CN113233335A

CN113233335A - Method and system for processing abnormal containers of quay crane

Info

Publication number: CN113233335A
Application number: CN202110661782.3A
Authority: CN
Inventors: 秦维高; 张卫; 周慧芳
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-08-10
Anticipated expiration: 2041-06-15
Also published as: CN113233335B

Abstract

The application relates to the technical field of shore bridges, and particularly provides a method and a system for processing an abnormal container of a shore bridge, wherein the method comprises the following steps: generating a grabbing signal for grabbing a target container; acquiring first identification information of a container to be determined, which is captured according to the capture signal; comparing the first identification information with second identification information of the target container; and if the first identification information is not matched with the second identification information, generating an abnormal container processing signal for transferring the container to be determined. When the method is implemented, if the first identification information is not matched with the second identification information, the actual grabbed undetermined container is not a target container needing to be grabbed, the undetermined container belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating that the specific container is transferred.

Description

Method and system for processing abnormal containers of quay crane

Technical Field

The application relates to the technical field of shore bridges, in particular to a method and a system for processing an abnormal container of a shore bridge.

Background

At present, in the process of grabbing containers by an automatic shore bridge, whether actually grabbed containers are target containers needs to be checked, if abnormal containers (containers are mistakenly grabbed, the integrity of container bodies and the sizes of the containers are inconsistent) are found through checking, the abnormal conditions need to be handled through manual intervention, so that the working efficiency of the automatic shore bridge is greatly reduced, and the labor cost can be increased. Therefore, in the process of grabbing boxes of the automated shore bridge, how to identify and handle abnormal containers is a technical problem to be solved.

Disclosure of Invention

In view of this, the present application provides a method and a system for processing an abnormal container on a shore bridge, which can identify whether a grabbed container is an abnormal container and transfer the abnormal container.

In a first aspect, the present application provides a method for processing an abnormal container on a shore bridge, where the method includes: generating a grabbing signal for grabbing a target container; acquiring first identification information of the container to be determined, which is captured according to the capture signal; comparing the first identification information with second identification information of the target container; and if the first identification information is not matched with the second identification information, generating an abnormal container processing signal for transferring the container to be determined.

When the method is implemented, the generated grabbing signals are used for controlling the container grabbing mechanism of the shore bridge to grab the container, and the container grabbing mechanism moves the grabbed container to the target position. The actual grasped container is an undetermined container, the first identification information can be obtained by identifying the container to be determined, the first identification information reflects the characteristics of the container to be determined, and whether the specific container is the same as the target container or not can be checked through the first identification information. The second identification information can be stored in advance, and the first identification information and the second identification information are compared with each other, so that whether the actually grabbed container to be grabbed is the target container to be grabbed or not is judged. And when the first identification information and the second identification information are matched with each other, the container to be determined is a target container, and the container to be determined is transported in a normal process, for example, the container to be determined is placed on a container truck which is loaded in the past. If the first identification information is not matched with the second identification information, the actual grabbed undetermined container is not the target container needing to be grabbed, the undetermined container belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating the specific container to be transferred. The transferring can be loading the special container to the transportation equipment specially transporting the special container, or transporting the special container to the buffer area specially placing the special container, thereby completing the transferring work of the abnormal container.

With reference to the first aspect, in a possible implementation manner, the comparing the first identification information with the second identification information of the target container includes: obtaining a first image of the container to be determined according to the first identification information; obtaining a second image of the target container according to the second identification information; and calculating a first similarity of the first image and the second image; wherein, if the first identification information does not match the second identification information, generating an abnormal container handling signal for transferring the container to be determined comprises: and if the first similarity is smaller than a preset value, generating an abnormal container processing signal for transferring the container to be determined.

With reference to the first aspect, in a possible implementation manner, the comparing the first identification information with the second identification information of the target container includes: obtaining a first box number image and a first appearance image of the container to be determined according to the first identification information; obtaining a second box number image and a second appearance image of the target container according to the second identification information; calculating a second similarity of the first box number image and the second box number image, and calculating a third similarity of the first appearance image and the second appearance image; wherein, if the first identification information does not match the second identification information, generating an abnormal container handling signal for transferring the container to be determined comprises: and if at least one of the second similarity and the third similarity is smaller than a preset value, generating an abnormal container processing signal for transferring the container to be determined.

With reference to the first aspect, in one possible implementation manner, the shore bridge has a transit area; wherein the generating an exception bin handling signal to divert the container to be determined comprises: and generating a first abnormal container moving instruction for moving the corresponding undetermined container to the transfer area.

With reference to the first aspect, in a possible implementation manner, the generating an abnormal container handling signal for transferring the container to be determined includes: generating a first calling instruction for calling abnormal box transportation equipment, wherein the abnormal box transportation equipment is used for transporting the container to be determined corresponding to the abnormal box processing signal; and when acquiring a locating signal corresponding to the transportation position of the abnormal container transportation equipment reaching the shore bridge, generating a second abnormal container moving instruction for transporting the corresponding container to be determined to the abnormal container transportation equipment.

With reference to the first aspect, in a possible implementation manner, the generating an abnormal container handling signal for transferring the container to be determined further includes: and generating a second call instruction for indicating the abnormal container transport equipment filled with the container to be determined to move to a cache region, wherein the cache region is used for storing the cache region of the container to be determined corresponding to the abnormal container processing signal.

With reference to the first aspect, in a possible implementation manner, the generating an abnormal container handling signal for transferring the container to be determined includes: acquiring whether each cache bit in a cache region is in an idle state, wherein the cache region is used for storing the container to be determined corresponding to the abnormal container processing information and comprises a plurality of cache bits; and if one or more cache bits are in an idle state, generating a third abnormal box moving instruction for moving the container to be determined corresponding to the abnormal box processing signal to the cache bit corresponding to the idle state.

With reference to the first aspect, in a possible implementation manner, a first transmission mechanism is disposed on the cache region, the first transmission mechanism is configured to translate the container to be positioned on the cache region, and the plurality of cache locations are sequentially arranged along a transmission direction of the first transmission mechanism; if one or more than one cache bit is in an idle state, generating a third abnormal container moving instruction for moving the container to be determined corresponding to the abnormal container processing signal to the cache bit corresponding to the idle state includes: if the first cache bit is in the idle state and the second cache bit is not in the idle state in the conveying direction, generating a first translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the first cache bit; and if a plurality of cache bits are continuously in the idle state from the first cache bit in the conveying direction, generating a second translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the cache bit in the idle state at the farthest end in the conveying direction.

With reference to the first aspect, in a possible implementation manner, if one or more of the cache bits are in an idle state, the generating a third exception box moving instruction for moving the container to be determined corresponding to the exception box processing signal to the cache bit corresponding to the idle state further includes: generating a fourth abnormal box moving instruction for moving the container to be determined corresponding to the abnormal box processing signal to a rotary lifting station of a rotary lifting mechanism, wherein the rotary lifting mechanism is used for lifting and rotating the container to be determined placed on the rotary lifting station; if the container to be determined is in place on the rotary lifting station, generating a rotation instruction for controlling the rotary lifting mechanism to rotate the container to be determined; if the rotating jacking mechanism rotates the container to be determined to a preset angle, generating a lifting instruction for controlling the rotating lifting mechanism to lift the container to be determined; and if the upper surface of the rotary lifting station is horizontally butted with the upper surface of the cache region, generating a third translation instruction for controlling a second conveying mechanism to move the container to be determined to the cache region, wherein the second conveying mechanism is installed on the rotary lifting station and is used for translating the container to be determined placed on the rotary lifting station.

In a second aspect, the present application provides a system for processing an abnormal container on a shore bridge, comprising: a shore bridge; the container grabbing mechanism is arranged on the shore bridge and used for grabbing the container; an identification mechanism configured to: identifying the container to be determined grabbed by the container grabbing mechanism to obtain first identification information; and a processor configured to: and generating a grabbing signal for controlling the container grabbing mechanism to grab a target container, acquiring the first identification information of the to-be-grabbed container grabbed according to the grabbing signal, comparing the first identification information with the second identification information of the target container, and if the first identification information is not matched with the second identification information, generating an abnormal container processing signal for transferring the to-be-grabbed container.

In use, when the shore bridge works, a specific container is required to be grabbed, the specific container serves as a target container, the generated grabbing signal is used for controlling the container grabbing mechanism to grab the container, and the container grabbing mechanism moves the grabbed container to a target position, such as a truck which is placed on the container to load the container. Specifically, the container grabbing mechanism can be a container grabbing trolley of a shore bridge, the container grabbing trolley can move in the shore bridge, a container lifting appliance capable of lifting is arranged on the container grabbing trolley, when a container needs to be grabbed, the container grabbing trolley moves to the position above the container and transfers the container lifting appliance, and after the container lifting appliance and the container are fixed to each other, the container grabbing trolley moves and adjusts the height of the container lifting appliance, and then the container is transported to a target position. The actual grabbed container is an undetermined container, the identification mechanism identifies the undetermined container to obtain first identification information, the first identification information reflects the characteristics of the undetermined container, and whether the specific container is the same as a target container or not can be checked through the first identification information. The second identification information may be stored in the processor in advance, and the processor compares the first identification information and the second identification information with each other, thereby determining whether the container to be grasped actually is a target container to be grasped. And when the first identification information and the second identification information are matched with each other, the container to be determined is a target container, and the container to be determined is transported in a normal process, for example, the container to be determined is placed on a container truck which is loaded in the past. If the first identification information is not matched with the second identification information, the actual grabbed undetermined container is not the target container needing to be grabbed, the undetermined container belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating the specific container to be transferred. The transferring can be loading the special container to the transportation equipment specially transporting the special container, or transporting the special container to the buffer area specially placing the special container, thereby completing the transferring work of the abnormal container.

Drawings

Fig. 1 is a schematic diagram illustrating steps of a method for handling an abnormal container on a shore bridge according to an embodiment of the present application.

Fig. 2 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 3 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 4 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 5 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 6 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 7 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 8 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application.

Fig. 9 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application.

Fig. 10 is a schematic work flow diagram of a shore bridge abnormal container handling system according to an embodiment of the present disclosure.

Fig. 11 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application.

Fig. 12 is a schematic work flow diagram of a quayside container processing system according to an embodiment of the present application.

Fig. 13 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application.

Fig. 14 is a schematic work flow diagram of a shore bridge abnormal container handling system according to an embodiment of the present disclosure.

Fig. 15 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

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

The application provides a shore bridge abnormal container processing method which can be executed by a processor with a calculation processing function when being executed. Fig. 1 is a schematic diagram illustrating steps of a method for handling an abnormal container on a shore bridge according to an embodiment of the present application. In some embodiments, as shown in fig. 1, the method comprises:

and step 110, generating a grabbing signal for grabbing the target container.

When the shore bridge works, a specific container is required to be grabbed, the specific container serves as a target container, the generated grabbing signal is used for controlling a container grabbing mechanism of the shore bridge to grab the container, and the container grabbing mechanism moves the grabbed container to a target position, such as a container truck which is placed on a container which is loaded previously. Specifically, the container grabbing mechanism can be a container grabbing trolley of a shore bridge, the container grabbing trolley can move in the shore bridge, a container lifting appliance capable of lifting is arranged on the container grabbing trolley, when a container needs to be grabbed, the container grabbing trolley moves to the position above the container and transfers the container lifting appliance, and after the container lifting appliance and the container are fixed to each other, the container grabbing trolley moves and adjusts the height of the container lifting appliance, and then the container is transported to a target position.

And step 120, acquiring first identification information of the container to be determined, which is captured according to the capture signal.

The actual grasped container is an undetermined container, the first identification information can be obtained by identifying the container to be determined, the first identification information reflects the characteristics of the container to be determined, and whether the specific container is the same as the target container or not can be checked through the first identification information.

And step 130, comparing the first identification information with the second identification information of the target container.

The second identification information may be stored in the processor for executing this step in advance, and the first identification information and the second identification information are compared with each other, thereby determining whether the container to be grasped actually is a target container to be grasped.

Step 140, determining whether the first identification information is matched with the second identification information.

And when the first identification information and the second identification information are matched with each other, the container to be determined is a target container, and the container to be determined is transported in a normal process, for example, the container to be determined is placed on a container truck which is loaded in the past.

If the first identification information does not match the second identification information, step 150 is executed to generate an abnormal container handling signal for transferring the container to be determined.

When the first identification information is not matched with the second identification information, the actual grabbed container to be determined is not a target container needing to be grabbed, the container to be determined belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating that the specific container is transferred. The transferring can be loading the special container to the transportation equipment specially transporting the special container, or transporting the special container to the buffer area specially placing the special container, thereby completing the transferring work of the abnormal container.

Fig. 2 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, as shown in FIG. 2, step 130 comprises:

and step 131, obtaining a first image of the container to be determined according to the first identification information.

The first identification information may include image information of the container to be determined, and the image information is extracted from the first identification information as a first image. Specifically, when the first identification information is acquired, the container to be determined may be photographed to obtain the first image.

And 132, obtaining a second image of the target container according to the second identification information.

And extracting image information of the target container from the prestored second identification information to be used as a second image, and comparing the first image with the second image so as to judge whether the actually grabbed container to be grabbed is the target container to be grabbed.

Step 133, calculating a first similarity between the first image and the second image.

And comparing the first image with the second image, and obtaining a first similarity of the first image and the second image through an image recognition algorithm, wherein the first similarity can represent the proximity of the first image and the second image. Specifically, for example, the similarity of the pictures may be calculated by using a histogram, a perceptual hash algorithm, or image feature extraction. The higher the first similarity, the more likely the pending container is to be the target container that needs to be grasped. Specifically, the first image may be a front view of the container to be determined, which is obtained by shooting the container to be determined from a front view direction, and correspondingly, the second image is a front view of the target container. Similarly, the first image and the second image may also be a stereoscopic view, a side view or a rear view of the container to be positioned and the target container, respectively, and so on. For example, when calculating the first similarity, the first image of the front view and the second image of the front view may be compared with each other.

Based on steps 131 to 133, step 140 includes:

step 141, determining whether the first similarity is smaller than a predetermined value.

And when the first similarity of the first image and the second image is greater than the preset value, the container to be determined and the target container are matched with each other, namely the container to be determined is the target container. If the first similarity is smaller than the predetermined value, step 150 is performed.

When the first similarity is smaller than the preset value, the undetermined container is not the target container, and the undetermined container belongs to an abnormal container and needs to be transshipped. The preset value may be preset, and when preset, the preset value may be set to seventy percent, eighty percent, or ninety percent, for example. For example, when the preset value is seventy percent, the similarity degree of the first image and the second image needs to be more than seventy percent to indicate that the container to be determined is the target container.

Fig. 3 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, as shown in FIG. 3, step 130 comprises:

and step 134, obtaining a first box number image and a first appearance image of the container to be determined according to the first identification information.

The first identification information may include box number image information and shape image information of the container to be set, and the box number image information and the shape image information are extracted from the first identification information as a first box number image and a first shape image. Specifically, when the first identification information is acquired, the container to be determined is photographed to obtain a first container number image and a first appearance image. The first box number image may be an image taken of the box number of the container to be determined, from which the outline, size, integrity, etc. of the container to be determined may be derived. The outline of the shape can be the geometric shape of the container to be determined, the size can be the three-dimensional size of the container to be determined obtained through image recognition, and the integrity can be the integrity degree of the container to be determined obtained through image recognition.

And 135, obtaining a second box number image and a second appearance image of the target container according to the second identification information.

The box number image information and the outline image information of the target container are extracted from the second identification information stored in advance as a second box number image and a second outline image. And comparing the first box number image with the second box number image, and comparing the first appearance image with the second appearance image, thereby judging whether the actually grabbed container to be grabbed is the target container to be grabbed.

And step 136, calculating a second similarity of the first box number image and the second box number image, and calculating a third similarity of the first appearance image and the second appearance image.

And comparing the first box number image with the second box number image, comparing the first appearance image with the second appearance image, and obtaining a second similarity and a third similarity through an image recognition algorithm.

Based on steps 131 to 133, step 140 includes:

and step 142, judging whether the second similarity is smaller than a preset value.

And step 143, judging whether the third similarity is smaller than a preset value.

And when the second similarity and the third similarity are simultaneously larger than the preset value, the container to be determined and the target container are matched with each other, namely the container to be determined is the target container. If at least one of the second similarity and the third similarity is smaller than the predetermined value, step 150 is executed.

The second similarity may represent the proximity of the first box number image and the second box number image, and the higher the second similarity is, the more likely the box number of the container to be determined is to be the box number of the target container to be grabbed. If the second similarity is smaller than the preset value, the container to be determined belongs to an abnormal container, and transfer needs to be executed.

The third similarity may represent the proximity of the first and second profile images, the higher the third similarity, the closer the profile, size and integrity of the container to be determined is to the target container. Specifically, when comparing the first outline image and the second outline image, the outline or the size or the integrity of the container to be determined and the target container can be compared. The higher the third similarity, the closer the contour of the container to be determined is to the contour of the target container, or the closer the size of the container to be determined is to the target container, or the closer the integrity of the container to be determined is to the target container. Specifically, in the integrity comparison, for example, the target container is an intact container, if the first shape image is shot to obtain the first shape image, and the first shape image lacks one corner, it indicates that the undetected container is not an intact container, the integrity of the undetected container is compared with the integrity of the target container, if the third similarity is greater than the preset value, it indicates that the angle which the undetected container lacks is relatively small and can be ignored, and if the third similarity is less than the preset value, it indicates that the integrity of the undetected container is not matched with the integrity of the target container, and the undetected container belongs to an abnormal container and needs to be transferred.

In some embodiments, step 142 and step 143 may be performed in other sequences or in parallel.

Fig. 4 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, as shown in fig. 4, the shore bridge has a transit area;

wherein step 150 comprises:

and 151, generating a first abnormal container moving instruction for moving the corresponding container to be determined to the transfer area.

The first abnormal container moving instruction can indicate that the container to be determined which belongs to the abnormal container is moved to the transfer area, and the container to be determined is stored in the transfer area without influencing the transportation of the container which is not abnormal, so that the transfer of the container to be determined is completed. Specifically, the first abnormal container moving instruction can be used for controlling a container grabbing mechanism of the shore bridge to move the container to be determined to the transfer area. The containers to be determined can be stored for a long time in the staging area or be waiting to be transported away by transport equipment dedicated to transporting the anomalous containers in the staging area.

In one embodiment, the abnormal container transport equipment may be used to transport the pending container corresponding to the abnormal container handling signal. Based on this, as shown in fig. 5, step 150 includes:

and 152, generating a first calling instruction for calling the abnormal box transportation equipment.

The first calling instruction is used for indicating or controlling the abnormal container transportation equipment to be called to prepare for loading the container to be ordered. Specifically, the first abnormal container moving instruction can be used for controlling a container grabbing mechanism of the shore bridge to move the container to be determined to the abnormal container transporting equipment. The abnormal container transportation equipment can be transportation equipment such as a container truck or an intelligent transportation trolley for loading abnormal containers.

And 153, when acquiring a locating signal corresponding to the transportation position of the abnormal container transportation equipment reaching the shore bridge, generating a second abnormal container moving instruction for transporting the corresponding container to be determined to the abnormal container transportation equipment.

The abnormal container transportation equipment receives the first calling instruction and then runs to a transportation position of the shore bridge, the transportation position can be a working position where the shore bridge can be loaded, when the abnormal container transportation equipment is in place, a signal in place can be obtained through the sensing device, and when the signal in place is obtained, the container to be determined can be carried to the abnormal container transportation equipment, so that the container to be determined is transported. Then the abnormal container transportation equipment can stay for a period of time to load more abnormal containers, and can also directly leave for subsequent abnormal container unloading work.

Fig. 5 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, a buffer may be configured to store the pending container corresponding to the exception handling signal. Based on this, as shown in fig. 5, step 150 further includes:

step 154, a second call is generated to indicate the abnormal container transport device with the container to be determined to move to the buffer area.

The second call instruction can be used for indicating or controlling the abnormal container transportation equipment to travel to the cache region, and the abnormal container transportation equipment can be unloaded after reaching the cache region, so that the abnormal container is unloaded in the cache region.

Fig. 6 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, the cache region is configured to store the containers to be determined corresponding to the exception box handling information, and the cache region includes a plurality of cache bits, and one container to be determined may be placed in each cache bit. Based on this, as shown in fig. 6, step 150 includes:

and step 155, acquiring whether each cache bit in the cache area is in an idle state.

The idle state of each cache bit can be obtained through the sensor installed in each cache bit, when the sensor in a certain cache bit detects that the cache bit has a container, the cache bit is not in the idle state, and when the sensor in a certain cache bit detects that the cache bit has no container, the cache bit is in the idle state.

If one or more cache bits are in the idle state, step 156 is executed to generate a third abnormal container moving instruction for moving the container to be determined corresponding to the abnormal container processing signal to the cache bit corresponding to the idle state.

When the step 156 is executed, the third exception box moving instruction is used to instruct or control to move the container to be determined to the buffer position in the idle state, and the container to be determined is temporarily stored in the buffer position, so that the transfer of the container to be determined is completed. Specifically, the third anomaly box moving instruction may be used to control a container gripping mechanism of the quayside crane to move a container to be determined to a cache position of the cache region. Specifically, the buffer location may be an area in the quay crane where the abnormal container is specifically placed, and the container grabbing mechanism of the quay crane moves the container to be positioned into the area. The buffer memory position can also be an area which is arranged beside the shore bridge and is specially used for placing abnormal containers, and the container grabbing mechanism of the shore bridge moves the container to be positioned into the area.

Fig. 7 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, a first conveying mechanism is arranged on the cache region, the first conveying mechanism is used for horizontally moving the container to be positioned on the cache region, and the plurality of cache positions are sequentially arranged along the conveying direction of the first conveying mechanism. Specifically, the first conveying mechanism may be a mechanism such as a belt or a conveyor chain disposed on the buffer area, when the bottom of the container contacts the upper surface of the buffer area, the belt or the conveyor chain drives the container to move, and the moving direction of the container is the first buffer location, the second buffer location, and the third buffer location … … based on this, as shown in fig. 7, if one or more buffer locations are in an idle state, step 156 includes:

if the first buffer bit is in an idle state and the second buffer bit is not in an idle state along the conveying direction, step 157 is executed to generate a first translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the first buffer bit.

When step 157 is executed, the first translation instruction controls the first transfer mechanism to move the container to be determined when the free state of the cache bit in the cache region satisfies the condition that the first cache bit is in the free state and the second cache bit is not in the free state, and the first translation instruction controls the first transfer mechanism to move the container to be determined to the first cache bit in the free state. When the container to be determined is in place at the first cache position, the first translation instruction controls the first conveying mechanism to stop running.

If a plurality of buffer bits are in an idle state continuously from the first buffer bit in the conveying direction, step 158 is executed to generate a second translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the buffer bit in the idle state at the farthest end in the conveying direction.

When the step 158 is executed, the second shift instruction can control the first transfer mechanism to transport the container to be determined to the farthest idle-state cache bit in the transfer direction, so that the container to be determined can sequentially fill up a plurality of consecutive idle-state cache bits one by one, and the waste of the cache bits is avoided.

Fig. 8 is a schematic diagram illustrating method steps of a method for handling an abnormal container on a shore bridge according to another embodiment of the present application. In some embodiments, a rotary lifting mechanism may be provided to lift and rotate the container to be positioned on the rotary lifting station, the container to be positioned is placed on the rotary lifting station by a container grabbing mechanism of the quay crane, and then the rotary lifting mechanism adjusts the angle and height of the container to be positioned. And a second conveying mechanism is arranged on the rotary lifting station and used for horizontally moving the container to be positioned on the rotary lifting station. In these embodiments, if one or more of the cache bits are in an idle state, as shown in fig. 8, step 156 further comprises:

and 159, generating a fourth abnormal box moving instruction for moving the container to be determined corresponding to the abnormal box processing signal to the rotary lifting station of the rotary lifting mechanism.

And the fourth abnormal box moving instruction indicates or controls to place the container to be determined on the rotary lifting station, and the container to be determined waits for adjusting the height and the angle. Specifically, the fourth abnormal container moving instruction can be used for controlling a container grabbing mechanism of the shore bridge to move the container to be positioned to the rotary lifting station.

If the container to be determined is in place on the rotary lifting station, step 160 is executed to generate a rotation instruction for controlling the rotary lifting mechanism to rotate the container to be determined.

In particular, a sensing device may be provided on the rotary lifting station to detect whether the container to be positioned is placed at the rotary lifting station at the correct angle and location. When the step 160 is executed, after the container to be determined is correctly placed and in place on the rotary lifting station, the rotary lifting mechanism is controlled to perform angle adjustment on the container to be determined, so as to move the container to be determined into the buffer area.

And if the rotating jacking mechanism rotates the container to be determined to a preset angle, executing step 161 and generating a lifting instruction for controlling the rotating lifting mechanism to lift the container to be determined.

Specifically, a sensing device may be provided on the rotary lifting station, the shore bridge, or the buffer area to detect whether the container to be positioned rotates to a preset angle. When the step 161 is executed, after the container to be determined is rotated to the preset angle, the rotary lifting mechanism is controlled to adjust the height of the container to be determined, so that the container to be determined is moved to the cache region. The preset angle is the same as the horizontal angle of the container which can be accommodated by the cache position, namely, each edge of the container is correspondingly parallel to each edge of the container which can be accommodated by the cache position when the container to be determined reaches the preset angle.

And if the upper surface of the rotary lifting station is horizontally butted with the upper surface of the cache region, executing step 162 and generating a third translation instruction for controlling the second conveying mechanism to move the container to be determined to the cache region.

Specifically, a sensing device may be disposed on the buffer area to detect a relative height difference between the upper surface of the rotary lifting station and the upper surface of the buffer area, and when the relative height difference is zero, the upper surface of the rotary lifting station is horizontally butted to the upper surface of the buffer area. When step 162 is executed, the container to be determined can be translated to the buffer, and the third translation instruction controls the second transfer mechanism to translate the container to be determined to the buffer. When the container to be determined is contacted with the upper surface of the cache region, the container to be determined can be driven to translate by the first conveying mechanism on the cache region, so that the transfer work of the container to be determined from the rotary lifting mechanism to the cache region is completed.

The application also provides a system for processing the abnormal container of the shore bridge. Fig. 9 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application. In some embodiments, as shown in fig. 9, includes: the system comprises a shore bridge 1, a container grabbing mechanism 2, an identification mechanism 3 and a processor. Wherein, the container grabbing mechanism 2 is arranged on the shore bridge 1 and used for grabbing the container. The recognition mechanism 2 is configured to: and identifying the container to be determined grabbed by the container grabbing mechanism to obtain first identification information. The processor is configured to: and generating a grabbing signal for controlling the container grabbing mechanism to grab the target container, acquiring first identification information of the to-be-determined container grabbed according to the grabbing signal, comparing the first identification information with second identification information of the target container, and generating an abnormal container handling signal for transferring the to-be-determined container if the first identification information is not matched with the second identification information.

In use, when the quay crane 1 works, a specific container is required to be grabbed, the specific container is used as a target container, the generated grabbing signal is used for controlling the container grabbing mechanism 2 to grab the container, and the container grabbing mechanism 2 moves the grabbed container to a target position, such as a container truck which is placed on the front to load the container. Specifically, the container grabbing mechanism 2 can be a container grabbing trolley of the quay crane 1, the container grabbing trolley can move in the quay crane 1, a container lifting tool capable of lifting is arranged on the container grabbing trolley, when a container needs to be grabbed, the container grabbing trolley moves to the position above the container and transfers the container lifting tool, and after the container lifting tool and the container are mutually fixed, the container grabbing trolley moves and adjusts the height of the container lifting tool, the container is transported to a target position. The actual container to be grabbed is an undetermined container, the identification mechanism 3 identifies the undetermined container to obtain first identification information, the first identification information reflects the characteristics of the undetermined container, and whether the specific container is the same as a target container or not can be checked through the first identification information. The second identification information may be stored in the processor in advance, and the processor compares the first identification information and the second identification information with each other, thereby determining whether the container to be grasped actually is a target container to be grasped. And when the first identification information and the second identification information are matched with each other, the container to be determined is a target container, and the container to be determined is transported in a normal process, for example, the container to be determined is placed on a container truck which is loaded in the past. If the first identification information is not matched with the second identification information, the actual grabbed undetermined container is not the target container needing to be grabbed, the undetermined container belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating the specific container to be transferred. The transferring can be loading the special container to the transportation equipment specially transporting the special container, or transporting the special container to the buffer area specially placing the special container, thereby completing the transferring work of the abnormal container.

In some embodiments, in combination with the shore crane abnormal container handling method corresponding to fig. 4 and the schematic structural diagram of fig. 9, a transfer area 4 is provided in the shore crane 1, and the first abnormal container moving instruction instructs or controls the container gripping mechanism 2 to move and place the container 5 to be handled on the transfer area 4.

Fig. 10 is a schematic work flow diagram of a shore bridge abnormal container handling system according to an embodiment of the present disclosure. Specifically, the work flow may be as shown in fig. 10, and the dock material management system may issue an instruction, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling a quay crane, the automated quay crane control system controls the container grabbing mechanism to perform a box grabbing action, and the identification mechanism on the quay crane identifies the grabbed container to be determined. And then judging whether the container to be determined is matched with the target container. And if the container to be determined is matched with the target container, the container grabbing mechanism places the container to be determined on the collecting card and transports away. And if the container to be determined is not matched with the target container, the wharf material management system sends an abnormal container processing signal to the automatic quay crane control system, the automatic quay crane control system controls the container grabbing mechanism to place the container to be determined on a transfer area according to the abnormal container processing signal, and after the placement is finished, a corresponding task completion signal for completing the transfer is automatically or manually sent to the wharf material management system.

Fig. 11 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application. In some embodiments, in combination with the shore bridge abnormal container handling method corresponding to fig. 5 and the schematic structural diagram of fig. 11, the first call instruction is used to instruct or control the abnormal container transportation device 6 to call for loading the container to be loaded. The container gripping mechanism 2 of the quay crane 1 moves the container 5 to be determined onto the abnormal container transportation equipment 6, wherein the container 5 to be determined identified as an abnormal container may be directly placed on the abnormal container transportation equipment 6, or the container 5 to be determined may be transported from the transit area 4 to the abnormal container transportation equipment 6. The abnormal container transportation device 6 may be a transportation device such as a container truck or an intelligent transportation cart for loading the abnormal container. The abnormal container transportation equipment 6 runs to the transportation position of the shore bridge 1 after receiving the first calling instruction, the transportation position can be the working position where the shore bridge 1 can load, when the abnormal container transportation equipment 6 is in place, a locating signal can be obtained through a sensing device arranged on the loading working position, and when the locating signal is obtained, the container 5 to be determined can be carried to the abnormal container transportation equipment 6, so that the transportation of the container 5 to be determined is completed. The abnormal container transportation equipment 6 can stay for a period of time to load more abnormal containers, and can also directly leave for subsequent abnormal container unloading work. In some embodiments, a buffer may be provided at a location around the shore bridge 1 to store the pending container 5 corresponding to the exception box handling signal. The second call instruction may be used to instruct or control the abnormal container transportation device 6 to travel to the buffer, and the abnormal container transportation device 6 may unload the abnormal container 5 from the buffer after reaching the buffer.

Fig. 12 is a schematic work flow diagram of a quayside container processing system according to an embodiment of the present application. Specifically, the work flow may be as shown in fig. 12, and the dock material management system may issue an instruction, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling a quay crane, the automated quay crane control system controls the container grabbing mechanism to perform a box grabbing action, and the identification mechanism on the quay crane identifies the grabbed container to be determined. And then judging whether the container to be determined is matched with the target container. And if the container to be determined is matched with the target container, the container grabbing mechanism places the container to be determined on the collecting card and transports away. If the container to be determined is not matched with the target container, the wharf material management system sends an abnormal container transportation equipment scheduling signal to the transportation equipment scheduling system, the transportation equipment scheduling system can schedule the container truck or the intelligent transportation trolley to a loading working position of the shore bridge to wait for loading, and the transportation equipment scheduling system feeds back a corresponding task completion signal after completing scheduling of the abnormal container transportation equipment to the wharf material management system. And then the wharf material management system sends an abnormal box processing signal to the automatic quay crane control system, the automatic quay crane control system controls the container grabbing mechanism to place the container to be determined on the abnormal box transportation equipment according to the abnormal box processing signal, the abnormal transportation equipment transports the container to be determined to the buffer area, and after the transportation is finished, a corresponding task completion signal for completing the transportation is automatically or manually sent to the wharf material management system.

Fig. 13 is a schematic structural diagram of a quayside container processing system according to an embodiment of the present application. In some embodiments, the method for processing the abnormal container of the shore bridge is combined with the method for processing the abnormal container of the shore bridge corresponding to fig. 6 and 7, and the schematic structural diagram of fig. 13. The buffer area 8 is arranged at the side of the shore bridge 1, and the rotary lifting mechanism 7 is arranged in the shore bridge 1. The buffer area 8 is provided with a plurality of buffer positions 801 arranged side by side, the buffer area 8 is provided with a first transmission mechanism, and the first transmission mechanism can translate the container to be determined, which is placed on the upper surface of the buffer area 8, through each buffer position 801. And a second conveying mechanism is arranged on the rotary lifting station of the rotary lifting mechanism 7, and the second conveying mechanism can translate the container to be positioned on the upper surface of the rotary lifting station to the direction of the cache region 8. Specifically, the rotary lifting mechanism 7 may include a lifter and a rotator, the rotator is disposed on a lifting platform of the lifter, the container 5 to be positioned is placed on the lifting platform, and the lifter and the rotator perform respective lifting and rotating motions.

The container grabbing mechanism 2 places the container 5 to be determined on the rotary lifting station, and after the container 5 to be determined is in place on the rotary lifting station, the rotary lifting mechanism 7 starts to rotate the container 5 to be determined so as to adjust the angle of the container 5 to be determined. After the angle of the container 5 to be positioned is rotated to a preset angle, the rotary lifting mechanism 7 starts to lift the container 5 to be positioned so as to adjust the height of the container 5 to be positioned. When the upper surface of the rotary lifting station is horizontally butted with the upper surface of the cache region, the second conveying mechanism translates the container 5 to be positioned on the rotary lifting station to the cache region 8. When the positions of the buffer area 8 and the rotary lifting mechanism 7 are preset, the rotary lifting mechanism 7 can enable the upper surface of the rotary lifting station and the upper surface of the buffer area 8 to be horizontally butted with each other and have no gap. When the container 5 to be determined is in contact with the upper surface of the buffer area 8, the container can be driven to translate by the first conveying mechanism on the buffer area 8, and therefore the transfer work of the container 5 to be determined from the rotary lifting mechanism 7 to the buffer area 8 is completed.

Then, the idle state of each cache bit 801 in the cache region 8 is determined, and when the first cache bit 801 is in the idle state and the second cache bit 801 is not in the idle state along the transfer direction of the first transfer mechanism, that is, no pending container is stored in the first cache bit 801, and a pending container is stored in the second cache bit 801, at this time, the first transfer mechanism is controlled to move the pending container to the first cache bit 801. When a plurality of cache bits 801 are in an idle state continuously from the first in the conveying direction, the first conveying mechanism is controlled to move the container to be determined to the cache bit 801 in the idle state at the farthest end in the conveying direction, so that all the cache bits 801 in the cache region 8 can be filled by the container to be determined, and idle waste of the cache bits 801 is avoided.

Fig. 14 is a schematic work flow diagram of a shore bridge abnormal container handling system according to an embodiment of the present disclosure. Specifically, the work flow may be as shown in fig. 14, and the dock material management system may issue an instruction, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling a quay crane, the automated quay crane control system controls a container grabbing mechanism to perform a box grabbing action, and an identification mechanism on the quay crane identifies the grabbed container to be determined. And then judging whether the container to be determined is matched with the target container. And if the container to be determined is matched with the target container, the container grabbing mechanism places the container to be determined on the collecting card and transports away.

And if the container to be determined is not matched with the target container, the wharf material management system sends an abnormal container processing signal to the automatic bridge installation control system, and the automatic shore bridge control system controls the container grabbing mechanism to place the container to be determined on a rotary lifting station of the rotary lifting mechanism according to the abnormal container processing signal.

And a first sensing device arranged on the rotary lifting station detects whether a container is arranged on the rotary lifting station, if so, the automatic shore bridge control system prompts that the container is too much to request subsequent processing, and if not, the container grabbing mechanism places the container to be positioned on the rotary lifting station. The first sensing device detects whether the container to be determined is placed in place on the rotary lifting station, and if not, the container grabbing mechanism replaces the container to be determined.

The buffer area can be provided with a second sensing device for detecting whether the buffer area has a buffer position in an idle state or not, if the container is placed in place on the rotary lifting station, the second sensing device arranged on the buffer area detects whether the buffer area has the buffer position in the idle state or not, and if the buffer position in the idle state does not exist, the container grabbing mechanism places the container to be positioned on the rotary lifting station and keeps the container to be positioned still. If the buffer position in the idle state exists, the rotary lifting mechanism drives the rotary lifting station to rotate, so that the container to be positioned rotates by 90 degrees.

The rotary lifting mechanism can be provided with a third sensing device for detecting whether the container to be determined on the rotary lifting station rotates by 90 degrees or not, if so, the rotary lifting mechanism controls the height of the container to be determined in a lifting mode, and if not, the rotary lifting mechanism is possibly in a fault state.

And a fourth sensing device can be arranged on the cache region to detect whether the upper surface of the rotary lifting station is horizontally butted with the upper surface of the cache region, if so, the first conveying mechanism and the second conveying mechanism start to work, and if not, the rotary lifting mechanism continues to lift to control the height of the container to be determined.

The buffer area is provided with a first transmission mechanism, and the rotary lifting mechanism is provided with a second transmission mechanism. Taking the example of three cache bits on the cache area, the first cache bit is No. 1 cache bit, the second cache bit is No. 2 cache bit, and the third cache bit is No. 3 cache bit along the transfer direction of the first transfer mechanism.

In one case, a second sensing device on the cache region detects whether the container to be determined is in place on the No. 1 cache position, if so, the second conveying mechanism stops conveying work, the rotary lifting station descends and rotates for minus 90 degrees to return, the container to be determined is placed on the No. 1 cache position, and if not, the box body transmission is abnormal.

In another case, the second sensing device detects whether the cache bit No. 3 is a container to be determined, and if not, the first transmission mechanism transmits the container to be determined to the cache bit No. 3;

the second sensing device detects whether the container to be determined is in place on the No. 3 cache position, if not, the first conveying mechanism continues conveying, and if so, the first conveying mechanism stops conveying;

if the container to be determined exists in the cache position No. 3, detecting whether the cache position No. 2 has the container to be determined, and if not, transmitting the container to be determined to the cache position No. 2 by the first transmission mechanism;

the second sensing device detects whether the container to be determined is in place on the No. 2 cache position, if not, the first conveying mechanism continues conveying, and if so, the first conveying mechanism stops conveying;

if the container to be determined is located in the cache position No. 2, the first transmission mechanism transmits the container to be determined to the cache position No. 1, then whether the container to be determined is located in the cache position No. 2 or not is detected, and if yes, the container to be determined is kept to be stored in the cache position No. 1.

In particular, the second sensing device may include a plurality of sensors, each sensor being disposed on a respective cache bit to detect storage on the respective cache bit.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 15. Fig. 15 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 15, the electronic device 150 includes one or more processors 1501 and memory 1502.

The processor 1501 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 150 to perform desired functions.

The memory 1502 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by the processor 1501 to implement the positioning methods of the various embodiments of the present application described above or other desired functions. Various content such as positioning error parameters may also be stored in the computer readable storage medium.

In one example, the electronic device 150 may further include: an input device 1503 and an output device 1504, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 1503 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

The output device 1504 may output various information to the outside, including the determined exercise data, and the like. The output device 1504 may include, for example, a display, a communication network, a remote output device connected thereto, and so forth.

Of course, for simplicity, only some of the components of the electronic device 150 relevant to the present application are shown in fig. 15, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 150 may include any other suitable components, depending on the particular application.

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the positioning method according to various embodiments of the present application described in the present specification.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps in the positioning method of the present specification according to various embodiments of the present application.

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

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A method for handling an abnormal container on a shore bridge, the method comprising:

generating a grabbing signal for grabbing a target container;

acquiring first identification information of the container to be determined, which is captured according to the capture signal;

comparing the first identification information with second identification information of the target container; and

and if the first identification information is not matched with the second identification information, generating an abnormal container processing signal for transferring the container to be determined.

2. The method as claimed in claim 1, wherein the comparing the first identification information with the second identification information of the target container comprises:

obtaining a first image of the container to be determined according to the first identification information;

obtaining a second image of the target container according to the second identification information; and

calculating a first similarity of the first image and the second image;

wherein, if the first identification information does not match the second identification information, generating an abnormal container handling signal for transferring the container to be determined comprises:

and if the first similarity is smaller than a preset value, generating an abnormal container processing signal for transferring the container to be determined.

3. The method as claimed in claim 1, wherein the comparing the first identification information with the second identification information of the target container comprises:

obtaining a first box number image and a first appearance image of the container to be determined according to the first identification information;

obtaining a second box number image and a second appearance image of the target container according to the second identification information; and

calculating a second similarity of the first box number image and the second box number image, and calculating a third similarity of the first appearance image and the second appearance image;

and if at least one of the second similarity and the third similarity is smaller than a preset value, generating an abnormal container processing signal for transferring the container to be determined.

4. The method for processing the abnormal container of the shore bridge according to claim 1, wherein the shore bridge has a transit area;

wherein the generating an exception bin handling signal to divert the container to be determined comprises:

and generating a first abnormal container moving instruction for moving the corresponding undetermined container to the transfer area.

5. The method of processing an abnormal quayside container according to claim 1, wherein said generating an abnormal container processing signal for transferring said container to be determined comprises:

generating a first calling instruction for calling abnormal box transportation equipment, wherein the abnormal box transportation equipment is used for transporting the container to be determined corresponding to the abnormal box processing signal; and

and when acquiring a locating signal corresponding to the transportation position of the abnormal container transportation equipment reaching the shore bridge, generating a second abnormal container moving instruction for transporting the corresponding to-be-determined container to the abnormal container transportation equipment.

6. The method of processing an abnormal quayside container according to claim 5, wherein said generating an abnormal container processing signal for diverting said container to be determined further comprises:

and generating a second call instruction for indicating the abnormal container transport equipment filled with the container to be determined to move to a cache region, wherein the cache region is used for storing the cache region of the container to be determined corresponding to the abnormal container processing signal.

7. The method of processing an abnormal quayside container according to claim 1, wherein said generating an abnormal container processing signal for transferring said container to be determined comprises:

acquiring whether each cache bit in a cache region is in an idle state, wherein the cache region is used for storing the container to be determined corresponding to the abnormal container processing information and comprises a plurality of cache bits; and

and if one or more cache bits are in an idle state, generating a third abnormal box moving instruction for moving the container to be determined corresponding to the abnormal box processing signal to the cache bit corresponding to the idle state.

8. The quayside container processing method according to claim 7, wherein a first transfer mechanism is arranged on the buffer area, the first transfer mechanism is used for translating the container to be positioned on the buffer area, and the plurality of buffer positions are sequentially arranged along the transfer direction of the first transfer mechanism;

if one or more than one cache bit is in an idle state, generating a third abnormal container moving instruction for moving the container to be determined corresponding to the abnormal container processing signal to the cache bit corresponding to the idle state includes:

if the first cache bit is in the idle state and the second cache bit is not in the idle state in the conveying direction, generating a first translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the first cache bit; and

and if a plurality of cache bits are continuously in the idle state from the first cache bit in the conveying direction, generating a second translation instruction for controlling the first conveying mechanism to move the container to be determined corresponding to the abnormal container processing signal to the cache bit in the idle state at the farthest end in the conveying direction.

9. The method as claimed in claim 8, wherein if one or more of the buffer bits are in an idle state, the generating of a third exception box moving command for moving the pending container corresponding to the exception box handling signal to the buffer bit corresponding to the idle state further comprises:

generating a fourth abnormal box moving instruction for moving the container to be determined corresponding to the abnormal box processing signal to a rotary lifting station of a rotary lifting mechanism, wherein the rotary lifting mechanism is used for lifting and rotating the container to be determined placed on the rotary lifting station;

if the container to be determined is in place on the rotary lifting station, generating a rotation instruction for controlling the rotary lifting mechanism to rotate the container to be determined;

if the rotating jacking mechanism rotates the container to be determined to a preset angle, generating a lifting instruction for controlling the rotating lifting mechanism to lift the container to be determined; and

and if the upper surface of the rotary lifting station is horizontally butted with the upper surface of the cache region, generating a third translation instruction for controlling a second conveying mechanism to move the container to be determined to the cache region, wherein the second conveying mechanism is installed on the rotary lifting station and is used for translating the container to be determined placed on the rotary lifting station.

10. A quayside container processing system for anomaly, comprising:

a shore bridge;

the container grabbing mechanism is arranged on the shore bridge and used for grabbing the container;

an identification mechanism configured to: identifying the container to be determined grabbed by the container grabbing mechanism to obtain first identification information; and

a processor configured to: and generating a grabbing signal for controlling the container grabbing mechanism to grab a target container, acquiring the first identification information of the to-be-grabbed container grabbed according to the grabbing signal, comparing the first identification information with the second identification information of the target container, and if the first identification information is not matched with the second identification information, generating an abnormal container processing signal for transferring the to-be-grabbed container.