Container lock pin automatic grabbing method, system and product

Abstract

The application discloses a container locking pin automatic grabbing method, system and product for the field of mechanical automation control, which comprises the following steps: S1, acquiring a locking pin demand signal and shooting a locking basket to acquire 3D point cloud data of the locking pin; S2, matching the 3D point cloud data of the locking pin in the locking basket with locking pin 3D model data; S3, grabbing the locking pin through a grabbing mechanism; S4, weighing the grabbed locking pin; S5, quality checking the grabbed locking pin; S6, placing the grabbed locking pin on a turntable mechanism; S7, shooting the locking pin through a turntable 3D camera to acquire 3D point cloud data; and S8, rotating the turntable mechanism based on the 3D point cloud data of the locking pin on the turntable mechanism, and adjusting the posture of the locking pin to a to-be-assembled posture. The application can match the locking pin demand of a locking pin assembly system, synchronously execute the selection, checking and posture adjustment of the locking pin, efficiently realize the positioning of the to-be-assembled locking pin, provide convenience for subsequent locking pin assembly, and improve the locking pin assembly operation efficiency.

Description

Technical Field

[0001] This application relates to the field of mechanical automation control, specifically to a method, system, and product for automatically grasping container lock pins. Background Technology

[0002] An unmanned automated terminal refers to a modern terminal that integrates automated loading and unloading equipment and intelligent scheduling systems to achieve intelligent and unmanned operation throughout the entire process, from ship berthing and loading / unloading to horizontal transportation and storage in the yard. This includes the use of a locking pin assembly system to automate the assembly of locking pins during container loading.

[0003] Container lock pins are a crucial securing device on container ships, used to connect and lock containers to the hull and to other containers, preventing them from capsizing, sliding, or collapsing during navigation due to wind, waves, or other factors. Container lock pins are stored centrally in lock pin baskets on the ship for unified management. After the ship docks, the lock pins are assembled to the containers using a shore-based lock pin assembly system.

[0004] Container locking pins require different models depending on their specific location on the container bed. These different pins have different functions, structures, and design loads, and cannot be used interchangeably. For example, bottom-level containers and intermediate-level containers on the deck require bottom-level locking pins and intermediate-level locking pins respectively. Furthermore, different ship models use different types of locking pins. Therefore, before the locking pin assembly system can perform the assembly operation, it needs to pre-sort the pins or manually select target pins that are compatible with the assembly steps. This makes it difficult to automate the entire locking pin assembly process, slowing down the overall efficiency. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide an automatic container locking pin gripping method, system and product that can match the locking pin requirements of the locking pin assembly system, synchronously perform the selection, verification and position adjustment of the locking pin, efficiently realize the positioning of the locking pin to be assembled, provide convenience for subsequent locking pin assembly, and improve the efficiency of locking pin assembly operations.

[0006] In the first aspect, this application provides an automatic container locking pin gripping method for realizing the positioning of the locking pin before assembly, and the technical solution adopted includes the following steps; S1, Obtain the lock pin demand signal, which includes the target lock pin type. The lock basket is photographed by a truss 3D camera to obtain 3D point cloud data of the lock pins inside the lock basket. S2, match the 3D point cloud data of the locking pins in the lock basket with the 3D model data of the locking pins to obtain the type, position and attitude information of the locking pins in the lock basket, and lock the locking pins of the target locking pin type; S3, the gantry robot moves to directly above the lock pin to be grasped and grasps the lock pin through the grasping mechanism; S4, the gripping mechanism rises, and then the gripped locking pin is weighed to obtain the quality of the locking pin; S5. Compare the quality of the captured locking pin with the quality of the target locking pin type corresponding to the locking pin demand signal. If they match, the capture is successful and step S6 is executed. If they do not match, the capture fails, the captured locking pin is released, and the process jumps to S1. S6, the gantry robot moves to directly above the turntable mechanism and places the locking pin on the turntable mechanism; S7, the turntable 3D camera takes pictures of the locking pins on the turntable mechanism and obtains the 3D point cloud data of the locking pins on the turntable mechanism; S8, based on the 3D point cloud data of the locking pin on the turntable mechanism, obtains the attitude information of the locking pin on the turntable mechanism, rotates the turntable mechanism, and adjusts the attitude of the locking pin on the turntable mechanism to the assembly attitude.

[0007] By adopting the above technical solution, this application identifies the target type of lock pin in the lock basket based on the lock pin demand signal of the lock pin assembly system, performs gripping and verification to ensure that the gripped lock pin meets the requirements, and then adjusts the position through the turntable mechanism so that the lock pin assembly system can grip and assemble the target lock pin in a fixed position and with a fixed position. The assembly process is decoupled from the position adjustment, which can realize the full automation of the lock pin assembly operation and significantly improve the efficiency of the lock pin assembly operation.

[0008] Preferably, the method includes a locking pin pre-detection step, specifically including the following steps: S901, perform 3D scanning on the locking pin to create 3D model data of the locking pin; S902, based on the 3D model data of the locking pin, calibrates the gripping position of the locking pin; S903, based on the 3D model data of the locking pin, calibrates the assembly posture of the locking pin; S904: Weigh the locking pins, match the mass of the locking pins with the 3D model data of the locking pins, and build a locking pin database.

[0009] By adopting the above technical solution, a lock pin database is pre-built by matching the lock pin type, lock pin 3D model and lock pin quality, thereby providing data support for the automatic capture of lock pins.

[0010] Preferably, the gripping mechanism is a magnetic gripping mechanism.

[0011] Preferably, in S4, the displacement of the magnetic gripping mechanism is the weighing displacement; in S5, the step of lowering the gripped locking pin is to lower the magnetic gripping mechanism by the weighing displacement, turn off the power supply to the magnetic gripping mechanism, and reset the magnetic gripping mechanism.

[0012] By adopting the above technical solution, a magnetic gripping mechanism that achieves rapid opening and closing through electronic control is used. Since this application only needs to automatically grip the locking pin to the assembly position without performing subsequent specific assembly operations, precise gripping action control is not required. Using a magnetic gripping mechanism can reduce the structural complexity of the gripping mechanism, simplify the gripping action, and improve gripping efficiency.

[0013] Preferably, the locking pin assembly system issues a series of sequentially ordered locking pin requests, and the signal sequence formed by the first few locking pin requests constitutes the locking pin request signal; the turntable mechanism includes several turntables, and the number of bits in the locking pin request signal is consistent with the number of vacant turntables; in S5, if the quality of the captured locking pin is consistent with the quality of the locking pin corresponding to any bit of the locking pin request in the locking pin request signal, the capture is determined to be successful, the locking pin is placed on the turntable, the state of the turntable is switched from vacant to occupied, the locking pin type corresponding to the turntable is marked, and the locking pin request of that bit is deleted from the signal sequence.

[0014] Preferably, after the locking pin on the turntable is adjusted to the assembly position, a locking pin positioning signal is sent to the locking pin assembly system, and the system waits for the locking pin assembly system to assemble the locking pin. After the locking pin assembly system assembles the locking pin on the turntable, the state of the turntable is switched from occupied to idle.

[0015] By using the above technical solution, and by setting up several turntables as buffer areas for storing locking pins, multiple locking pins can be simultaneously set to arrive at the assembly position according to the locking pin demand sequence. This allows the locking pin assembly system to grab locking pins on demand for assembly, improving work efficiency. On the other hand, even if the locking pin grabbing action fails and a non-target locking pin is grabbed, if the locking pin is in the locking pin demand sequence, it can still be placed on the turntable for later use. This reduces the requirement for locking pin recognition accuracy and also reduces the rate of repeated grabbing due to grabbing errors, thus improving overall efficiency.

[0016] Secondly, the automatic container lock pin gripping system provided in this application adopts the following technical solution: Includes a communication module, an industrial control computer module, a gripping mechanism module, and a turntable mechanism module; The communication module receives the locking pin requirement sent by the locking pin assembly system and sends the locking pin positioning signal sent by the turntable mechanism module to the locking pin assembly system. The industrial control computer module stores 3D model data of different types of locking pins and corresponding locking pin quality data. Based on the locking pin requirements, it generates locking pin requirement signals and controls the gripping mechanism module and the turntable mechanism module. The grasping mechanism module grasps and weighs the locking pin based on the locking pin demand signal, and places the locking pin on the turntable mechanism module. The turntable mechanism module takes a picture of the posture of the locking pin to be assembled placed on the turntable mechanism, adjusts the posture of the locking pin to the posture to be assembled according to the 3D model data of the locking pin, and sends out a locking pin positioning signal.

[0017] Preferably, the turntable mechanism module includes several turntables, and the industrial control computer defines the locking pin requirements of the first few positions as locking pin requirement signals based on the number of vacant turntables.

[0018] Preferably, the gripping mechanism module includes a 3D camera submodule, a gripping submodule, and a weighing submodule; The 3D camera submodule takes a picture of the lock basket, obtains 3D point cloud data of the randomly stacked lock pins inside the lock basket, and transmits a signal to the industrial control computer module to lock the position of the lock pins. The grasping submodule is controlled by the industrial control computer module to grasp the locking pin; The weighing submodule weighs the grasped locking pins and transmits the weight data to the industrial control computer module for locking pin quality verification.

[0019] Thirdly, this application provides a computer program product, the technical solution of which includes a computer program or instructions, causing the computer program or instructions to perform the steps in the above-mentioned automated container lock pin grasping method.

[0020] In summary, this application includes at least one of the following beneficial technical effects: 1. This application can automatically identify and grab target lock pins in the lock basket based on the lock pin demand signal by matching the 3D point cloud of the lock pins in the lock basket with the lock pin model. No pre-sorting or manual assistance is required, which simplifies the lock pin assembly process and realizes full automation of the lock pin assembly operation.

[0021] 2. This application verifies whether the captured locking pins match the locking pin requirement signal through quality verification. If they do not match, the capture process is re-executed, which can ensure that the captured locking pins meet the requirements and improve the reliability of the capture system.

[0022] 3. In this application, the locking pin on the turntable is rotated and adjusted to the assembly posture, so that the locking pin assembly system can directly clamp the locking pin in place to carry out the assembly operation, without having to adjust the locking pin position through motion control during the assembly operation, thus improving the assembly efficiency.

[0023] 4. By setting up multiple turntables, this application can place multiple locking pins simultaneously, providing a buffer area for the positioning of the locking pins. This facilitates the locking pin assembly system in selecting locking pins according to requirements, reduces the idle time of the locking pin assembly system, lowers the accuracy requirements for locking pin recognition, improves the fault tolerance rate of locking pin gripping, reduces the rate of repeated grasping errors, and further improves the overall efficiency of locking pin assembly. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating the pre-detection step of a container lock pin automatic gripping method according to an embodiment of this application. Figure 2 This is a flowchart illustrating an automatic container lock pin grabbing method according to an embodiment of this application; Figure 3 This is a schematic diagram of the architecture of an automatic container lock pin grasping system according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an exemplary automatic container lock pin gripping device in an embodiment of this application; Figure 5 This is a schematic diagram of the architecture of an exemplary computer device in an embodiment of this application. Detailed Implementation

[0025] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that in the optional embodiments of this application, the object information and other related data involved require the permission or consent of the object when the embodiments of this application are applied to specific products or technologies, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. That is to say, if the embodiments of this application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations, and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information requires the consent of the individual. If sensitive information is involved, the separate consent of the information subject is required, and the embodiments also need to be implemented with the authorization and consent of the object.

[0027] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0028] This application discloses an automatic container locking pin gripping method, which is used to interface with a locking pin assembly system. Based on the locking pin requirements issued by the locking pin assembly system, the method provides the locking pin assembly system with a pre-set locking pin, so that the locking pin assembly action can be directly performed after the locking pin is gripped, without having to perform complex position adjustment actions to adjust the position of the locking pin before performing the assembly action.

[0029] To achieve automatic capture of locking pins, an embodiment of this application provides a method for automatically capturing container locking pins. First, a locking pin database needs to be constructed, and a locking pin pre-detection step is performed to input information for each type of locking pin. Please refer to... Figure 1 Specifically, it includes: S901 performs a 3D scan of the locking pin to create a 3D model of the locking pin.

[0030] S902 calibrates the gripping position of the locking pin based on the 3D model data of the locking pin.

[0031] The gripping position refers to the placement of the magnetic block relative to the lock pin when the magnetic gripping mechanism is used to grip the lock pin. It is necessary to ensure that after the lock pin is gripped magnetically at this position, it is not easy for the lock pin to rotate or wobble during the rising and transfer process, and it is also conducive to fixing the lock pin in a fixed position on the turntable mechanism.

[0032] S903 calibrates the assembly posture of the locking pin based on the 3D model data of the locking pin.

[0033] Specifically, the assembly posture of the locking pin is calibrated by adjusting the final position of the locking pin's orientation after the locking pin is placed on the turntable and the rotation of the turntable is used to adjust the orientation of the locking pin. In this assembly posture, the robotic arm of the locking pin assembly system can grip the locking pin from the preset direction and perform the locking pin assembly operation directly after positioning the assembly position without any other adjustments or with minor adjustments.

[0034] S904: Weigh the locking pins, match the mass of the locking pins with the 3D model data of the locking pins, and build a locking pin database.

[0035] For different types of locking pins on the same vessel, their mass varies due to differences in function and structure. When using this system to distinguish and verify locking pins by mass, the mass difference between each type of locking pin must be at least 5% to ensure sufficient differentiation and prevent measurement errors from causing incorrect identification. The locking pin database can be built according to the vessel type, so locking pins of similar mass on different vessels will not interfere with each other.

[0036] Please see Figure 2 After entering data on various types of lock pins into the lock pin database, an automatic container lock pin grabbing method according to an embodiment of this application includes the following steps.

[0037] S1, Obtain the locking pin demand signal, wherein the locking pin demand signal includes the target locking pin type.

[0038] After obtaining the lock pin demand signal, the automatic lock pin grasping system of this application starts the truss 3D camera located directly above the top of the lock basket to take pictures of the lock basket and obtain 3D point cloud data of various types of lock pins stacked in disorder within the lock basket.

[0039] S2, match the 3D point cloud data of the locking pins in the locking basket with the 3D model data of the locking pins to obtain the type, position and attitude information of the locking pins in the locking basket, and lock the locking pin of the target locking pin type.

[0040] More specifically, due to the disordered stacking of various types of locking pins within the lock basket, the locking pins in the image of the lock basket captured by the 3D camera on the truss directly above the lock basket may overlap or obstruct each other. Therefore, in the embodiments of this application, an artificial neural network algorithm based on machine vision can be used to score the confidence level of each locking pin in the image as the target locking pin using 3D model data of locking pins in the locking pin database, and then select the locking pin with the highest confidence score as the locking pin to be grasped. The artificial neural network algorithm for workpiece recognition is a widely developed technology and is not the main content of this application.

[0041] S3, after locking the pin to be grasped, according to the pin grasping position defined in the pin database, move the gantry robot to directly above the pin to be grasped, so that the grasping mechanism is aligned with the pin grasping position.

[0042] In this embodiment, the automatic locking pin gripping system is only used to transfer the locking pin to the positioning position. The automatic locking pin gripping system itself does not need to perform precise motion control. Therefore, the gripping mechanism adopts a magnetic gripping mechanism, which lowers the magnetic block to contact the locking pin gripping device. The opening and closing of the magnetic gripping mechanism can be conveniently controlled by turning the power on and off. Therefore, high work efficiency can be obtained while ensuring gripping effect.

[0043] S4, the gripping mechanism rises, and then the gripped locking pin is weighed to obtain the quality of the locking pin.

[0044] More specifically, the upward displacement of the magnetic gripping mechanism is the weighing displacement, used to disengage the gripped locking pin from interference from the locking pins inside the locking basket, thus avoiding affecting the weighing process. This displacement does not need to be too large to avoid excessive repeated displacement of the magnetic gripping mechanism when the locking pin fails to pass quality verification and needs to be lowered, which would affect efficiency. At the same time, a smaller displacement can also reduce the impact of lowering the locking pin on the locking basket and the locking pins inside, ensuring the reliability of the equipment. As a preferred option, the weighing displacement can be limited to the height of the locking basket.

[0045] S5 compares the quality of the captured locking pin with the quality of the target locking pin type corresponding to the locking pin demand signal.

[0046] If they match, the capture is considered successful, and step S6 is executed.

[0047] If there is a discrepancy, whether it is due to a grasping error or recognition error that the wrong type of lock pin is grasped, or because the magnetic grasping device grasps multiple lock pins, it will affect the subsequent lock pin placement. Therefore, the grasping is judged as a failure, the grasped lock pin is put down, and the process jumps to S1 to re-execute the grasping step.

[0048] The steps to lower the gripping locking pin are as follows: the magnetic gripping mechanism lowers by the weighing displacement, the power supply to the magnetic gripping mechanism is turned off, and the magnetic gripping mechanism is reset.

[0049] S6, the gantry robot moves to directly above the turntable mechanism and places the locking pin on the turntable mechanism.

[0050] The S7 uses a turntable 3D camera to capture images of the locking pins on the turntable mechanism, obtaining 3D point cloud data of the locking pins.

[0051] S8, based on the 3D point cloud data of the locking pin on the turntable mechanism, obtains the attitude information of the locking pin on the turntable mechanism, rotates the turntable mechanism, and adjusts the attitude of the locking pin on the turntable mechanism to the assembly attitude.

[0052] More specifically, in one embodiment of this application, the turntable mechanism has a card interface in the center of the turntable. A magnetic gripping device grips the locking pin at its gripping position and then vertically engages the locking pin with the turntable's card interface. A 3D camera above the turntable is activated to photograph the locking pin. Simultaneously, the turntable begins to rotate, causing the locking pin to rotate synchronously. The 3D camera compares the 3D point cloud data of the locking pin with the assembly posture in the locking pin database in real time, outputting a consistency score. If the consistency score exceeds a threshold, the locking pin's posture is considered to match the assembly posture in the locking pin database. If a 360° rotation still fails to achieve a match, it indicates that the placement position, posture, or the locking pin itself may be deviated, requiring the magnetic gripping mechanism to re-grip and reposition the locking pin.

[0053] In another embodiment of this application, the locking pin demand signal is not a single locking pin demand, but consists of a series of locking pin demand sequences. This locking pin demand sequence is constructed based on the specific assembly process of the container locking pins. After being manually input into the locking pin assembly system, it is executed automatically in sequence, so that the entire assembly operation process can be completed automatically without human intervention.

[0054] To accommodate the continuous sequence of locking pin requests from the locking pin assembly system, the turntable mechanism in this embodiment includes several turntables, each with two states: idle and occupied. The signal sequence formed by the first few locking pin requests constitutes the locking pin request signal, and the number of bits in the locking pin request signal is consistent with the number of turntables in the idle state.

[0055] The grasping mechanism grasps the locking pins based on the locking pin demand signal. During locking pin quality verification, if the quality of the grasped locking pin matches the quality of the locking pin corresponding to any bit in the locking pin demand signal, even if it is not the current first locking pin, the grasp is still considered successful, and the locking pin is placed on the turntable to await assembly by the locking pin assembly system, without needing to be returned to the locking pin basket. This greatly improves the assembly efficiency of the locking pins.

[0056] After a locking pin is placed on the turntable, the status changes from idle to occupied. At the same time, the type of locking pin corresponding to the turntable is marked so that the locking pin assembly system can select the currently required locking pin. Simultaneously, the locking pin requirement is deleted from the signal sequence, indicating that the locking pin corresponding to the required locking pin is in place.

[0057] After the locking pin on the turntable is adjusted to the assembly position, a locking pin positioning signal is sent to the locking pin assembly system, waiting for the locking pin assembly system to assemble the locking pin; after the locking pin assembly system assembles the locking pin on the turntable, the state of the turntable is switched from occupied to idle.

[0058] The following example illustrates the configuration of three types of locking pins (A, B, and C) using a turntable mechanism with two turntables. Assume the locking pin demand sequence is ABC. Initially, both turntables are empty, so the locking pin demand signal is 2 bits, represented as AB. At this point, the gripping mechanism verifies success regardless of whether it grips a type A or type B pin; gripping a type C pin results in failure. If a type B pin is successfully gripped and placed on the turntable, the turntable changes from an empty to an occupied state. The locking pin demand signal then becomes 1 bit, requiring the gripping of a type A pin for a successful gripping. If both type A and type B pins are already placed on the turntable, the locking pin demand signal is 0 bits, and the gripping mechanism stops gripping. If a type A pin is assembled from the turntable by the locking pin assembly system, the number of empty turntables is now 1, and the locking pin demand signal is 1 bit. Since AB has been removed from the signal sequence, a type C pin needs to be gripped for verification.

[0059] Based on the above scheme, with the cooperation of multiple gripping mechanisms, multiple robotic arms of the locking pin assembly system, and a parallel processing strategy for locking pins, continuous and uninterrupted parallel assembly of locking pins can be achieved, greatly improving the assembly efficiency of locking pins.

[0060] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0061] Please see Figure 3 An automatic container lock pin grabbing system according to an embodiment of this application includes a communication module 1, an industrial control computer module 2, a grabbing mechanism module 3, and a turntable mechanism module 4.

[0062] Communication module 1 receives the locking pin requirements sent by the locking pin assembly system and transmits them to industrial control computer module 2. It also sends the locking pin positioning signal issued by turntable mechanism module 4 to the locking pin assembly system, notifying the locking pin assembly system to perform the locking pin assembly operation.

[0063] The industrial control computer module 2 stores 3D model data of different types of locking pins and corresponding locking pin quality data. Based on the locking pin requirements, it generates locking pin requirement signals and controls the gripping mechanism module 3 and the turntable mechanism module 4.

[0064] The grasping mechanism module 3 includes a 3D camera submodule 31, a grasping submodule 32, and a weighing submodule 33.

[0065] The 3D camera submodule 31 takes pictures of the lock basket, acquires 3D point cloud data of the randomly stacked lock pins inside the lock basket, and transmits the signal to the industrial control computer module 2 to lock the position of the lock pins.

[0066] The grabbing submodule 32 is controlled by the industrial control computer module 2 to grab the locking pin.

[0067] The weighing submodule 33 weighs the gripped locking pins and transmits the weight data to the industrial control computer module for locking pin quality verification. The gripping submodule 32 places the verified locking pins onto the turntable mechanism 4.

[0068] The turntable mechanism module 4 includes several turntables. The industrial control computer 2 defines the locking pin requirements of the first few positions as locking pin requirement signals based on the number of empty turntables. The turntable mechanism module 4 also includes an independent 3D camera, which is used to take pictures of the locking pins to be assembled placed on the turntable mechanism, adjust the locking pins to the assembly posture, and send out a locking pin positioning signal.

[0069] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the container lock pin automatic gripping system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0070] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0071] Please see Figure 4 An exemplary container lock pin automatic gripping device according to an embodiment of this application includes a gantry robot 101, a lock basket 102, a magnetic gripping mechanism 103, and a turntable mechanism 104. The magnetic gripping mechanism 103 integrates a weighing component. In this embodiment, the turntable mechanism 104 includes two turntables. Those skilled in the art will understand that the number and position of the turntables do not constitute a limitation on this application, and the number and position of the turntables can be set accordingly based on requirements.

[0072] In one embodiment of this application, a computer device is provided, which may be a server, and its internal structure diagram may be as follows. Figure 5As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data from the locking pin database. The network interface communicates with the gripping mechanism module, the turntable mechanism module, and the locking pin assembly system. External terminals communicate via network connection. When the computer program is executed by the processor, it implements an automatic container locking pin gripping method.

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An automatic container locking pin gripping method for positioning the locking pin before assembly, characterized in that, Includes the following steps; S1, Obtain the lock pin demand signal, which includes the target lock pin type. The lock basket is photographed by a truss 3D camera to obtain 3D point cloud data of the lock pins inside the lock basket. S2, match the 3D point cloud data of the locking pins in the lock basket with the 3D model data of the locking pins to obtain the type, position and attitude information of the locking pins in the lock basket, and lock the locking pins of the target locking pin type; S3, the gantry robot moves to directly above the lock pin to be grasped and grasps the lock pin through the grasping mechanism; S4, the gripping mechanism rises, and then the gripped locking pin is weighed to obtain the quality of the locking pin; S5. Compare the quality of the captured locking pin with the quality of the target locking pin type corresponding to the locking pin demand signal. If they match, the capture is successful and step S6 is executed. If they do not match, the capture fails, the captured locking pin is released, and the process jumps to S1. S6, the gantry robot moves to directly above the turntable mechanism and places the locking pin on the turntable mechanism; S7, the turntable 3D camera takes pictures of the locking pins on the turntable mechanism and obtains the 3D point cloud data of the locking pins on the turntable mechanism; S8, based on the 3D point cloud data of the locking pin on the turntable mechanism, obtains the attitude information of the locking pin on the turntable mechanism, rotates the turntable mechanism, and adjusts the attitude of the locking pin on the turntable mechanism to the assembly attitude.

2. The automatic container locking pin gripping method according to claim 1, characterized in that, This includes a pre-detection step for the locking pin, specifically: S901, perform 3D scanning on the locking pin to create 3D model data of the locking pin; S902, based on the 3D model data of the locking pin, calibrates the gripping position of the locking pin; S903, based on the 3D model data of the locking pin, calibrates the assembly posture of the locking pin; S904: Weigh the locking pins, match the mass of the locking pins with the 3D model data of the locking pins, and build a locking pin database.

3. The automatic container locking pin gripping method according to claim 1, characterized in that, The gripping mechanism is a magnetic gripping mechanism.

4. The automatic container locking pin gripping method according to claim 3, characterized in that, In S4, the displacement of the magnetic gripping mechanism is the weighing displacement; in S5, the step of lowering the gripped locking pin is to lower the magnetic gripping mechanism by the weighing displacement, turn off the power supply to the magnetic gripping mechanism, and reset the magnetic gripping mechanism.

5. The automated container lock pin gripping method according to claim 1, characterized in that, The locking pin assembly system issues a series of sequentially ordered locking pin requests. The signal sequence formed by the first few locking pin requests constitutes the locking pin request signal. The turntable mechanism includes several turntables, and the number of bits in the locking pin request signal is consistent with the number of empty turntables. In S5, if the quality of the captured locking pin is consistent with the quality of the locking pin corresponding to any bit of the locking pin request signal, the capture is determined to be successful, the locking pin is placed on the turntable, the state of the turntable is switched from empty to occupied, the locking pin type corresponding to the turntable is marked, and the locking pin request of that bit is deleted from the signal sequence.

6. The automatic container locking pin gripping method according to claim 5, characterized in that, After the locking pin on the turntable is adjusted to the assembly position, a locking pin positioning signal is sent to the locking pin assembly system, waiting for the locking pin assembly system to assemble the locking pin; after the locking pin assembly system assembles the locking pin on the turntable, the state of the turntable is switched from occupied to idle.

7. An automatic container lock pin gripping system, characterized in that, Includes a communication module, an industrial control computer module, a gripping mechanism module, and a turntable mechanism module; The communication module receives the locking pin requirement sent by the locking pin assembly system and sends the locking pin positioning signal sent by the turntable mechanism module to the locking pin assembly system. The industrial control computer module stores 3D model data of different types of locking pins and corresponding locking pin quality data. Based on the locking pin requirements, it generates locking pin requirement signals and controls the gripping mechanism module and the turntable mechanism module. The grasping mechanism module grasps and weighs the locking pin based on the locking pin demand signal, and places the locking pin on the turntable mechanism module. The turntable mechanism module takes a picture of the posture of the locking pin to be assembled placed on the turntable mechanism, adjusts the posture of the locking pin to the posture to be assembled according to the 3D model data of the locking pin, and sends out a locking pin positioning signal.

8. The automatic container lock pin gripping system according to claim 7, characterized in that, The turntable mechanism module includes several turntables, and the industrial control computer defines the locking pin requirements of the first few positions as locking pin requirement signals based on the number of vacant turntables.

9. The automatic container lock pin gripping system according to claim 7, characterized in that, The grasping mechanism module includes a 3D camera submodule, a grasping submodule, and a weighing submodule; The 3D camera submodule takes a picture of the lock basket, obtains 3D point cloud data of the randomly stacked lock pins inside the lock basket, and transmits a signal to the industrial control computer module to lock the position of the lock pins. The grasping submodule is controlled by the industrial control computer module to grasp the locking pin; The weighing submodule weighs the grasped locking pins and transmits the weight data to the industrial control computer module for locking pin quality verification.

10. A computer program product, characterized in that, The computer program product includes a computer program or instructions that enable the computer program or instructions to perform the steps in the automated container lock pin gripping method according to any one of claims 1 to 6.

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