Method and apparatus for quay container crane-based automated optical container code recognition with positional identification

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application is a continuation-in-part of, U.S. patent application Ser. No. 10/120,032, filed Apr. 9, 2002, entitled: Method And Apparatus For Quay Container Crane-Based Automated Optical Container Code Recognition With Positional Identification, which claims the priority date of, PCT/US01/24458, filed Aug. 2, 2001, entitled: A Method and Apparatus for Locating Cargo Containers, Applicant: PACECO Corp., which claims priority to: U.S. patent application, Ser. No. 09/632,866, filed Aug. 4, 2000, now issued as U.S. Pat. No. 6,356,802, entitled: Method and Apparatus for Locating Cargo Containers; Assignee: PACECO Corp., Inventors: Takehara and Ng.

TECHNICAL FIELD

[0002] This invention relates to automated container code recognition on quay container cranes as used in loading and unloading cargo containers from ships.

BACKGROUND ART

[0003] In the marine shipping industry, the expected annual container traffic growth is from 4.7% to 7.6%. Container terminals are faced with the challenge of maintaining the inventory control for these escalating numbers of containers. The input, ouput and storage of containers at these terminals must provide an efficiency level that is at least consistent with, or exceeds, past performance.

[0004] Present and future growth levels have compelled terminal management companies to look for new systems to bring about more efficient resource control and as a consequence, provide a more profitable operation.

[0005] Shipping companies wish to reduce the time a ship spends at port in order to increase the productivity of each vessel. Increasing the productivity of berthing operations allows ships to be loaded and unloaded faster, effectively reducing the time spent at port.

[0006] What is needed by both terminal management and shipping companies is a more accurate, real time accounting of incoming, outgoing and existing container inventory. A more efficient container inventory management system is needed to minimize the time spent at a port or rail yard loading and unloading containers.

[0007]FIG. 1 illustrates a typical berthing process involving operations of quay container cranes <b>2200</b>, transports between quay container cranes <b>2200</b> and storage yards, and storage yard containers manipulated by transfer container cranes <b>2100</b>, as found in the prior art.

[0008] The berthing operations involve the transport of containers between container ships and the storage yard. Currently, quay container cranes <b>2200</b> access the containers from above ships <b>220</b> and move them to and from transportation units <b>210</b>, such as trucks, each with a chassis, or Automatically Guided Vehicles (AGV's). The vehicles deliver the containers to storage yards <b>200</b> where other vehicles transfer the containers to stacks. The berthing process involves three operations: (1) quay container crane <b>2200</b> handling, (2) quay container crane <b>2200</b> to storage area <b>200</b> transport, and (3) storage area <b>200</b> manipulation often by one or more transfer container cranes <b>2100</b> as illustrated in FIG. 1.

[0009] The quay container crane <b>2100</b> and transport vehicle <b>210</b> operations are highly interdependent. A delay in one operation causes the other to pause, reducing the overall productivity of the berthing process. If there are mistakes in these operations, then the overall berthing process is seriously delayed.

[0010] It is extremely important that ship unloading of containers be done correctly. If there are mistakes, a container may be lost for as much as a month. Even when found, the container may be further delayed because the ship, which has its own schedule, may already have left. This can render the cargo in a container worthless. For example, the container may hold seafood or other perishable products, which a delay of one or more months could render worthless.

[0011] What is needed is a method for reducing errors and supporting efficient operation of the berthing process.

[0012]FIGS. 2A and 2B illustrate typical container codes and their representation on the side of a container as found in the prior art.

[0013] Each cargo container <b>100</b> is assigned a unique identification number <b>110</b> displayed on the sides and roof of the container. This identification number is represented in the form of a painted code and ID tag. Numerous government agencies and ship regulators require container codes on all containers. As a result, the painted container code representations of numerals and letters are used universally and internationally, as shown in FIGS. 2A and 2B.

[0014] A magnetic tag is another prior art method assigning an dentification number to a container. However, magnetic tag method suffers from several problems. The magnetic tag method is not an international standard. Magnetic tags for containers are only installed by individual shipping line owners at their discretion. Not all container transporters support magnetic tags for their containers.

[0015] Additionally, a magnetic tag must pass in close proximity to a magnetometer in order for the magnetic tag to be read. The container passing the magnetometer can be outbound and inbound. Moreover, the magnetically tagged container can be moved anywhere. Magnetic tag reading provides no information about the container's physical location.

[0016] Another prior art alternative can identify containers from a distance. It is a technically more sophisticated and expensive system requiring a transponder tag attached to each container. The transponder tags can be programmed to show different kinds of information in the form of a coded signal when interrogated by a radio frequency transceiver. Such systems are expensive, delicate, and easily damaged.

[0017] Cargo containers are the individually property of the different shipping lines. When used by a non-owner shipping line, a container rental fee is paid to the owner. At the present time, the shipping companies only know the size of each container and whether it is dry or refrigerated.

[0018] A cargo container can become lost for several reasons. Inadvertently, a container is misplaced in a different location (yard address). Sometimes a container crane operator leaves a container at the wrong address, causing the container to be lost. A computer tracking the containers parked in a container terminal storage area will have an error in the container's tracking data. As a result, the lost container is effectively invisible to the existing container terminal management system (CTMS). While this is usually discovered evetually, the container is inevitably lost for a certain time.

[0019] A cargo container can become lost when the container ID number is incorrectly input into the CTMS. A cargo container can become lost when the container ID number is unreadable due to dirt, scratches, being covered, or the incorrect label on the container.

[0020] Any of these errors can result in disruptions of the inventory database. In addition, these errors become particularly serious when one attempts to place a second container into a supposedly vacant location only to find the location is already occupied, which further results in time consuming interruptions. What is needed is an efficient way to track all the containers and update an inventory database.

[0021] It can take a week in a major container storage yard to find a lost container. This can delay a ship's departure and/or the container's delivery to its destination. Either and/or both delays cost the shipping companies money.

[0022] Today, there is a large turnover of cargo containers in the seaports. This cargo turnover makes it necessary to regularly update the CTMS database. What is needed is an automated method of updating the CTMS database in real-time that will work efficiently even during the rush hours.

[0023] Today, a known disclosure teaching automatic reading of container ID tags on container cranes, is found in U.S. Pat. No. 6,356,802 entitled “Method and apparatus for location cargo containers”, by Takehara (one of the inventors of this application) and Ng. The '802 patent is assigned to the same assignee as this application, Paceco Corp. The '802 patent discloses “The system can be installed on cranes to identify containers at wharfside and on straddle carrier cranes for identifying containers in single or multiple stack container storage. The system can be installed on cranes to identify containers mounted on rail cars in rail terminals . . . ” (Lines 50-55, Column 4)

[0024] “The machine reader, its associated apparatus, and the LDU, are carried onboard a transporter such as a cart which runs on tracks or can be steerable. The cart can either be operator driven or remotely controlled. The apparatus could be mounted onboard the storage yard patrol truck. . . . The machine reader can be alternatively aimed by the transporter, remotely controlled, or handheld by an operator.” (lines 40-48, Column 6) Note that “LDU” is disclosed as “location determining unit” in line 1 of Column 6.

[0025] “ . . . the present invention contemplates wireless transmission of the data from the machine reader/transporter to the central terminal where the CTMS is located for real time data updating. This can be accomplished by a wireless modem, or a communication unit, which transmits the container's ID number and its current location back to the stationary central computer which hosts the CTMS program and also contains the inventory database.” (line 65 Column 6-line 6 Column 7) CTMS refers to container terminal management system (line 12 Column 3).

[0026] “The identification means is scanned from a distance by a machine such as an optical character recognition (OCR) unit to interrogate the ID tag and identify the container. It is an important characteristic of the invention that an operator of the system is able to remotely interrogate an ID tag of a cargo container . . . without the necessity of physically approaching and contacting the container or even coming in close proximity thereto.” (lines 3-10 Column 5)

[0027] While of value, the '802 patent fails to disclose or teach at least the following:

[0028] 1. The monitoring in real-time of the berthing process, particularly the loading and unloading of containers from a ship. There are advantages to automatic monitoring of the exact sequence of cargo containers being loaded and unloaded from a ship. Knowing the exact sequence can reveal, and/or fix, ship loading errors, which can be quite costly.

[0029] 2. Real-world optical character recognition systems occasionally make mistakes or are unable to recognize the characters, often requiring reliability estimates of the recognized container ID.

[0030] 3. There is a practical requirement for an automatic container code reading machine to send a version of the image(s) captured by its video imaging device(s) to a remote operator. This again stems from the real-world limitations of optical character recognition systems at recognizing the characters.

[0031] 4. There is a practical requirement for the machine to minimize bandwidth in sending the video image(s) across at least a wireless physical transport layer.

[0032] 5. There are significant advantages in many real-world situations for the machine to have multiple video imaging devices placed apart from at least each other, rigidly affixed to the container crane. Such advantages include the ability to withstand the severe mechanical vibrations container cranes experience, while providing container code observations from various locations about and around the container crane, which include providing the length of the cargo container.

[0033] 6. There are further advantages to positioning multiple, independently controlled lighting systems to improve the imaging quality of the multiple video imaging devices.

[0034] 7. There are advantages to monitoring cargo container operations by a container crane either through sensing the control system of the container crane, or through the use of sensors external to the container crane's control system.

[0035] To summarize, what is needed by both terminal management and shipping companies is a more accurate, real time accounting of incoming, outgoing and existing container inventory as the container cranes act upon and around the containers. What is needed is a method of reducing errors and supporting efficient operation in the berthing process through the automated monitoring of cargo container loading and unloading.

[0036] What is needed is an automatic container code reading machine sending a version of the image(s) captured by its video imaging device(s) to the remote operator. The bandwidth needs to be minimized in sending video image(s) across at least a wireless physical transport layer. The machine needs, in many real-world situations, to include multiple video imaging devices placed apart from each other and rigidly affixed to the container crane. Multiple, independently controlled lighting systems may further be needed, positioned to improve the imaging quality of the multiple video imaging devices.

[0037] Note that the problems discussed herein also relate to rail yard container inventories as well.

SUMMARY OF THE INVENTION

[0038] The invention solves at least all the problems discussed above regarding the prior art.

[0039] The invention provides a method and system supporting container code recognition from a quay container crane <b>2200</b> communicating with a container inventory management system. An optical characteristic recognition system preferably tracks container movement from ship to shore and vice versa.

[0040] The invention can read the standard universal identification (ID) tags internationally used on containers. Container ID tags will be referred to hereafter as container codes. Container inventory management systems incorporating this invention can be integrated into existing container terminal management systems (CTMS). Since each cargo container carries a standard container code, the invention can be utilized for tracking of all containers with respect to their history, damage, current location, and use.

[0041] The invention supports operators remotely interrogating a container code without the need to physically approach the container. The optical characteristic system further provides at least one video image, which is compressed and may be sent via a wireless physical transport to the container inventory management system. The video image compression effectively minimizes the bandwidth required to send video images.

[0042] The invention preferably includes multiple video imaging devices preferably, mechanically coupled at distinct locations about the Quay container crane <b>2200</b>. The invention further preferably includes multiple, independently controlled lighting sources. At least two of the multiple lighting sources are further mechanically coupled apart from each other on Quay container crane <b>2200</b> to provide length estimates of a cargo container.

[0043] The invention reduces container inventory errors, supports accurate shipping container plans, and increases the overall terminal efficiency.

[0044] Optical characteristic recognition systems are sometimes referred to as container code readers. Optical characteristic recognition systems may further interrogate the contents of a container.

[0045] These and other advantages of the invention will become apparent upon reading the following detailed descriptions and studying the various figures of the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0046]FIG. 1 illustrates a typical berthing process involving quay container cranes <b>2200</b>, transports between quay container cranes <b>2200</b> and storage yards, and storage yard containers manipulated by transfer container cranes <b>2100</b>, as found in the prior art;

[0047]FIGS. 2A and 2B illustrate typical container codes and their representation on the side of a container as found in the prior art;

[0048]FIG. 3 illustrates a marine shipping yard <b>20</b> in accord with the invention;

[0049]FIG. 4A illustrates a simplified block diagram of the container inventory management system <b>1000</b> of FIG. 3 using the optical characteristic recognition systems;

[0050]FIG. 4B illustrates a system block diagram of the means for operating <b>3300</b> optical characteristic system <b>3000</b> implementing the inventive method for automated optical container code recognition with positional identification from a quay container crane <b>2200</b> of FIGS. 3 and 4A;

[0051]FIG. 5 illustrates a simplified block diagram of an optical characteristic system <b>3000</b> providing container code recognition from a quay container crane <b>2200</b> of a container <b>100</b> identified by a container code <b>110</b> to container inventory management system <b>1000</b>;

[0052]FIG. 6A illustrates a method of operating optical characteristic system <b>3000</b> of FIG. 5 as program system <b>3300</b> of FIG. 5;

[0053]FIG. 6B illustrates certain embodiments of the optical characteristic <b>3250</b> from FIG. 5 of the container code <b>110</b> of FIGS. <b>2</b>A-B and <b>5</b>.

[0054]FIG. 6C illustrates positional identification <b>3260</b> of FIG. 5 for container <b>100</b>.

[0055]FIG. 7 illustrates a detail flowchart of operation <b>3332</b> of FIG. 6A for generating the optical characteristic of the container code;

[0056]FIG. 8A illustrates a detail flowchart of operation <b>3342</b> of FIG. 6A for generating the positional identification of the container;

[0057]FIG. 8B illustrates a detail flowchart of operation <b>3462</b> of FIG. 8A for generating the storage-location designation;

[0058]FIG. 8C illustrates a detail flowchart of operation <b>3472</b> of FIG. 8A for generating the terminal location for the quay container crane <b>2200</b>;

[0059]FIG. 9A illustrates a detail flowchart of operation <b>3362</b> of FIG. 7 for acquiring the container code image;

[0060]FIG. 9B illustrates a detail flowchart of program system <b>3300</b> of FIG. 5 implementing the method of operating the optical characteristic recognition system;

[0061]FIG. 9C illustrates a detail flowchart of operation <b>3392</b> of FIG. 7 for processing the first container code image;

[0062]FIG. 10 illustrates a detail flowchart of operation <b>3352</b> of FIG. 6A for sending the optical characteristic and the positional identification;

[0063] FIGS. <b>11</b>A-<b>11</b>C illustrate various detail flowcharts of operation <b>3452</b> of FIG. 8A for generating the loading-operation;

[0064]FIG. 12 illustrates a preferred optical characteristic recognition system <b>3000</b> with video imaging devices mechanically coupled to Quay container crane <b>2200</b> as found in FIGS. 3 and 4A;

[0065]FIG. 13 illustrates a preferred embodiment of at least part of the mechanical housing of an optical characteristic recoginition system; and

[0066]FIG. 14 illustrates a simplified block diagram of a preferred optical recognition system <b>3000</b>.

DETAILED DESCRIPTION OF THE INVENTION

[0067] The invention provides a method and system supporting container code recognition of a container, from a quay container crane <b>2200</b> as shown in FIG. 1, to manage at least a container inventory. The invention automatically and efficiently tracks the location of the container in loading and unloading ships, automatically updating at least the container inventory database.

[0068] The invention supports remotely interrogating a container for identification. And automatic monitoring of the berthing process, by real-time monitoring of the loading and unloading of containers from ship <b>220</b> shown in FIG. 1.

[0069]FIG. 3 illustrates a marine shipping yard <b>20</b> in accord with the invention.

[0070] System <b>1000</b> uses container code recognition, from quay container crane <b>2200</b> shown in FIG. 1, of a container <b>100</b>, identified by a container code <b>110</b> as shown in FIGS. 2A and 2B, to manage at least a container inventory. The invention automatically and efficiently tracks the loading and unloading of the container from ship <b>220</b>, automatically updating at least a container inventory database.

[0071] As used herein, a container crane is at least one of the following: a quay side container crane <b>2200</b>, a transfer container crane <b>2100</b>, as well as rubber tire gantry container cranes and rail gantry container cranes. Quay container cranes <b>2200</b> are illustrated in FIGS. 1, 3, <b>4</b>A to <b>5</b>, and <b>12</b>. Transfer container cranes <b>2100</b> are illustrated in FIGS. 1, 3, and <b>4</b>A. It should be noted that transfer container cranes <b>2100</b> are predominantly rubber tire gantry container cranes, while quay container cranes <b>2200</b> are predominantly rail gantry container cranes.

[0072]FIG. 4A illustrates a simplified block diagram of the container inventory management system <b>1000</b> of FIG. 3 using the optical characteristic recognition systems.

[0073] The method of operating system <b>1000</b> will be discussed in terms of computer <b>1010</b>, controlled by a program system <b>1200</b>, including program steps residing in a memory <b>1020</b> accessibly coupled <b>1022</b> to computer <b>1010</b>.

[0074] The system <b>1000</b> further includes computer <b>1010</b> communicatively coupled <b>1002</b> to optical characteristic system <b>3000</b>, which is mechanically coupled to transfer container crane <b>2100</b>.

[0075] Computer <b>1010</b> is also communicatively coupled to optical characteristic system <b>3000</b>, mechanically coupled to quay container crane <b>2200</b>. The communicative coupling of computer <b>1010</b> and optical characteristic system <b>3000</b> may be at least partially provided by network <b>1004</b> through network interface <b>1030</b>, which in turn communicates <b>1032</b> with computer <b>1010</b>.

[0076] Note that in many embodiments of the invention, the communicative coupling of various optical characteristic systems <b>3000</b> may employ a uniform coupling mechanism, which in many circumstances may preferably be a network.

[0077] Network <b>1004</b> may employ at least one member of a physical transport collection in communicating with an optical characteristic system <b>3000</b> in quay container crane <b>2200</b>. The physical transport collection includes at least one wireline physical transport layer and preferably at least one wireless physical transport layer.

[0078] Computer <b>1010</b> is communicatively coupled <b>1102</b> with database <b>1100</b>. Note that database <b>1100</b> may be included in at least one member of a container inventory management collection comprising a marine shipping inventory management system and a rail yard inventory management system.

[0079] Note that the system includes received optical characteristic <b>1100</b> and received positional identification <b>1150</b>. In certain systems, it is preferred that both received optical characteristic <b>1100</b> and received positional identification <b>1150</b> reside in memory <b>1020</b>. However, the system may include one or both of <b>1100</b> and <b>1150</b> residing somewhere other than memory <b>1020</b>, including but not limited to them residing in network interface <b>1030</b>.

[0080] Program system <b>1200</b> of FIG. 4A manages at least a container inventory using container code recognition of a container identified by a container code. The is container code recognition is performed on the container crane, which may be either a transfer container crane <b>2100</b> or a quay container crane <b>2200</b> as seen in FIG. 3.

[0081] The container inventory management includes the following: Receiving an optical characteristic of the container code and a positional identification of the container to create a received optical characteristic <b>1100</b> and a received positional identification <b>1150</b>. Updating a database with the received container code optical characteristic and the received container positional identification.

[0082] As used herein, a computer will be considered to include at least one of the following: an instruction processor, an inferential processor, a finite state machine, and a memory.

[0083] An instruction processor will include at least one of the following. A Single Instruction Single Datapath (SISD) processor, a Single Instruction Multiple Datapath (SIMD) processor, a Multiple Instruction Single Datapath (MISD) processor, a Multiple Instruction Multiple Datapath (MIMD) processor, a Complex Instruction Set Computer (CISC), a Reduced Instruction Set Computer (RISC) and a Very Long Instruction Word (VLIW) computer.

[0084] An inferential processor will include at least one of the following: a rule-based inferential processor, a constraint-based inferential processor, and a fuzzy logic engine.

[0085] A finite state machine will include at least one of the following: at least part of a programmable logic device, at least part of an application specific integrated circuit. A programmable logic device will refer to at least one member of the following: a Field Programmable Gate Array(FPGA), a Programmable Logic Device (PLD), a Complex Programmable Logic Device (CPLD).

[0086] As used herein, memory <b>1020</b> includes at least one instance of a volatile memory and/or at least one instance of a non-volatile memory. Non-volatile memory includes at least one of the following: a writeable non-volatile memory and a Read Only Memory (ROM). Writeable non-volatile memory includes at least one member of the following: an electro-magnetically interfaced non-volatile memory and an optically interfaced non-volatile memory.

[0087] Please refer to FIG. 6B for a discussion of the optical characteristic of the container code.

[0088] Receiving the optical characteristic and the positional identification of the container may include the following. Determining a reliability measure of the estimated container code. Examining the container code image to create a second estimated container code, whenever the reliability measure indicates doubt.

[0089] Examining the container code image may include at least one of the following. Requesting a modified version of the container code image to create a modified container code image request. Receiving a modified container code image based upon the modified container code image request.

[0090] Also note that the modified container code request may include at least one of the following: a zoom-in request; a zoom-out request; a tilt request; a filter request. The filter request may includes at least one of the following: an apply first filter request, an apply second filter request; and an align the first filter to the second filter request.

[0091] The positional identification of the container as illustrated in FIG. 6C may include at least one of the following: a loading-operation designation for the container, a storage-location designation for the container, and a terminal location for the container crane.

[0092] Note that the invention includes embodiments wherein at least one of the storage-location designation and the loading-operation designation for the container, is derived at least in part from the terminal location for the container crane.

[0093] Receiving the optical characteristic and the positional identification may include the following. Receiving a packet from a network to create a received packet. Processing the packet to create at least part of the optical characteristic. Processing the packet to create at least part of the positional identification.

[0094] The method and system may further include generating a shipping container plan for a ship <b>220</b> shown in FIG. 3 loaded by the quay container crane <b>2200</b> based upon the database <b>1100</b>.

[0095] Note that the container inventory management <b>1000</b> is not limited to the following discussion, but is included to illustrate only a preferred use of container crane optical characteristic recognition systems <b>3000</b> shown in FIG. 4B, coupled to transfer container cranes <b>2100</b> and quay container cranes <b>2200</b>, as shown in FIG. 4A.

[0096]FIG. 4B illustrates a system block diagram of the means for operating <b>3300</b> optical characteristic system <b>3000</b> implementing the inventive method for automated optical container code recognition with positional identification from a quay container crane <b>2200</b> of FIGS. 3 and 4A.

[0097] Optical characteristic system <b>3000</b> includes at least two video imaging devices <b>3100</b> and <b>3110</b>, each communicatively coupled <b>3104</b> and <b>3114</b>, respectively, to means <b>3332</b> for generating optical characteristic <b>3250</b> of container code based upon at least two video imaging devices <b>3100</b> and <b>3110</b>. Video imaging devices <b>3100</b> and <b>3110</b> are mechanically coupled <b>3102</b> and <b>3112</b>, respectively, to quay container crane <b>2200</b>.

[0098] Note that optical characteristic recognition system <b>3000</b> may also be mechanically coupled <b>3002</b> to quay container crane <b>2200</b>. Mechanical coupling <b>3002</b> may preferably include a mechanical shock absorber to improve the reliability of optical characteristic recognition system <b>3000</b>.

[0099] Note that as used herein, a video imaging device such as <b>3100</b> belongs to a collection including at least a video camera, a digital video camera, and a charged coupled array. A video imaging device <b>3100</b> may further include any of the following: a computer, a digital memory, an image processor and a flash lighting system.

[0100] Means <b>3342</b> for generating position identification <b>3260</b> of the container may include any of the following: Coupling to PLC unit <b>2010</b> on quay crane <b>2200</b>, coupling to quay crane relay controls <b>2020</b>, and container sensors <b>3270</b>. Container sensors <b>3270</b> may preferably include sensors to ultrasonic transponders. Coupling to PLC unit <b>2010</b> may include one or more indications of container locking, often known as twist locking signals.

[0101] Means <b>3342</b> may include coupling <b>3232</b> to a GPS receiver <b>3230</b>.

[0102] Means <b>3352</b> for sending optical characteristic <b>3250</b> and positional identification <b>3260</b> to container inventory management system <b>1000</b> is communicatively coupled <b>1002</b> to container inventory management system <b>1000</b>.

[0103] Note that as used herein GPS includes any form of global positioning, including but not limited to, DGPS, (Differential Global Positioning System). Today, DGPS is the preferred global positioning form for the invention, but the invention can use any form of global positioning.

[0104]FIG. 5 illustrates a simplified block diagram of a preferred optical characteristic system <b>3000</b> providing container code recognition from a quay container crane <b>2200</b> of a container <b>100</b>, identified by a container code <b>110</b>, to container inventory management system <b>1000</b>, refining FIG. 4B.

[0105] Optical characteristic system <b>3000</b> includes at least one, and in FIG. 5, two video imaging devices <b>3100</b> and <b>3110</b>, each communicatively coupled <b>3104</b> and <b>3114</b>, respectively, to computer <b>3200</b>. Video imaging devices <b>3100</b> and <b>3110</b> are mechanically coupled <b>3102</b> and <b>3112</b>, respectively, to container crane <b>2000</b>.

[0106] Note that optical characteristic recognition system <b>3000</b> is mechanically coupled <b>3002</b> to quay container crane <b>2200</b>. Mechanical coupling <b>3002</b> preferably includes a mechanical shock absorber to improve the reliability of optical characteristic recognition system <b>3000</b>.

[0107] Computer <b>3200</b> accesses memory <b>3210</b>, which includes program steps of program system <b>3300</b>, which implement the method of operating <b>3300</b> the optical characteristic system <b>3000</b>. The method will be further documented in the discussion of FIGS. 6A through 11C.

[0108] The invention may incorporate a number of location determination mechanisms including GPS receiver <b>3230</b> communicatively coupled <b>3232</b> with computer <b>3200</b> as shown in FIG. 5. Note that GPS receiver <b>3230</b> may be further mechanically coupled <b>3234</b> with quay container crane <b>2200</b> as shown in FIG. 5.

[0109] The invention is preferably communicatively coupled <b>1002</b> with container inventory management system <b>1000</b>. The invention may further preferably include a network interface <b>3220</b> with network <b>1004</b> providing a coupling from computer <b>3200</b> via <b>3222</b>-<b>3220</b>-<b>1004</b> with container inventory management system <b>1000</b>.

[0110] Network <b>1004</b> employs at least one member of a physical transport collection in communicating from the container crane <b>2000</b> to container inventory management system <b>1000</b>. The physical transport collection includes at least one wireline physical transport layer and preferably at least one wireless physical transport layer.

[0111] Network <b>1004</b> preferably employs a packet based communications protocol, which may further preferably provide compatibility to the IEEE 802.11(b) communications standard.

[0112]FIG. 6A illustrates a method of operating optical characteristic system <b>3000</b> of FIG. 5 as program system <b>3300</b> of FIG. 5.

[0113] Operation <b>3332</b> performs generating an optical characteristic <b>3250</b> of container code <b>110</b> based upon at least one of video Imaging devices <b>3100</b> and <b>3110</b> shown in FIG. 5. Optical characteristics <b>3250</b> will be further discussed in FIG. 6B.

[0114] Operation <b>3342</b> performs generating a positional identification <b>3260</b> of container <b>100</b>. Positional identification <b>3260</b> is further discussed in FIG. 6C.

[0115] Operation <b>3352</b> performs sending optical characteristic <b>3250</b> of container code <b>110</b> and positional identification <b>3260</b> of container <b>100</b> to container inventory management system <b>1000</b> as shown in FIGS. 4B and 5.

[0116]FIG. 6B illustrates certain embodiments of the optical characteristic <b>3250</b> from FIG. 5 of the container code <b>110</b> of FIGS. <b>2</b>A-B and <b>5</b>.

[0117] The optical characteristic <b>3250</b> of the container code <b>110</b> includes at least one member of the following: at least one container code image <b>4010</b> of a container representation <b>2620</b> of the container code <b>110</b> imaged from the container crane <b>2000</b>. The optical characteristic <b>3250</b> may also include an estimated container code <b>4020</b> based upon an optical character recognition process applied to the container code image <b>4010</b>. Additionally, optical characteristic <b>3250</b> may include a first container code image <b>4030</b>, which may be further processed and/or modified to create container code image <b>4010</b>.

[0118]FIG. 6C illustrates positional identification <b>3260</b> of FIG. 5 for container <b>100</b>.

[0119] Positional identification <b>3260</b> may further include at least one of the following: a loading operation designation <b>4110</b> for container <b>100</b>, a storage-location designation <b>4120</b> for container <b>100</b> and a terminal location <b>4130</b> for quay container crane <b>2200</b>.

[0120] Note that the invention may include one or more of the operations of FIG. 7.

[0121]FIG. 7 illustrates a detail flowchart of operation <b>3332</b> of FIG. 6A for generating the optical characteristic of the container code.

[0122] Operation <b>3362</b> performs acquiring at least one container code image of a container representation of the container code imaged from the video imaging device.

[0123] Operation <b>3372</b> performs applying an optical character recognition process to the container code image to create an estimated container code.

[0124] Operation <b>3382</b> performs acquiring a first container code image from the video imaging device of the container representation of the container code.

[0125] Operation <b>3392</b> performs processing the first container code image to create the container code image.

[0126] Operation <b>3402</b> performs compressing the first container code image to create the container code image.

[0127] The invention may also include one or more of the operations of FIG. 8A.

[0128]FIG. 8A illustrates a detail flowchart of operation <b>3342</b> of FIG. 6A for generating the positional identification of the container.

[0129] Operation <b>3452</b> performs generating a loading-operation designation for the container.

[0130] Operation <b>3462</b> performs generating a storage-location designation for the container.

[0131] Operation <b>3472</b> performs generating a terminal location for the quay container crane <b>2200</b> shown in FIG. 5.

[0132]FIG. 8B illustrates a detail flowchart of operation <b>3462</b> of FIG. 8A for generating the storage-location designation.

[0133] Operation <b>3492</b> performs deriving the storage-location designation for the container at least in part from the terminal location for the quay container crane <b>2200</b> shown in FIG. 5.

[0134]FIG. 8C illustrates a detail flowchart of operation <b>3472</b> of FIG. 8A for generating the terminal location for the quay container crane <b>2200</b> shown in FIG. 5.

[0135] Operation <b>3512</b> performs receiving a location reading from a Global Positioning System (GPS) receiver <b>3230</b> to create at least in part the terminal location for the quay container crane <b>2200</b> shown in FIG. 5.

[0136] The invention may include at least one of the operations of FIG. 9A.

[0137]FIG. 9A illustrates a detail flowchart of operation <b>3362</b> of FIG. 7 for acquiring the container code image.

[0138] Operation <b>3532</b> performs selecting a first of at least two of the video imaging devices mechanically coupled to the quay container crane <b>2200</b> shown in FIG. 5.

[0139] Operation <b>3542</b> performs acquiring the container code image from the first video imaging device of the container representation of the container code <b>110</b> shown in FIG. 5.

[0140]FIG. 9B illustrates a detail flowchart of program system <b>3300</b> of FIG. 5 implementing the method of operating the optical characteristic recognition system.

[0141] Operation <b>3552</b> performs receiving a modified container code image request.

[0142]FIG. 9C illustrates a detail flowchart of operation <b>3392</b> of FIG. 7 for processing the first container code image.

[0143] Operation <b>3572</b> performs processing the first container code image based upon the modified container code image request to create the container code image.

[0144] The invention may include at least one of the operations of FIG. 10.

[0145]FIG. 10 illustrates a detail flowchart of operation <b>3352</b> of FIG. 6A for sending the optical characteristic <b>3250</b> and the positional identification <b>3260</b> shown in FIGS. 5, 6B and <b>6</b>C.

[0146] Operation <b>3592</b> performs sending a packet across a network <b>1004</b> to the container inventory management system <b>1000</b> as shown in FIGS. 4A and 5.

[0147] Operation <b>3602</b> performs writing the optical characteristic <b>3250</b> of the container code <b>110</b> and the positional identification <b>3260</b> of the container <b>100</b> to <b>3242</b> a removable non-volatile memory <b>3240</b> as shown <b>5</b>.

[0148] Operation <b>3612</b> performs creating the packet from at least part of at least one sending-data collection member.

[0149] Operation <b>3622</b> performs writing at least one sending-data collection member to a file contained in the removable non-volatile memory <b>3240</b> shown in FIG. 5.

[0150] Operation <b>3632</b> performs writing at least one sending-data collection member to a record contained in the removable non-volatile memory <b>3240</b> shown in FIG. 5.

[0151] Note that the sending-data collection includes the optical characteristic <b>3250</b> of the container code <b>110</b> and the positional identification <b>3260</b> of the container <b>100</b> as shown in FIG. 5.

[0152] The invention may include one of the operations of FIG. 11A.

[0153]FIG. 11A illustrates a detail flowchart of operation <b>3452</b> of FIG. 8A for generating the loading-operation.

[0154] Operation <b>3652</b> performs receiving a locking indication from a programmable logic controller <b>2010</b> within the quay container crane <b>2200</b> as shown in FIG. 4B.

[0155] Operation <b>3662</b> performs determining the locking indication from a relay network <b>2020</b> within the quay container crane <b>2200</b> as shown in FIG. 4B.

[0156] The invention may include one of the operations of FIG. 11B.

[0157]FIG. 11B illustrates a detail flowchart of operation <b>3452</b> of FIG. 8A for generating the loading-operation.

[0158] Operation <b>3672</b> performs determining a container hoist-trolley position based upon sensing a coded hoist shaft in the quay container crane <b>2200</b>.

[0159] Operation <b>3682</b> performs determining the container hoist-trolley position based upon sensing ultrasonic transponder <b>3270</b> as shown in FIG. 4B.

[0160] The coded hoist shaft preferably uses a gray code but the invention may use any coded hoist shaft.

[0161] Note that a hoist-trolley position as used herein will refer to a hoist position and/or a trolley position.

[0162]FIG. 11C illustrates a detail flowchart of operation <b>3452</b> of FIG. 8A for generating the loading-operation.

[0163] Operation <b>3692</b> performs generating the loading-operation designation based upon at least one member of the collection comprising the locking signal indication and the container hoist position.

[0164]FIG. 12 illustrates a preferred optical characteristic recognition system with video imaging devices mechanically coupled to Quay container crane <b>2200</b> as found in FIGS. <b>3</b> to <b>5</b>.

[0165] The optical characteristic recognition system <b>3000</b> tracks the containers as they are transferred to and from shore and ship <b>220</b> as shown in FIG. 1. Each container's unique ID code is optically read as it passes through the container crane's seaside legs, shown in FIG. 12.

[0166] The container code information is preferably processed by computer <b>3200</b> shown in FIG. 5 installed on quay container crane <b>2200</b>. The updated container status is sent to a container inventory management system <b>1000</b> shown in FIG. 3 to <b>5</b>, often located at a central office for the container facility. The computer <b>3200</b> will interface with the container inventory management system <b>1000</b> identifying whether the container <b>100</b> is being added or substracted from the terminal's inventory listing.

[0167] Each time quay container crane <b>2200</b> shown in FIGS. <b>3</b> to <b>5</b> picks up a container <b>100</b> from a chassis or deposits a container onto a chassis, the container code <b>110</b> will preferably be read. The container identification is preferably received by computer <b>3200</b> shown in FIG. 5.

[0168] When the container reaches its final location, this information is then sent to the container inventory management system <b>1000</b> as shown in FIGS. 4A to <b>5</b>, which updates the master inventory and location listing database <b>1100</b> shown in FIG. 4A.

[0169] All container movements are preferably tracked and updated in real time giving terminal management essentially immediate knowledge of all containers at all times.

[0170] The container code <b>110</b> is preferably read as containers <b>100</b> are placed on or removed from a chassis. The container code <b>110</b> is identified by the optical characteristic recognition system <b>3000</b> shown in FIGS. 4B and 5.

[0171]FIG. 13 illustrates a preferred embodiment of at least part of the mechanical housing of an optical characteristic recoginition system <b>3000</b> of FIGS. <b>3</b> to <b>5</b>.

[0172] The mechanical housing of the optical characteristic recognition system includes at least one video imaging device, as well as preferably including flash lighting, the triggering and systems as illustrated in the block diagram of FIG. 5. As to the triggering system, it may include a laser photo and/or a infra-red photo sensor.

[0173] Other circuitry coupled with a container crane may provide additional storage location information and/or additional information regarding the container contents used by computer <b>3200</b> shown in FIG. 5.

[0174]FIG. 14 illustrates a simplified block diagram of a preferred optical recognition system <b>3000</b> as shown in FIGS. 4B and 5.

[0175] Note that container storage areas can be individually separated and not necessarily identified as repository locations located upon a predefined grid, as is often the case in container stacking areas.

[0176] The optical characteristic recognition system <b>3000</b> can be installed on quay container cranes <b>2200</b> to identify containers at wharfside, and on transfer carrier container cranes <b>2100</b>, to identify containers in single or multiple stack container storage.

[0177] Note that FIGS. 12 and 13 illustrate at least two and sometimes several video imaging devices (<b>3100</b>-<b>3170</b>) may be preferred in various applications of the inventive optical characteristic systems <b>3000</b> as shown in FIGS. 4B and 5.

[0178] Each video imaging device preferably has automatic focus control accommodating both the ambient light conditions and the target located at a distance.

[0179] Preferably, illumination for video imaging is provided by a flash light system. Generally, it includes strobe action to catch the image during daytime and at night in the absence of light. The trigger of the video imaging device is preferably based on at least the loading/unloading conditions on the container crane.

[0180] The loading/unloading conditions on the container crane can preferably be obtained from the Programmable Logic Controller (PLC) <b>2010</b> on quay container crane <b>2200</b> or from sensors <b>3270</b> shown in FIG. 4A checking whether there is a container to be loaded/unloaded. The sensors <b>3270</b> can be laser, infrared, or ultrasonic sensors. Today, laser sensors are more reliable and accurate, but, more expensive than the infrared, currently making infrared sensors preferable on a cost basis and laser sensors more preferable on a reliability and accuracy basis.

[0181] The video imaging device may preferably include both an optical character recognition process and an image processing unit to convert the container code images into a standard format. The standard format is preferably compatible with some version of JPEG.

[0182] Storage location for a container is provided by the invention to identify the container's repository address. A DGPS unit <b>3230</b> shown in FIGS. 4B, 5 and <b>14</b> preferably determines the Z axis location of a transfer container crane. Signals of a PLC coupled with the transfer container crane can determine the X and Y axes. This determines the overall position of the container.

[0183] The DGPS unit <b>3230</b> as shown in FIGS. 4B, 5 and <b>14</b>, is preferably used in applications with transfer container cranes <b>2100</b> as shown in FIGS. 3 and 4A, due to the importance of their location. However, quay container cranes <b>2200</b> shown in FIGS. 4A to <b>5</b>, do not have the same crane location accuracy requirements, making the use of DGPS receivers <b>3230</b> less preferable.

[0184] In some cases, the address identifier for the repository locations in the container terminal storage areas are not adequately marked by optical character reading, radioactivity identification, or electronic/magnetic detection.

[0185] In some cases, a less sophisticated version of the invention is preferred, where the container location is operator input through a hand-held keypad.

[0186] The optical characteristic recognition system <b>3000</b> is preferably mounted on a movable container crane and able to operate in all types of weather.

[0187] The optical characteristic system <b>3000</b> may be automatically aimed by the container crane, remotely controlled, and/or hand-held by an operator to interrogate the address for the cargo containers.

[0188] The container code <b>100</b> as optical characteristic <b>3250</b> and positional identification <b>3260</b> are sent to the container inventory management system <b>1000</b> as shown in Figures to verify whether the container is deposited at the proper address.

[0189] The information may be sent by floppy disk. The data/information is downloaded onto a transportable data storage unit such as a floppy disk, and hand carried to the container inventory management computer system.

[0190] As shown in FIG. 5, the container crane's optical characteristic system <b>3000</b> generates information to send to the container inventory management system <b>1000</b>.

[0191] At least the quay container crane <b>2200</b> coupled PLC <b>2010</b> shown in FIGS. 4B and 14, and possibly GPS unit <b>3230</b>, are preferably used to generate the positional identification. Both signals are sent to computer <b>3200</b> as shown in FIG. 14.

[0192] Computer <b>3200</b> as shown in FIG. 14 may also be coupled with a serial communication board to interpret the signals sent to it. Computer <b>3200</b> may also be coupled with a digital signal circuit interacting with any or all of the following: switches, buzzers, and lights.

[0193] Computer <b>3200</b> preferably functions as a traffic controller, which manages the transmission of the data through the network interface or wireless modem <b>3220</b> shown in FIGS. 5 and 12, which converts and transmits the signals to the container inventory management system <b>1000</b> as shown in FIGS. <b>3</b> to <b>5</b>.

[0194] Computer <b>3200</b> preferably determines which signals are to be sent and in which order. The serial communication board preferably receives signals from the outside units such as video imaging devices <b>3100</b> and <b>3110</b> as shown in FIGS. 4B and 5, as well as GPS receiver <b>3230</b> shown in FIGS. 4B, 5 and <b>14</b>.

[0195] Computer <b>3200</b> translates them into a form that computer <b>1010</b> shown in FIG. 4A can process. The removable nonvolatile memory <b>3240</b> preferably stores the optical characteristic <b>3250</b> shown in FIGS. 4B, 5, and <b>6</b>B, and positional identification <b>3260</b> shown in FIGS. 4B, 5, and <b>6</b>C. Note that removable non-volatile media includes, but is not limited to, floppy disks, zip disks, and optical disks.

[0196] Assume a container crane operator directs the optical characteristic system <b>3000</b>. The operator can be provided with a hand-held computer input or keypad, allowing the input of data. The operator inputs the data when he locates a target container as well as changes to other data in the container inventory management system.

[0197] The light and buzzers preferably allow the container inventory management system <b>1000</b> shown in FIGS. <b>3</b> to <b>5</b> send messages to the container crane operator as well as allow the quay container crane <b>2200</b> equipment to communicate with the human operator.

[0198] For example, the lights and buzzers may preferably indicate a malfunction in the optical characteristic system <b>3000</b> and/or the location determination and/or completion of an operation such as informing the operator that a target container has been found.

[0199] Network interface <b>1030</b> may preferably include a stationary wireless modem unit connected <b>1032</b> to computer <b>1010</b> as shown in FIG. 4A. It allows the container crane's optical characteristic system <b>3000</b> and computer <b>1010</b> to exchange information. The modem <b>1030</b> receives the data transmitted by optical characteristic system <b>3000</b> and program system <b>1200</b> receives the new data and updates via <b>1102</b> database <b>1100</b> as shown in FIG. 4A.

[0200] Note that the coupling <b>1102</b> shown in FIG. 4A is often preferably a Local Area Network (LAN). Note that each container inventory management system <b>1000</b> may employ different LANs <b>1102</b>. Computer <b>1010</b> translates the received container code and positional identification into the reigning language of LAN <b>1102</b>. Note that multiple workstation computers may further be connected to LAN <b>1102</b>.

[0201] The invention also includes methods identifying container code and determining container locations in at least terminal storage areas. The steps can be described as follows:

[0202] (1) Provide an optical characteristic recognition system <b>3000</b> on a quay container crane <b>2200</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> to interrogate the representations <b>2620</b> shown in FIG. 5 of the container code <b>110</b> of a cargo container <b>100</b>;

[0203] (2) Aim the optical characteristic recognition system <b>3000</b> at the container code representation <b>2620</b> shown in FIG. 5, generate at least one optical characteristic <b>3250</b> for the container code <b>110</b> and send the optical characteristic <b>3250</b> to the container inventory management system <b>1000</b> as shown in FIGS. 4B, 5 and <b>6</b>A;

[0204] (3) Determine the positional identification <b>3260</b> of the container <b>100</b> as shown in FIGS. 4B, 5 and <b>6</b>A;

[0205] (4) Send the positional identification <b>3260</b> from the quay container crane <b>2200</b> to the container inventory management system <b>1000</b> as shown in FIGS. 4B, 5 and <b>6</b>A.

[0206] (5) At the container inventory management <b>1000</b> shown in FIGS. 4A to <b>5</b>, compare the information contained in the received signals with the database <b>1100</b> to verify whether the container <b>100</b> is deposited at the proper address.

[0207] Various embodiments of the invention support some or all of the following:

[0208] The optical characteristic recognition system <b>3000</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> reliably performs under all real-life environmental conditions including any or all of the following: weather, traffic load and power supply variations.

[0209] The optical characteristic recognition system <b>3000</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> can read the representations of a container's code <b>110</b>, determine the current location of container <b>100</b>, and then wirelessly transmit this data back to the container inventory management system <b>1000</b> shown in FIGS. 4A to <b>5</b>.

[0210] The optical characteristic recognition system <b>3000</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> downloads and saves the optical characteristic and positional identification to an on-board buffer memory.

[0211] The optical characteristic recognition system <b>3000</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> and/or the container inventory management system <b>1000</b> shown in FIGS. 4A to <b>5</b> warn the yard clerk if the actual location is different from that listed in the yard's container inventory database <b>1100</b>, as shown in FIG. 4A.

[0212] The optical characteristic recognition system <b>3000</b> shown in FIGS. 4A to <b>5</b> and <b>14</b> and/or the container inventory management system <b>1000</b> shown in FIGS. 4A to <b>5</b> allow the yard clerk to conveniently change the database <b>1100</b> shown in FIG. 4A.

[0213] The preceding embodiments have been provided by way of example and are not meant to constrain the scope of the following claims.