JPH07187401A - Container recognition system - Google Patents

Abstract

PURPOSE:To prevent any mis-recognition caused by seeing a container with eyes by inputting any imagery indication signal to an imaging device when the container is detected and enabling a container recognition code to be recognized by a picture signal sent from the imaging device. CONSTITUTION:When a container 2 loaded ay a container loading device 6 is detected by a sensor 60 in a container yard, a controller inputs an imagery indication signal to an imaging device 61. By this imagery indication signal, the imaging device 61 takes the picture of a recognition code put on the container 2 and sends this picture signal to a picture processor. The picture processor recognizes a container recognition code by this picture signal. In another words, the container recognition code can be confirmed without seeing with eyes. Thereby, the mis-recognition caused by seeing the container recognition code with our eyes can be prevented.

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 that can be used for cargo handling work of containers in a container yard.

[0002]

2. Description of the Related Art In a container yard, a large number of containers are loaded to be loaded by a truck or a ship and stored therein, and a plurality of containers to be loaded on a truck or a ship to be unloaded. Since such containers are stacked vertically and placed three-dimensionally, a self-propelled container cargo handling device capable of holding and lifting the containers is generally used for the cargo handling work. .

In order to quickly carry out the cargo handling work for a large number of containers, each container is provided with a container identification code consisting 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 the predetermined position. The operator of the container handling device visually confirms the container identification code during the warehousing operation. In addition, even when the container is loaded on a truck or a ship, the operator of the container handling device visually confirms the container identification code.

When a container carried in by a ship is stored in the container yard, the container carried in by the ship is randomly stored in the container yard by the container loading and unloading device in order to minimize the docking time of the ship. After the completion of the warehousing work, the operator visually confirms the container identification code to confirm the container position.

Further, since the containers are stacked one above the other, when the lower container is to be delivered 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 confirms the identification code of the moved upper container to confirm the container position.

[0006]

Conventionally, the confirmation of the container identification code is performed visually by the operator as described above. Therefore, if the operator misidentifies the container identification code, the container is lost in the vast container yard. Therefore, it was necessary to reconfirm the identification codes of a large number of containers, which required enormous efforts.

It is an object of the present invention to provide a container recognition system which can solve the above-mentioned problems of the prior art.

[0008]

A container recognition system according to the present invention includes a sensor capable of detecting a container loaded in a container yard, an imaging device capable of photographing an identification code attached to the container, and the sensor. It is characterized by comprising a control device which outputs an image pickup instruction signal to the image pickup device in response to the input of the detection signal of the container, and an image processing device which can recognize the container identification code from the image signal sent from the image pickup device. Furthermore, a self-propelled container cargo handling device that can hold a container, a sensor that can detect the container held in this cargo handling device, and an image that can capture the identification code attached to the container held in the cargo handling device An apparatus, a control device that outputs an imaging instruction signal to an imaging device by inputting a container detection signal by the sensor, and an image processing device that can recognize a container identification code from an image signal sent from the imaging device. Characterize.

[0009]

According to the structure of the present invention, when the sensor detects the container to be loaded, the control device outputs an image pickup instruction signal to the image pickup device. The image pickup device photographs the identification code attached to the container by the image pickup instruction signal, and sends the image signal to the image processing device. The image processing apparatus recognizes the container identification code from the image signal. 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,
In each lane, there are m rows of container placement locations C ₁ , C _2, ...
There are C _m-1 and C _m , and the containers 2 are stacked in upper and lower k stages at each container placement place. Container yard 1
The container 2 placed on the dock is carried in and out by a truck 4 that goes in and out of the gate 3 and a ship 5 that docks at the wharf. The container 2 loaded into the container yard 1 is loaded and unloaded by a plurality of container loading / unloading devices 6, and the vessel 5 is loaded and unloaded by a plurality of gantry cranes 7. The truck 4 that has entered the container yard 1 from the gate 3 moves to the truck lanes T ₁ , T _2, ... T _p according to the support of the manager of the gate control room 8. Further, the 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 device capable of holding and lifting the container. In this embodiment, as shown in FIGS. 3 and 4, a vehicle body 10 formed of a frame, traveling wheels 11 that support the vehicle body 10, a mast 12 provided on the vehicle body 10, and the mast 12 A spreader 14 suspended in a vertical direction via a plurality of chains 13
And a driver's cab 16 mounted on the vehicle body 10 via columns 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 of which is attached to the spreader 14 and the other end of which is attached to the vehicle body 10. By the expansion and contraction of the hydraulic cylinder 18, the spreader 14 moves up and down. That spreader 1
3 is capable of expanding and contracting in the left-right direction in FIG. 3 according to the size of the container 2, and is mainly composed of a rectangular frame in plan view, and holding claws 21 inserted into the upper holes of the container 2 at the four corners thereof. It is provided. This holding claw 21
By rotating the container 2 around the vertical axis in the upper hole of the container 2, the spreader 14 can hold and release the container 2. As a result, the container 2 is arranged between the left and right sides of the frame forming the vehicle body 10, the container 2 is held by the spreader 14, and the spreader 14 is raised, so that the container 2 can travel while holding the container 2.

A sensor 60 for detecting a container is attached to the spreader 14. This sensor 60 outputs a container detection signal when the front end of the vehicle body 10 of the container handling apparatus 6 approaches the container 2, and for example, a proximity sensor can be used. Further, the image pickup device 61 is attached to the spreader 14. The imaging device 6
Reference numeral 1 is a device capable of photographing a different identification code for each container attached to the container 2, and can 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 that are specified to be attached to both end surfaces of the container 2 according to the ISO standard (ISO / TC104), and are represented by alphanumeric characters. Should be taken. In addition, the spreader 14 has a lighting device 6
3 is attached to illuminate the photographing location of the container 2.

Both ends of each of the lanes L ₁ ... L _n are also used as outlets, and a mounting body 30 is mounted at each inlet, and each mounting body is mounted on each mounting body as shown in FIGS. 2 and 4. An identifier 31 capable of identifying the lanes is attached. In this embodiment, the mounting body 30 is a trapezoidal box-shaped front view, and the identifiers 31 are attached to the left and right inclined side surfaces thereof. Each identifier 31 is composed of a magnetic storage device called an ID tag in this embodiment, and information such as a unique number is written at each entrance of each lane. In addition, container yard 1
The mounting body 30 placed on the top may be fixed to the container yard 1 with bolts or the like.

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 as shown in FIG. Since the identifiers 31 are attached to the left and right sides of the platform 30, the reading device 32 can read the information of the identifiers 31 regardless of whether the container cargo handling device 6 enters the lane in the forward or reverse direction. . In addition, the identifier 31
The identifier can be read regardless of the traveling direction by attaching the reading device 32 to both the left and right sides of 0 and the reading device 32 to both the left and right sides inside the container handling device 6.

Further, the container cargo handling device 6 is provided with a device for detecting the traveling distance of the container cargo handling device 6.
That is, as shown in FIG. 3, the distance measuring wheel 3 is attached to the vehicle body 10.
3 is attached, and the rotation speed detecting encoder 34 of the measuring wheel 33 is attached. The encoder 3 according to the read signal of the identifier 31 and the rotation speed of the measuring wheel 33
The traveling distance from the lane entrance of the container cargo handling device 6 can be detected by the signal from 4.

Further, the container cargo handling device 6 is provided with a device for detecting an ascending / descending distance of the container 2 which is held by the spreader 14 and ascends and descends. In this embodiment, since the container 2 is placed in three stages, three upper and lower proximity switches 35a, 35 are provided on the inner surface of the mast 12, as shown in FIG.
b, 35c are attached and each proximity switch 35a, 3a
By detecting the detected body 36 attached to the side surface of the spreader 14 by either 5b or 35c, the ascending / descending 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 ascending / descending distance of the container 2 may be calculated by a signal from the encoder according to the rotation speed of the sprocket 17.

As shown in FIG. 5A, the container detection sensor 60, the image pickup device 61 for the container identification code 62, the lighting device 63, the reading device 32 for the identifier 31, and the container loading / unloading device 6 are installed. The encoder 34 for detecting the traveling distance and the proximity switches 35a, 35b, 35c for detecting the container ascending / descending distance are connected to the control device 40. The control device 40 is composed of 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 image pickup device 61 is connected to the control device 40.
And an input device 41 including a keyboard switch
And a display device 4 including a CRT display, etc.
2, the wireless device 43, and the holding claw 2 of the spreader 14.
The operation device 21a of No. 1 is connected. Control devices 44 and 45 capable of data communication with the control device 40 via the wireless device 43 are provided in the gate management room 8 and a main management room 46 provided in the container yard 1.

As shown in (2) and (3) of FIG. 5, the control devices 44 and 45 of the management rooms 8 and 46 are the same as the control device 40 of the container loading / unloading device 6 and the central processing units 44a and 45.
a and the storage devices 44b and 45b and the interface 44c,
Wireless devices 47 and 48, each of which is configured by a digital computer including 45c and is capable of data communication,
Keyboard-type input devices 49 and 50 are connected to display devices 51 and 52 such as CRT displays. From each input device 41, 49, 50, the container identification code 6
2 and a predetermined container position can be input. The container position is composed of, for example, a lane number corresponding to the container lane, the number of rows in each lane, and the number of stacked stages.

The control device 40 of the container cargo handling device 6 outputs an image pickup instruction signal to the image pickup device 61 in response to the detection signal of the container 2 input by the container detection sensor 60,
The image pickup device 6 is set at a timing determined by the image pickup instruction signal.
Reference numeral 1 captures an image of the identification code 62 attached to the container 2 held by the container cargo handling device 6. In addition, the control device 40
Outputs an illumination instruction signal to the illuminating device 63 so as to illuminate the photographing location of the container 2 at the time of photographing. The image processing device 65 recognizes the container identification code 62 from the image signal sent from the image pickup device 61, and a commercially available product can be used (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 reads the identifier 31 read signal transmitted from the reading device 32, the traveling distance detection signal of the container handling device 6 transmitted from the encoder 34, and one of the proximity switches 35a, 35b, 35.
The actual container position is calculated based on the ascent / descent detection signal of the container 2 transmitted from c. In this embodiment, the calculation of the container position is performed by the holding claws 21 of the spreader 14.
It is started by the holding signal or the holding release signal of the container 2 transmitted from the operating device 21a. 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
In 0b, 44b, 45b, the calculated actual container position and the predetermined container position input from any of the input devices 41, 49, 50 correspond to the container identification code 62. It is memorable. The control devices 40, 44 and 45 can determine whether the stored container identification code 62 and the container identification code 62 sent from the image processing device 65 match. Also, the stored container position,
Whether or not the actual container position calculated based on the position of the container handling device 6 matches the control devices 40, 4
It is possible to make a judgment at points 4 and 45.

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

Next, the manager of the gate control room 8 identifies the truck lane in which the truck 4 is waiting and the container 2 to be stored to the operator of the container cargo handling device 6 and the control device 40 via the wireless devices 47 and 43. The code 62 and the storage position of the container 2 in the container yard 1 are designated. The storage devices 40b, 44b, 45b store the identification code 62 of the container 2 scheduled 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 loading / unloading device 6 heads to the designated track lane, holds the container 2 of the truck 4 on the track lane by the container loading / unloading device 6, and heads to the designated container loading position. When the sensor 60 detects the container 2 held by the container cargo handling device 6 when holding the container 2,
The control device 40 outputs the illumination instruction signal to the illumination device 63 and the 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, the imaging device 61 photographs the identification code 62 displayed on the container 2 by the imaging instruction signal, and sends the 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 by the manager of the gate management room 8 instructed to store by the wireless devices 47 and 43, and determines whether they match. It is determined whether or not the result is displayed on the display device 42. If they do not match, it is considered that there was an erroneous recognition of the operator's truck lane or an erroneous instruction of the administrator, and the operator confirms the correct container identification code 62 by wireless communication with the administrator and proceeds to hold the correct container 2.

Next, when the container 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 handling device 6 detected based on the read signal of the identifier 31 and the lane at the container storage planned position stored in the storage device 40b match. The result is displayed on the display device 42. If they do not match, it is considered that there was an erroneous recognition of the operator's approach lane or an erroneous instruction of the administrator, and the operator confirms the correct approach lane by wireless communication with the administrator and heads for the correct approach lane.

Next, when the container loading / unloading device 6 reaches the designated container loading 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 causes the control device 40 to read the identifier 31, the traveling distance detection signal from the encoder 34 that starts from the signal reading time of the identifier, and the proximity switch 35a. 35b, 35c
The actual container position is calculated based on the ascending / descending distance detection signal from either of the above. The control device 40 determines whether or not the actual container position and the designated container storage position match, 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 operator's warehousing position or an erroneous instruction from the administrator, and the operator confirms the correct warehousing position by wireless communication with the administrator and unloads the container 2 to the correct warehousing position. .
It should be noted that instead of automatically starting the position detection calculation process with a signal from the operation device 21a, another button switch is provided in the input device 41, and the calculation process is started by the operator pressing the button. Good.

Next, when the warehousing operation is completed, the operator of the container loading / unloading device 6 stores the container identification code 62 stored in the storage device 40b in the control devices 44, 45 of the management rooms 8, 46. 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 loaded into 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, based on the wireless communication with the ship, the container handling device 6
To the operator for the temporary loading position of the container 2.

Next, when the operator of the container loading / unloading 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 the sensor 60 detects the container 2 held by the container loading / unloading device 6 when holding the container 2, the image pickup device 61 and the lighting device 63 image the identification code 62 in the same manner as described above, and the image processing device. The identification code 62 photographed by 65 is recognized, the 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 and stored based on the read signal of the identifier 31, the travel distance detection signal from the encoder 34, and the ascending / descending distance detection signal from any of the proximity switches 35a, 35b, and 35c. It is stored in the device 40b. The identification code 62 and the storage position of the stored container 2 are communicated with the control devices 44 and 45 of the management rooms 8 and 46 and stored in the storage devices 44b and 45b.

When the container 2 carried out by the truck 4 is to be unloaded from the container yard 1, first, the gate 3
The manager of the gate control room 8 instructs the truck 4 which has been introduced from above by instructing the truck lane to wait.

Next, the manager of the gate control room 8 asks the operator of the container loading / unloading device 6 and the control device 40 via the wireless devices 47 and 43 to the truck lane on which 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. The storage devices 40b and 44 are
The actual container positions in the container yard 1 are stored in b and 45b in advance. The storage file of the actual container position is created by data communication from the operator of the container loading / unloading apparatus 6 when the container 2 is loaded as described above.

Next, the operator of the container loading / unloading apparatus 6 heads for the designated container 2 mounting position and first enters the designated lane. The identifier 31 is read by the reading device 32 at the entrance of this lane. This identifier 3
The control device 40 determines whether or not the approach lane of the container handling device 6 detected based on the read signal of 1 and the loading lane of the container 2 designated for delivery stored in the storage device 40b match. The judgment result is displayed on the display device 42. If they do not match, it is considered that there was an erroneous recognition of the operator's approach lane or an erroneous instruction of the administrator, and the operator confirms the correct approach lane by wireless communication with the administrator and heads for the correct approach lane.

Next, when the container handling device 6 reaches the designated container position, the holding claw 2 of the spreader 14 is moved.
1 holds the container 2. When the sensor 60 detects the container 2 held by the container cargo handling device 6 when holding the container 2, the image pickup device 61 and the illumination device 63 image the identification code 62 in the same manner as described above, and the image processing device. The identification code 62 photographed by 65 is recognized, the 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 hold signal is input from the operating device 21a, the control device 40 causes the reading signal of the identifier 31, the traveling distance detection signal from the encoder 34, and the ascending / descending distance detection from any one 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 and the designated container position for delivery are the same, and the determination result is displayed on the display device 42. further,
Container identification code 62 and imaging device 61 designated for delivery
Compared with the container identification code 62 photographed by
It is judged whether or not they match with each other, and the judgment result is displayed on the display device 42 to perform a double check. If the actual container position does not match the container position designated for delivery, or if the container identification code 62 designated for delivery and the container identification code 62 captured do not match, the operator may misidentify or It is considered that there was an erroneous instruction from the administrator, and the operator confirms the correct delivery position and the container identification code 62 by wireless communication with the administrator, and proceeds to the correct delivery of the container 2.

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

When the container 2 carried out by the ship 5 is to be unloaded from the container yard 1, the operator of the container handling device 6 and the control device 40 from the main management room 46, the gantry crane 7 for loading the container 2 on the ship, and the unloading The identification code 62 of the container 2 to be used and the position in the container yard 1 are designated. After that, in the same way as when the container 2 carried out by the truck 4 is unloaded,
The container handling apparatus 6 leaves the container 2 from the container yard 1. Thereafter, the container 2 that has been unloaded at the designated cargo handling position of the gantry crane 7 is unloaded. The gantry crane 7 loads the unloaded container 2 onto the ship 5, and the ship 5 leaves the port when the loading is completed.

When the delivery of the container 2 to the truck 4 or the ship 5 is completed, the operator of the container loading / unloading device 6 is delivered to the control devices 44 and 45 of the management rooms 8 and 46 and the storage device 40b of the control device 40 is also provided. Data communication is performed between the container identification code 62 and the storage position stored in the storage device 44b, 45b.

When the upper container 2 is to be moved by the operator of the container loading / unloading device 6 in order to take out the lower container 2, the upper container 2 is held by the spreader 14 and moved to an appropriate position. When the sensor 60 detects the container 2 held by the container loading / unloading device 6 when holding the container 2, the image pickup device 61 and the lighting device 63 image the identification code 62 in the same manner as described above, and the image processing device. The identification code 62 photographed by 65 is recognized, and the identification code 62 is recognized.
Of 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 has 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.
It is calculated by the controller 40 based on the ascending / descending distance detection signal from any of the above. 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 loading / unloading device 6 performs data communication with the control devices 44 and 45 of the management rooms 8 and 46 of the identification code 62 and the position of the upper container 2 whose memory is updated. 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 construction, the sensor 60, the image pickup device 61, and the image processing device 65 can confirm the container identification code 62 without visual inspection, and prevent the visual identification of the container identification code 62. it can. Further, the position of the container 2 in the container yard 1 can be accurately detected in real time at a relatively low cost without manual labor. As a result, the efficiency of the cargo handling work of the container 2 is improved, and an error in the arrangement of the container 2 is prevented,
Inventory management of the container 2 in the container yard 1 can also be performed accurately.

The present invention is not limited to the above embodiment. For example, although the identification code attached to the end surface of the container 2 is photographed in the above-described embodiment, the identification code attached to another position may be photographed. Further, the procedure for loading and unloading the container 2 is only one example shown in the above embodiment, and is not limited to the above procedure. Further, although the container detection sensor 60, the image pickup device 61, and the lighting device 63 are attached to the spreader 14 in the above-described embodiment, their attachment positions are not particularly limited. For example, the containers 2 that are loaded or unloaded from the vessel 5 by the gantry crane 7 are generally not stacked one above the other at the loading / unloading location, so that the sensor 60 is attached to the vehicle body 10 as shown by the phantom line in FIG. The image pickup device 61 and the lighting device 63 may be attached to the mast 12. Further, by providing the sensor 60, the image pickup device 61, and the lighting device 63 on the entrance side of the truck lanes T ₁ , T _2, ... T _p in the container yard 1, in order to identify the container 2 on the truck 4 before entering the warehouse. Can also be used for track lanes T ₁ , T ₂
By providing it on the outlet side of T _p , it may be used to identify the container 2 on the truck 4 after it has been unloaded, and in short, it may be provided at a position where the container to be loaded / unloaded can be identified in the container yard. Alternatively, the gantry crane 7 may be provided to identify the containers 2 to be loaded and unloaded from the ship 5. Also, as a container handling device,
Using a transtainer, which is a cargo handling crane that moves in a container yard guided by rails, and an unmanned guided vehicle guided by an antenna wire embedded in the container yard, these container tenors and unmanned guided vehicles are used. Sensors, imaging devices and lighting devices may be attached.

[0041]

According to the present invention, it is possible to confirm the container identification code without visually observing it during the cargo handling work of the container, and it is possible to prevent erroneous visual recognition of the container identification code.

[Brief description of drawings]

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

FIG. 2 is an explanatory diagram of the configuration of the container lane according to the embodiment of this invention.

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

FIG. 4 is a front view for explaining the configuration of the container handling apparatus 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 with an identification code.

[Explanation of symbols]

 2 container 6 container loading / unloading device 40 control device 60 sensor 61 imaging device 62 container identification code 65 image processing device

Claims (2)

[Claims] 1. A sensor capable of detecting a container loaded in a container yard, an imaging device capable of imaging an identification code attached to the container, and an imaging instruction to the imaging device by inputting a detection signal of the container by the sensor. A container recognition system, comprising: a control device that outputs a signal; and an image processing device that can recognize a container identification code from an image signal sent from the imaging device. 2. A self-propelled container cargo handling device capable of holding a container, a sensor capable of detecting the container held by the cargo handling device, and an identification code attached to the container held by the cargo handling device. And an image processing apparatus capable of recognizing a container identification code from an image signal sent from the image pickup apparatus. A container recognition system characterized by being provided.