Customs inspection system

Abstract

The application relates to a customs inspection system. The customs inspection system comprises: a plurality of inspection compartments arranged side by side, the inspection compartments being used for placing containers storing goods to be inspected; a slide rail arranged at the exit side of the plurality of inspection compartments; and an inspection device movably connected with the slide rail, wherein one end of the inspection device away from the slide rail is provided with an inspection unit capable of being inserted into the inspection compartment to inspect the goods to be inspected in the container. The inspection device of the customs inspection system is movable along the slide rail arranged on the plurality of inspection compartments, does not occupy the ground inspection space, is convenient for path planning, can efficiently assist the customs personnel to complete the inspection task, and reduces the labor intensity of the customs personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of security inspection, in particular to a customs inspection system. BACKGROUND

[0002] At present, the inspection means of the customs mainly relies on manual inspection, supplemented by inspection equipment, the types of inspection equipment are few, the utilization rate is low, there is lack of technical means for information verification, the informationization support is insufficient, and there are problems such as lack of system integration and information interconnection.

[0003] In order to improve the supervision and inspection efficiency, some customs begin to trial use robots to assist customs officers to conduct inspection. However, in the trial use of robots, the inspection site is mainly used for stacking and unpacking goods, and the space is limited, which causes that the robot cannot plan the moving path, and even has the risk of getting lost. SUMMARY

[0004] The purpose of the present application is to provide a customs inspection system which can assist customs personnel to carry out inspection business and does not occupy the space of the inspection site.

[0005] The present application provides a customs inspection system, which comprises: a plurality of inspection compartments arranged side by side, the inspection compartments being used for placing containers storing goods to be inspected; a slide rail erected at the exit side of the plurality of inspection compartments; and an inspection device movably connected with the slide rail, wherein one end of the inspection device away from the slide rail is provided with an inspection unit, and the inspection unit can be inserted into the inspection compartment to inspect the goods to be inspected in the container.

[0006] According to an aspect of the present application, the inspection device further comprises a motion unit and a main control unit, the motion unit is connected with the inspection unit, and the main control unit is configured to obtain target position information of the inspection compartment corresponding to the container and control the motion unit to drive the inspection unit to reach the target position.

[0007] According to an aspect of the present application, the motion unit comprises a horizontal moving module, the horizontal moving module comprises a moving frame and a roller arranged on the moving frame, the inspection unit is connected with the moving frame, the slide rail is provided with a groove, the moving frame is sleeved on the outer circumferential side of the slide rail, and the roller can be embedded in the groove to drive the inspection unit to move along the slide rail.

[0008] According to an aspect of the present application, the motion unit further comprises a height adjusting module, one end of the height adjusting module is connected with the horizontal moving module, and the other end of the height adjusting module is connected with the inspection unit to drive the inspection unit to move in the vertical direction.

[0009] According to an aspect of the present application, the inspection device further comprises a positioning unit, the positioning unit is used for sending an electric signal to the main control unit when the inspection unit reaches the target position, so that the main control unit controls the motion unit to stop moving.

[0010] According to an aspect of the embodiment of the present application, the inspection device further comprises an obstacle avoidance unit connected with the inspection unit, for sensing whether there is an obstacle in a predetermined space around the inspection unit.

[0011] According to an aspect of the embodiment of the present application, the inspection unit comprises an image acquisition module for acquiring image information of the scene and identifying the number and seal number of the container according to the image information, and the master control unit is used for comparing the number and seal number of the container with the customs declaration.

[0012] According to an aspect of the embodiment of the present application, the inspection unit further comprises a distance detection module for sensing the stacking shape of the container, and the master control unit is further used for reviewing the container opening instruction according to the stacking shape.

[0013] According to an aspect of the embodiment of the present application, the inspection unit further comprises an environment detection module comprising a harmful gas sensor, and the gas inlet of the harmful gas sensor is provided with a probe capable of being inserted into the container.

[0014] According to an aspect of the embodiment of the present application, the environment detection module further comprises a radioactive material detector, and the radioactive material detector at least comprises a gamma detector.

[0015] According to an aspect of the embodiment of the present application, the inspection unit further comprises a spectrum screening module for screening whether the type and composition of the goods to be inspected meet the customs detection standard.

[0016] According to an aspect of the embodiment of the present application, the inspection device further comprises a man-machine interaction unit electrically connected with the inspection unit and in communication connection with the master control unit.

[0017] The customs inspection system provided by the embodiment of the present application is movable along the slide rails arranged on the plurality of inspection compartments, does not occupy the ground inspection space, is convenient for path planning, the inspection compartment is used for placing the container storing the goods to be inspected, the inspection device is provided with the inspection unit at the end away from the slide rails, the inspection unit can be inserted into the inspection compartment to inspect the goods to be inspected in the container, the inspection unit integrates the inspection business of the customs and the intelligent equipment, can efficiently assist the customs personnel to complete the on-site inspection task, and reduces the labor intensity of the customs personnel. The inspection unit can effectively reduce the inspection cost while completing all the inspection businesses with the same quality. BRIEF DESCRIPTION OF DRAWINGS

[0018] The features, advantages, and technical effects of the exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0019] Figure 1A schematic diagram showing the spatial layout structure of a customs inspection system along one angle provided by an embodiment of the present invention is shown;

[0020] Figure 2 Show Figure 1 A schematic diagram of the spatial layout structure of the customs inspection system from another angle;

[0021] Figure 3 Show Figure 1 Schematic diagram of the electrical structure of the inspection device of the customs inspection system. DETAILED DESCRIPTION

[0022] The features and exemplary embodiments of various aspects of the present invention are described in detail below. In the detailed description that follows, many specific details are set forth in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without some of these specific details. The following description of the embodiments is intended only to provide a better understanding of the present invention by illustrating examples of the present invention. In the accompanying drawings and the following description, at least some of the well-known structures and techniques are not shown in order to avoid unnecessary ambiguity in the present invention; and, for clarity, the sizes of some structures may be exaggerated. In addition, the features, structures, or characteristics described below may be combined in any suitable manner in one or more embodiments.

[0023] The directional words appearing in the following description refer to the directions shown in the drawings and do not limit the specific structure of the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0024] Figure 1 A schematic diagram of the spatial layout structure of a customs inspection system provided by an embodiment of the present invention along one angle is shown. Figure 2 Show Figure 1 Schematic diagram of the spatial layout structure of the customs inspection system from another angle.

[0025] Please also refer to Figure 1 and Figure 2 An embodiment of the present invention provides a customs inspection system, including: a plurality of inspection compartments R, a slide rail G and an inspection device 1.

[0026] A plurality of inspection compartments R are arranged side by side, and the inspection compartments R are used to place containers B storing goods to be inspected.

[0027] The slide rail G is arranged at the exit side of the plurality of inspection compartments R.

[0028] The inspection device 1 is movably connected with the slide rail G, and the inspection unit 11 is arranged at the end of the inspection device 1 away from the slide rail G, and the inspection unit 11 can be inserted into the inspection compartment R to inspect the goods to be inspected in the container B.

[0029] Due to the limited space of the customs inspection site, most of the area is used for stacking goods to be inspected, and the moving space of the inspection device 1 is greatly limited, and the moving path of the inspection device 1 cannot be planned. Even if landmark navigation is used, due to the stacking of goods to be inspected and the influence of mobile equipment on site, there is a risk that the landmark will be blocked or even damaged. Planning the moving path of the inspection device 1 alone will occupy the area of the inspection site and reduce the area utilization rate of the inspection site. In addition, there are forklifts and other engineering machinery on the inspection site, which may scratch the inspection device 1.

[0030] In the embodiment of the application, the inspection unit 11 of the inspection device 1 can integrate the inspection business of the customs and intelligent equipment, better assist the customs personnel to complete the on-site inspection task, and reduce the labor intensity of the customs personnel. In addition, the slide rail G is arranged at the exit side of the plurality of inspection compartments R, and the inspection device 1 is movably connected with the slide rail G, so that the inspection device 1 can be moved back and forth without occupying the inspection site, and will not collide with the forklift and other engineering machinery, and at the same time, it is convenient to plan the moving path, and the requirements for navigation, positioning and obstacle avoidance equipment are relatively low. The same quality can complete various inspection businesses while effectively reducing the inspection cost.

[0031] The customs inspection system provided by the embodiment of the application can be moved along the slide rail G arranged on the plurality of inspection compartments R, without occupying the ground inspection space, and is convenient for path planning. The inspection compartment R is used to place the container B storing the goods to be inspected, and the inspection unit 11 is arranged at the end of the inspection device 1 away from the slide rail G, and the inspection unit 11 can be inserted into the inspection compartment R to inspect the goods to be inspected in the container B. The inspection unit 11 integrates the inspection business of the customs and intelligent equipment, can efficiently assist the customs personnel to complete the on-site inspection task, reduce the labor intensity of the customs personnel, and effectively reduce the inspection cost while completing various inspection businesses with the same quality.

[0032] Figure 3 The electrical structure schematic diagram of the inspection device of the customs inspection system is shown in Figure 1

[0033] Please refer to Figures 1 to 3 ​The inspection device 1 further comprises a motion unit 12 and a master control unit 13, the motion unit 12 is connected with the inspection unit 11, and the master control unit 13 is configured to acquire target position information of the inspection compartment R corresponding to the container B, and control the motion unit 12 to drive the inspection unit 11 to reach the target position.

[0034] As described above, the plurality of inspection compartments R are arranged side by side, the slide rail G is arranged at the outlet side of the plurality of inspection compartments R, each inspection compartment R has a fixed coordinate position, and the master control unit 13 controls the motion unit 12 to drive the inspection unit 11 to reach the target position according to the acquired target position information of the inspection compartment R corresponding to the container B.

[0035] In some embodiments, the motion unit 12 comprises a horizontal movement module 121, the horizontal movement module 121 comprises a moving frame and a roller (not shown in the figure) arranged on the moving frame, the inspection unit 11 is connected with the moving frame, the slide rail G is provided with a groove (not shown in the figure), the moving frame is sleeved on the outer circumferential side of the slide rail G, and the roller can be embedded in the groove to drive the inspection unit 11 to move along the slide rail G.

[0036] The horizontal movement module 121 further comprises a driving device for driving the roller to drive the inspection unit 11 to move along the slide rail G, and the driving device comprises any one of a motor, a pneumatic cylinder or a hydraulic cylinder cooperating with a transmission mechanism. For example, the driving device comprises a motor and a conveyor belt transmission mechanism, the conveyor belt transmission mechanism comprises a driving wheel, a follower wheel and a conveyor belt connecting the driving wheel and the follower wheel, the conveyor belt is fixedly connected with the moving frame, and the driving wheel drives the conveyor belt to rotate to drive the inspection unit 11 to move along the slide rail G.

[0037] In some embodiments, the motion unit 12 further comprises a height adjustment module 122, one end of the height adjustment module 122 is connected with the horizontal movement module 121, and the other end of the height adjustment module 122 is connected with the inspection unit 11 to drive the inspection unit 11 to move in the vertical direction. Since the containers B are stacked in the height direction, in order to facilitate the inspection of each container B, the height of the inspection unit 11 can be adjusted through the height adjustment module 122. In addition, it is also convenient to adjust the extension size of the inspection unit 11 relative to the slide rail G according to the height of the customs officer, so as to assist the customs officer to hold the inspection unit 11 to inspect the container B.

[0038] Optionally, the height adjustment module 122 is a mechanism such as a lift, a gas spring, etc. Taking the gas spring structure as an example, the gas spring includes a pressure cylinder, a piston rod, a piston, a sealing guide sleeve, a filler, a cylinder-in control element and a cylinder-out control element, a joint, etc. The working principle of the gas spring is to fill inert gas or oil-gas mixture into a sealed pressure cylinder, so that the pressure in the cavity is several or dozens of times higher than the atmospheric pressure, and the movement of the piston rod is realized by using the pressure difference caused by the cross-sectional area of the piston rod being smaller than that of the piston. Due to the fundamental difference in principle, the gas spring has the characteristics of relatively slow speed, small dynamic force change and easy control.

[0039] In some embodiments, the inspection device 1 further comprises a positioning unit 16, which is configured to send an electrical signal to the main control unit 13 when the inspection unit 11 reaches the target position, so that the main control unit 13 controls the movement unit 12 to stop moving.

[0040] The positioning unit 16 can be a switch sensor, such as a photoelectric switch, which is generally two pairs of photoelectric switches arranged at positions on the slide rail G corresponding to each inspection compartment R. The horizontal movement module 121 is provided with a stop piece, and when the stop piece reaches the area between the two pairs of photoelectric switches, the photoelectric switch detects the in-position signal and sends an electrical signal to the main control unit 13, so that the main control unit 13 controls the movement unit 12 to stop moving. The positioning unit 16 can also be a contact switch arranged at positions on the slide rail G corresponding to each inspection compartment R. The horizontal movement module 121 is provided with a stop piece, and when the stop piece hits the contact switch, it means that the inspection unit 11 is in position, and an electrical signal is sent to the main control unit 13.

[0041] The positioning unit 16 can also use a marker positioning method, such as a two-dimensional code or other electronic code arranged at positions on the slide rail G corresponding to each inspection compartment R. The horizontal movement module 121 and / or the inspection unit 11 is provided with a scanner, and when the inspection unit 11 reaches the target position, the two-dimensional code is scanned to send an in-position electrical signal to the main control unit 13.

[0042] The positioning unit 16 can also use Ultra Wide Band (UWB) technology, which is a wireless carrier communication technology that transmits data using nanosecond non-sinusoidal narrow pulse, so the frequency spectrum range it occupies is very wide. The UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signal, low sensitivity to channel fading, low interception ability, high positioning accuracy, etc., and is especially suitable for high-speed wireless access in dense multipath places such as indoors. The positioning unit 16 includes a positioning tag, a positioning base station, and cloud Internet of Things application software. The positioning tag is arranged on the inspection unit 11, the positioning base station is placed within the effective distance range in the inspection site, and the main control unit 13 can be integrated with cloud Internet of Things application software to track the trajectory of the inspection unit 11 in real time.

[0043] If the horizontal moving module 121 and the height adjusting module 122 of the motion unit 12 are both driven by motors, the positioning unit 16 can also calculate the moving position of the inspection device 1 on the slide rail G or the height position in the vertical direction by counting the steps of the encoder arranged on the motor.

[0044] It can be understood that the positioning unit 16 can also be combined in various ways as described above to improve the accuracy and reliability of positioning.

[0045] In some embodiments, the inspection device 1 further comprises an obstacle avoidance unit 14 connected with the inspection unit 11, for sensing whether there is an obstacle in a predetermined space around the inspection unit 11.

[0046] Optionally, the obstacle avoidance unit 14 comprises sensors such as ultrasonic sensors and three-dimensional depth cameras to sense the environment around the inspection unit 11, so as to ensure that the inspection device 1 does not collide with surrounding customs officers or obstacles when moving on the slide rail G or the inspection unit 11 is lifted in the height direction, thereby improving the safety of the inspection device 1.

[0047] The specific functional modules of the inspection unit 11 of the inspection device 1 provided by the embodiments of the present application and the working principle of assisting customs officers to complete the on-site inspection task will be described in detail below.

[0048] In some embodiments, the inspection unit 11 comprises an image acquisition module 111 for acquiring image information of the scene and identifying the number and seal of the container B according to the image information, and the master control unit 13 is used to compare the number and seal of the container B with the customs declaration.

[0049] Optionally, the image acquisition module 111 comprises network video monitoring equipment such as fixed cameras, pan-tilt cameras and infrared thermal imagers, and a hard disk video recorder, and the image acquisition module 111 can automatically take pictures of the container number and seal number of the container B. The seal is a device similar to a lock that is applied by a specific person after the goods are loaded into the container B and the door is properly closed. The seal can be divided into customs seal, inspection seal and commercial seal according to the person applying it. Once the seal is properly locked, it cannot be opened unless it is forcibly broken, and the broken seal cannot be reused. Each seal has a unique number, i.e. a seal number. As long as the appearance of the container B is complete, the door is properly closed, and the seal is properly locked, it can be proved that the container has not been opened privately during transportation.

[0050] The image acquisition module 111 can identify the container number and seal number of the container B according to the acquired image and send them to the main control unit 13. The main control unit 13 compares the container number and seal number of the container B with the customs declaration form to verify whether the container B has been opened without permission during transportation.

[0051] When taking pictures, the container B or the goods to be inspected can be placed in a designated position, and the image acquisition module 111 can take pictures for evidence collection, standardizing the picture taking for evidence collection, and solving the problems of poor consistency of picture taking position and angle, blurred pictures, etc. when customs officers manually take pictures for evidence collection.

[0052] In addition, during the inspection process, the image acquisition module 111 can also provide audio and video auxiliary recording to monitor the unpacking and packing process, facilitating subsequent retrieval of monitoring records.

[0053] In some embodiments, the inspection unit 11 further includes a distance detection module 112 for sensing the stacking shape of the container B, and the main control unit 13 is further configured to review the unpacking instruction according to the stacking shape.

[0054] Optionally, the distance detection module 112 is a laser radar sensor, which can sense the stacking shape of the container B based on three-dimensional scene reconstruction, data analysis comparison, etc. to review the unpacking instruction, etc. As shown in Figure 2 The inspection unit 11 further includes a distance detection module 112 for sensing the stacking shape of the container B, and the main control unit 13 is further configured to review the unpacking instruction according to the stacking shape.

[0055] In some embodiments, the inspection unit 11 further includes an environment detection module 113, and the environment detection module includes a harmful gas sensor, and the gas inlet of the harmful gas sensor is provided with a probe capable of being inserted into the container B.

[0056] In order to protect the safety of customs officers, the environment around the container B is monitored before the container B is opened to prevent harmful gases in the goods to be inspected from overflowing and causing harm to the human body. After the customs officers lower the inspection unit 11 to an appropriate height through the height adjustment module 122, the probe of the harmful gas sensor is manually inserted into the container B to detect whether there is toxic gas in the container and whether the concentration of the toxic gas is below the safety limit, while providing real-time online monitoring of the toxic gas concentration in the inspection area. For example, the harmful gas sensor can perform real-time online monitoring and alarm on common fumigants (phosphine, bromomethane, etc.), nitric oxide, nitrogen dioxide, ammonia, hydrogen sulfide, flammable gas, organic volatile gas, etc.

[0057] In some embodiments, the environment detection module 113 further comprises a radioactive substance detector, which at least comprises a gamma detector. Optionally, the radioactive substance detector further comprises a neutron detector. The radioactive substance detector can monitor the radiation level of the surrounding environment, identify the dangerous level of nuclear bio-chemical, and ensure the safety of customs officers.

[0058] In some embodiments, the inspection unit 11 further comprises a spectrum screening module 114 for screening whether the type and composition of the goods to be inspected meet the customs inspection standards.

[0059] After the surrounding environment is confirmed to be free of radioactive substances or toxic and harmful gases by the environment detection module 113, the container B can be opened to inspect the goods to be inspected. Optionally, the spectrum screening module 114 uses Raman spectroscopy to identify the type and composition of the goods to be inspected, such as harmful elements and their content, etc., to quickly screen out goods that do not meet the customs inspection standards. Optionally, the spectrum screening module 114 can complete the screening online and automatically generate an "on-site screening record table".

[0060] Optionally, an expert knowledge base is built in the main control unit 13, which can be intelligently queried by picture comparison. The expert knowledge base stores intellectual property information such as product labels / identifiers, marks, and customs declarations, harmful gas content standards, and other harmful elements, to assist customs officers in completing comprehensive intelligent inspection and improve the standardization of inspection operations, the effectiveness of inspection results, and the relevance of the inspection process.

[0061] In some embodiments, the inspection device 1 further comprises a human-computer interaction unit 15, which is electrically connected with the inspection unit 11 and communicatively connected with the main control unit 13. Optionally, the human-computer interaction unit 15 comprises a face recognition system, a voice interaction system, a touch display screen, a voice intercom and broadcast, a touch button, and a sound and light prompt alarm lamp part. Through various interaction modes such as touch screen and voice, data and instruction interaction between customs officers and the inspection device 1 can be provided, and the human-computer interaction unit 15 is also designed with independent touch buttons, which can be directly controlled by customs officers.

[0062] The face recognition system can realize the control of accompanying inspection behavior in the inspection area and strictly regulate the tracking inspection system of freight forwarding. The voice interaction system can realize the voice interaction between customs officers and the inspection device 1, and can also issue control instructions and control the inspection device 1 through voice instructions at one end of the inspection device 1, and can also query auxiliary inspection business through voice instructions at one end of the inspection device 1 during the inspection process.

[0063] The inspection device 1 further comprises a communication unit, which comprises a local area network switch, a router and a network module. The network module can realize the communication connection between the man-machine interaction unit 15 and the main control unit 13 according to different scenes and different needs, realize online real-time monitoring and the like, and the like by adopting wired, wireless local area network (such as Wi-Fi or WAPI) or wireless mobile network (such as 4G, 5G network) and the like.

[0064] In addition, the inspection device 1 further comprises a power supply unit for supplying power for the inspection device 1. According to different application scenes, an external power supply or a built-in battery pack and the like can be selected for power supply. When the external power supply is adopted, the power supply unit comprises a power supply interface and a voltage conversion module. When the built-in battery pack is adopted, the power supply unit further comprises a battery pack, a battery pack management system, a charging system and the like in addition to the voltage conversion module, and will not be described herein.

[0065] As described above, the main control unit 13 comprises a workstation and a core controller, the workstation is used for providing local algorithm deployment, and the core controller is used for assisting to complete task management and planning, inspection equipment integrated management, centralized processing of camera data and the like all related businesses. In addition, the main control unit 13 can acquire an inspection instruction, gradually perfect a commodity, a case and the like expert knowledge base in the inspection process, and is in communication connection with a customs management system, and reports an inspection result and an inspection process information to the customs management system. Through the formulation of a standardized inspection process, a worker can be guided to complete the inspection work according to the established steps, through the intelligent related technology, the monitoring, law enforcement supervision and the effective management and control of the site personnel and materials of the whole inspection process can be realized.

[0066] The customs inspection system provided by the embodiment of the application can completely solve the ground problem that the ground walking robot cannot plan a path and the like in the inspection process by deeply combining the business processes of the customs, adopting the hoisting sliding rail type inspection device 1 according to the actual demand situation of the port customs manual inspection law enforcement work, and can effectively reduce the cost while completing all the inspection businesses with the same quality compared with the ground walking robot. The inspection device 1 is integrated with various inspection equipment, the inspection types are extensive, and the supervision and inspection efficiency is greatly improved. In addition, the inspection device 1 further establishes an expert knowledge base and is in communication connection with the customs management system, and realizes the informatization. Therefore, the customs personnel can be assisted to complete the inspection task efficiently, the labor intensity of the customs personnel is reduced, and the inspection cost is effectively reduced while completing all the inspection businesses with the same quality.

[0067] While the present application has been described with reference to the preferred embodiments, it is to be understood that various modifications can change the scope of the present application to which they are not intended to deviate. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided that there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A customs inspection system, characterized in that: include: A plurality of inspection compartments are arranged side by side, and the inspection compartments are used to place containers storing goods to be inspected; A slide rail is installed at the exit side of the plurality of inspection compartments, the slide rail is outside the plurality of inspection compartments, and extends across the inspection compartments; An inspection device is movably connected to the slide rail, and an inspection unit is provided at one end of the inspection device away from the slide rail, and the inspection unit can penetrate into the inspection compartment to inspect the goods to be inspected in the container; The inspection device further includes a motion unit and a main control unit, wherein the motion unit is connected to the inspection unit, each inspection compartment has a fixed coordinate position, and the main control unit is configured to obtain target position information of the inspection compartment corresponding to the container, and control the motion unit to drive the inspection unit to slide along the slide rail to the corresponding inspection compartment and penetrate into the interior to reach the target position; The inspection unit includes an image acquisition module, which is used to obtain on-site image information and identify the serial number and seal number of the container based on the image information. The main control unit is used to compare the serial number and seal number of the container with the customs declaration form; The inspection unit further includes a distance detection module, which is used to sense the stacking shape of the container. The main control unit is further used to review the container unloading instruction according to the stacking shape.

2. The customs inspection system according to claim 1, characterized in that: The motion unit includes a horizontal moving module, which includes a moving frame and a roller arranged on the moving frame. The inspection unit is connected to the moving frame. The slide rail is provided with a groove. The moving frame is sleeved on the outer peripheral side of the slide rail. The roller can be embedded in the groove to drive the inspection unit to move along the slide rail.

3. The customs inspection system according to claim 2, characterized in that: The motion unit further includes a height adjustment module, one end of which is connected to the horizontal movement module, and the other end of which is connected to the inspection unit to drive the inspection unit to move in a vertical direction.

4. The customs inspection system according to claim 2 or 3, characterized in that: The inspection device further includes a positioning unit, which is used to send an electrical signal to the main control unit when the inspection unit reaches the target position, so that the main control unit controls the movement unit to stop moving.

5. The customs inspection system according to claim 1, characterized in that: The inspection device further includes an obstacle avoidance unit, which is connected to the inspection unit and is used to sense whether there is an obstacle in a predetermined space around the inspection unit.

6. The customs inspection system according to claim 1, characterized in that: The inspection unit further includes an environment detection module, which includes a harmful gas sensor. The gas path input port of the harmful gas sensor is provided with a probe that can be inserted into the container.

7. The customs inspection system according to claim 6, characterized in that: The environmental detection module further includes a radioactive material detector, which includes at least a gamma detector.

8. The customs inspection system according to claim 1, characterized in that: The inspection unit further includes a spectral screening module, which is used to screen whether the type and composition of the goods to be inspected meet customs inspection standards.

9. The customs inspection system according to claim 1, characterized in that: The inspection device further includes a human-computer interaction unit, which is electrically connected to the inspection unit and is in communication connection with the main control unit.

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