JP2972794B2 - Container recognition system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container recognition system which can be used for loading and unloading containers in a container yard.

[0002]

2. Description of the Related Art In a container yard, a large number of containers which are carried in by trucks and ships and stored therein, and a large number of containers are loaded on trucks and ships and unloaded. Since such containers are stacked vertically and placed three-dimensionally, a self-propelled container handling device capable of holding and elevating the container is generally used for the cargo handling work. .

[0003] Further, in order to be able to quickly carry out cargo handling work of a large number of containers, each container is provided with a container identification code composed of alphanumeric characters, and the loading place in the container yard is predetermined for each container. The container carried into the container yard is stored at a predetermined position. The operator of the container cargo handling device visually checks the container identification code at the time of the warehousing operation. Also, at the time of unloading work for loading a container onto a truck or a ship, the operator of the container handling apparatus visually checks the container identification code.

[0004] Further, when a container carried in by a ship is to be stored in a container yard, it is necessary to minimize the berthing time of the ship. After the completion of the storage operation, the operator visually checks the container identification code to check the container position.

[0005] Further, since the containers are stacked vertically, when the lower container is to be taken out of the upper container before the upper container, the upper container may be moved to a different place. In this case, the operator of the container handling apparatus visually checks the identification code of the moved upper container to confirm the container position.

[0006]

Conventionally, as described above, the container identification code is visually checked by the operator. If the operator misidentifies the container identification code, the container is lost in a vast container yard. Therefore, the identification codes of a large number of containers had to be reconfirmed, which required a great deal of effort.

An object of the present invention is to provide a container recognition system capable of solving the above-mentioned problems of the prior art.

[0008]

A container recognition system according to the present invention holds a container placed in a container yard.
A self-propelled container handling device that can
Sensors that can detect the containers held and their cargo handling equipment
ID code attached to the container held in the device can be taken
Functioning imaging device and storage of identification code attached to container
Input of detection signal of container by device and its sensor
Control device that outputs an image capturing instruction signal to an image capturing device
And the identification code from the image signal sent from this imaging device
Image processing device capable of recognizing
It is possible to judge whether the code and the stored identification code match
Control device and a display device capable of displaying the judgment result
The container handling equipment has the imaging device and the sensor.
And a display device .

[0009]

According to the structure of the present invention, the container is mounted on the container yard.
The container to be loaded and unloaded is converted into a self-propelled container
When a sensor provided in the container detection device detects an image, the control device sends an imaging instruction signal to the self-propelled container handling device.
Output to that imaging device. The imaging device captures the identification code attached to the container in response to the imaging instruction signal, and sends the image signal to the image processing device. The image processing device recognizes the container identification code from the image signal. Its recognized
Whether the identification code matches the stored identification code
Is provided in the self-propelled container handling equipment
Displayed on the display device. That is, the container identification code can be confirmed without visual inspection.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

The container yard 1 shown in FIG. 1 is provided with n rows of lanes L ₁ · L ₂ ... L _n-1 · L _n . In each lane, the containers 2 are arranged in a line and stacked vertically as shown in FIG. In this embodiment,
M rows of container placement locations C ₁ and C ₂ in each lane
C _m−1 · C _m , and the containers 2 are stacked in upper and lower k stages at each container mounting location. Container yard 1
Are carried in and out by a truck 4 entering and leaving a gate 3 and a ship 5 berthing at a wharf. The containers 2 carried into the container yard 1 are loaded and unloaded by a plurality of container loading / unloading devices 6, and the vessels 5 are loaded and unloaded by a plurality of gantry cranes 7. The gate 3 track 4 that has entered the container yard 1 from moves to the track lane T ₁ · T ₂ ... T _p in accordance with the support of the administrator of the gate control room 8. Further, a loading / unloading place of the container 2 with respect to the ship 5 is determined for each gantry crane 7.

The container cargo handling device 6 is not particularly limited as long as it is a self-propelled type capable of holding and elevating the container. In this embodiment, as shown in FIGS. 3 and 4, a vehicle body 10 composed of a frame, running wheels 11 supporting the vehicle body 10, a mast 12 provided on the vehicle body 10, and a mast 12 Spreader 14 suspended from a plurality of chains 13 so as to be able to ascend and descend
And a driver's cab 16 mounted on the vehicle body 10 via a support post 15. Each chain 13 is wound around a sprocket 17 attached to the mast 12 and a sprocket 19 at the tip of a hydraulic cylinder 18 attached to the vehicle body 10, one end is attached to the spreader 14, and the other end is attached to the vehicle body 10. The spreader 14 moves up and down by the expansion and contraction of the hydraulic cylinder 18. The spreader 1
Reference numeral 4 denotes a member which can be expanded and contracted in the left-right direction in FIG. 3 according to the size of the container 2 and is mainly constituted by a rectangular frame in a plan view. Is provided. This holding claw 21
Is rotated around the vertical axis in the upper hole of the container 2 so that the spreader 14 can hold and release the container 2. Thus, the container 2 is arranged between the left and right sides of the frame constituting the vehicle body 10, the container 2 is held by the spreader 14, and the spreader 14 is raised, whereby the vehicle 2 can travel while holding the container 2.

A sensor 60 for detecting a container is attached to the spreader 14. The sensor 60 outputs a container detection signal when the front end of the vehicle body 10 of the container handling device 6 approaches the container 2, and for example, a proximity sensor can be used. Further, an imaging device 61 is attached to the spreader 14. The imaging device 6
Reference numeral 1 denotes a unit capable of photographing a different identification code for each container attached to the container 2, and may be constituted by, for example, a CCD camera. As shown in FIG. 6, the identification code 62 is an owner code and a serial number which are defined to be attached to both end faces of the container 2 according to the ISO standard (ISO / TC104), and are represented by alphanumeric characters. It is good to shoot. Also, the lighting device 6 is attached to the spreader 14.
3 is mounted to illuminate the photographing location of the container 2.

Each of the lanes L ₁ ... L _n is an entrance whose both ends are also used as exits. A mounting body 30 is mounted at each entrance, and as shown in FIGS. An identifier 31 capable of identifying lanes is attached. In this embodiment, the mounting body 30 has a trapezoidal box shape as viewed from the front, and has identifiers 31 attached to the left and right inclined side surfaces, respectively. Each identifier 31 is constituted by a magnetic storage device called an ID tag in the present embodiment, and information such as a unique number is written for each entrance of each lane. In addition, container yard 1
The mounting body 30 mounted thereon may be fixed to the container yard 1 with bolts or the like.

As shown in FIG. 4, a reading device 32 for reading the information of the identifier 31 is attached to one of the left and right inside the container cargo handling device 6. Since the identifiers 31 are attached to the left and right sides of the mounting body 30, the reading device 32 can read the information of the identifiers 31 even if the container cargo handling device 6 enters the lane in either the forward or backward state. . Note that the identifier 31 is
The identifier can be read irrespective of the traveling direction also by attaching the reading device 32 to both the left and right sides of the container handling device 6 and attaching the reading device 32 to only one of the right and left sides of the container handling device 6.

Further, the container handling device 6 is provided with a device for detecting the traveling distance of the container handling device 6.
That is, as shown in FIG.
3 is attached, and an encoder 34 for detecting the rotation speed of the measuring wheel 33 is attached. The encoder 3 corresponding to the read signal of the identifier 31 and the rotation speed of the measuring wheel 33
The travel distance from the lane entrance of the container cargo handling device 6 can be detected based on the signal from 4.

Further, the container loading / unloading device 6 is provided with a device for detecting the ascending / descending distance of the container 2 which is held by the spreader 14 and moves up and down. In the present embodiment, since the containers 2 are placed in three stages, three upper and lower proximity switches 35a, 35a are provided on the inner surface of the mast 12, as shown in FIG.
b, 35c are attached, and each proximity switch 35a, 3c
When one of 5b and 35c detects the detection target 36 attached to the side surface of the spreader 14, the elevation distance of the container 2 held by the spreader 14 can be detected. The chain 1 supporting the spreader 14
An encoder may be attached to the sprocket 17 around which the container 3 is wound, and the elevation distance of the container 2 may be calculated based on a signal from the encoder according to the rotation speed of the sprocket 17.

As shown in FIG. 5A, the container detecting sensor 60, the imaging device 61 for the container identification code 62, the lighting device 63, the reading device 32 for the identifier 31, and the container The encoder 34 for detecting the traveling distance and the proximity switches 35a, 35b, 35c for detecting the distance of moving up and down the container are connected to the control device 40. The control device 40 is configured by a digital computer having a central processing unit 40a, a storage device 40b, and an interface 40c. An image processing device 65 connected to the imaging device 61 is provided to the control device 40.
And an input device 41 constituted by a keyboard switch
And a display device 4 composed of a CRT display or the like
2, the wireless device 43, and the holding claw 2 of the spreader 14
One operating device 21a is connected. Control devices 44 and 45 capable of performing data communication with the control device 40 via the wireless device 43 are provided in the gate management room 8 and the main management room 46 provided in the container yard 1.

As shown in FIGS. 5 (2) and 5 (3), the control devices 44 and 45 of the management rooms 8 and 46 are provided with the central processing units 44a and 45 similarly to the control device 40 of the container cargo handling device 6.
a, storage devices 44b, 45b and interface 44c,
Wireless devices 47 and 48, each of which is constituted by a digital computer having
Keyboard-type input devices 49 and 50 and display devices 51 and 52 such as a CRT display are connected. From each of the input devices 41, 49, and 50, the container identification code 6
2 and a predetermined container position can be input. The container position is constituted by, for example, a lane number corresponding to the container lane, the number of rows in each lane, and the number of stacking stages.

The control device 40 of the container cargo handling device 6 outputs an imaging instruction signal to the imaging device 61 in response to the input of the detection signal of the container 2 by the container detection sensor 60,
At a timing determined by the imaging instruction signal, the imaging device 6
1 captures an image of the identification code 62 attached to the container 2 held by the container handling device 6. The control device 40
Outputs an illumination instruction signal to the illumination device 63 so as to illuminate the imaging location of the container 2 during the imaging. The image processing device 65 recognizes the container identification code 62 from the image signal sent from the imaging device 61, and can use a commercially available one (for example, trademark GPB-1 and AUXLUT manufactured by Easel Sharp), The recognition signal of the container identification code 62 is output to the control device 40.

Further, the control device 40 receives a read signal of the identifier 31 transmitted from the read device 32, a travel distance detection signal of the container cargo handling device 6 transmitted from the encoder 34, and any one of the proximity switches 35a, 35b, 35.
The actual container position is calculated on the basis of the signal for detecting the vertical distance of the container 2 transmitted from c. In this embodiment, the calculation of the container position is performed by the holding claw 21 of the spreader 14.
Of the container 2 transmitted from the operating device 21a of the container 2 or the release signal of the container 2. The calculated container position is stored in the storage device 40b in association with the container identification code 62 input from any of the input devices 41, 46, and 47.

Storage device 4 of each control device 40, 44, 45
0b, 44b, and 45b, the calculated actual container position and a predetermined container position input from any of the input devices 41, 49, and 50 correspond to the container identification code 62. It can be stored. The control devices 40, 44, and 45 can determine whether or not the stored container identification code 62 matches the container identification code 62 sent from the image processing device 65. Also, the stored container position,
It is determined whether or not the actual container position calculated based on the position of the container cargo handling device 6 matches the control devices 40 and 4.
The determination can be made in steps 4 and 45.

In the above configuration, in order to store the container 2 carried by the truck 4 into the container yard 1,
First, the administrator of the gate management room 8 checks the identification code 62 of the container 2 carried in by the truck 4, and
The driver of the truck 4 is instructed in the truck lane to wait.

Next, the administrator of the gate management room 8 asks the operator of the container cargo handling device 6 and the control device 40 via the wireless devices 47 and 43 to identify the truck lane where the truck 4 stands by and the container 2 to be stored. The code 62 and the entry position of the container 2 in the container yard 1 are designated. The storage devices 40b, 44b, and 45b store the identification code 62 of the container 2 to be stored in advance and the storage position of the container 2 determined in advance according to the container identification code 62.

Next, the operator of the container handling apparatus 6 goes to the designated truck lane, holds the container 2 of the truck 4 in the truck lane by the container handling apparatus 6, and goes to the designated container storage position. When the container 2 is held by the sensor 60 when the container 2 held by the container cargo handling device 6 is detected.
The control device 40 outputs an illumination instruction signal to the illumination device 63 and outputs an imaging instruction signal to the imaging device 61. The illumination device 63 illuminates the identification code display position of the container 2 by the illumination instruction signal, and the imaging device 61 captures the identification code 62 displayed on the container 2 by the imaging instruction signal, and sends an image signal to the image processing device 65. send. The image processing device 65 recognizes the container identification code 62 from the image signal and outputs a recognition signal of the identification code 62 to the control device 40. The control device 40 compares the identification code 62 sent from the image processing device 65 with the identification code 62 stored and instructed to enter the warehouse by the wireless devices 47 and 43 from the administrator of the gate management room 8 to determine whether they match. It is determined whether or not it is not, and the determination result is displayed on the display device 42. If they do not match, it is considered that there is an erroneous recognition of the track lane by the operator or an erroneous instruction by the manager, and the operator checks the correct container identification code 62 by wireless communication with the manager, and proceeds to hold the correct container 2.

Next, when the container cargo handling device 6 enters the designated lane, the identifier 31 is read by the reading device 32.
Is read. The control device 40 determines whether or not the approach lane of the container cargo handling device 6 detected based on the read signal of the identifier 31 matches the lane of the planned container storage position stored in the storage device 40b. The result is displayed on the display device 42. If they do not match, it is considered that there has been an erroneous recognition of the approach lane of the operator or an erroneous instruction of the manager, and the operator confirms the correct approach lane by wireless communication with the manager, and heads for the correct approach lane.

Next, when the container handling device 6 reaches the designated container storage position, the holding of the container 2 by the holding claws 21 of the spreader 14 is released. When the holding release signal is input from the operation device 21a, the control device 40 reads the identifier 31 signal, the travel distance detection signal from the encoder 34 starting from the time of reading the identifier signal, the proximity switch 35a, 35b, 35c
The actual container position is calculated based on the elevation distance detection signal from any of the above. The control device 40 determines whether or not the actual container position matches the designated container storage position, and the determination result is displayed on the display device 42. If they do not match, it is considered that there was an erroneous recognition of the storage position of the operator or an erroneous instruction of the administrator, and the operator checks the correct storage position by wireless communication with the administrator, and stores the container 2 in the correct storage position. .
Instead of automatically starting the arithmetic processing for position detection with a signal from the operating device 21a, another button switch is provided on the input device 41, and the arithmetic processing is started by pressing the button by the operator. Is also good.

Next, when the warehousing operation is completed, the operator of the container unloading device 6 sends the container identification code 62 stored in the storage device 40b to the control devices 44 and 45 of the management rooms 8 and 46, respectively. The data is communicated with the storage position and stored in the storage devices 44b and 45b.

When the container 2 carried in by the ship 5 is to be stored in the container yard, first, the container 2 is unloaded from the ship 5 into the container yard 1 by the gantry crane 7 and temporarily loaded. In addition, the manager of the main management room 46 can control the container cargo handling device 6 based on the wireless communication with the ship.
Is instructed on the temporary loading position of the container 2.

Next, when the operator of the container cargo handling device 6 arrives at the temporary loading position, the operator holds the temporarily loaded container 2 and stores the container 2 at an arbitrary position in the container yard 1. When holding the container 2, when the sensor 60 detects the container 2 held by the container handling device 6, the imaging device 61 and the lighting device 63 shoot the identification code 62 in the same manner as described above, and the image processing device The identification code 62 photographed by the camera 65 is recognized, a recognition signal of the identification code 62 is output to the control device 40, and the control device 40 stores the identification code 62 sent from the image processing device 65 in the storage device 40b. The storage position of the container 2 is calculated based on the read signal of the identifier 31, the travel distance detection signal from the encoder 34, and the elevation distance detection signal from any of the proximity switches 35a, 35b, 35c, and stored. It is stored in the device 40b. The identification code 62 of the stored container 2 and the storage position are communicated by data to the control devices 44 and 45 of the management rooms 8 and 46, and stored in the storage devices 44b and 45b.

When unloading the container 2 carried out by the truck 4 from the container yard 1, first, the gate 3
The manager of the gate management room 8 instructs the truck 4 to enter the truck lane and waits.

Next, the administrator of the gate control room 8 sends the operator of the container cargo handling device 6 and the control device 40 via the wireless devices 47 and 43 to the truck lane where the truck 4 stands by and the container 2 to be unloaded. Identification code 62
And the container position of the container 2 in the container yard 1 are designated. The storage devices 40b, 44
The actual container positions in the container yard 1 are stored in advance in b and 45b. The storage file of the actual container position is created by data communication from the operator of the container handling apparatus 6 when the container 2 is stored as described above.

Next, the operator of the container handling apparatus 6 moves toward the specified loading position of the container 2 and first enters the specified lane. The identifier 31 is read by the reader 32 at the entrance of this lane. This identifier 3
The control device 40 determines whether or not the approach lane of the container cargo handling device 6 detected based on the read signal 1 and the placement lane of the container 2 designated for retrieval stored in the storage device 40b match. Is displayed on the display device 42. If they do not match, it is considered that there has been an erroneous recognition of the approach lane of the operator or an erroneous instruction of the manager, and the operator confirms the correct approach lane by wireless communication with the manager, and heads for the correct approach lane.

Next, when the container handling device 6 reaches the designated container position, the holding claws 2 of the spreader 14 are moved.
1, the container 2 is held. When holding the container 2, when the sensor 60 detects the container 2 held by the container handling device 6, the imaging device 61 and the lighting device 63 shoot the identification code 62 in the same manner as described above, and the image processing device The identification code 62 photographed by the camera 65 is recognized, a recognition signal of the identification code 62 is output to the control device 40, and the control device 40 stores the identification code 62 sent from the image processing device 65 in the storage device 40b. When the holding signal is input from the operating device 21a, the control device 40 reads the identifier 31 signal, the traveling distance detection signal from the encoder 34, and the vertical distance detection from any of the proximity switches 35a, 35b, and 35c. The actual container position is calculated based on the signal. The control device 40 determines whether or not the actual container position matches the container position designated for retrieval, and the result of the determination is displayed on the display device 42. further,
Container identification code 62 specified for delivery and imaging device 61
Is compared with the container identification code 62 photographed by
It is determined whether or not they match, and a double check is performed by displaying the determination result on the display device 42. If the actual container position does not match the container position designated for retrieval, or if the container identification code 62 designated for retrieval and the container identification code 62 photographed do not match, an operator misrecognition or It is considered that there has been an erroneous instruction from the administrator, and the operator confirms the correct retrieval position and the container identification code 62 by wireless communication with the administrator, and proceeds to retrieve the correct container 2.

Next, the operator of the container handling device 6 moves to the designated waiting lane of the truck 4 and loads the container 2 on the truck 4. The truck 4 exits the gate 3 after confirming whether or not the loaded container 2 is correct in the gate control room 8.

When the container 2 carried out by the ship 5 is to be unloaded from the container yard 1, the gantry crane 7 for loading the container 2 onto the ship, the gantry crane 7 for loading the container 2 onto the ship, The identification code 62 of the container 2 to be specified and the position in the container yard 1 are designated. Thereafter, as in the case of unloading the container 2 carried out by the truck 4,
The container handling device 6 unloads the container 2 from the container yard 1. Thereafter, the container 2 discharged to the designated cargo handling position of the gantry crane 7 is unloaded. The gantry crane 7 loads the unloaded container 2 onto the vessel 5, and when the loading is completed, the vessel 5 leaves the port.

When the unloading of the container 2 to the truck 4 or the ship 5 is completed, the operator of the container unloading device 6 is unloaded to the control devices 44 and 45 of the control rooms 8 and 46 and the storage device 40b of the control device 40. The data communication is performed between the container identification code 62 and the storage position stored in the storage device 44b and 45b.

In the case where the upper container 2 is moved at the discretion of the operator of the container handling apparatus 6 to unload the lower container 2, the upper container 2 is held by the spreader 14 and moved to an appropriate position. When holding the container 2, when the sensor 60 detects the container 2 held by the container handling device 6, the imaging device 61 and the lighting device 63 shoot the identification code 62 in the same manner as described above, and the image processing device 65, the photographed identification code 62 is recognized.
Is output to the control device 40, and the control device 40 transmits the container identification code 62 sent from the image processing device 65.
Is stored in the storage device 40b. The container position after the movement is, when there is a holding release signal from the operation device 21a, a reading signal of the identifier 31, a traveling distance detection signal from the encoder 34, and proximity switches 35a, 35b, 35c.
Is calculated by the control device 40 based on the ascent / descent distance detection signal from any one of The storage of the position of the upper container 2 before the movement is erased, and the position after the movement is stored in the storage device 40b together with the identification code 62. The operator of the container cargo handling device 6 performs data communication of the identification code 62 and the position of the upper container 2 whose storage has been updated to the control devices 44 and 45 of the management rooms 8 and 46, so that the control devices 44 and 45 The storage of the identification code 62 and the position of the upper container 2 in the storage devices 44b and 45b is also updated.

According to the above configuration, the container identification code 62 can be confirmed by the sensor 60, the imaging device 61, and the image processing device 65 without being visually confirmed, and the erroneous recognition of the container identification code 62 can be prevented. it can. In addition, the position of the container 2 in the container yard 1 can be detected accurately, in real time, and at relatively low cost without manual intervention. As a result, the efficiency of the cargo handling work of the container 2 is improved, and the misplacement of the container 2 is prevented,
Inventory management of the container 2 in the container yard 1 can also be accurately performed.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the identification code attached to the end face of the container 2 is photographed, but the identification code attached to another position may be photographed. In addition, the procedure for loading and unloading the container 2 shown in the above embodiment is an example, and is not limited to the above procedure. In the above embodiment, the container detection sensor 60, the imaging device 61, and the lighting device 63 are attached to the spreader 14, but the attachment positions are not particularly limited. For example, the containers 2 to be unloaded or loaded from the vessel 5 by the gantry crane 7 are generally not stacked up and down at the loading and unloading locations. Alternatively, the imaging device 61 and the lighting device 63 may be attached to the mast 12. Further, the sensor 60, the imaging device 61 and a lighting device 63, by providing the inlet side of the track lane T ₁ · T ₂ ... T _p in the container yard 1, to identify before warehousing containers 2 on the track 4 And the track lanes T ₁ and T ₂
.. _{Provided at} the exit side of T _p may be used to identify the container 2 on the truck 4 after unloading. In short, the container 2 may be provided at a position where a container to be unloaded is identified in the container yard. Further, by providing the gantry crane 7, the container 2 may be used to identify the container 2 to be loaded / unloaded on the ship 5. In addition, as container handling equipment,
Use a transtainer that is a cargo handling crane that moves in the container yard guided by rails, an automated guided vehicle guided by an antenna wire, etc. buried in the container yard. A sensor, an imaging device, and a lighting device may be attached.

[0041]

According to the present invention, a container mounted on a container yard is provided.
A container identification code can be easily and visually checked without any effort when handling a placed container using a self-propelled container handling device , and the container identification code is prevented from being erroneously recognized. Container is missing in the vast container yard
It can be prevented from becoming unknown.

[Brief description of the drawings]

FIG. 1 is a configuration explanatory view of a container yard according to an embodiment of the present invention.

FIG. 2 is a configuration explanatory view of a container lane according to an embodiment of the present invention.

FIG. 3 is a side view for explaining the configuration of the container cargo handling device according to the embodiment of the present invention.

FIG. 4 is a front view for explaining the configuration of the container cargo handling device according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of a configuration of a control device according to an embodiment of the present invention.

FIG. 6 is a perspective view of a container provided with an identification code.

[Explanation of symbols]

 2 Container 6 Container Handling Device 40 Control Device 60 Sensor 61 Imaging Device 62 Container Identification Code 65 Image Processing Device

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-51-46023 (JP, A) JP-A-61-226492 (JP, A) JP-A-2-158517 (JP, A) (58) Investigation Field (Int.Cl. ⁶ , DB name) B65G 63/00 B65D 25/20 G06T 1/00

Claims (1)

(57) [Claims] 1. A container placed in a container yard
Self-propelled container cargo handling device that can be held and a sensor that can detect the container held by this cargo handling device
And the identification code attached to the container held by the cargo handling device.
An imaging device that can capture images, a storage device for the identification code attached to the container, and the input of a container detection signal by its sensor
A control device that outputs an imaging instruction signal to the imaging device; and an identification code from the image signal sent from the imaging device.
Identifiable image processing device, the recognized identification code and the stored identification code
Tables and matching whether the determination possible control unit, and a display capable of displaying device the determination result, to the container handling device, and the captured and the sensor
A container recognition system, comprising: an indicating device .