CN113233335B

CN113233335B - Method and system for processing abnormal container of quay crane

Info

Publication number: CN113233335B
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: 2023-07-25
Anticipated expiration: 2041-06-15
Also published as: CN113233335A

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 the target container; acquiring first identification information of a to-be-determined container grabbed according to the grabbing signals; 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 box 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 fact that the to-be-determined container which is actually grabbed is not the target container which needs to be grabbed is indicated, the to-be-determined container belongs to an abnormal container, and at the moment, the generated abnormal container processing signal is used for indicating to transfer the specific container.

Description

Method and system for processing abnormal container 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 a container by an automatic quay crane, whether the actually grabbed container is a target container needs to be checked, and if the actually grabbed container is found to be an abnormal container (the container is grabbed by mistake, the integrity of the container body and the size of the container are not consistent), the abnormal condition needs to be manually intervened and handled, so that the working efficiency of the automatic quay crane is greatly reduced, and the labor cost is increased. Therefore, how to identify and process abnormal containers is a technical problem to be solved in the process of grabbing the containers of an automatic quay crane.

Disclosure of Invention

In view of this, the present application provides a method and a system for handling abnormal containers in a quay crane, which can identify whether a grabbed container is an abnormal container or not and forward the abnormal container.

In a first aspect, the present application provides a method for handling a quay crane abnormal container, where the method includes: generating a grabbing signal for grabbing the target container; acquiring first identification information of the to-be-determined container grabbed according to the grabbing signals; 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 box processing signal for transferring the to-be-determined container.

In the implementation of the method, the generated grabbing signal is used for controlling a container grabbing mechanism of the quay crane to grab the container, and the container grabbing mechanism moves the grabbed container to a target position. The actually grabbed container is a pending container, first identification information can be obtained by identifying the pending container, the first identification information reflects the characteristics of the pending container, and whether the specific container is identical to the target container or not can be checked through the first identification information. The second identification information may be stored in advance, and the first identification information and the second identification information are compared with each other, so as to determine whether the to-be-determined container actually grasped is a target container to be grasped. When the first identification information and the second identification information are matched with each other, the to-be-determined container is a target container, and the to-be-determined container is transported in a normal process, for example, the to-be-determined container is placed on a collection card for loading the container. If the first identification information is not matched with the second identification information, the fact that the to-be-determined container which is actually grabbed is not the target container which needs to be grabbed is indicated, the to-be-determined container belongs to an abnormal container, and at the moment, the generated abnormal container processing signal is used for indicating that the specific container is transferred. The transferring may be to load the specific container onto a transport device for transporting the specific container, or to transport the specific container to a buffer area for placing the specific 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 pending container 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 and the second identification information are not matched, generating an abnormal box processing signal for transferring the container to be determined includes: and if the first similarity is smaller than a preset value, generating an abnormal box 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 case number image and a second appearance image of the target container according to the second identification information; calculating second similarity of the first box number image and the second box number image, and calculating third similarity of the first appearance image and the second appearance image; wherein if the first identification information and the second identification information are not matched, generating an abnormal box processing signal for transferring the container to be determined includes: and if at least one of the second similarity and the third similarity is smaller than a preset value, generating an abnormal box 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 of the abnormal box handling signal for transferring the pending container comprises: and generating a first abnormal box 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 box processing signal for transferring the pending container includes: generating a first calling instruction for calling abnormal box transportation equipment, wherein the abnormal box transportation equipment is used for transporting the to-be-determined container corresponding to the abnormal box processing signal; and when the positioning signal corresponding to the transport position of the abnormal box transport equipment reaching the shore bridge is obtained, generating a second abnormal box movement instruction for transporting the corresponding undetermined container to the abnormal box transport equipment.

With reference to the first aspect, in a possible implementation manner, the generating an abnormal box processing signal for transferring the pending container further includes: generating a second call instruction for indicating the abnormal container transportation equipment provided with the undetermined container to move to a buffer area, wherein the buffer area is used for storing the buffer area of the undetermined container corresponding to the abnormal container processing signal.

With reference to the first aspect, in a possible implementation manner, the generating an abnormal box processing signal for transferring the pending container includes: acquiring whether each buffer bit in a buffer area is in an idle state or not, wherein the buffer area is used for storing the to-be-determined container corresponding to the abnormal box processing information, and the buffer area comprises a plurality of buffer bits; and if one or more than one buffer memory bit is in an idle state, generating a third abnormal box moving instruction for moving the to-be-determined container corresponding to the abnormal box processing signal to the buffer memory bit corresponding to the idle state.

With reference to the first aspect, in one possible implementation manner, the buffer area is provided with a first conveying mechanism, and the first conveying mechanism is used for translating the to-be-determined container placed on the buffer area, and a plurality of buffer bits are sequentially arranged along a conveying direction of the first conveying mechanism; when one or more buffer bits are in an idle state, generating a third abnormal box movement instruction for moving the pending container corresponding to the abnormal box processing signal to the buffer bit corresponding to the idle state includes: if a first buffer bit is in the idle state along the transmission direction and a second buffer bit is not in the idle state, generating a first translation instruction for controlling the first transmission mechanism to move the undetermined container corresponding to the abnormal box processing signal to the first buffer bit; and generating a second translation instruction for controlling the first transfer mechanism to move the to-be-determined container corresponding to the abnormal box processing signal to the buffer bit in the idle state at the farthest end in the transfer direction when a plurality of buffer bits are in the idle state from the first one in the transfer direction.

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

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

In use, the present invention requires gripping of a particular container as a target container during operation of the quay crane, and the generated gripping signal is used to control the container gripping means to grip the container, which is moved to a target location, for example placed on a pallet from which the container was previously loaded. Specifically, the container grabbing mechanism can be a container grabbing trolley of the quay crane, the container grabbing trolley can move in the quay crane, a container lifting device capable of lifting is arranged on the container grabbing trolley, when a container needs to be grabbed, the container grabbing trolley moves to the upper side of the container and lowers the container lifting device, after the container lifting device and the container are mutually fixed, the container grabbing trolley moves and adjusts the height of the container lifting device, and then the container is transported to a target position. The actually grabbed container is a pending container, the identification mechanism identifies the pending container to obtain first identification information, the first identification information reflects the characteristics of the pending container, and whether the specific container is identical to the 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, so as to determine whether the to-be-determined container actually grasped is a target container to be grasped. When the first identification information and the second identification information are matched with each other, the to-be-determined container is a target container, and the to-be-determined container is transported in a normal process, for example, the to-be-determined container is placed on a collection card for loading the container. If the first identification information is not matched with the second identification information, the fact that the to-be-determined container which is actually grabbed is not the target container which needs to be grabbed is indicated, the to-be-determined container belongs to an abnormal container, and at the moment, the generated abnormal container processing signal is used for indicating that the specific container is transferred. The transferring may be to load the specific container onto a transport device for transporting the specific container, or to transport the specific container to a buffer area for placing the specific container, thereby completing the transferring work of the abnormal container.

Drawings

Fig. 1 is a schematic diagram of method steps of a method for handling a quay crane abnormal container according to an embodiment of the present application.

Fig. 2 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application.

Fig. 3 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application.

Fig. 4 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application.

Fig. 5 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application.

Fig. 6 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application.

Fig. 7 is a schematic diagram of method steps of a method for handling a quay crane abnormal container according to another embodiment of the present application.

Fig. 8 is a schematic diagram of method steps of a method for handling a quay crane abnormal container according to another embodiment of the present application.

Fig. 9 is a schematic structural diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

Fig. 10 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

Fig. 11 is a schematic structural diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

Fig. 12 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

Fig. 13 is a schematic structural diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

Fig. 14 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application.

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

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

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

Step 110, a grabbing signal for grabbing the target container is generated.

When the quay crane works, a specific container needs to be grabbed, the specific container is used as a target container, the generated grabbing signal is used for controlling a container grabbing mechanism of the quay crane to grab the container, and the container grabbing mechanism moves the grabbed container to a target position, for example, the container grabbing mechanism is placed on a collector card for loading the container. Specifically, the container grabbing mechanism can be a container grabbing trolley of the quay crane, the container grabbing trolley can move in the quay crane, a container lifting device capable of lifting is arranged on the container grabbing trolley, when a container needs to be grabbed, the container grabbing trolley moves to the upper side of the container and lowers the container lifting device, after the container lifting device and the container are mutually fixed, the container grabbing trolley moves and adjusts the height of the container lifting device, and then the container is transported to a target position.

Step 120, obtaining first identification information of the pending container grabbed according to the grabbing signal.

The actually grabbed container is a pending container, first identification information can be obtained by identifying the pending container, the first identification information reflects the characteristics of the pending container, and whether the specific container is identical to the target container or not can be checked through the first identification information.

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

The second identification information may be stored in advance in the processor that performs the present step, and the first identification information and the second identification information may be compared with each other, thereby judging whether the to-be-determined container that is actually gripped is a target container that needs to be gripped.

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

When the first identification information and the second identification information are matched with each other, the to-be-determined container is a target container, and the to-be-determined container is transported in a normal process, for example, the to-be-determined container is placed on a collection card for loading the container.

If the first identification information does not match the second identification information, step 150 is performed 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 fact that the to-be-determined container which is actually grabbed is not the target container which needs to be grabbed is indicated, the to-be-determined container belongs to an abnormal container, and the generated abnormal container processing signal is used for indicating that the specific container is transferred. The transferring may be to load the specific container onto a transport device for transporting the specific container, or to transport the specific container to a buffer area for placing the specific container, thereby completing the transferring work of the abnormal container.

Fig. 2 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application. In some embodiments, as shown in fig. 2, step 130 includes:

and 131, obtaining a first image of the pending container 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 the first image. Specifically, when the first identification information is acquired, the container to be determined may be photographed to obtain the first image.

And step 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 second pre-stored identification information to serve as a second image, and comparing the first image with the second image so as to judge whether the to-be-determined container which is actually grabbed is the target container which needs to be grabbed.

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

And comparing the first image and the second image with each other, and obtaining first similarity of the first image and the second image through an image recognition algorithm, wherein the first similarity can represent the proximity degree of the first image and the second image. Specifically, for example, the similarity of the pictures can be calculated by adopting a histogram, a perceptual hash algorithm or image feature extraction and other modes. The higher the first degree of similarity, the more likely the container to be determined is the target container that needs to be grasped. Specifically, the first image may be a front view of the container to be determined obtained by photographing the container to be determined from the front view direction, and the second image is a front view of the target container. Similarly, the first and second images may also be a perspective view, side or rear view, etc. of the pending and target containers, respectively. For example, in 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 preset value.

And when the first similarity of the first image and the second image is larger than a preset value, the fact that the to-be-determined container and the target container are matched with each other is indicated, namely the to-be-determined container is the target container. If the first similarity is smaller than the preset value, step 150 is performed.

When the first similarity is smaller than a preset value, the fact that the undetermined container is not the target container is indicated, the undetermined container belongs to an abnormal container, and transfer needs to be executed. 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, then the first image and the second image need to be more than seventy percent similar to account for the pending container being the target container.

Fig. 3 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application. In some embodiments, as shown in fig. 3, step 130 includes:

step 134, obtaining a first 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 case number image information and shape image information of the container to be determined, and the case number image information and shape image information are extracted from the first identification information as the first case number image and the first shape image. Specifically, when the first identification information is acquired, the container to be determined can be photographed to obtain a first box number image and a first appearance image. The first case number image may be an image obtained by photographing the case number of the container to be determined, and the outline, the size, the integrity, and the like of the container to be determined may be obtained from the first outline image. The outline may be a geometric shape of the outline of the container to be determined, the size may be a three-dimensional size of the container to be determined obtained through image recognition, and the integrity may be an integrity degree of the container to be determined obtained through image recognition.

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

The case number image information and the shape image information of the target container are extracted from the second identification information stored in advance as a second case number image and a second shape image. And comparing the first case number image with the second case number image, and comparing the first appearance image with the second appearance image, so as to judge whether the to-be-determined container which is actually grabbed is a target container which needs to be grabbed.

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 shape image and the second shape image.

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

Based on steps 131 to 133, step 140 includes:

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

Step 143, determining 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 fact that the to-be-determined container and the target container are matched is indicated, namely the to-be-determined container is the target container. If at least one of the second similarity and the third similarity is smaller than the preset value, step 150 is performed.

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

The third similarity may represent how close the first and second profile images are, the higher the third similarity, the closer the profile, size, and integrity of the pending container is to the target container. Specifically, when comparing the first profile image and the second profile image, the profile 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 outline of the pending container is to the outline of the target container, or the closer the dimension of the pending container is to the target container, or the closer the integrity of the pending container is to the target container. Specifically, in the comparison of the integrity, for example, the target container is a perfect container, if the to-be-determined container which is actually grabbed is shot to obtain a first appearance image, the first appearance image lacks a corner, which indicates that the to-be-determined container is not a perfect container, the integrity of the to-be-determined container is compared with the integrity of the target container, if the third similarity is greater than a preset value, which indicates that the lacking corner of the to-be-determined container is smaller and negligible, and if the third similarity is less than the preset value, which indicates that the integrity of the to-be-determined container is not matched with the integrity of the target container, the to-be-determined container belongs to an abnormal container, and transfer needs to be executed.

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

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

wherein step 150 comprises:

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

The first abnormal container movement instruction may instruct to move the pending container belonging to the abnormal container to the transfer area, and the storage of the pending container in the transfer area does not affect the transportation of the non-abnormal container, thereby completing the transfer of the pending container. Specifically, the first abnormal box movement instruction may be used to control the container gripping mechanism of the quay crane to move the pending container onto the transfer area. The pending containers may be stored for a long period of time in the staging area or waiting to be transported away in the staging area by a transport device that specifically transports the abnormal containers.

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

Step 152, generating a first call instruction for calling the abnormal box transport equipment.

The first calling instruction is used for indicating or controlling the abnormal box transportation equipment to be called for loading the to-be-determined container. In particular, the first abnormal box movement command may be used to control the container gripping mechanism of the quay crane to move the pending container onto the abnormal box transport apparatus. The abnormal case transporting apparatus may be a transporting apparatus such as a truck or an intelligent transportation cart for loading an abnormal container.

And 153, when a positioning signal corresponding to the transportation position of the abnormal box transportation equipment reaching the shore bridge is obtained, generating a second abnormal box movement instruction for carrying the corresponding undetermined container to the abnormal box transportation equipment.

When the abnormal case transporting equipment receives the first calling instruction, the abnormal case transporting equipment runs to the transporting position of the shore bridge, the transporting position can be the working position where the shore bridge can load goods, when the abnormal case transporting equipment is in place, a positioning signal can be obtained through the sensing device, and when the positioning signal is obtained, the transportation of the container to be determined to the abnormal case transporting equipment can be executed, so that the transportation of the container to be determined is completed. The abnormal container transporting equipment can stay for a period of time to load more abnormal containers, and can also directly leave to carry out subsequent abnormal container unloading work.

Fig. 5 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application. In some embodiments, a buffer may be provided to store pending containers corresponding to the abnormal bin handling signals. Based on this, as shown in fig. 5, step 150 further includes:

step 154, generating a second call instruction indicating that the abnormal container transporting equipment filled with the pending container moves to the buffer area.

The second calling instruction can be used for indicating or controlling the abnormal box transportation equipment to travel to the buffer area, unloading can be carried out after the abnormal box transportation equipment reaches the buffer area, and the abnormal container is unloaded in the buffer area.

Fig. 6 is a schematic diagram of method steps of a method for handling an abnormal container of a quay crane according to another embodiment of the present application. In some embodiments, a buffer is provided to store pending containers corresponding to the abnormal bin handling information, and the buffer includes a plurality of buffer bits, one pending container being placed in each buffer bit. Based on this, as shown in fig. 6, step 150 includes:

step 155, obtaining whether each buffer bit in the buffer area is in an idle state.

The idle state of each buffer bit can be obtained through a sensor installed in each buffer bit, when the sensor in a certain buffer bit detects that the buffer bit exists in a container, the buffer bit is not in the idle state, and when the sensor in a certain buffer bit detects that the buffer bit does not exist in the container, the buffer bit is in the idle state.

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

When step 156 is executed, the third abnormal box movement instruction is used to instruct or control the movement of the pending container into the buffer memory bit in the idle state, where the pending container is temporarily stored, so as to complete the transfer of the pending container. Specifically, the third abnormal box moving instruction can be used for controlling the container grabbing mechanism of the quay crane to move the to-be-determined container to the buffer position of the buffer zone. In particular, the buffer location may be an area in the quay crane in which the container gripping means of the quay crane move the pending container, in which area the abnormal container is placed exclusively. The buffer location may also be an area provided beside the quay crane, in which area the container gripping means of the quay crane move the pending container.

Fig. 7 is a schematic diagram of method steps of a method for handling a quay crane abnormal container according to another embodiment of the present application. In some embodiments, the buffer area is provided with a first conveying mechanism, the first conveying mechanism is used for translating the to-be-determined container placed on the buffer area, and the plurality of buffer bits are sequentially arranged along the conveying direction of the first conveying mechanism. Specifically, the first conveying mechanism may be a mechanism such as a driving belt or a conveying chain, which is disposed on the buffer, and when the bottom of the container contacts the upper surface of the buffer, the driving belt or the conveying belt drives the container to move, and the moving direction of the container is the first buffer, the second buffer, and the third buffer … …, as shown in fig. 7, if one or more buffer is in an idle state, step 156 includes:

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

When the buffer bit idle state in the buffer satisfies the condition that the first buffer bit is in the idle state and the second buffer bit is not in the idle state, the first translation instruction controls the first transfer mechanism to move the pending container, and the first translation instruction controls the first transfer mechanism to move the pending container to the first buffer bit in the idle state, at the time of execution of step 157. When the pending container is in place at the first buffer location, the first translation command controls the first transfer mechanism to stop operating.

If a plurality of consecutive buffer bits from the first buffer bit in the transfer direction are in an idle state, step 158 is executed to generate a second translation command for controlling the first transfer mechanism to move the pending container corresponding to the abnormal box handling signal to the buffer bit in the idle state at the far-end in the transfer direction.

When step 158 is executed, the second translation instruction can control the first conveying mechanism to convey the to-be-determined container to the position of the idle state buffer bit at the most far end along the conveying direction, so that the to-be-determined container can sequentially fill the buffer bits in a plurality of continuous idle states one by one, and waste of the buffer bits is avoided.

Fig. 8 is a schematic diagram of method steps of a method for handling a quay crane abnormal container according to another embodiment of the present application. In some embodiments, a rotary lifting mechanism may be provided to lift and rotate the pending containers placed on the rotary lifting station, the pending containers are placed on the rotary lifting station by the container gripping mechanism of the quay crane, and then the rotary lifting mechanism performs angle and height adjustment on the pending containers. And a second transfer mechanism is provided mounted on the rotary lifting station for translating the pending containers placed on the rotary lifting station. In these embodiments, if one or more 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 undetermined container corresponding to the abnormal box processing signal to a rotary lifting station of the rotary lifting mechanism.

And the fourth abnormal box movement instruction instructs or controls to place the pending container on the rotary lifting station, and the pending container waits for height and angle adjustment. Specifically, the fourth abnormal box movement instruction can be used for controlling the container grabbing mechanism of the quay crane to move the pending container to the rotary lifting station.

If the container to be determined is in place at the rotary lifting station, step 160 is performed to generate a rotation command that controls 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 pending container is placed at the correct angle and orientation on the rotary lifting station. When the step 160 is executed, after the container to be determined is correctly placed and positioned on the rotary lifting station, the rotary lifting mechanism is controlled to perform angle adjustment on the container to be determined so as to prepare for moving the container to be determined into the buffer zone.

If the rotary lifting mechanism rotates the container to be determined to a preset angle, step 161 is executed, and a lifting instruction for controlling the rotary lifting mechanism to lift the container to be determined is generated.

Specifically, a sensing device can be arranged on the rotary lifting station, the shore bridge or the buffer area to detect whether the pending container rotates to a preset angle. When step 161 is executed, after the pending container rotates to a preset angle, the rotating and lifting mechanism is controlled to adjust the height of the pending container so as to move the pending container into the buffer area. The preset angle is the same as the horizontal angle of the container which can be accommodated by the buffer position and is to be positioned on the rotary lifting station, namely, when the to-be-positioned container reaches the preset angle, all edges of the container are correspondingly parallel to all edges of the container which can be accommodated by the buffer position.

If the upper surface of the rotating lifting station is horizontally abutted with the upper surface of the buffer, step 162 is executed to generate a third translation instruction for controlling the second conveying mechanism to move the container to be determined to the buffer.

Specifically, a sensing device can be arranged on the buffer area to detect the 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 with the upper surface of the buffer area. Step 162, when executed, enables translation of the pending container to the buffer, and the third translation instruction controls the second transfer mechanism to translate the pending container to the buffer. When the pending container contacts with the upper surface of the buffer area, the pending container can be driven by the first conveying mechanism on the buffer area to translate, thereby completing the transfer work of the pending container from the rotary lifting mechanism to the buffer area.

The application also provides a shore bridge abnormal container handling system. Fig. 9 is a schematic structural diagram of a quay crane abnormal container handling system according to an embodiment of the present application. In some embodiments, as shown in fig. 9, comprising: the system comprises a shore bridge 1, a container grabbing mechanism 2, an identification mechanism 3 and a processor. Wherein, container grabbing mechanism 2 installs in bank bridge 1 for snatch the container. The recognition mechanism 2 is configured to: and identifying the undetermined container grabbed by the container grabbing mechanism to obtain first identification information. The processor is configured to: 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 box processing signal for transferring the to-be-determined container if the first identification information is not matched with the second identification information.

In use, the present embodiment requires gripping a specific container as a target container during operation of the quay crane 1, and the generated gripping signal is used to control the container gripping means 2 to grip the container, and the container gripping means 2 moves the gripped container to a target position, for example, to place on a pallet on which the container was previously loaded. Specifically, the container grabbing mechanism 2 can be a container grabbing trolley of the shore bridge 1, the container grabbing trolley can move in the shore bridge 1, 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 upper side of the container and lowers the container lifting appliance, after the container lifting appliance and the container are mutually fixed, the container grabbing trolley moves and the height of the container lifting appliance is adjusted, and then the container is transported to a target position. The actually grasped container is a to-be-determined container, the identifying mechanism 3 identifies the to-be-determined container to obtain first identifying information, the first identifying information reflects the characteristics of the to-be-determined container, and whether the specific container is identical to the target container or not can be checked through the first identifying 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, so as to determine whether the to-be-determined container actually grasped is a target container to be grasped. When the first identification information and the second identification information are matched with each other, the to-be-determined container is a target container, and the to-be-determined container is transported in a normal process, for example, the to-be-determined container is placed on a collection card for loading the container. If the first identification information is not matched with the second identification information, the fact that the to-be-determined container which is actually grabbed is not the target container which needs to be grabbed is indicated, the to-be-determined container belongs to an abnormal container, and at the moment, the generated abnormal container processing signal is used for indicating that the specific container is transferred. The transferring may be to load the specific container onto a transport device for transporting the specific container, or to transport the specific container to a buffer area for placing the specific container, thereby completing the transferring work of the abnormal container.

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

Fig. 10 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application. Specifically, as shown in fig. 10, the workflow may be issued by the dock material management system, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling the quay crane, where the automated quay crane control system controls the container grabbing mechanism to execute the container grabbing action, and the identifying mechanism on the quay crane identifies the grabbed pending container. And then judging whether the pending container is matched with the target container. If the pending container is matched with the target container, the container grabbing mechanism places the pending container on the collector card for carrying away. If the to-be-determined container is not matched with the target container, the wharf material management system sends an abnormal box processing signal to the automatic quay crane control system, and the automatic quay crane control system controls the container grabbing mechanism to place the to-be-determined container on the transfer area according to the abnormal box processing signal, and automatically or manually sends a transfer completion corresponding task completion signal to the wharf material management system after the placement is completed.

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

Fig. 12 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application. Specifically, as shown in fig. 12, the workflow may be issued by the dock material management system, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling the quay crane, where the automated quay crane control system controls the container grabbing mechanism to execute the container grabbing action, and the identifying mechanism on the quay crane identifies the grabbed pending container. And then judging whether the pending container is matched with the target container. If the pending container is matched with the target container, the container grabbing mechanism places the pending container on the collector card for carrying away. If the to-be-determined container is not matched with the target container, the dock material management system sends an abnormal container transportation equipment scheduling signal to the transportation equipment scheduling system, the transportation equipment scheduling system can schedule a loading work position of a collection card or an intelligent transportation trolley to wait for loading, and the transportation equipment scheduling system feeds back a task completion signal corresponding to the scheduling completion to the dock material management system after the abnormal container transportation equipment is scheduled. And then the dock material management system sends an abnormal box processing signal to the automatic quay crane control system, and the automatic quay crane control system controls the container grabbing mechanism to place the undetermined container on abnormal box conveying equipment according to the abnormal box processing signal, and the abnormal conveying equipment conveys the undetermined container to the buffer zone, and automatically or manually sends a task completion signal corresponding to the transfer completion to the dock material management system after the transfer is completed.

Fig. 13 is a schematic structural diagram of a quay crane abnormal container handling system according to an embodiment of the present application. In some embodiments, the corresponding quay crane exception container handling method in connection with fig. 6 and 7, and the structural schematic diagram in connection with fig. 13. The buffer zone 8 is arranged at the side of the quay crane 1, and the rotary lifting mechanism 7 is arranged in the quay crane 1. The buffer area 8 is provided with a plurality of buffer positions 801 which are arranged side by side, the buffer area 8 is provided with a first conveying mechanism, and the first conveying mechanism can translate the to-be-determined containers placed on the upper surface of the buffer area 8 through each buffer position 801. The second conveying mechanism is arranged on the rotary lifting station of the rotary lifting mechanism 7, and the second conveying mechanism can translate the to-be-determined container placed on the upper surface of the rotary lifting station towards the direction of the buffer area 8. Specifically, the rotary lifting mechanism 7 may include a lifter and a rotator, the rotator being provided on a lifting platform of the lifter, the container 5 to be determined being placed on the lifting platform, the lifter and the rotator performing respective lifting actions and rotation actions, respectively.

The container gripping mechanism 2 places the pending container 5 on the rotary lifting station, and after the pending container 5 is in place on the rotary lifting station, the rotary lifting mechanism 7 starts to rotate the pending container 5 to adjust the angle of the pending container 5. After the angle of the pending container 5 is rotated to a preset angle, the rotation lifting mechanism 7 starts to lift the pending container 5 to adjust the height of the pending container 5. When the upper surface of the rotary lifting station is horizontally butted with the upper surface of the buffer zone, the second conveying mechanism translates the pending containers 5 on the rotary lifting station to the buffer zone 8. When the positions of the buffer area 8 and the rotary lifting mechanism 7 are preset, the rotary lifting mechanism 7 can horizontally butt the upper surface of the rotary lifting station with the upper surface of the buffer area 8 without gaps. When the undetermined container 5 is contacted with the upper surface of the buffer zone 8, the undetermined container 5 can be driven by the first conveying mechanism on the buffer zone 8 to translate, thereby completing the transfer work of the undetermined container 5 from the rotary lifting mechanism 7 to the buffer zone 8.

And then judging the idle state of each buffer memory bit 801 in the buffer memory area 8, when the first buffer memory bit 801 is in the idle state along the transmission direction of the first transmission mechanism, and the second buffer memory bit 801 is not in the idle state, namely, the first buffer memory bit 801 is not used for storing the to-be-determined container, and the second buffer memory bit 801 is used for storing the to-be-determined container, at the moment, the first transmission mechanism is controlled to move the to-be-determined container to the first buffer memory bit 801. When a plurality of continuous buffer storage positions 801 are in an idle state along the first one in the transmission direction, the first transmission mechanism is controlled to move the to-be-determined container to the buffer storage position 801 in the idle state at the farthest end in the transmission direction, so that the to-be-determined container can fill all the buffer storage positions 801 in the buffer storage area 8, and idle waste of the buffer storage positions 801 is avoided.

Fig. 14 is a schematic workflow diagram of a quay crane abnormal container handling system according to an embodiment of the present application. Specifically, as shown in fig. 14, the workflow may be issued by the dock material management system, and first, a grabbing signal for grabbing the target container is sent to an automated quay crane control system for controlling the quay crane, where the automated quay crane control system controls the container grabbing mechanism to execute the container grabbing action, and the identifying mechanism on the quay crane identifies the grabbed pending container. And then judging whether the pending container is matched with the target container. If the pending container is matched with the target container, the container grabbing mechanism places the pending container on the collector card for carrying away.

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

And a first sensing device arranged on the rotary lifting station detects whether a container exists on the rotary lifting station, if so, the automatic quay crane control system prompts the excessive container to request subsequent processing, and if not, the container grabbing mechanism places the undetermined container on the rotary lifting station. The first sensing device detects whether the pending container is in place at the rotary lifting station, and if not, the container gripping mechanism repositions the pending container.

The second sensing device can be arranged on the buffer area to detect whether the buffer area has buffer bits in an idle state, 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 buffer bits in the idle state, and if the buffer bits in the idle state do not exist, the container grabbing mechanism places the to-be-determined container on the rotary lifting station to keep still. And if the buffer storage position in the idle state exists, the rotary lifting mechanism drives the rotary lifting station to rotate, so that the pending container rotates by 90 degrees.

The third sensing device can be arranged on the rotary lifting mechanism to detect whether the to-be-determined container on the rotary lifting station rotates 90 degrees, if so, the rotary lifting mechanism lifts and controls the height of the to-be-determined container, and if not, the rotary lifting mechanism can be described as faulty.

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

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

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

In another case, the second sensing device detects whether the buffer bit No. 3 has a pending container, and if not, the first conveying mechanism conveys the pending container to the buffer bit No. 3;

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

if the number 3 buffer bit has the to-be-determined container, detecting whether the number 2 buffer bit has the to-be-determined container, and if not, transmitting the to-be-determined container to the number 2 buffer bit by the first transmission mechanism;

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

if the number 2 buffer memory bit is provided with the to-be-determined container, the first conveying mechanism conveys the to-be-determined container to the number 1 buffer memory bit, then whether the to-be-determined container is in place on the number 2 buffer memory bit is detected, and if so, the to-be-determined container is kept to be stored on the number 1 buffer memory bit.

In particular, the second sensing means may comprise a plurality of sensors, each sensor being arranged on a respective cache bit to detect a storage condition 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 and/or instruction execution capabilities, and may control other components in the electronic device 150 to perform desired functions.

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) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that the processor 1501 can execute to implement the positioning methods or other desired functions of the various embodiments of the present application as described above. 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, interconnected by a bus system and/or other forms of connection mechanisms (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 including the determined exercise data and the like to the outside. The output device 1504 may include, for example, a display, a communication network, and a remote output device connected thereto, and so forth.

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

In addition to the methods and apparatus described above, 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 a positioning method according to various embodiments of the present application described in the present specification.

The computer program product may write 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, 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 steps in a positioning method according to various embodiments of the present application.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.

The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to 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 foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A method for handling a quay crane abnormal container, the method comprising:

generating a grabbing signal for grabbing the target container;

acquiring first identification information of the to-be-determined container grabbed according to the grabbing signals;

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 box processing signal for transferring the container to be determined;

the generating of the abnormal box processing signal for transferring the pending container comprises:

acquiring whether each buffer bit in a buffer area is in an idle state or not, wherein the buffer area is used for storing the to-be-determined container corresponding to the abnormal box processing signal, and the buffer area comprises a plurality of buffer bits; and

if one or more than two buffer memory bits are in an idle state, generating a third abnormal box moving instruction for moving the to-be-determined container corresponding to the abnormal box processing signal to the buffer memory bits corresponding to the idle state;

The buffer area is provided with a first conveying mechanism which is used for translating the to-be-determined container placed on the buffer area, and a plurality of buffer bits are sequentially distributed along the conveying direction of the first conveying mechanism;

when one or more than two buffer bits are in an idle state, generating a third abnormal box moving instruction for moving the pending container corresponding to the abnormal box processing signal to the buffer bit corresponding to the idle state includes:

if a first buffer bit is in the idle state along the transmission direction and a second buffer bit is not in the idle state, generating a first translation instruction for controlling the first transmission mechanism to move the undetermined container corresponding to the abnormal box processing signal to the first buffer bit; and

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

2. The quay crane abnormal container handling method according to 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 pending container 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 and the second identification information are not matched, generating an abnormal box processing signal for transferring the container to be determined includes:

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

3. The quay crane abnormal container handling method according to 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 case 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 box processing signal for transferring the container to be determined.

4. The quay crane abnormal container handling method according to claim 1, wherein the quay crane has a transit area;

wherein the generating of the abnormal box handling signal for transferring the pending container comprises:

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

5. The quay crane abnormal container handling method according to claim 1, wherein the generating an abnormal container handling signal for transferring the pending container comprises:

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

And when a positioning signal corresponding to the transportation position of the abnormal box transportation equipment reaching the shore bridge is obtained, generating a second abnormal box movement instruction for transporting the corresponding undetermined container to the abnormal box transportation equipment.

6. The quay crane abnormal container handling method according to claim 5, wherein the generating an abnormal container handling signal for transferring the pending container further comprises:

generating a second call instruction for indicating the abnormal container transportation equipment provided with the undetermined container to move to a buffer area, wherein the buffer area is used for storing the buffer area of the undetermined container corresponding to the abnormal container processing signal.

7. The method for processing a quay crane abnormal container according to claim 1, wherein when one or more of the buffer bits are in an idle state, generating a third abnormal box movement instruction for moving the to-be-determined container corresponding to the abnormal box processing signal to the buffer bit corresponding to the idle state further comprises:

generating a fourth abnormal box movement instruction for moving the to-be-determined container 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 to-be-determined container placed on the rotary lifting station;

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

if the rotation lifting mechanism rotates the to-be-determined container to a preset angle, a lifting instruction for controlling the rotation lifting mechanism to lift the to-be-determined container is generated; and

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

8. A quay crane anomaly container handling system, comprising:

a quay bridge;

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

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

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