Container Detection System and Detection Method

Abstract

The present application discloses a container detection system, which includes a first checkpoint arranged at the lane entrance, a second checkpoint arranged at the lane exit, two detection devices arranged on a safety island on one side of the lane, and two opposed beam devices arranged on a safety island on the other side of the lane and arranged opposite to the two detection devices respectively; the two detection devices are arranged on the safety island at intervals, and the distance between the two detection devices is greater than the length of the vehicle-mounted container. Each detection device includes a rotatable main body, a plurality of first opposed beam sensors located on the main body, a swingable swing arm connected to the main body, a telescopic arm located on the swing arm and reciprocally slidably connected to the swing arm, and a three-dimensional laser scanner located on the telescopic arm and swingable for detecting the interior of the container. The present application also provides a container detection method based on the container detection system.

Description

Technical Field

[0001] The present application relates to container inspection equipment, and more particularly to a container inspection system and inspection method. Background Art

[0002] Currently, there are more and more import and export trades, and the use of cabinet containers is also becoming more and more extensive. At the same time, because the internal space of the container is large, criminal problems such as smuggling and smuggling are likely to occur. Therefore, the relevant departments have relatively strict control over container operations. For the containers carrying goods, we simply call them full containers. In import and export and other trades, the goods need to be reported one by one and inspected one by one before they can pass. For containers without goods, simply called empty containers, it is only necessary to simply confirm whether goods need to be carried. Some lawbreakers report and pass full containers or containers with a small amount of carried items as empty containers, cheating to pass through.

[0003] In the existing container inspection methods, X-ray penetration is used to inspect the opened containers. The equipment for this method is costly. Penetrating the steel plate of the container requires X-rays with a large capacity, which causes great harm to the human body. Generally, the driver needs to get out of the vehicle for inspection, which is not conducive to improving the passing efficiency; the method of manual inspection requires more manpower and is also not conducive to improving the passing efficiency; in addition, sometimes when the vehicle loading the container fails to stop at a particularly precise and appropriate position, some existing detection devices cannot cover the position where the vehicle is parked, so that the container cannot be detected smoothly. Summary of the Invention

[0004] In view of the prior art, the technical problem solved by the present application is to provide a container inspection system and a container inspection method that can automatically detect containers and vehicles that can adapt to the parking deviation on the lane.

[0005] To solve the above technical problem, the present application provides a container inspection system for inspecting a container loaded on a vehicle traveling on a lane. The lane is provided with a relatively arranged lane entrance and lane exit, and safety islands are arranged on both sides of the lane. The container inspection system includes a first checkpoint arranged at the lane entrance, a second checkpoint arranged at the lane exit, two detection devices arranged on a safety island on one side of the lane, and two pair of light devices arranged on a safety island on the other side of the lane and arranged opposite to the two detection devices respectively; the two detection devices are arranged at intervals on the safety island, and the distance between the two detection devices is greater than the length of the container carried by the vehicle. Each detection device includes a rotatable main body, a plurality of first pair of light sensors located on the main body, a swing arm connected to the main body, a telescopic arm located on the swing arm and reciprocally slidably connected to the swing arm, and a three-dimensional laser scanner located on the telescopic arm and swingable for detecting the inside of the container.

[0006] The container detection system is communicatively connected to the background monitoring system. The first checkpoint is used to identify the license plate of the vehicle loaded with the container and release the vehicle after identification. The first pair of light sensors on the two detection devices are respectively used to perform pair light detection with the pair light devices arranged opposite thereto to determine whether the vehicle loaded with the container is parked at a predetermined detection position. The second checkpoint is used to release or intercept the vehicle loaded with the container according to the detection situation of the detection device.

[0007] In a possible implementation manner, each of the pair light devices includes a fixed rod arranged on the safety island and a plurality of second pair light sensors arranged on the fixed rod. The plurality of second pair light sensors on each of the pair light devices are used to perform pair light detection with the plurality of first pair light sensors on the detection device arranged opposite to the pair light device.

[0008] In a possible implementation manner, the first checkpoint includes a first barrier gate and a first camera. The first camera is used to capture and identify the license plate of the vehicle at the lane entrance, and the first barrier gate is used to release the vehicle after license plate identification.

[0009] In a possible implementation manner, the second checkpoint includes a second barrier gate and a second camera for recording the vehicles entering and leaving from the lane exit. When the detection device detects that the container is normal, the second barrier gate is used to release the vehicle loaded with the container.

[0010] In a possible implementation manner, the detection device further includes a main control module arranged in the main body, a first driving member located in the main body for driving the main body to rotate, a second driving member for driving the swing arm to swing and connected to the main body, a third driving member for driving the telescopic arm to extend and retract and located on the swing arm, and a fourth driving member for driving the three-dimensional laser scanner to swing. The first driving member, the second driving member, the third driving member, and the fourth driving member are all connected to the main control module, and the main control module is communicatively connected to the background monitoring system.

[0011] In a possible implementation manner, each of the detection devices further includes at least one alarm light arranged on the main body, and the alarm light is connected to the main control module.

[0012] In a possible implementation manner, the detection device further includes an infrared light camera and a plurality of distance sensors. The infrared light camera, the plurality of distance sensors, and the three-dimensional laser scanner are integrated into one machine. The one machine is arranged on the telescopic arm. The infrared light camera is used to perform video monitoring on the inside of the container, and the plurality of distance sensors are used to detect the distance between the container door and the one machine.

[0013] In a possible implementation, the container detection system further includes two third cameras disposed on a safety island on one side of the lane and communicatively connected to the background monitoring system; the two detection devices are disposed on the same side as the two third cameras and are arranged between the two detection devices, where one of the third cameras is used to monitor the opening condition of the door at the end of the container loaded on the vehicle parked at a predetermined detection position close to the vehicle head, and the other third camera is used to monitor the opening condition of the door at the end of the container loaded on the vehicle parked at a predetermined detection position far from the vehicle head.

[0014] This application also provides a container detection method, which is based on the container detection system and includes:

[0015] Using the first checkpost to identify a vehicle loaded with a container about to enter the lane;

[0016] When the background monitoring system receives the vehicle release signal from the first checkpost, it activates the first pair of photoelectric sensors on the two detection devices and the two photoelectric devices.

[0017] Using the first pair of photoelectric sensors on the detection devices respectively arranged opposite to each of the photoelectric devices for photoelectric detection to detect whether the vehicle is parked at a predetermined detection position;

[0018] After the vehicle is parked at the predetermined detection position, the main body on the detection device is activated to drive the swing arm to rotate, and the swung swing arm is perpendicular to the main body. The telescopic arm is driven to extend so that the 3D laser scanner on the telescopic arm extends to the door opening of the container on the vehicle.

[0019] The 3D laser scanner is driven to swing and at the same time the 3D laser scanner is activated to emit laser for 3D scanning of the interior of the container to detect the interior condition of the container; and,

[0020] When there is no abnormality in the interior of the container, the background monitoring system receives the signal of no abnormality sent by the detection device and activates the second checkpost to release the vehicle loaded with the container after detection.

[0021] In a possible implementation, the container detection method further includes: when the detection device detects an abnormality in the interior of the container, the alarm lamp on the detection device is activated for alarm, and the detection device is used to send an alarm signal to the background monitoring system and an interception command is sent to the second checkpost through the background monitoring system.

[0022] In a possible implementation, after the vehicle stops at a predetermined detection position, the container detection method further includes: setting two of the detection devices as detection device A and detection device B in sequence from the first check point to the second check point, and setting two of the third cameras as camera a and camera b; when camera a detects that the container has an opening at the end far from the vehicle head, starting detection device A to detect the container; when camera b detects that the container has an opening at the end close to the vehicle head, starting detection device B to detect the container.

[0023] The beneficial effects of the container detection system and the container detection method provided by this application are: using the first check point system and the second check point system to automatically release the vehicle loaded with a container, and automatically detecting the container carried by the vehicle through the three-dimensional laser scanner of the detection device on the traffic lane; and when the detection device detects the container, using the first pair of light sensors on the two detection devices and two light barrier devices to perform a light barrier detection to determine whether the vehicle is parked at the predetermined detection position, and using the rotatable main body, the swingable swing arm, the telescopic telescopic arm and the swingable three-dimensional laser scanner to perform multi-axis movement. In this way, the container detection device can adjust the detection range through the aforementioned rotation, swing and telescoping to smoothly detect the container, so as to adapt to the detection of the container on the vehicle with a parking deviation on the lane and smoothly perform a comprehensive detection of the interior of the container. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a schematic structural diagram of the container detection system according to Embodiment 1 of this application;

[0026] Figure 2 It is a schematic diagram of the three-dimensional laser scanners of the two detection devices of the container detection system according to Embodiment 1 of this application for detecting two side-by-side and back-to-back opened containers carried by the vehicle;

[0027] Figure 3 It is a schematic structural diagram of the detection device of the container detection system according to Embodiment 1 of this application;

[0028] Figure 4 It is a schematic diagram of the first pair of light sensors and the light barrier device on the detection device according to Embodiment 1 of this application for performing a light barrier detection;

[0029] Figure 5Schematic diagram of the swing arm, third driving member, and telescopic arm structure of the detection device according to the first embodiment of the present application;

[0030] Figure 6 Schematic diagram of the integrated structure of the three-dimensional laser scanner, ranging sensor, and infrared camera according to the first embodiment of the present application;

[0031] Figure 7 Flowchart of the container detection method according to the second embodiment of the present application. Detailed implementation manners

[0032] In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0034] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0036] Now, the container detection system and detection method of the present application will be described with reference to the accompanying drawings.

[0037] Embodiment 1:

[0038] Please refer to Figures 1 to Figure 3, the container detection system 10 provided by the embodiments of the present application is used to detect the container 30 of the empty container loaded on the vehicle traveling on the lane 20, specifically used to detect whether there are hidden items in the container 30 when the container is empty. The lane 20 is provided with a relatively arranged lane entrance 21 and a lane exit 22, and safety islands 23 are arranged on both sides of the lane 20. It can be understood that the vehicle loaded with the container enters the lane 20 from the lane entrance 21 and exits the lane 20 from the lane exit 22.

[0039] The container detection system 10 includes a first checkpost 11 arranged at the lane entrance 21, a second checkpost 12 arranged at the lane exit 22, two detection devices 13 arranged on the safety island 23 on one side of the lane 20, and two light curtain devices 14 arranged on the safety island 23 on the other side of the lane 20 and arranged opposite to the two detection devices 13 respectively; the two detection devices 13 are arranged at intervals on the safety island 23, and the distance between the two detection devices 13 is greater than the length of the vehicle-mounted container. Each detection device 13 includes a rotatable main body 131, a plurality of first light curtain sensors 1311 located on the main body 131, a swing arm 132 connected to the main body 131, a telescopic arm 133 located on the swing arm 132 and reciprocally slidably connected to the swing arm 132, and a three-dimensional laser scanner 1341 located on the telescopic arm 133 and swingable for detecting the interior of the container. Specifically. Each container detection system 10 is arranged on the ground through a fixing plate and is communicatively connected to the background monitoring system. The first checkpost 11 is used to identify the license plate of the vehicle loaded with the container and release the identified vehicle into the lane 20; the first light curtain sensors 1311 on the two detection devices 13 are respectively used to perform light curtain detection with the second photoelectric switches arranged opposite to them to determine whether the vehicle loaded with the container is parked at a predetermined detection position; the second checkpost 12 releases or intercepts the vehicle loaded with the container according to the detection situation of the detection device 13. Specifically, when the detection device 13 detects that the container is abnormal, the second checkpost 12 is used to intercept the vehicle loaded with the container, and when the detection device 13 detects that the container is not abnormal, the second checkpost 12 is used to release the vehicle loaded with the container.

[0040] Please refer to Figure 1 , Figure 3 and Figure 4 , each of the light curtain devices 14 includes a fixed rod 141 arranged on the safety island 23 and a plurality of second light curtain sensors arranged on the fixed rod 141. The plurality of second light curtain sensors on each light curtain device 14 are used to perform light curtain detection with the plurality of first light curtain sensors 1311 on the detection device 13 arranged opposite to the light curtain device 14.

[0041] In this embodiment, the first checkpost 11 includes a first barrier gate and a first camera. The first camera is used to capture and identify the license plate of a vehicle at the lane entrance 21, and the first barrier gate is used to release the vehicle after license plate identification. The second checkpost 12 includes a second barrier gate and a second camera for recording the vehicles entering and leaving from the lane exit 22. When the detection device 13 detects that the container is normal, the second barrier gate is used to load the container of the vehicle. The background monitoring system includes an industrial switch, a computer mainframe, a display terminal, a memory, and a voice broadcaster, but is not limited thereto. The first checkpost 11, the second checkpost 12, the two detection devices 13, the computer mainframe, the memory, the voice broadcaster, and the display terminal are all communicatively connected to the industrial switch. In a specific embodiment, the industrial switch includes one or more switches; the display terminal can be an LED or LCD display screen; the first camera and the second camera are 4-megapixel high-definition checkpost bullet cameras. For example, the first camera is a license plate capture and identification camera of the model DS-2CD7046F / E-I.

[0042] It should be noted that, with reference to Figure 1 、 Figure 3 and Figure 4 , the vehicle for loading the container is generally a semi-trailer. The semi-trailer includes a tractor head 40 and a trailer 50 towed by the tractor head 40. The transported container is placed on the trailer 50. There will be a certain gap between the container closest to the tractor head 40 on the trailer 50 and the tractor head 40, which is convenient for unloading goods and inspecting the container. The opening situation of the container on the trailer 50 is generally opening towards the head or away from the head. When there is one container loaded on the trailer 50, the container door can face the head or the lane 20. When two side-by-side containers are loaded on the trailer 50, the opening of one container faces the head and the opening of the other container faces away from the head.

[0043] Further, in the direction from the first bayonet 11 to the second bayonet 12, two of the detection devices 13 are sequentially set as detection device A and detection device 13B. During the opposed detection process, if the first opposed sensor 1311 on the detection device 13 is the transmitting end, the opposed device 14 is the receiving end; since the distance between the two detection devices 13 is greater than the length of the container 30 carried by the vehicle, the preset detection position can be understood as: when the trailer 50 is parked, the container 30 on the trailer 50 is just located in the lane 20 area between detection device A and detection device 13B. At this time, the light beam emitted by the first opposed sensor 1311 on detection device 13B is transmitted from the gap between the tractor head 40 and the container to the opposed device 14 disposed opposite to detection device 13B, and the light beam emitted by the first opposed sensor 1311 on detection device A is transmitted from the end of the trailer 50 away from the transfer head to the opposed device 14 disposed opposite to detection device A. When parked in a suitable position, the three-dimensional laser scanner 1341 of the detection device 13 can conveniently detect the container with the door facing the head from the gap. The length of the container 30 refers to the length of the container loaded on the trailer 50 from the head to the tail in the direction of the head. In a specific embodiment, the container detection system 10 can adapt to the situation where the trailer 50 loads two containers arranged side by side and facing away from each other or one container.

[0044] It can be understood that the trailer 50 of the container travels in the direction from the lane entrance 21 to the lane exit 22. The trailer 50 loaded with the container will first only block the light beam emitted by the first opposed sensor 1311 on detection device A, then block the light beams emitted by the first opposed sensors 1311 on both detection devices A and B at the same time, then only block the light beam emitted by the first opposed sensor 1311 on detection device A again, and finally the light beams emitted by the first opposed sensors 1311 on both detection devices A and B will not be blocked. The change process of the occlusion situation of the light beams of the first opposed sensors 1311 on detection devices A and B means that the trailer 50 finally parks at the predetermined detection position. It is worth noting that when the trailer 50 enters the lane 20 from the lane entrance 21, the background monitoring system will receive a vehicle entry signal, and the opposed detection process of the first opposed sensor 1311 and the opposed device 14 from vehicle entry to parking will be continuously uploaded to the background monitoring system; when the trailer 50 parks and blocks the light beam emitted by the first opposed sensor 1311 of any detection device 13, the voice announcer is used to provide a parking instruction.

[0045] It should be noted that the laser wide angle of the three-dimensional laser scanner 1341 is at least 114 degrees. The three-dimensional laser scanner 1341 includes a laser emitter, a receiver, a counter, a motor, a filter, and a control circuit. The three-dimensional laser scanner 1341 uses the principle of laser ranging. By recording the three-dimensional coordinates, reflectivity, texture, and other information of a large number of dense points on the surface of the object to be measured, the three-dimensional model of the object to be measured can be quickly reconstructed. The three-dimensional laser scanner 1341 can be, but is not limited to, the three-dimensional laser scanner 1341 of Riegl's LMS-Z series or the three-dimensional laser scanner 1341 of Leica HDS 6200. The three-dimensional laser scanner 1341 is used to scan the interior of the container to obtain a three-dimensional model of the interior of the container, so as to know whether the container is truly empty.

[0046] In the container detection system 10, the first bayonet 11 system and the second bayonet 12 system are used to automatically release the vehicles loaded with containers passing through, and the three-dimensional laser scanner 1341 of the detection device 13 is used to automatically detect the containers carried by the vehicles on the passing lane 20; and when the detection device 13 detects the container, the first pair of emission sensors 1311 on the two detection devices 13 and the two pair of emission devices 14 are used for pair of emission detection to determine whether the vehicle is parked at a predetermined detection position, and the rotatable main body 131, the swingable swing arm 132, the telescopic telescopic arm 133, and the swingable three-dimensional laser scanner 1341 are used for multi-axis movement. In this way, the container detection device 13 can adjust the detection range by rotating, swinging, and telescoping to smoothly detect the container, so as to adapt to the detection of the containers on the vehicles with docking deviations on the lane 20 to smoothly conduct a comprehensive detection of the interior of the container.

[0047] Please refer to Figure 3 、 Figure 5 and Figure 6 In this embodiment, the detection device 13 further includes an infrared light camera 1342 and a plurality of ranging sensors 1343. The infrared light camera 1342, the plurality of ranging sensors 1343, and the three-dimensional laser scanner 1341 are integrated into one body; the integrated body is arranged on the telescopic arm 133. The infrared light camera 1342 is used for video monitoring of the interior of the container, and the plurality of ranging sensors 1343 are used for measuring the distance between the container door and the integrated body. Further, the plurality of ranging sensors 1343 are arranged around the three-dimensional laser scanner 1341 in different directions to ensure multi-directional detection.

[0048] Further refer to Figure 3 and Figure 5The detection device 13 also includes a main control module arranged in the main body 131, a first driving member for driving the main body 131 to rotate and located in the main body 131, a second driving member 135 for driving the swing arm 132 to swing and connected to the main body 131, a third driving member 136 for driving the telescopic arm 133 to telescope and located on the swing arm 132, and a fourth driving member for driving the three-dimensional laser scanner 1341 to swing; the first driving member, the second driving member 135, the third driving member 136 and the fourth driving member are all connected to the main control module, and the main control module is connected to the background monitoring system in communication; further, the main control module is connected to the industrial switch of the background monitoring system in communication. The main control module can be an embedded chip, specifically a single-chip microcomputer or a DSP processor; the single-chip microcomputer can be but not limited to an ATMEL series single-chip microcomputer, an STM8 or an STM32 single-chip microcomputer; the DSP processor can be but not limited to a DSP processor of AU3822UC82 signal.

[0049] In this embodiment, the first driving member includes a first motor disposed in the main body 131. The second driving member 135 is disposed in the main body 131 and includes a second motor (not shown) and at least one electric push rod 1351; specifically, one end of each electric push rod 1351 is connected to the second motor and the other end is connected to the swing arm 132, and the second motor is used to drive the electric push rod 1351 to move so as to drive the swing arm 132 to swing in an arc shape with the main body 131 as a fulcrum. The third driving member 136 includes a third motor 1361 disposed on the swing arm 132, a screw rod 1362 drivingly connected to the third motor 1361, and two slide rails 1363 located on the swing arm 132 and disposed on both sides of the screw rod 1362; specifically, the telescopic arm 133 is connected to the screw rod 1362 and slidably connected to the two slide rails 1363, and the third motor 1361 is used to drive the screw rod 1362 to rotate so as to drive the telescopic arm 133 to slide back and forth along the two slide rails 1363. During the reciprocating sliding process, the telescopic arm 133 approaches or moves away from the end connected to the swing arm 132 and the main body 131. The fourth driving member includes a fourth motor located in the integrated machine, and the third motor 1361 is used to drive the three-dimensional laser scanner 1341 to rotate. Therefore, the detection device 13 can realize four different axis movements through the rotating main body 131, the swinging swing arm 132, the telescopic telescopic arm 133 and the swingable three-dimensional laser scanner 1341, and the laser wide angle of the three-dimensional laser scanner 1341 is at least 114 degrees when scanning, so that the detection device 13 can realize scanning detection in five different axis degrees.

[0050] It should be noted that the all-in-one machine is provided with two oppositely arranged end parts, which are arranged at one end part of the telescopic arm 133. When the telescopic arm 133 does not extend, both the telescopic arm 133 and the all-in-one machine are within the range of the swing arm 132. When the telescopic arm 133 moves to drive the all-in-one machine to extend, the end part of the telescopic arm 133 with the all-in-one machine first exceeds the swing arm 132; in a specific embodiment, the telescopic arm 133 can extend beyond the swing arm by at least 70 cm, and the specific situation can be determined according to the length of the container and the number of containers on the trailer 50 during actual application.

[0051] Further referring to Figure 3 and Figure 4 , each of the detection devices 13 further includes at least one warning light arranged on the main body 131, and the warning light is connected to the main control module. When the detection device 13 detects an abnormality in the container, that is, when there are hidden items in the container, the warning light gives an alarm, and the main control module is used to upload the alarm information to the background monitoring system.

[0052] In the above embodiment, the container detection system 10 further includes two third cameras arranged on the safety island 23 on one side of the lane 20 and in communication connection with the background monitoring system; the two detection devices 13 are arranged on the same side as the two third cameras and between the two detection devices 13. One of the third cameras is used to monitor the opening situation of the door at the end close to the vehicle head of the container loaded on the vehicle parked at the predetermined detection position, and the other third camera is used to monitor the opening situation of the door at the end far from the vehicle head of the container loaded on the vehicle parked at the predetermined detection position.

[0053] Embodiment 2

[0054] Please refer to Figure 6 , Embodiment 2 of the present application further provides a container detection method. The container detection method is based on the container detection system of Embodiment 1 above, and specifically includes the following steps:

[0055] Step S1: Use the first card reader to identify the vehicle loaded with a container about to enter the lane;

[0056] Step S2: When the background monitoring system receives the vehicle release signal from the first card reader, start the first pair of photoelectric sensors and two photoelectric devices on the two detection devices.

[0057] Step S3: Use each of the photoelectric devices to perform a photoelectric detection with the first pair of photoelectric sensors on the detection device arranged opposite thereto, so as to detect whether the vehicle is parked at the predetermined detection position.

[0058] Step S4: After the vehicle stops at a predetermined detection position, start the rotation of the main body on the detection device to drive the swing arm to rotate. The swung swing arm is perpendicular to the main body. Drive the telescopic arm to extend so that the 3D laser scanner on the telescopic arm extends to the door of the container on the vehicle;

[0059] Step S5: Drive the 3D laser scanner to swing and at the same time start the 3D laser scanner to emit laser to perform 3D scanning on the interior of the container to detect the interior condition of the container; and

[0060] Step S6: When there is no abnormality in the interior of the container, the background monitoring system receives the signal of no abnormality sent by the detection device and starts the vehicle loaded with the container after the second checkpoint is released for inspection.

[0061] In the above steps, the abnormality can be understood as that an empty container hides items and is not a real empty container situation.

[0062] In a specific embodiment, the container detection method further includes step S7: When the detection device detects an abnormality in the interior of the container, start the alarm light on the detection device to give an alarm, use the detection device to send an alarm signal to the background monitoring system and send an interception command to the second checkpoint through the background monitoring system.

[0063] In a specific embodiment, after the vehicle stops at a predetermined detection position, the container detection method further includes: In the direction from the first checkpoint to the second checkpoint, set two of the detection devices as detection device A and detection device B respectively and set two of the third cameras as camera a and camera b; When camera a detects that the container has an opening at the end away from the vehicle head, start detection device A to detect the container; When camera b detects that the container has an opening at the end close to the vehicle head, start detection device B to detect the container. In this way, the two detection devices can be controlled in an orderly manner.

[0064] In the above step S3, whether the vehicle stops at a predetermined detection position is determined according to the change process of the occlusion of the light beam of the first pair of light sensors on detection device A and detection device B. How the specific change means stopping at a predetermined detection position is as described in the foregoing Embodiment 1.

[0065] In the above step S3, when the vehicle does not stop at a predetermined detection position, use a voice broadcaster to provide a stop indication, such as an indication to remind the vehicle to reverse or move forward.

[0066] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A container detection system for detecting containers loaded on vehicles traveling on a lane. The lane is provided with a relatively arranged lane entrance and lane exit, and safety islands are arranged on both sides of the lane. It is characterized in that, It includes a first checkpoint set at the entrance of the lane, a second checkpoint set at the exit of the lane, two detection devices set on the safety island on one side of the lane, and two opposed devices set on the safety island on the other side of the lane and disposed opposite to the two detection devices respectively; the two detection devices are spaced apart on the safety island and the distance between the two detection devices is greater than the length of the on-vehicle container. Each detection device includes a rotatable main body, a plurality of first opposed sensors located on the main body, a swing arm connected to the main body, a telescopic arm located on the swing arm and reciprocally slidably connected to the swing arm, and a swingable three-dimensional laser scanner located on the telescopic arm and used for detecting the interior of the container. The container detection system is communicatively connected to a background monitoring system. The first checkpoint is used for license plate recognition of the vehicle loaded with the container and releasing the recognized vehicle; the first opposed sensors on the two detection devices are respectively used for performing opposed detection with the opposed devices disposed opposite thereto to determine whether the vehicle loaded with the container is parked at a predetermined detection position. The trailer of the container travels in the direction from the lane entrance to the lane exit. The detection devices are denoted as A and B. The trailer loaded with the container will first only block the light beam emitted by the first opposed sensor on detection device A, then simultaneously block the light beams emitted by the first opposed sensors on detection devices A and B, then only block the light beam emitted by the first opposed sensor on detection device A, and finally the light beams emitted by the first opposed sensors on detection devices A and B will not be blocked. When the trailer is parked, the container on the trailer is just located in the lane area between detection device A and detection device B; the second checkpoint is used for releasing or intercepting the vehicle loaded with the container according to the detection situation of the detection device.

2. The container detection system according to claim 1, characterized in that, Each opposed device includes a fixed rod set on the safety island and a plurality of second opposed sensors set on the fixed rod. The plurality of second opposed sensors on each opposed device are used for performing opposed detection with the plurality of first opposed sensors on the detection device disposed opposite to this opposed device.

3. The container detection system according to claim 1, characterized in that, The first checkpoint includes a first gate and a first camera. The first camera is used for capturing and recognizing the license plate of the vehicle at the lane entrance, and the first gate is used for releasing the vehicle after license plate recognition.

4. The container detection system according to claim 1, characterized in that, The second checkpoint includes a second gate and a second camera used for recording the vehicle entering and leaving from the lane exit. When the detection device detects that the container is normal, the second gate is used for releasing the container of the vehicle.

5. The container detection system according to claim 1, characterized in that, The detection device also includes a main control module arranged in the main body, a first driving member located in the main body for driving the main body to rotate, a second driving member used to drive the swing arm to swing and connected to the main body, a third driving member used to drive the telescopic arm to telescope and be located on the swing arm, and a fourth driving member used to drive the three-dimensional laser scanner to swing. The first driving member, the second driving member, the third driving member and the fourth driving member are all connected to the main control module, and the main control module is communicatively connected to the background monitoring system.

6. The container detection system according to claim 5, characterized in that, Each of the detection devices further includes at least one warning light arranged on the main body, and the warning light is connected to the main control module.

7. The container detection system according to claim 5, characterized in that, The detection device also includes an infrared camera and multiple ranging sensors, and the infrared camera, multiple ranging sensors and the three-dimensional laser scanner are integrated into an all-in-one machine; the all-in-one machine is arranged on the telescopic arm, the infrared camera is used for video monitoring of the interior of the container, and the multiple ranging sensors are used for detecting the distance between the container door and the all-in-one machine.

8. The container detection system according to any one of claims 1 to 7, characterized in that, The container detection system also includes two third cameras arranged on the safety island on one side of the lane and communicatively connected to the background monitoring system; the two detection devices are arranged on the same side as the two third cameras and between the two detection devices, one of the third cameras is used to monitor the door opening of the container loaded on the vehicle docked at the predetermined detection position near the front end of the vehicle, and the other third camera is used to monitor the door opening of the container loaded on the vehicle docked at the predetermined detection position away from the front end of the vehicle.

9. A container detection method based on the container detection system according to claim 8, characterized in that, include: Using the first checkpoint to identify a vehicle loaded with a container that is about to enter the lane; When the background monitoring system receives the vehicle release signal from the first checkpoint, it starts the first beam sensor and the two beam devices on the two detection devices. Using the first opposing beam sensor on the detection device arranged opposite to each opposing beam device to perform opposing beam detection to detect whether the vehicle is parked at a predetermined detection position; When the vehicle stops at a predetermined detection position, the main body on the detection device is started to rotate to drive the swing arm to rotate, and the swing arm is swung out so that the swing arm is vertically arranged with the main body, and the telescopic arm is driven to extend so that the three-dimensional laser scanner on the telescopic arm extends to the container door on the vehicle; driving the three-dimensional laser scanner to swing and simultaneously starting the three-dimensional laser scanner to emit laser to perform three-dimensional scanning on the interior of the container to detect the interior condition of the container; and When there is no abnormality inside the container, the background monitoring system receives the normal signal sent by the detection device and starts the second checkpoint to release the vehicle loaded with the container after the detection.

10. The container detection method according to claim 9, characterized in that, The container detection method also includes: when the detection device detects an abnormality inside the container, activating an alarm light on the detection device to sound an alarm, using the detection device to send an alarm signal to the background monitoring system and sending an interception command to the second checkpoint through the background monitoring system.

11. The container detection method according to claim 9, characterized in that, After the vehicle stops at a predetermined detection position, the container detection method further includes: setting two of the detection devices as detection device A and detection device B respectively and setting two of the third cameras as camera a and camera b in sequence from the first bayonet to the second bayonet; when camera a detects that there is an opening situation at the end of the container far from the vehicle head, starting detection device A to detect the container; when camera b detects that there is an opening situation at the end of the container close to the vehicle head, starting detection device B to detect the container.

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