A box opening detection device and method for an international transport container

Abstract

The application discloses a kind of international transport container's opening box detection equipment and detection method, it is related to cross-border logistics transport field, including rack and assembly on rack conveying mechanism, detection mechanism, shunt mechanism, conveying mechanism is multi-section combination conveying line, for bearing and sequentially conveying external transport container;Detection mechanism is erected on the upside of conveying mechanism, and the transport container conveyed on conveying mechanism is scanned and detected externally non-invasively and internally invasively sampled and detected, and the detection mechanism includes at least two groups of detection modules arranged in the detection chamber of detection chamber;Shunt mechanism includes a shunt passage and a shunt gate set at the junction of shunt passage and conveying mechanism, and the shunt gate is used to shunt abnormal containers to the shunt passage according to the detection results;The kind of international transport container's opening box detection equipment and detection method, through multimodal detection and automatic shunting, realize the full-dimension automatic security check of transport container.

Description

Technical Field

[0001] This invention relates to cross-border logistics and transportation technology, specifically to an unpacking and inspection device and method for international transport containers. Background Technology

[0002] International transport containers (such as shipping containers, air cargo containers, and large freight containers) are widely used in cross-border logistics. Due to their enclosed internal space and complex cargo loading, transport containers are often used to smuggle contraband, dangerous goods, or other illicit items. Furthermore, during long-distance transport, transport containers may experience damage, malfunctioning door seals, or cargo leakage, posing threats to customs supervision, logistics security, and public safety.

[0003] Currently, the inspection of international transport containers mainly relies on two methods: manual inspection and non-invasive scanning equipment. Manual inspection is inefficient, and the direct contact between inspectors and suspicious containers during opening poses safety risks. While existing non-invasive scanning equipment (such as X-ray container inspection systems) can penetrate the container to obtain images of the internal cargo outline, it cannot accurately identify minor damage or layered structures on the outer surface of the container, nor can it automatically identify the lock / seal status of the container doors, or sample and analyze concealed characteristics of contraband such as gas leaks or residual traces on the inner walls. To further improve the automation level and multi-dimensional information acquisition capabilities of the inspection, the following technical solutions have been disclosed through research:

[0004] 1) Chinese Patent Publication No. CN109564174B discloses an integration of inspection scanners for the efficient handling and scanning of cargo containers at ports. In this patent application, the container scanning integration enables the scanning of containers passing through modern, highly automated ports without hindering commercial flow. The scanner is positioned where containers have spent the most time and configured to scan several containers in parallel, but any scanning-related delays are minimized under individual scan control. Operationally integrating the scanning system with the automated logistics port system ensures smooth, delay-free operation. Controlling the flow of information ensures that scan results, including but not limited to images and assessments of the presence or absence of threatening materials or contraband, are sent only to government customs and / or security facilities adjacent to but separate from the port, preventing port operators from engaging in activities that could slow down container throughput.

[0005] 2) US Patent Publication No. US07722251B2 discloses a device for inspecting contraband in air cargo containers. This patent application includes: a turntable and a scanning system comprising a radiation source; a detector; a radiation source mounting structure; and a detector mounting structure for mounting the detector. Each of the radiation source mounting structure and the detector mounting structure includes at least one column assembly. The radiation source and detector are mounted on the column assembly and are allowed to rise and fall synchronously along the column assembly. By combining different movement modes of the turntable and scanning system, the device of this invention can scan objects in various scanning modes. The device is structurally stable, easy to install, and occupies little space. This device can inspect air cargo containers exceeding 2 meters in length and / or 2 meters in width, achieving a relatively high throughput rate.

[0006] However, the aforementioned existing technologies all focus on non-invasive radiation scanning imaging, that is, obtaining an image of the internal cargo outline by penetrating the container. These methods cannot perform fine scanning of the outer surface of the transport container to identify minor damage to the container, interlayer structures, or the lock status of the container door, and they cannot perform invasive multi-point sampling detection of concealed contraband characteristics such as gas leaks and residual traces on the inner wall of the container without opening it or after automatic opening. Summary of the Invention

[0007] The purpose of this invention is to provide an unpacking inspection device and method for international transport containers, so as to solve the problem of multi-dimensional integrated inspection in the prior art, which is difficult to simultaneously complete fine scanning and identification of the outer surface, automatic unpacking and internal invasive multi-point sampling inspection in the same device.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an unpacking and inspection device for international transport containers, comprising a frame and a conveying mechanism, an inspection mechanism, and a diversion mechanism mounted on the frame, wherein:

[0009] The conveying mechanism is a multi-segment combined conveyor line used to carry and sequentially transport external transport containers;

[0010] The testing mechanism is mounted on the upper side of the conveying mechanism and performs external non-invasive scanning testing and internal invasive sampling testing on the transport containers conveyed on the conveying mechanism. The testing mechanism includes a testing chamber and at least two sets of testing modules arranged in the testing chamber cavity. The two sets of testing modules are arranged opposite each other and staggered in position.

[0011] The diversion mechanism includes a diversion channel and a diversion gate located at the junction of the diversion channel and the conveying mechanism. The diversion gate is used to divert abnormal containers to the diversion channel according to the detection results.

[0012] Furthermore, the testing chamber is a box structure with openings at both ends. The inner wall of the testing chamber is covered with a radiation shielding layer, and inspection doors and observation windows are opened on the two side walls of the testing chamber, respectively.

[0013] Furthermore, the two sets of detection modules include a top rail, a walking unit, a chain-driven lifting unit, an integrated platform, a servo motor, a first detection unit, and a second detection unit. The top rail is laid along the top wall of the detection chamber, and the walking unit is slidably connected to the top rail. The walking unit is a suspended walking device with drive wheels and guide wheels, and the chain-driven lifting unit is fixedly installed on the lower side of the walking unit.

[0014] Furthermore, the chain-driven lifting unit includes a drive sprocket, a driven sprocket, a chain, and a lifting frame. The shaft end of the drive sprocket is connected to a lifting drive component. The chain is wound between the drive sprocket and the driven sprocket. The lifting frame is fixed to the chain and performs lifting actions as the chain rotates.

[0015] Furthermore, the integrated platform is installed at the lower end of the lifting frame. The integrated platform is a sliding platform with two-stage sliding. The sliding platform includes a support with a groove at the bottom, a first-stage sliding plate sliding in the groove of the support, a second-stage groove located on the lower side of the first-stage sliding plate, and a second-stage sliding plate sliding in the inner side of the second-stage groove. Both the first-stage sliding plate and the second-stage sliding plate are gear and rack sliding mechanisms.

[0016] Furthermore, the servo motor is mounted on the lower side of the secondary sliding plate, and the spindle end of the servo motor is connected to the adapter plate. The adapter plate is horizontally set and can rotate with the spindle. The first detection unit and the second detection unit are fixed on both sides of the adapter plate, respectively.

[0017] Furthermore, the first detection unit includes a laser scanner or a high-definition camera, used to detect whether there is damage or interlayer on the outside of the container, and to identify the position and locking status of the door.

[0018] Furthermore, the second detection unit includes a six-degree-of-freedom micromanipulator and a composite detection head and an unpacking claw integrated at the end of the six-degree-of-freedom micromanipulator. The composite detection head includes at least a gas sampler and an inner wall image acquisition device for performing gas sampling and inner wall image acquisition and recognition.

[0019] Furthermore, the detection mechanism also includes a controller, which is electrically connected to the walking unit, the chain-driven lifting unit, the first-stage sliding plate, the second-stage sliding plate, the servo motor, the first detection unit, and the second detection unit, respectively, and is used to control each unit to perform scanning, identification, lifting, sliding, rotation, and robotic arm extension actions; the controller receives the detection data from the first detection unit and the second detection unit, and when it determines that there is at least one of the following conditions: external damage, interlayer, abnormal door sealing, internal gas leakage, or internal wall marks, it outputs a diversion signal to the diversion gate.

[0020] Furthermore, the diversion gate is a pneumatically or electrically driven swing gate with its swing axis set vertically. The swing angle range of the diversion gate is 0° to 45°. When it is at 0°, it is parallel to the conveying direction of the conveying mechanism, and when it is at 45°, it is aligned with the entrance of the diversion channel.

[0021] A method for inspecting unpacked containers used in international shipping includes the following steps:

[0022] S1: Conveying and positioning, placing the external transport container on a multi-segment combined conveyor line, which is then sequentially conveyed to the testing chamber by the conveying mechanism, and stopping the transport container at a preset testing station between two sets of testing modules;

[0023] S2: External non-invasive scanning detection. The walking unit moves along the top rail, while the chain-driven lifting unit drives the integrated platform to rise and fall, so that the first detection unit moves to the predetermined scanning area on the outer surface of the transport container; image data and distance point cloud data of the outer surface of the container are collected by a laser scanner or high-definition camera to identify whether there is damage or interlayer on the outside of the container, and to identify the position and locking status of the container door.

[0024] S3: The door is opened. Based on the door position identified in step S2, the six-degree-of-freedom micro robotic arm moves to the door and opens it by hooking the end-effector.

[0025] S4: Internal invasive sampling and detection, controlling the first-level sliding plate and the second-level sliding plate to extend in sequence, so that the second detection unit extends into the container; starting the servo motor to drive the adapter plate to rotate, adjusting the posture of the six-degree-of-freedom micro-robotic arm; controlling the composite detection head at the end of the six-degree-of-freedom micro-robotic arm to move to multiple preset sampling points, collecting internal gas samples through the gas sampler, and simultaneously collecting images of the container's inner wall through the inner wall image acquisition device;

[0026] S5: Comprehensive judgment. Based on the outer surface detection data obtained in step S2 and the gas composition data and inner wall image data obtained in step S4, the controller determines whether the transport container has at least one of the following abnormalities: external damage, interlayer, abnormal sealing, internal gas leakage, or inner wall marks.

[0027] S6: Diversion process. If step S5 is judged to be normal, the conveyor will transfer the container to the conveyor outlet; if it is judged to be abnormal, the diversion gate will be activated to guide the container to the diversion channel.

[0028] Compared with existing technologies, the present invention provides an opening inspection device and method for international transport containers. At the external surface inspection level, a laser scanner or high-definition camera is used to identify damage, interlayers, and lock / seal status of the container's external surface, thus overcoming the deficiency of existing non-invasive scanning devices in obtaining detailed information about the external surface. At the internal inspection level, a six-degree-of-freedom micro-robotic arm and its end-effector integrated composite detection head and opening claw achieve integrated invasive inspection of automatic opening, gas sampling, and internal wall image acquisition, solving the problem that existing technologies cannot deeply obtain hidden features inside the container. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0030] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the detection chamber and detection module in Embodiment 1 of the present invention;

[0032] Figure 3 This is a schematic diagram of the detection module in Embodiment 1 of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the first detection unit and the second detection unit in Embodiment 1 of the present invention;

[0034] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Conveying mechanism; 2. Inspection chamber; 3. Inspection module; 31. Top rail; 32. Traveling unit; 33. Chain drive lifting unit; 34. Integrated platform; 341. Support; 342. First-stage sliding plate; 343. Second-stage sliding plate; 35. Servo motor; 36. First inspection unit; 37. Second inspection unit; 4. Diversion channel; 5. Diversion gate. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] As attached Figure 1 To be continued Figure 4 As shown:

[0039] Example 1:

[0040] This invention provides an unpacking and inspection device for international transport containers, including a frame and a conveying mechanism 1 and an inspection mechanism mounted on the frame.

[0041] 1. In one embodiment of the present invention, the conveying mechanism 1 is a multi-segment combined conveying line used to carry and sequentially convey external transport containers.

[0042] 2. In one embodiment of the present invention, the detection mechanism is mounted on the upper side of the conveying mechanism 1 and performs external non-invasive scanning detection and internal invasive sampling detection on the transport container conveyed on the conveying mechanism 1. The detection mechanism includes a detection chamber 2 and at least two sets of detection modules 3 arranged in the cavity of the detection chamber 2. The two sets of detection modules 3 are arranged opposite each other and staggered in position. The detection chamber 2 is a box structure with openings at both ends. The inner wall of the detection chamber 2 is covered with a radiation shielding layer. The two side walls of the detection chamber 2 are respectively opened with maintenance doors and observation windows. The two sets of detection modules 3 include a top rail 31, a walking unit 32, a chain drive lifting unit 33, an integrated platform 34, a servo motor 35, a first detection unit 36 ​​and a second detection unit 37. The top rail 31 is laid along the top cavity wall of the detection chamber 2. The walking unit 32 is slidably connected to the top rail 31. The walking unit 32 is a suspended walking device with drive wheels and guide wheels. The chain drive lifting unit is fixedly mounted on the lower side of the walking unit 32. 33; The chain-driven lifting unit 33 includes a driving sprocket, a driven sprocket, a chain, and a lifting frame. The shaft end of the driving sprocket is connected to the lifting drive component. The chain is wound between the driving sprocket and the driven sprocket. The lifting frame is fixed to the chain and performs lifting actions as the chain rotates. The integrated platform 34 is mounted on the lower end of the lifting frame. The integrated platform 34 is a sliding platform with two-stage sliding. The sliding platform includes a support 341 with a sliding groove at the bottom and a first-stage sliding plate that slides in the sliding groove of the support 341. 342. A secondary slide groove is provided on the lower side of the primary slide plate 342, and a secondary slide plate 343 is slidably mounted on the inner side of the secondary slide groove. Both the primary slide plate 342 and the secondary slide plate 343 are gear and rack type sliding mechanisms. A servo motor 35 is mounted on the lower side of the secondary slide plate 343. The spindle end of the servo motor 35 is connected to an adapter plate. The adapter plate is horizontally set and can rotate with the spindle. The first detection unit 36 ​​and the second detection unit 37 are fixedly mounted on both sides of the adapter plate, respectively.

[0043] 3. In one embodiment of the present invention, the first detection unit 36 ​​includes a laser scanner or a high-definition camera, used to detect whether there is damage or interlayer on the outside of the container, and to identify the position of the door and the locking status.

[0044] 4. In one embodiment of the present invention, the second detection unit 37 includes a six-degree-of-freedom micromanipulator and a composite detection head and a box-opening claw integrated at the end of the six-degree-of-freedom micromanipulator. The composite detection head includes at least a gas sampler and an inner wall image acquisition device for performing gas sampling and inner wall image acquisition and recognition.

[0045] 5. In one embodiment of the present invention, the detection mechanism further includes a controller, which is electrically connected to the walking unit 32, the chain drive lifting unit 33, the first-stage sliding plate 342, the second-stage sliding plate 343, the servo motor 35, the first detection unit 36, and the second detection unit 37, respectively, and is used to control each unit to perform scanning, identification, lifting, sliding, rotation, and robotic arm extension actions.

[0046] Working Principle: Embodiment 1 constructs a multi-degree-of-freedom collaborative detection platform integrating non-invasive external surface scanning and invasive internal sampling detection through the configuration of a top rail 31, a walking unit 32, a chain-driven lifting unit 33, a two-stage sliding integrated platform 34, and a servo motor 35 adapter plate. The walking unit 32 drives the first detection unit 36 ​​and the second detection unit 37 to move horizontally along the top rail 31. The chain-driven lifting unit 33 drives the integrated platform 34 to adjust the detection height. The two-stage sliding plates extend sequentially, allowing the second detection unit 37 to enter the container. The servo motor 35 drives the first and second detection units 37 to rotate and switch working postures via the adapter plate, thereby achieving all-round, multi-angle detection of the outer surface and inner wall of the transport container.

[0047] As attached Figure 5 As shown:

[0048] Example 2:

[0049] This invention provides an unpacking and inspection device for international transport containers, including a frame and a conveying mechanism 1, an inspection mechanism and a diversion mechanism mounted on the frame.

[0050] 1. In one embodiment of the present invention, the diversion mechanism includes a diversion channel 4 and a diversion gate 5 disposed at the junction of the diversion channel 4 and the conveying mechanism 1. The diversion gate 5 is used to divert abnormal containers to the diversion channel 4 according to the detection result.

[0051] 2. In one embodiment of the present invention, the diversion gate 5 is a pneumatically or electrically driven swing gate with its swing axis vertically arranged. The swing angle range of the diversion gate 5 is 0° to 45°. When it is at 0°, it is parallel to the conveying direction of the conveying mechanism 1, and when it is at 45°, it is aligned with the inlet of the diversion channel 4. The controller receives the detection data from the first detection unit 36 ​​and the second detection unit 37. When it is determined that there is at least one of the following conditions: external damage, interlayer, abnormal door sealing, internal gas leakage, or internal wall marks, it outputs a diversion signal to the diversion gate 5.

[0052] Working principle: Embodiment 2 adds a diversion mechanism to Embodiment 1. The controller automatically determines whether the container is abnormal based on the fusion detection results of the first detection unit 36 ​​and the second detection unit 37. When an abnormality is detected, the controller drives the diversion gate 5 to swing to 45°, guiding the abnormal container to the diversion channel 4; when a normality is detected, the diversion gate 5 remains at 0°, and the container continues to be conveyed forward along the conveying mechanism 1 to the outlet, thereby achieving automatic separation of qualified and abnormal containers.

[0053] In conjunction with Embodiments 1 and 2 above, the present invention also provides a method for unpacking and inspecting international transport containers, comprising the following steps:

[0054] S1: Conveying and positioning, placing the external transport container on the multi-segment combined conveyor line, and conveying it sequentially to the inspection chamber 2 by the conveyor mechanism 1, and stopping the transport container at the preset inspection station between the two sets of inspection modules 3;

[0055] S2: External non-invasive scanning detection. The walking unit 32 moves along the top rail 31, while the chain-driven lifting unit 33 drives the integrated platform 34 to rise and fall, so that the first detection unit 36 ​​moves to the predetermined scanning area on the outer surface of the transport container; image data and distance point cloud data of the outer surface of the container are collected by a laser scanner or high-definition camera to identify whether there is damage or interlayer on the outside of the container, and to identify the position and locking status of the container door.

[0056] S3: The door is opened. Based on the door position identified in step S2, the six-degree-of-freedom micro robotic arm moves to the door and opens it by hooking the end-effector.

[0057] S4: Internal invasive sampling and detection, controlling the first-stage sliding plate 342 and the second-stage sliding plate 343 to extend in sequence, so that the second detection unit 37 extends into the container; starting the servo motor 35 to drive the adapter plate to rotate, adjusting the posture of the six-degree-of-freedom micro-manipulator; controlling the composite detection head at the end of the six-degree-of-freedom micro-manipulator to move to multiple preset sampling points, collecting internal gas samples through the gas sampler, and simultaneously collecting images of the container's inner wall through the inner wall image acquisition device;

[0058] S5: Comprehensive judgment. Based on the outer surface detection data obtained in step S2 and the gas composition data and inner wall image data obtained in step S4, the controller determines whether the transport container has at least one of the following abnormalities: external damage, interlayer, abnormal sealing, internal gas leakage, or inner wall marks.

[0059] S6: Diversion process. If step S5 is judged to be normal, the conveying mechanism 1 will convey the container to the outlet of the conveying mechanism 1; if it is judged to be abnormal, the diversion gate 5 will be activated to guide the container to the diversion channel 4.

[0060] Example 3:

[0061] This invention provides an unpacking inspection device for international transport containers. Based on the above-described embodiment one or two, the controller further includes a data fusion processing module. The data fusion processing module includes an image preprocessing unit, a gas analysis unit, a feature comparison unit, and a comprehensive scoring unit. The image preprocessing unit receives outer surface image data collected by the first detection unit 36 ​​and inner wall image data collected by the second detection unit 37, and performs filtering and noise reduction, grayscale enhancement, and edge extraction operations respectively to generate an outer surface feature map and an inner wall feature map; the outer surface feature map is used to identify the area of ​​damaged areas on the outside of the container. Length of sandwich structure outline and the width of the gap in the door lock. The inner wall feature map is used to identify the coverage of residual traces on the inner wall surface. and the number of corrosion spots The gas analysis unit receives gas samples collected by the gas sampler and analyzes the concentration of characteristic components in the gas using a built-in volatile organic compound sensor array. ,in Indicates the first Characteristic components, including but not limited to flammable gases, toxic gases, and volatile tracers of prohibited substances; when any Exceeding the preset threshold At that time, the generated gas anomaly index The calculation formula is as follows:

[0062]

[0063] when Time-triggered gas anomaly alarm; overall gas anomaly probability Take the maximum value of the anomaly index of each feature component:

[0064]

[0065] The feature comparison unit compares the external surface feature map with the built-in contraband feature library and outputs the probability of external surface anomalies. The calculation formula is as follows:

[0066]

[0067] In the formula, For the preset weight coefficients, satisfy ; These are the maximum allowable thresholds for the damaged area, interlayer length, and gap width, respectively.

[0068] The feature comparison unit simultaneously outputs the probability of inner wall anomalies. The calculation formula is as follows:

[0069]

[0070] In the formula, For preset weight coefficients, To achieve the maximum permissible residual trace coverage, This represents the maximum permissible number of corrosion points.

[0071] Comprehensive scoring unit external surface anomaly probability Probability of inner wall abnormalities and the probability of gas anomalies Perform weighted fusion calculations and output a comprehensive anomaly score. :

[0072]

[0073] In the formula, For dynamic weight coefficients, satisfying The dynamic weighting coefficients are based on the origin of the transport container. Transportation routes and categories of goods to be declared Perform adaptive adjustments:

[0074]

[0075] in, For static benchmark weights, This is a risk adjustment factor based on the country of origin, transportation route, and declared product category.

[0076] The comprehensive scoring unit will integrate the anomaly scores. With the preset first threshold Second threshold Comparison, among which :

[0077] when At that time, a diversion signal is output to guide the container to diversion channel 4;

[0078] when When this happens, a re-inspection prompt signal is output;

[0079] when At that time, a normal release signal is output.

[0080] Working principle: Based on Examples 1 and 2, Example 3 adds a data fusion processing module. The image preprocessing unit extracts quantitative features such as damaged area, interlayer length, gap width, residual trace coverage, and number of corrosion points. The gas analysis unit calculates the anomaly index of each feature component. The feature comparison unit calculates the anomaly probability of the outer surface, inner wall, and gas dimensions respectively. Finally, the comprehensive scoring unit performs weighted fusion to obtain a comprehensive anomaly score, which is compared with the dual thresholds and outputs diversion, re-inspection, or release instructions.

[0081] It should be noted that the international transport container described in this invention is not limited to shipping containers, air cargo containers, or large freight containers, but can also be applied to other types of enclosed transport carriers that require opening for inspection, such as express parcels, post boxes, and logistics turnover boxes.

[0082] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An unpacking and inspection device for international transport containers, comprising a frame and a conveying mechanism (1), an inspection mechanism, and a diversion mechanism mounted on the frame, characterized in that: The conveying mechanism (1) is a multi-segment combined conveyor line used to carry and sequentially transport external transport containers; The detection mechanism is mounted on the upper side of the conveying mechanism (1) and performs external non-invasive scanning detection and internal invasive sampling detection on the transport container conveyed on the conveying mechanism (1). The detection mechanism includes a detection chamber (2) and at least two sets of detection modules (3) arranged in the cavity of the detection chamber (2). The two sets of detection modules (3) are arranged opposite each other and their positions are staggered. The diversion mechanism includes a diversion channel (4) and a diversion gate (5) located at the junction of the diversion channel (4) and the conveying mechanism (1). The diversion gate (5) is used to divert abnormal containers to the diversion channel (4) according to the detection results.

2. The unpacking and inspection equipment for international transport containers according to claim 1, characterized in that, The testing chamber (2) is a box structure with openings at both ends. The inner wall of the testing chamber (2) is covered with a radiation shielding layer, and the two side walls of the testing chamber (2) are respectively opened with maintenance doors and observation windows.

3. The unpacking and inspection equipment for international transport containers according to claim 1, characterized in that, The two sets of detection modules (3) include a top rail (31), a walking unit (32), a chain drive lifting unit (33), an integrated platform (34), a servo motor (35), a first detection unit (36) and a second detection unit (37). The top rail (31) is laid along the top wall of the detection chamber (2). The walking unit (32) is slidably connected to the top rail (31). The walking unit (32) is a suspended walking device with a drive wheel and a guide wheel. The chain drive lifting unit (33) is fixedly installed on the lower side of the walking unit (32).

4. The unpacking and inspection equipment for international transport containers according to claim 3, characterized in that, The chain-driven lifting unit (33) includes a drive sprocket, a driven sprocket, a chain, and a lifting frame. The shaft end of the drive sprocket is connected to a lifting drive component. The chain is wound between the drive sprocket and the driven sprocket. The lifting frame is fixed to the chain and performs lifting actions as the chain rotates.

5. The unpacking and inspection equipment for international transport containers according to claim 3, characterized in that, The integrated platform (34) is mounted on the lower end of the lifting frame. The integrated platform (34) is a sliding platform with two-stage sliding. The sliding platform includes a support (341) with a sliding groove at the bottom, a first-stage sliding plate (342) sliding in the sliding groove of the support (341), a second-stage sliding groove located on the lower side of the first-stage sliding plate (342), and a second-stage sliding plate (343) sliding in the inner side of the second-stage sliding groove. The first-stage sliding plate (342) and the second-stage sliding plate (343) are both gear and rack sliding mechanisms.

6. The unpacking and inspection equipment for international transport containers according to claim 3, characterized in that, The servo motor (35) is mounted on the lower side of the secondary sliding plate (343). The spindle end of the servo motor (35) is connected to the adapter plate, which is horizontally set and can rotate with the spindle. The first detection unit (36) and the second detection unit (37) are fixed on both sides of the adapter plate respectively.

7. The unpacking and inspection equipment for international transport containers according to claim 3, characterized in that, The first detection unit (36) includes a laser scanner or a high-definition camera, used to detect whether there is damage or interlayer on the outside of the container, and to identify the position and locking status of the door.

8. The unpacking and inspection equipment for international transport containers according to claim 3, characterized in that, The second detection unit (37) includes a six-degree-of-freedom micro-manipulator and a composite detection head and a box-opening claw integrated at the end of the six-degree-of-freedom micro-manipulator. The composite detection head includes at least a gas sampler and an inner wall image acquisition device for performing gas sampling and inner wall image acquisition and recognition.

9. A method for inspecting the opening of an international transport container, comprising using the inspection equipment described in any one of claims 1-8, characterized in that, The unpacking inspection method includes the following steps: S1: Conveying and positioning, placing the external transport container on a multi-segment combined conveyor line, and conveying it sequentially to the inspection chamber (2) by the conveying mechanism (1), and stopping the transport container at the preset inspection station between the two sets of inspection modules (3); S2: External non-invasive scanning detection. The walking unit (32) moves along the top rail (31), while the chain-driven lifting unit (33) drives the integrated platform (34) to rise and fall, so that the first detection unit (36) moves to the predetermined scanning area on the outer surface of the transport container; image data and distance point cloud data of the outer surface of the container are collected by a laser scanner or high-definition camera to identify whether there is damage or interlayer on the outside of the container, and to identify the position and locking status of the door. S3: The door is opened. Based on the door position identified in step S2, the six-degree-of-freedom micro robotic arm moves to the door and opens it by hooking the end-effector. S4: Internal invasive sampling and detection, control the first-level sliding plate (342) and the second-level sliding plate (343) to extend in sequence, so that the second detection unit (37) extends into the container; start the servo motor (35) to drive the adapter plate to rotate, and adjust the posture of the six-degree-of-freedom micro robot arm; control the composite detection head at the end of the six-degree-of-freedom micro robot arm to move to multiple preset sampling points, collect internal gas samples through the gas sampler, and at the same time collect images of the inner wall of the container through the inner wall image acquisition device; S5: Based on the external surface detection data obtained in step S2 and the gas composition data and inner wall image data obtained in step S4, determine whether the transport container has at least one of the following abnormalities: external damage, interlayer, abnormal sealing, internal gas leakage, or inner wall marks. S6: Diversion process. If step S5 is judged to be normal, the conveying mechanism (1) will transport the container to the outlet of the conveying mechanism (1); if it is judged to be abnormal, the diversion gate (5) will be activated to guide the container to the diversion channel (4).

Images