ID readers 640 may be configured to obtain data from a unique identifier that is associated only with a particular universal lock carrier 700. This data may be used, for example, by a controller as described herein to identify or confirm the identity of a particular universal lock carrier 700. Using this data may allow for updating or verifying the inventory of twist locks and / or universal lock carriers 700 as described above. For example, each of the one or more ID readers 640 may include an RFID reader that is configured to read an RFID tag associated with a particular universal lock carrier 700. Other identification systems may also be used, for example, each of the one or more ID readers 640 may include an optical tag reader.

[0235] Figure 22 and Figure 23A perspective view showing an example of a universal lock carrier 700 is presented. The universal lock carrier 700 includes a bracket 710 that is configured to releasably receive and support a twist lock loaded onto the universal lock carrier 700. The bracket 710 can be configured to receive and support any suitable number of different types and models of twist locks. The universal lock carrier 700 includes a storage system interface 720. The storage system interface 720 allows the universal lock carrier 700 to be loaded and unloaded through and within the sorting lock storage system described herein. The storage system interface 720 is configured such that the universal lock carrier 700 can be clamped, moved, picked up, and loaded and unloaded by the sorting lock storage system. In some examples, the storage system interface 720 is configured to complement and engage with the carrier interface of the sorting lock storage system as described above.

[0236] The bracket 710 may include one or more guides 712 that assist in positioning the twist lock on the bracket 710. The bracket 710 may include one or more positioning elements 714 that ensure the twist lock is in the correct position once it is on the bracket 710. The bracket 710 may also include one or more contact elements 716. The contact elements 716 can help ensure the twist lock is in the correct position once it is in the bracket 710. The contact elements 716 can be made of a suitable material that is durable, capable of withstanding repeated mechanical contact with the twist lock, and resistant to wear associated with friction. For example, the contact elements 716 can be made of hardened steel. The contact elements 716 can be configured to withstand most of the contact forces involved in loading and unloading the twist lock onto and from the universal lock carrier 700.

[0237] In Figure 22 and Figure 23 the example shown, the bracket 710 includes a U-shaped support for the twist lock. The U-shaped support of the bracket 710 is angled with respect to the horizontal direction, which can allow the lock manipulator described herein to more efficiently access the bracket 710. The U-shaped support is held in place by a pair of uprights 718. The uprights 718 are arranged generally parallel to each other and spaced apart. This arrangement allows access to the twist lock from below the universal lock carrier 700, such that sensors on the carrier support 600 can monitor the status of the universal lock carrier 700.

[0238] The storage system interface 720 is used to support the bracket 710. In Figure 22 and Figure 23In the example shown, the post 718 is mounted to the storage system interface 720. The storage system interface 720 includes a base plate 722 which, in this example, is generally rectangular. It should be understood that the storage system interface 720 can be arranged in any suitable manner that allows the universal lock carrier 700 to be processed by the sorting lock storage system. In this example, the storage system interface 720 includes three orientation slots 724 in the base plate 722. The orientation slots 724 are arranged in a generally triangular configuration. Each orientation slot 724 is configured to engage a corresponding orientation projection 4286 of the carrier interface 4284 of the sorting lock transport system 400 as described above. The orientation slots 724 help to ensure that the universal lock carrier 700 is correctly positioned on the carrier interface 4284 such that the universal lock carrier 700 can be reliably positioned on the carrier support 600 or in the storage berth 412. In this example, the storage system interface 720 includes a cutout 726 in the base plate 722. The cutout 726 allows access to the twist lock from below the universal lock carrier 700, for example for sensors on the carrier support 600 described above.

[0239] The carriage 710 may include one or more complementary positioning elements 730. The complementary positioning elements 730 are configured to cooperate with the positioning elements 622 when the universal lock carrier 700 is received on the carrier support 600. In Figure 22 and Figure 23 the example shown, the complementary positioning elements 730 include one or more alignment pin sockets 732 which, in this example, are round holes, but any complementary shape may be employed. In an example where the positioning elements 622 include alignment shoulder pins, the base plate 722 may engage the shoulders to prevent movement of the carrier support 600 in the Z direction as described above.

[0240] In some examples, the universal lock carrier 700 may include a unique identifier that allows the universal lock carrier 700 to be identified or its identity verified. For example, the universal lock carrier 700 may include an RFID tag readable by an RFID reader, such as the RFID reader of the carrier support 600. In other examples, the unique identifier may include a machine-readable optical tag, such as a barcode. Figure 22 and Figure 23 The universal lock carrier 700 of

[0241] Now turning to Figure 24 , which shows a perspective view of another example of the carrier support 600. The carrier support 600 is compatible with the example universal lock carrier 700 shown in Figure 22 and Figure 23 . For clarity, Figure 24The carrier support 600 therein shows a base 620 without a support base. In this example, the positioning elements 622 of the base 620 include three elongated alignment pins 524 arranged in a substantially triangular form. The alignment pins 624 are shoulder pins, each of which includes a shoulder forming a stop 626 to prevent the universal lock carrier 700 from moving in the longitudinal direction of the alignment pins 624. When supported on the base 620, the universal lock carrier 700 is placed on the shoulders of the alignment pins 624.

[0242] The base 620 includes a calibration element 628 that supports the positioning element 622. The calibration element 628 is configured to allow adjustment of the positioning element 622 such that the positioning element 622 can be aligned with the elements of the container lock management system 100 in a desired manner, and these elements (such as the lock actuator, machine vision system, and sorting lock transport system described herein) will function together with the carrier support 600. The calibration element 628 provides a certain tolerance for positioning the carrier support 600 for the container lock management system 100. In Figure 24 the example shown, the calibration element 628 includes a plate rotatably mounted on a frame 621 of the base 620. The frame 621 connects the base 620 to the base. The plate is shaped to allow a certain range of rotation before hitting the frame 621; in this way, the plate can rotate freely enough to allow the positioning element 622 to be aligned as needed. In Figure 24 the example shown, the calibration element 620 also supports an alignment pin plate 629 on which the alignment pins 624 are mounted. The alignment pin plate 629 is offset from the calibration element 628 plate to accommodate sensors and the like.

[0243] The carrier support 600 includes a carrier detector 632 and a lock detector 634. In Figure 24In the example shown, the carrier detector 632 and the lock detector 634 are mounted to the base 620. The carrier detector 632 is used to determine whether a universal lock carrier 700 is present on the base 620. In this example, the carrier detector 632 includes an inductive proximity sensor; however, other suitable sensors, such as a pressure-activated proximity switch, may also be used. The lock detector 634 is used to determine whether a twist lock is present on the universal lock carrier 700 when it is located on the base 620. In this example, the lock detector 634 includes a photoelectric sensor. The carrier support 600 includes an RFID reader 640. The RFID reader 640 is used to read an RFID tag associated with or attached to the universal lock carrier 700. The lock detector 634 is communicatively coupled to one or more controllers, such as any of the controllers described herein, via a communication cable 635. Although not shown, the carrier detector 632 and the RFID reader 640 are also communicatively coupled to one or more controllers via a communication cable, thereby allowing data regarding the status of the carrier support 600 to be transmitted to one or more controllers.

[0244] Figure 25 A perspective view of another example of the carrier support 600 is shown, which is compatible with the example universal lock carrier 700 shown in Figure 22 and Figure 23 In this example, at least one of the bases 620 is movable, such as relative to the base 610, such that the position of the universal lock carrier 700 can be adjusted. For example, at least one of the bases 620 can be moved in a vertical direction. In the example of Figure 25 , the base 610 of the carrier support 600 supports four bases 620. Each of the bases 620 is arranged in substantially the same manner as described with respect to Figure 24 , but other arrangements may also be employed. One of the bases 620 located at one end of the base 610 is fixed in place. The remaining three bases 620 can be moved in a vertical direction such that the vertical position of the universal lock carrier 700 can be adjusted. Providing some bases 620 that can be moved in this manner allows for a flexible working position for the lock manipulator described herein when manipulating the twist lock, whether loading or unloading from the universal lock carrier 700. Additionally, in some examples, the lock manipulator described herein can operate in a working position different from the classified lock transport system described herein. Figure 25 The carrier support 600 shown in may be particularly useful when implemented as a twist lock storage input / output station of a container fixing station described herein. Providing some bases 620 that can be moved in this manner can also lift the universal lock carrier 700 from the carrier interface of the lock transport system of the classified lock storage system.

[0245] Figure 25The load carrier support 600 includes one or more lifting devices 650, each of which is configured to vertically move one of the bases 620 up and down. Each lifting device includes, for example, a pneumatic actuator to drive the corresponding base 620 up and down. Another power source, such as an electric ball screw, can also be used.

[0246] Figure 26 A perspective view of another example of the load carrier support 600 is shown, which is compatible with the universal lock carrier 700 shown in Figure 22 and Figure 23 In this example, at least one of the bases 620 is tiltable such that, in use, the twist locks loaded onto the universal lock carrier can be unloaded from the universal carrier. In the example of Figure 26 , the base 610 of the load carrier support 600 supports two bases 620. Each base 620 is arranged substantially in the same manner as described with respect to Figure 24 , but other arrangements can also be adopted. The two bases can be tilted in the direction of arrow T such that the twist locks loaded onto the universal lock carrier 700 can be unloaded from the universal carrier 700. Thus, Figure 26 the load carrier support 600 of Figure 26 can be used to empty the twist locks of the universal lock carrier 700. In this regard, Figure 26 the load carrier support 600 of

[0247] can be used as a storage output station of a sorting lock storage system as described herein. For example, Figure 26 the load carrier support 600 of

[0247] can be a load carrier emptying station as described herein, where the sorted twist locks can be unloaded from the universal lock carrier 700.

[0247] To empty the universal lock carrier 700, Figure 26 the load carrier support 600 of Figure 22 and Figure 23 includes a tilting mechanism 660 that, in use, causes the base 620 to rotate or tilt upward about a suitably arranged axis. As can be seen from Figure 22 and Figure 23 , the universal lock carrier 700 supports the twist locks on a U-shaped support. In combination with the seating orientation of the universal lock carrier 700 on the base 620, the tilting movement T is arranged such that when the universal lock carrier is rotated, the supported twist locks will slide off the U-shaped support under the action of gravity and be unloaded from the universal lock carrier 700. The unloaded twist locks can fall into the lock box described herein.

[0248] In Figure 26In the example shown, the tilting mechanism 660 includes an actuator 662, such as a rotary pneumatic actuator, but the actuator 662 may include an electric rotary actuator or other suitable power source. The tilting mechanism 660 may also include a latch 664 that is configured to hold the universal lock carrier 700 on the base 620 during tilting movement, thereby preventing the universal lock carrier 700 from falling off the base 620. The latch 664 may include a releasable snap that clamps the universal lock carrier 700, such as on the base plate 622. The releasable snap may include a retractable or rotatable portion that clamps the universal lock carrier 700.

[0249] Certain examples of fixed grippers will now be described. Referring to the attached Figure 2 and Figures 29 to 38 , a container twist lock fixing / detaching assembly in the form of a fixed gripper is generally denoted by reference numeral 800. The fixed gripper 800 is configured to rotatably displace the cam 54 of the twist lock 50 between a locked state and an unlocked state; in the locked state, the cam 54 of the twist lock 50 engages the corner block 12 of the intermodal container 10 to which the twist lock 50 is assembled, for locking the twist lock 50 to the corner block 12; in the unlocked state, the cam 54 disengages from the corner block 12, thereby allowing the cam 54 to be inserted into and withdrawn from the corner block 12 during the process of assembling and removing the twist lock 50 to and from the corner block 12, respectively.

[0250] The fixed gripper 800 includes a twist lock body clamping attachment 808 for clamping the support body 51 of the twist lock 50, a cam actuating mechanism 812 for clamping the cam 54, a rotary actuator 814 for rotating the cam actuating mechanism 812, a displacing device in the form of a displacing system for moving the moving parts of the fixed gripper 800 (to be explained in more detail below), and an electronic control module for controlling the operation (to be explained below).

[0251] The twist lock body clamping attachment 808 includes a pair of opposing jaw members 810, which include jaw members 810a and 810b, and the jaw members 810a and 810b are movable relative to each other and are configured to clamp the support body 51 of the twist lock 50 in use. More specifically, the jaw members 810 are configured to controllably engage and clamp the support body 51 in a predetermined configuration that is required and determined according to the dimensions and shapes of the specific twist lock 50 and the twist lock body 51 and the position and orientation of the rotational axis (A1) of the cam 54 relative to the twist lock body 50, so as to optimally orient and position the rotational axis (A1) of the cam 54 of the twist lock 50 relative to the rotational axis (A2) of the rotary actuator 814. In use, the rotational axis (A1) of the cam 54 of the twist lock 50 is generally perpendicular to the plane in which the jaw members 810a1 and 810b2 move.

[0252] AsFigure 31 and Figure 32 As best shown, each of the opposed jaw members 810, 810a, 810b is provided with a controllable movable part in the form of fingers 820, including movable fingers 820a1, 820a2 on jaw member 810a and movable fingers 820b1, 820b2 on the other jaw member 810b, each finger 820 being movable relative to an associated one of the jaw members 810a, 810b, as will be explained below. More specifically, the fingers 820 are movable independently of each other, as will be explained in more detail below.

[0253] The cam actuating mechanism 812 is constructed for actuating the cam of the twist lock in use and includes a cam clamping attachment 822 for clamping the cam 54 of the twist lock 50 and displacing the cam 54 of the twist lock 50 relative to the support body 51 of the twist lock 50, as will be explained below. Refer Figure 29 and Figure 30 , the cam actuating mechanism 812 includes four upright pin members 824 for engaging the cam 54 of the twist lock 50. The size and position of the pin members 824 are selected such that twist lock cams of various sizes can be placed in the cam actuating mechanism 812. In other embodiments (not shown), the applicant contemplates that the position and / or size of the pin members 824 may be variable and / or controllable so as to adjust the size and / or position of the pin members 824 according to the size of the cam of the twist lock received therein.

[0254] The rotary actuator 814 is constructed for rotating the cam actuating mechanism 812 about the axis of rotation (A2) of the rotary actuator 814 to displace the cam 54 of the twist lock 50 between a locked state and an unlocked state during the fixing and unfixing operations, thereby allowing the twist lock 50 to be assembled to or removed from the corner block 12.

[0255] The displacement system is configured to displace the moving parts of the fixed gripper 800 and includes a twist lock body clamping attachment displacement system, a jaw member displacement system, and a movable finger displacement system.

[0256] Figure 37a , Figure 37b and Figure 37c The operation of the twist lock body clamping attachment displacement system is shown in and. Referring to these figures, it can be seen that the twist lock body clamping attachment displacement system is operable to displace the twist lock body clamping attachment 808 relative to the cam actuating mechanism 812 in three stages, corresponding respectively to the three positions shown in Figure 37a , Figure 37b and Figure 37c . It can be seen from the figures that the twist lock body clamping attachment displacement system provides a translational movement of the twist lock body clamping attachment 808 relative to the cam actuating mechanism 812.

[0257] Reference appendix Figure 38 , the twist-lock body clamping attachment displacement system includes pneumatic piston-cylinder mechanisms 836 and 838, a base plate 840, a locking pin assembly 842, and a latch cylinder 844.

[0258] The pneumatic piston-cylinder mechanisms 836 and 838 include two opposing mechanisms that act against each other to displace the twist-lock body clamping attachment 808 in opposite directions. By controlling the relative forces applied by the pneumatic piston-cylinder mechanisms 836 and 838, the position of the twist-lock body clamping attachment can be adjusted so that the twist-lock body clamping attachment is respectively at Figure 37a , Figure 37b and Figure 37c shown among three positions.

[0259] To improve the stability and accuracy of the displacement system, the base plate 840 and the locking pin assembly 842 are provided. More specifically, the base plate 840 includes three slots 846a, 846b, and 846c that extend to the edge of the plate 840. In use, when the base plate 840 (by the pneumatic piston-cylinder mechanisms 836 and 838) is displaced to the appropriate position, the locking pins of the locking pin assembly 842 are deployed and displaced to the locking position, in which the locking pins are received in a specific one of the slots 846a, 846b, 846c so as to stabilize the assembly when the pneumatic piston-cylinder mechanisms 836 and 838 displace the twist-lock body clamping attachment 808 to Figure 37a , Figure 37b and Figure 37c shown positions.

[0260] The latch cylinder 844 is operable to displace the locking pin between a locking position and an unlocking position, in the locking position, the pin locks the base plate 840 in place, and in the unlocking position, the pin is displaced away from the three slots 846a, 846b, and 846c, thereby allowing the displacement of the base plate 840.

[0261] Now referring to Figure 29 of the accompanying drawings, the jaw member displacement system is operable to displace the opposing jaw members 810 relative to each other and the fingers 820 relative to each other. The jaw member displacement system includes a jaw member displacement piston-cylinder mechanism 850, which includes piston-cylinder mechanisms 850a, 850b for respectively and independently displacing the opposing jaw members 810a, 810b relative to each other.

[0262] Refer to Figure 31, the movable finger displacement system includes a finger displacement piston-cylinder mechanism 860, which includes piston-cylinder mechanisms 862a1, 862a2, 862b1, and 862b2 for displacing a relevant one of the fingers 820a1, 820a2, 820b1, and 820b2, such as Figure 31 as shown.

[0263] More specifically, as Figures 36a to 36d shown, each of the fingers 820 can be displaced between a fully retracted position and a fully extended position.

[0264] Referring to Figure 35a and Figure 35b , advantageously, the finger displacement piston-cylinder mechanism 860 is capable of changing the symmetry of the relatively movable jaw members 810 from the Figure 35a symmetrical configuration shown to the Figure 35b asymmetrical configuration shown.

[0265] More specifically, when in the symmetrical configuration as Figure 35a shown, the fingers are retracted, and the central axis (A3) of the twist lock held in the relatively movable jaw members 810 is precisely aligned with the rotational axis (A1) of the cam 54 and the rotational axis (A2) of the rotational actuator.

[0266] When in the asymmetrical configuration as Figure 35b shown, the central axis (A3) of the twist lock held in the relatively movable jaw members 810 is offset relative to the rotational axis (A1) of the cam 54, as Figure 35b shown. Its purpose and significance will be explained below.

[0267] The electronic control module can form part of the manipulator module 234 of the aforementioned fixed station controller 230. In other examples, the electronic control module can also be a module of an independent controller. The electronic control module is configured to control the operation of the pneumatic piston-cylinder mechanisms 836, 838, the latch cylinder 844, the jaw member displacement piston-cylinder mechanisms 850a, 850b of the jaw member displacement system, and the finger displacement piston-cylinder mechanisms 862a1, 862a2, 862b1, and 862b2. It should be understood that the electronic control module can be configured to control other operations and / or pneumatic piston-cylinder mechanisms.

[0268] In use, the electronic control module is operable to move each of the jaw members 810a, 810b relative to each other to effectively accommodate and hold twist lock bodies of different shapes and sizes, such as Figure 34a and Figure 34b shown. More specifically, as Figure 34a and Figure 34bAs shown, the electronic control module is operable to independently control the fingers 820a1, 820a2, 820b1, and 820b2 so as to controllably accommodate twist-lock support bodies 51 of different sizes.

[0269] More specifically, in use, from the perspective of an observer viewing from a top view, the shifting system is operable to move a twist-lock 50 held by a pair of jaw members 810a, 810b in forward, backward, left, and right directions along a set of x-axis and y-axis perpendicular to each other in use. More specifically, referring to Figure 38 the top view shown and the side view shown in FIG. 37, the piston-cylinder mechanisms 836 and 838 of the shifting system are operable to move the twist-lock 50 held in the gripper in the front-back direction along the axis "x" shown in FIGS. 37 and Figure 38 shown.

[0270] Referring to the appendix Figure 33 and Figure 35a and Figure 35b the top view shown, the piston-cylinder mechanisms 850a, 850b of the shifting system are operable to move the twist-lock 50 held in the grippers 810a, 810b in the left-right direction along the Figure 33 , Figure 35a and Figure 35b shown axis "y".

[0271] Thus, by the operation of the shifting device, the container fixed gripper 800 is operable to shift the twist-lock 50 held by a pair of jaw members 810a, 810b such that the axis of rotation (A1) of the cam 54 of the twist-lock 50 is shifted relative to the axis of rotation (A2) of the rotary actuator 814.

[0272] More specifically, by the operation of the shifting device, the fixed gripper 800 is movable to shift the twist-lock 50 held by a pair of jaw members 810a, 810b such that the axis of rotation (A1) of the cam 54 of the twist-lock 50 is coaxially aligned with the axis of rotation (A2) of the rotary actuator 814.

[0273] Thus, the fixed gripper 800 is operable to align the twist-lock 50 such that the axis of rotation (A1) of the cam 54 of the twist-lock 50 is coaxially aligned with the axis of rotation (A2) of the rotary actuator 814.

[0274] The above features are very important because although for some twist-locks (e.g., Figure 34a the twist-lock 1050 shown), the central axis (A3) of the twist-lock 1050 is aligned with the axis of rotation (A1) of the cam 54 of the twist-lock 1050, for other twist-locks (e.g., Figure 34b the twist-lock 950 shown), the axis of rotation (A1) of the twist-lock 950 is offset relative to the central axis (A3) of the twist-lock 950.

[0275] If the twist lock 50 is to be operated correctly, the container fixing clamp 800, through the operation of the above-mentioned displacement system, can be operated to displace the twist lock 50 clamped by a pair of jaw members 810a, 810b such that the axis of rotation (A2) of the rotary actuator 814 is coaxially aligned with the axis of rotation (A1) of the cam 54 of the twist lock 50 and is offset simultaneously relative to the central axis (A3) of the cam 54 of the twist lock. This is extremely important for enabling the fixing clamp 800 to lock and unlock the twist lock (e.g., Figure 34b the twist lock 950 shown), where the axis of rotation (A1) of the cam 54 of the twist lock 950 is offset from the central axis (A3) of the cam 54 of the twist lock 950. As Figure 34b shown, the displacement system can clamp and orient the twist lock 950 such that the axis of rotation (A1) of the cam 54 of the twist lock 950 is exactly aligned with the axis of rotation (A2) of the rotary actuator to allow the twist lock 950 to be locked and unlocked.

[0276] The applicant has found that the above-mentioned adjustability enables the fixing clamp 800 to load and unload twist locks of various different shapes and configurations, particularly twist locks in which the axis of rotation of the cam of the twist lock is substantially offset from the central axis of the body of the twist lock.

[0277] Advantageously, by: controllably displacing the twist lock body clamping attachment 808 relative to the cam actuating mechanism 812 using the twist lock body clamping attachment displacement system, as Figure 37a , Figure 37b and Figure 37c shown; and controllably displacing the relatively movable jaw members 810a, 810b and their movable fingers, as described above, the fixing clamp 800 can be operated to displace the axis of rotation of the cam of the twist lock clamped by a pair of jaw members relative to the axis of rotation of the rotary actuator to align these axes of rotation, thereby allowing the twist lock to be locked to and unlocked from the corner fitting. Accordingly, the fixing clamp 800 can load and unload various twist locks in which the axis of rotation is offset from the central axis.

[0278] Furthermore, the applicant has found that the fixing clamp 800 is particularly advantageous because by firmly clamping the body of the twist lock 50 in the jaw members 810, the fixing clamp 800 requires no manual intervention as it is capable of picking up various different types of twist locks and fitting them to the corner fittings of an intermodal container. More specifically, the fixing clamp 800 is configured to pick up the twist lock from the universal lock carrier 700 and be moved to a suitable position for fixing to the corner fitting 12. This is done entirely without human intervention.

[0279] Due to the above configuration, the fixed gripper 800 can firmly grip the body of the twist lock 50 in the relatively movable jaw members 810a, 810b and unlock (remove) the twist lock 50 from the corner block 12. The fixed gripper 800 can firmly grip the body of the twist lock 50 in the relatively movable jaw members 810a, 810b and fix the twist lock 50 to the corner block 12. Once the twist lock 50 is unlocked from the corner block 12, the jaw members 810a, 810b have sufficient gripping force on the body of the twist lock 50 to remove the twist lock from the corner block 12 and place the twist lock 50 in a container for storage and handling as described and defined elsewhere herein. For example, using the fixed gripper 800, the unlocked twist lock 50 can be placed in the universal lock carrier 700 as described above. Conversely, using the fixed gripper 800, the twist lock 50 can be retrieved from the universal lock carrier 700 as described above for a fixing operation.

[0280] It should be understood that the above-described embodiments are provided by way of example only, and various modifications can be made by those skilled in the art. Although the various embodiments have been described above to a certain level of detail or with reference to one or more individual embodiments, those skilled in the art can make many modifications to the disclosed embodiments without departing from the scope of the present invention. It should be understood that any feature described with respect to one example can be used alone, or in combination with the other features described, and can also be combined with any feature of any other example or any combination of any other examples.

Claims

1. A lock classification system for a container twist lock, the lock classification system being configured to determine whether to select a twist lock for a securing operation based on the classification of the twist lock, the lock classification system comprising: A lock supply device; A lock identifier configured to classify a twist lock according to the type and / or model of the twist lock; At least one lock separator configured to separate twist locks from each other such that the twist locks can be individually identified by the lock identifier; A manipulation scheme system; And At least one lock manipulator.

2. The lock classification system according to claim 1, wherein, The lock classification system is configured to determine whether a selected twist lock is to be placed in or on a universal lock carrier by the lock manipulator.

3. The lock classification system according to claim 2, wherein, The lock classification system is configured to determine a lock manipulation scheme based on the classification and orientation of a selected twist lock determined by the lock identifier, the lock manipulation scheme being capable of being used to move the selected twist lock by the lock manipulator to place it in or on the universal lock carrier.

4. The lock classification system according to claim 2 or 3, wherein The manipulation scheme system is configured to calculate a motion sequence of the lock manipulator to move a selected twist lock from the lock classification system to the universal lock carrier and output the motion sequence as the lock manipulation scheme.

5. The lock classification system according to any one of claims 2 to 4, wherein, The lock manipulator is operable to transport a selected twist lock from an identification position in the lock classification system to the universal lock carrier.

6. The lock classification system according to any one of claims 1 to 5, wherein The lock identifier includes a system configured to acquire information related to the three-dimensional (3D) shape of a separated twist lock, wherein the lock identifier classifies the separated twist lock based on the information.

7. The lock classification system according to any one of claims 1 to 6, wherein The lock classification system includes one or more carrier supports, and each carrier support is configured to releasably support a universal lock carrier.

8. The lock classification system according to any one of claims 1 to 7, wherein The lock classification system includes a discharge device through which unselected twist locks are discharged from the lock classification system.

9. The lock classification system according to any one of claims 1 to 8, wherein, The lock classification system includes a locator configured to locate a twist lock as it passes through the lock classification system.

10. The lock classification system according to claim 9, wherein, The locator includes a plurality of deflectors.

11. The lock classification system according to any one of claims 1 to 10, wherein, The supply device includes a hopper and a supply conveyor.

12. The lock classification system according to claim 11, wherein A motor is mounted on the hopper and / or the supply conveyor to vibrate the supply device.

13. The lock classification system according to any one of claims 1 to 12, wherein, The lock classification system includes a plurality of lock separators.

14. The lock classification system according to any one of claims 1 to 13, wherein, Each lock separator includes a first conveyor and a second conveyor arranged adjacent to each other.

15. The lock classification system according to claim 14, wherein The speed of the second conveyor is higher than the speed of the first conveyor.

16. The lock classification system according to any one of claims 1 to 15, wherein The lock manipulator includes a robotic arm and a movable gripper attached to the distal end of the robotic arm.

17. The lock classification system according to any one of claims 1 to 16, wherein, The lock classification system includes a classification controller, wherein the classification controller is communicatively coupled to one or more of the following: the supply device, the separator, the lock identifier, and / or the lock manipulator.

18. The lock classification system according to claim 17, wherein, The classification controller includes a module of the lock identifier configured to manage the lock identifier and / or make determinations related to twist locks, and / or wherein the classification controller includes a module of the manipulation scheme system capable of being used to control the lock manipulator.

19. The lock classification system according to claim 17 or 18, wherein The classification controller includes a storage module for storing data related to twist lock classification.

20. The lock classification system according to any one of claims 17 to 19, wherein, The lock identifier includes a machine vision system communicatively coupled to the controller.

21. A container lock management system, comprising: One or more container fixing systems; Classification lock storage system; and A lock classification system according to any one of claims 1 to 20.

22. The container lock management system according to claim 21, wherein, The container lock management system includes one or more general lock carriers.

23. A method for classifying twist locks, the method comprising: Feeding a plurality of twist locks to a twist lock separator; Separating twist locks from the plurality of twist locks; Generating data representing a three-dimensional (3D) shape of the twist lock; and Using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock.

24. The method according to claim 23, wherein The method includes: Based on the twist lock classification of the twist lock, determining whether the twist lock classification matches a classification selected for operational use; and Selecting the twist lock for operational use when the twist lock classification matches the classification selected for operational use.

25. The method according to claim 23 or 24, wherein, The generating data representing the 3D shape of the twist lock includes: obtaining one or more images of the twist lock and creating a 3D model of the twist lock in a simulated 3D space using the one or more images.

26. The method according to claim 25, wherein, Identifying the twist lock classification of the twist lock includes: comparing the 3D model of the twist lock with other classified 3D models, each classified 3D model representing a specific type or model of twist lock.

27. The method according to claim 26, wherein, Comparing the 3D model of the twist lock with other classified 3D models includes: querying a storage medium of a database having classified 3D models stored thereon, each classified 3D model representing a different type or model of twist lock, and comparing the 3D model of the twist lock with each classified 3D model to determine whether the 3D model of the twist lock matches any of the classified 3D models.

28. The method according to any one of claims 23 to 27, wherein, The method includes discharging the twist lock.

29. The method according to any one of claims 23 to 28, wherein, The method includes preparing a lock manipulation plan for the twist lock using the data representing the 3D shape of the twist lock.

30. The method according to claim 29, wherein, The method includes manipulating the twist lock according to the lock manipulation plan to place it on a general lock carrier in a predetermined orientation.

31. A non-transitory machine-readable storage medium, which includes machine-readable instructions executable by a processor, the storage medium including: Instructions for feeding a plurality of twist locks to a twist lock separator; Instructions for separating twist locks from the plurality of twist locks; Instructions for generating data representing a three-dimensional (3D) shape of the twist lock; and Instructions for using the data representing the 3D shape of the twist lock to identify the twist lock classification of the twist lock.

32. The storage medium according to claim 31, wherein, The storage medium includes: Instructions for determining whether the twist lock classification matches a classification selected for operational use based on the twist lock classification of the twist lock; and Instructions for selecting the twist lock for operational use when the twist lock classification matches the classification selected for operational use.

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