Storage yard crossing detection system for checking containers

Abstract

The utility model discloses a storage yard crossing detection system for checking containers. The system comprises two ground rails which are arranged on a foundation of a storage yard crossing in parallel at a preset distance; the stand column steel mechanism is slidably arranged on the upper surface of one ground rail, and a plurality of first cameras are arranged on the side, facing the inner side of the middle of the two ground rails, of the stand column steel mechanism. The cantilever steel mechanism is arranged at the top end of the stand column steel mechanism, a three-section telescopic mechanism is arranged at the side end of a cantilever, extending towards the inner side of the middle of the two ground rails, in the cantilever steel mechanism, and the three-section telescopic mechanism stretches out and draws back in the vertical direction. The turnover mechanism is arranged at the bottom end of the three-section telescopic mechanism, a plurality of second cameras are arranged on the side, facing the entrance of the yard crossing, of the turnover mechanism, and the second cameras conduct angle turnover under the action of the turnover mechanism. According to the invention, the problems of high cost and small detection coverage of the existing detection technology can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of container detection, and in particular to a yard crossing detection system for inspecting containers. Background Art

[0002] With economic development and the continued growth of import and export trade, the use of containers as a transportation medium is also increasing. According to statistics, the global container fleet exceeded 50 million TEUs for the first time in 2022 and is expected to continue rising in the coming years. By 2026, the global container fleet is projected to reach 54.9 million TEUs. With such a large number of containers moving daily across waterways, railways, and roads around the world, the condition of the containers is crucial to safe and smooth transportation. Therefore, the importance of container inspection is becoming increasingly prominent.

[0003] In recent years, with the innovation of testing equipment and the development of artificial intelligence (AI), automated inspection has become possible, replacing manual inspection with automated machines. The implementation of AI-powered inspection not only significantly improves inspection efficiency and saves labor costs, but also enhances the stability of inspection quality and reduces communication costs between parties involved in equipment handover.

[0004] However, the detection technology used by existing automated box inspections uses lidar linear array scanning to process images. LiDAR equipment is generally more expensive than other types of sensors, which increases the cost of the overall system. Although modern lidar technology continues to advance, some models of lidar may still have certain field of view angle limitations, requiring multiple devices to work together to cover a larger range, which also increases cost and complexity. Utility Model Content

[0005] In view of this, the main purpose of this application is to provide a yard crossing detection system for inspecting containers, which is conducive to solving the problems of high cost and small detection coverage in existing detection technologies.

[0006] The present application provides a container yard crossing detection system, which includes:

[0007] Two ground rails are arranged parallel to each other at a predetermined distance on the foundation of the yard crossing;

[0008] A column steel structure is slidably disposed on an upper surface of a ground rail, and a plurality of first cameras are disposed on one side of the column steel structure facing the inner side between the two ground rails;

[0009] A cantilever steel structure is provided at the top of the column steel structure, and a cantilever side end of the cantilever steel structure extending toward the inner side of the middle of the two ground rails is provided with a three-section telescopic mechanism, wherein the three-section telescopic mechanism is telescopic in the vertical direction;

[0010] The flipping mechanism is arranged at the bottom end of the three-section telescopic mechanism. A plurality of second cameras are arranged on the side of the flipping mechanism facing the yard crossing entrance, and the second cameras are flipped at an angle under the action of the flipping mechanism.

[0011] From the above, the two ground rails are arranged in parallel on the foundation, providing a stable support platform for other structures of the yard crossing detection system, ensuring that the yard crossing detection system will not deviate or shake due to various factors (such as uneven ground or external force) during operation; the column steel mechanism moves along the track of the ground rail as needed, and can cover different detection positions to meet the container detection needs at different positions; the cantilever steel mechanism extends from the top of the column mechanism and extends toward the middle inner side of the two ground rails, which enables the three-section telescopic mechanism installed on the cantilever steel mechanism to perform telescopic detection just above the container. The coordinated use of the arm steel mechanism and the three-stage telescopic mechanism can detect multiple panels of the container; multiple second cameras can be flipped at different angles under the action of the flipping mechanism, which can obtain images at different angles and improve the coverage of the detection; through the coordination of the ground rail, column steel mechanism, cantilever steel mechanism, three-stage telescopic mechanism, flipping mechanism and the first camera and the second camera, the container body can be more stably identified by the first camera and the second camera, thereby improving the reliability of the yard crossing detection system, so that the detection system can better detect defects such as cracks, dents, protrusions, holes, box number recognition and missing parts on the surface of the container.

[0012] Optionally, the flipping mechanism includes: a fixed beam, with reinforced connecting plates provided on both sides of the middle position, the reinforced connecting plates are fixedly connected to the lower end of the three-stage telescopic mechanism, a double-output shaft motor is provided on the bottom side of the middle position of the fixed beam, and anti-collision parts are provided at both ends of the fixed beam; two rotating shafts, one end of which is provided on the bearing seats at both ends of the bottom of the fixed beam and is parallel to the fixed beam, the other ends of the two rotating shafts are respectively connected to the two ends of the double-output shaft motor through a reducing coupling, flanges are provided at both ends of the rotating shaft, the flanges are fixed to the second camera, and a photoelectric switch and a positioning plate are provided on the rotating shaft for positioning the rotation angle of the rotating shaft.

[0013] From the above, by adjusting the angle of the second camera through the flipping mechanism, it is possible to detect different angles of the container, ensuring comprehensive and detailed detection, and facilitating the discovery of subtle damage on the surface of the container, such as cracks, dents, etc.; the middle position of the fixed beam is fixedly connected to the lower end of the three-stage telescopic mechanism through a reinforcing connecting plate, which enhances the stability of the system and prevents the equipment from shaking or deviating during the flipping process; the output shafts at both ends of the motor are connected to the rotating shaft through a reducing coupling, which can stably drive the rotating shaft to rotate, ensuring the smoothness and controllability of the flipping action; the anti-collision part can prevent the second camera from colliding with the container body; the rotating shaft in the flipping mechanism is provided with a photoelectric switch and a positioning plate. The combined use of the two can accurately control the rotation angle of the rotating shaft, so that the flipping mechanism can quickly and accurately position to the required angle, thereby improving the detection efficiency.

[0014] Optionally, the anti-collision part includes: an anti-collision bracket, which is L-shaped, and the bottom end of the L is arranged toward the side of the fixed beam where the second camera is installed.

[0015] As shown above, the design of the anti-collision bracket can effectively prevent the second camera from colliding with the container during the flipping process, and the L-shaped design can effectively utilize limited space.

[0016] Optionally, the anti-collision part includes: a through-beam photoelectric sensor, which is arranged on the anti-collision bracket.

[0017] As shown above, a through-beam photoelectric sensor is also fixedly installed on the anti-collision bracket, which can monitor the distance between the second camera and the container in real time to avoid collision.

[0018] Optionally, the three-stage telescopic mechanism includes a first telescopic part, a second telescopic part and a third telescopic part arranged parallel to each other, wherein: the first telescopic part includes a first linear rail and a first electric cylinder, and the side end of the first linear rail is fixedly connected to the electric cylinder body of the first electric cylinder; the second telescopic part includes a second linear rail and a second electric cylinder, the bottom end of the second linear rail is fixedly connected to the push rod end of the first electric cylinder, the top end of the second linear rail is fixedly connected to the push rod end of the second electric cylinder, and the second linear rail is slidably connected to the first linear rail; the third telescopic part includes a third linear rail, the side end of the third linear rail is fixedly connected to the electric cylinder body of the second electric cylinder, and the third linear rail is slidably connected to the second linear rail.

[0019] As shown above, the telescopic structure is achieved through the cooperation of two electric cylinders and three linear rails. The structure is cleverly designed and can be adjusted to different positions and heights as needed to meet the inspection requirements of containers of different sizes and positions. Through multi-stage telescopic adjustment, it can be quickly adjusted to the ideal inspection position, thereby improving inspection efficiency.

[0020] Optionally, the side end of the second linear rail is fixedly connected to a first slider fixing plate, and the first slider fixing plate is fixedly connected to the first slider of the first linear rail; the side end of the third linear rail is fixedly connected to a second slider fixing plate, and the second slider fixing plate is fixedly connected to the second slider of the second linear rail.

[0021] As described above, the use of the first slider fixing plate and the second slider fixing plate enables the second linear rail and the third linear rail to slide stably along their respective linear rail tracks without deviation, and also avoids shaking or derailment that may occur during the extension and retraction process.

[0022] Optionally, it is slidably arranged on the upper surface of a floor rail and also includes: two sliding rails fixed to the upper surface of a floor rail and a rack parallel to the two sliding rails, and the tooth pattern of the rack is arranged toward the inner side of the two sliding rails; a slider slidably connected to the sliding rail; a base plate is fixedly arranged on the upper surface of the slider, a sliding part is fixedly arranged on the base plate, and the sliding part is meshed with the rack; a column steel mechanism is fixedly connected to the upper surface of the base plate.

[0023] As shown above, two parallel slide rails are fixed on the upper surface of one of the ground rails, and the slider is slidably connected to the slide rails. The rack is parallel to the slide rails and is located between the two slide rails, and the tooth pattern is facing the inner side of the slide rails. A base plate is fixed on the upper surface of the slider, and a sliding part and a column steel mechanism are fixed on the base plate. Through the design of the slider and the base plate, and the coordinated use of the slide rails, the rack and the sliding part, not only the accuracy and stability of the column steel mechanism during movement are improved, but also the position can be adjusted according to needs to cover a larger detection range and improve the detection efficiency.

[0024] Optionally, a plurality of first cameras are provided on one side of the column steel structure facing the inner side between the two ground rails, and further comprises: a plurality of camera module brackets are threadedly connected in the vertical direction of the side end of the column steel body, and the first cameras are assembled in the camera module brackets.

[0025] As shown above, a row of threaded holes is provided on the column steel body of the column steel mechanism, and corresponding openings are provided on the camera module bracket, which are fixed to the threaded holes on the column steel body; multiple first cameras are set at different heights, and multiple first cameras work simultaneously to cover the side of the container, which speeds up the inspection speed and improves the inspection efficiency.

[0026] Optionally, the sliding portion is meshingly connected to the rack, and further includes: the sliding portion includes a servo motor, and the servo motor is meshingly connected to the rack.

[0027] As described above, the sliding part is equipped with a servo motor, and the movement of the sliding part is controlled by the engagement of the servo motor with the rack, ensuring that the sliding part can accurately follow the tooth pattern of the rack, thereby achieving high-precision positioning.

[0028] Optionally, the yard crossing detection system for inspecting containers also includes: an in-box identification mechanism, which is independently arranged at the entrance of the two ground rails, the in-box identification mechanism includes a high-position cantilever bracket, a high-position camera, a flash device and a network camera, the high-position cantilever bracket is sequentially provided with a high-position camera and a flash device, and network cameras are fixedly provided on both sides of the high-position camera; a gate mechanism, which is arranged at the entrances and exits at both ends of the two ground rails, and an intelligent sentinel device is provided on the same side of the gate mechanism for directing vehicles to enter and exit the yard in an orderly manner.

[0029] As shown above, the in-box identification mechanism is independent of the concrete foundation and is installed at the entrance end. The bottom of the high-position cantilever bracket is fixed with a pre-embedded base. A high-position camera and a flash device are fixed at one end of the high-position cantilever bracket, and two network cameras are fixed on both sides of the high-position camera. Through the coordinated use of the high-position camera, the flash device and the network camera, comprehensive inspection of the inside and outside of the container is guaranteed, and the integrity of the inspection results is improved; the coordinated work of the gate mechanism and the intelligent sentinel equipment simplifies the vehicle management process and makes the yard operation more convenient and efficient.

[0030] To sum up, the yard crossing detection system for inspecting containers provided by the present application, in which the column steel mechanism drives the cantilever steel mechanism, the three-stage telescopic mechanism and the flipping mechanism to move on the ground rail. As needed, the container is transported by a truck, and the column steel mechanism is moved. The first camera and the second camera work simultaneously, so that multiple sides of the container can be inspected at the same time, thereby improving the overall inspection efficiency. The second camera can adjust the scanning angle in the flipping mechanism, and can take images of the container from different angles to ensure the comprehensiveness and accuracy of the inspection. The design of the three-stage telescopic mechanism enables the inspection equipment to be telescoped in the vertical direction, so as to adapt to the inspection needs of containers at different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following further illustrates the various technical features of the present application and the relationships between them with reference to the accompanying drawings. The accompanying drawings are exemplary, and some technical features are not shown in actual proportion. In addition, some drawings may omit technical features that are commonly used in the technical field to which the present application belongs and are not essential for understanding and implementing the present application, or additional technical features that are not essential for understanding and implementing the present application may be shown. In other words, the combination of the various technical features shown in the accompanying drawings is not intended to limit the present application. In addition, throughout the present application, the same figure numbers refer to the same content. The specific description of the drawings is as follows:

[0032] Figure 1 This is a schematic diagram of the overall structure of a container yard crossing detection system in this application;

[0033] Figure 2 This is a schematic diagram of the structure of the column steel mechanism on the ground rail in this application;

[0034] Figure 3 This is the installation structure diagram on the ground rail in this application;

[0035] Figure 4 It is a structural diagram of the column steel mechanism in this application;

[0036] Figure 5 This is a specific embodiment of a yard crossing detection system for inspecting containers in this application;

[0037] Figure 6 It is a schematic structural diagram of the three-stage telescopic mechanism in this application after extension.

[0038] Description of Reference Numerals

[0039] 1-ground rail, 101-slide rail, 102-rack, 103-slider, 104-bottom plate, 105-sliding part; 2-column steel structure, 201-column steel body, 202-first camera; 3-cantilever steel structure; 4-three-stage telescopic mechanism, 401-first telescopic part, 4011-first linear rail, 4011a-first guide rail, 4011b-first slider, 4012-first electric cylinder, 402-second telescopic part, 4021-second linear rail, 4021a-second guide rail, 4021b-second slider, 4022-second electric cylinder, 4023-first slider fixing plate, 4024-second lower end plate, 4025-Second upper end plate, 403-Third telescopic part, 4031-Third linear rail, 4032-Second slider fixing plate, 404-Drag chain; 5-Turning mechanism, 501-Fixed beam, 5011-Reinforced connecting plate, 5012-Motor fixing plate, 502-Dual-output shaft motor, 503-Anti-collision part, 5031-Anti-collision bracket, 5032-Through-beam photoelectric sensor, 504-Rotating shaft, 505-Bearing seat, 506-Reducing coupling, 507-Flange, 508-Second camera, 509-Photoelectric switch, 510-Positioning plate; 6-Identification mechanism inside the box; 7-Barrier mechanism; 8-Intelligent sentry equipment.

[0040] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0043] It should be noted that, in the description herein, the terms "middle", "front", "back", "top", "bottom", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0044] Furthermore, the terms "installed," "disposed," "provided with," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0045] The following describes in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems using specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0046] Figure 1 The overall structure of a container yard crossing detection system in this application is shown. A container yard crossing detection system mainly includes:

[0047] Two ground rails 1 are arranged parallel to each other at a predetermined distance on the foundation of the yard crossing;

[0048] A column steel structure 2 is slidably disposed on the upper surface of a ground rail 1, and a plurality of first cameras 202 are disposed on one side of the column steel structure 2 facing the inner side between the two ground rails 1;

[0049] A cantilever steel structure 3 is provided at the top of the column steel structure 2, and a three-stage telescopic mechanism 4 is provided at a cantilever side end of the cantilever steel structure 3 extending toward the inner side of the middle of the two ground rails 1, wherein the three-stage telescopic mechanism 4 is telescopic in the vertical direction;

[0050] The flipping mechanism 5 is arranged at the bottom end of the three-stage telescopic mechanism 4 . A plurality of second cameras 508 are arranged on the side of the flipping mechanism 5 facing the yard crossing entrance, and the second cameras 508 are flipped in angle under the action of the flipping mechanism 5 .

[0051] Specifically, the two ground rails 1 are arranged in parallel on the foundation, providing a stable support platform for other structures of the yard crossing detection system, ensuring that the yard crossing detection system will not deviate or shake due to various factors (such as uneven ground or external force) during operation; the column steel mechanism 2 moves along the track of the ground rail 1 as needed, and can cover different detection positions to meet the container detection needs at different positions; the cantilever steel mechanism 3 extends from the top of the column mechanism and extends toward the middle inner side of the two ground rails 1, which can enable the three-section telescopic mechanism 4 installed on the cantilever steel mechanism 3 to perform telescopic detection just above the container, and the column steel mechanism 2 and the cantilever steel mechanism can be used for the detection of the container. The coordinated use of the structure 3 and the three-stage telescopic mechanism 4 can detect multiple panels of the container; multiple second cameras 508 can be flipped at different angles under the action of the flipping mechanism 5, which can obtain images at different angles and improve the coverage of the detection; through the coordination of the ground rail 1, the column steel structure 2, the cantilever steel structure 3, the three-stage telescopic mechanism 4, the flipping mechanism 5 and the first camera 202 and the second camera 508, the container body can be more stably identified by the first camera 202 and the second camera 508, thereby improving the reliability of the yard crossing detection system and better solving defects such as cracks, dents, protrusions, holes, box number recognition and missing parts on the surface of the container.

[0052] In an optional embodiment of the present application, a plurality of first cameras 202 are provided on one side of the column steel structure 2 facing the inner side between the two ground rails 1, and further includes: a plurality of camera module brackets are threadedly connected in the vertical direction of the side end of the column steel body 201, and the first camera 202 is assembled in the camera module bracket.

[0053] In such Figure 2-3In the specific embodiment shown, a row of threaded holes is provided on the column steel body 201 of the column steel structure 2, and corresponding openings are provided on the camera module bracket, which are fixed to the threaded holes on the column steel body 201; multiple first cameras 202 are set at different heights, and multiple first cameras 202 work simultaneously to cover the side of the container, which speeds up the detection speed and improves the detection efficiency.

[0054] Figure 4 An enlarged view of the sliding mounting structure on the ground rail in this application is shown. Figure 3 In an optional embodiment shown, the upper surface of the floor rail 1 also includes: two sliding rails 101 fixed to the upper surface of the floor rail 1 and a rack 102 parallel to the two sliding rails 101, and the teeth of the rack 102 are arranged toward the inner side of the two sliding rails 101; a slider 103 slidably connected to the sliding rail 101; a base plate 104 is fixedly provided on the upper surface of the slider 103, and a sliding portion 105 is fixedly provided on the base plate 104, and the sliding portion 105 is meshed with the rack 102; the upper surface of the base plate 104 is fixedly connected to the column steel mechanism 2.

[0055] Specifically, two parallel slide rails 101 are fixed on the upper surface of one of the ground rails 1, and a slider 103 is slidably connected to the slide rails 101, a rack 102 is parallel to the slide rails 101 and is located between the two slide rails 101, and the tooth pattern is facing the inner side of the slide rails 101, a bottom plate 104 is fixed on the upper surface of the slider 103, and a sliding part 105 and a column steel mechanism 2 are fixed on the bottom plate 104; through the design of the slider 103 and the bottom plate 104, and the coordinated use of the slide rails 101, the rack 102 and the sliding part 105, not only the accuracy and stability of the column steel mechanism 2 during movement are improved, but also the position can be adjusted as needed to cover a larger detection range and improve the detection efficiency.

[0056] In the above embodiment, the sliding portion 105 is meshedly connected to the rack 102 , and further includes: the sliding portion 105 includes a servo motor, and the servo motor is meshedly connected to the rack 102 .

[0057] Specifically, the sliding portion 105 is equipped with a servo motor, and the movement of the sliding portion 105 is controlled by the engagement of the servo motor with the rack 102 , ensuring that the sliding portion 105 can accurately follow the tooth pattern of the rack 102 , thereby achieving high-precision positioning.

[0058] In such Figure 1In an optional embodiment shown, the yard crossing detection system for inspecting containers also includes: an in-box identification mechanism 6, which is independently arranged at the entrance of the two ground rails 1, and the in-box identification mechanism 6 includes a high-position cantilever bracket, a high-position camera, a flash device and a network camera. The high-position camera and the flash device are sequentially arranged on the high-position cantilever bracket, and network cameras are fixedly arranged on both sides of the high-position camera; a gate mechanism 7, which is arranged at the entrance and exit at both ends of the two ground rails 1, and an intelligent sentinel device 8 is arranged on the same side end of the gate mechanism 7 to direct vehicles to enter and exit the yard in an orderly manner.

[0059] Specifically, the in-box identification mechanism 6 is independent of the concrete foundation and is installed at the entrance end. The bottom of the high-position cantilever bracket is fixed with a pre-embedded base. A high-position camera and a flash device are fixed at one end of the high-position cantilever bracket. Two network cameras are fixed on both sides of the high-position camera. Through the coordinated use of the high-position camera, the flash device and the network camera, comprehensive inspection of the inside and outside of the container is guaranteed, and the integrity of the inspection results is improved; the coordinated work of the gate mechanism 7 and the intelligent sentinel device 8 simplifies the vehicle management process and makes the operation of the yard more convenient and efficient.

[0060] In this embodiment, two parallel concrete foundations are laid at the yard crossing, and the distance between the two concrete foundations is greater than the width of the container truck, so that the truck can move along the middle of the two concrete foundations; the upper surface of the concrete foundation is installed with a ground rail 1, which is arranged in the direction of the truck's travel (such as Figure 1A movable column steel structure 2 is provided on the upper surface of the ground rail 1 on the right side (or the left side) of the direction of the arrow shown in the figure. A first camera 202 is provided on the side of the column steel body 201 of the column steel structure 2 facing the truck. The first camera 202 can be a 3D camera. The number of the first cameras 202 is preferably set to 3, that is, 3 3D cameras are arranged in sequence from top to bottom, which can simultaneously detect the sides of the container and improve the detection accuracy. The column steel structure 2 can move with the driving of the truck, and the 3D cameras work at the same time, which can save detection time and improve detection efficiency. A cantilever steel structure 3 is provided on the top of the column steel structure 2, which extends toward the inner side of the middle of the two ground rails 1 and is perpendicular to the column steel structure 2. A three-stage telescopic mechanism 4 is provided at a cantilever side end of the column steel body 201. The three-stage telescopic mechanism 4 is arranged perpendicular to the cantilever steel mechanism 3 and parallel to the column steel body 201. The three-stage telescopic mechanism 4 is telescoped in the vertical direction to adjust the height; a flipping mechanism 5 is provided at the lower end of the three-stage telescopic mechanism 4, and a second camera 508 is provided at both ends of the flipping mechanism 5. The second camera 508 can be a 3D camera. The second camera 508 adjusts the distance from the container under the action of the three-stage telescopic mechanism 4, and the second camera 508 adjusts the angle under the action of the flipping mechanism 5 to ensure that the second camera 508 collects container images at a suitable distance and angle, thereby improving detection accuracy. The container identification mechanism 6, independent of the rear end of the aforementioned equipment, is located at the entrance to the yard crossing. It comprises a high-mounted cantilever bracket, secured with a pre-embedded base. The bracket includes a fixed bracket at its base and a cantilever at its top, secured to the cantilever with steel ties. The cantilever supports a high-mounted camera and a flashing device, flanked by two network cameras. The high-mounted camera detects foreign objects and contamination within the container, while the network camera monitors the container's door status, the presence of vehicles, pedestrians, and containers on vehicles in the passage between the two ground rails 1. A barrier mechanism 7 is installed at the concrete foundation entrance and exit, and is equipped with intelligent sentry devices 8 to direct traffic.

[0061] The present application has a compact and reasonable structure and is easy to operate. Through the cooperation of the vehicle entering the site, the gate mechanism 7, the internal identification mechanism 6, the ground rail 1, the column steel mechanism 2, the cantilever steel mechanism 3, the three-stage telescopic mechanism 4, the flip mechanism 5, etc., 3D identification outside the box and identification inside the box can be achieved; the column steel mechanism 2 moves smoothly and has a good detection effect, which can make the container more stably identified by the image acquisition equipment (the first camera 202 and the second camera 508), improve the reliability of the system's detection, and can reliably detect defects such as cracks, dents, protrusions, holes, box number identification, and missing parts, ensuring the qualified rate of the container box. The detection types of the ground rail 1 can cover 20-foot and 40-foot container trucks (which can be simply referred to as container trucks), covering high-cabinet container trucks. The three-stage telescopic mechanism can detect the front panel, top panel and box door according to different box heights, and can identify three box surfaces, saving detection time.

[0062] The 3D camera in this application can present a complete 3D box diagram by synthesizing images, and the images can be stably recognized by the deep learning algorithm, thereby improving the reliability of the system, that is, it can more reliably detect defects such as cracks, dents, protrusions, holes, box number recognition, and missing parts.

[0063] Figure 5 The specific connection structure of the cantilever steel mechanism 3, the three-stage telescopic mechanism 4 and the flip mechanism 5 is demonstrated; among them, the cantilever steel mechanism 3 located at the top of the column steel mechanism 2 has cantilevers perpendicular to it on the left and right sides of the cantilever steel body respectively, and one end of the inclined pillar is connected to the cantilever steel body, and the other end is connected to the cantilever, forming a triangular stable support structure between the pillar, the cantilever steel body and the cantilever to enhance the structural stability.

[0064] In an optional embodiment of the present application, the three-stage telescopic mechanism 4 includes a first telescopic part 401, a second telescopic part 402 and a third telescopic part 403 arranged parallel to each other, wherein: the first telescopic part 401 includes a first linear rail 4011 and a first electric cylinder 4012, and the side end of the first linear rail 4011 is fixedly connected to the electric cylinder body of the first electric cylinder 4012; the second telescopic part 402 includes a second linear rail 4021 and a second electric cylinder 4022, the bottom end of the second linear rail 4021 is fixedly connected to the push rod end of the first electric cylinder 4012, the top end of the second linear rail 4021 is fixedly connected to the push rod end of the second electric cylinder 4022, and the second linear rail 4021 is slidably connected to the first linear rail 4011; the third telescopic part 403 includes a third linear rail 4031, the side end of the third linear rail 4031 is fixedly connected to the electric cylinder body of the second electric cylinder 4022, and the third linear rail 4031 is slidably connected to the second linear rail 4021.

[0065] Specifically, the telescopic structure is achieved through the cooperation of two electric cylinders and three linear rails. The structure is cleverly designed and can be adjusted to different positions and heights as needed to meet the inspection requirements of containers of different sizes and positions. Through multi-stage telescopic movement, it can be quickly adjusted to the ideal inspection position, thereby improving inspection efficiency.

[0066] In the above embodiment, the side end of the second linear rail 4021 is fixedly connected to the first slider fixing plate 4023, and the first slider fixing plate 4023 is fixedly connected to the first slider 4011b of the first linear rail 4011; the side end of the third linear rail 4031 is fixedly connected to the second slider fixing plate 4032, and the second slider fixing plate 4032 is fixedly connected to the second slider 4021b of the second linear rail 4021.

[0067] Specifically, the use of the first slider fixing plate 4023 and the second slider fixing plate 4032 enables the second linear rail 4021 and the third linear rail 4031 to slide stably along their respective linear rail tracks without deviation, and also avoids shaking or derailment that may occur during the extension and retraction process.

[0068] In such Figure 6In the illustrated embodiment, with the direction of the second camera 508 facing the container as the front, the front sides of the first, second, and third linear rails 4011, 4021, and 4031 are equipped with drag chains 404, or inverted S-shaped channels, for accommodating cables supporting the movement of the electric cylinders, such as signal cables and power cables. The first, second, and third linear rails 4011, 4021, and 4031 are arranged side by side and are all made of aluminum profiles. They are connected by a first slider fixing plate 4023 and a second slider fixing plate 4032. The first linear rail 4011 consists of a first guide rail 4011a and a first slider 4011b, the second linear rail 4021 consists of a second guide rail 4021a and a second slider 4021b, and the third linear rail 4031 consists of a third guide rail. A lifting fixed plate is provided on the left side of the first linear rail 4011, which is fixed to the cantilever steel structure 3 located on the left side of the three-stage telescopic mechanism 4 through the lifting fixed plate. A first slider fixing plate 4023 is fixedly connected to the first slider 4011b on the right side of the first linear rail 4011. The first slider fixing plate 4023 is fixedly connected to the second linear rail 4021. The front side of the first linear rail 4011 is arranged in parallel with the first electric cylinder 4012, and the cylinder body of the first electric cylinder 4012 is fixed to the first linear rail 4011 and can be fixed by a flat plate with threaded holes. The push rod end of the first electric cylinder 4012 is set downward, and the push rod end of the first electric cylinder 4012 and the lower end of the second linear rail 4021 are connected by the second lower end plate 402. The upper end of the second linear rail 4021 is fixedly connected to the push rod end of the second electric cylinder 4022 via a second upper end plate 4025, with the push rod end of the second electric cylinder 4022 facing upward. The cylinder body of the second electric cylinder 4022 is fixedly arranged in front of the third linear rail 4031. The third linear rail 4031 is slidably connected to the second slider 4021b on the right side of the second linear rail 4021 via a second slider fixing plate 4032. Since the first linear rail 4011, the second linear rail 4021, and the third linear rail 4031 are in the same row, and the first electric cylinder 4012 and the second electric cylinder 4022 are in the front row of the three, the second upper end plate 4025 and the second lower end plate 4024 are configured in a right-angle or L-shape. When the push rod of the first electric cylinder 4012 is pushed downward, the second linear rail 4021, driven by the first electric cylinder 4012, slides downward along the first linear rail 4011. At the same time, the third linear rail 4031 and the second electric cylinder 4022 slide together with the second linear rail 4021. When the push rod of the second electric cylinder 4022 is pushed upward, the third linear rail 4031 slides downward along the second linear rail 4021, thus completing the secondary extension and achieving three height sections.

[0069] In addition, the three-stage telescopic mechanism 4 can be set in a rectangular cover box with an opening at the lower end to facilitate the telescopic movement of the first telescopic part 401 , the second telescopic part 402 and the third telescopic part 403 in the vertical direction.

[0070] In an optional embodiment of the present application, the flipping mechanism 5 includes: a fixed beam 501, with reinforcing connecting plates 5011 provided on both sides of the middle position, the reinforcing connecting plates 5011 are fixedly connected to the lower end of the three-stage telescopic mechanism 4, a double-output shaft motor 502 is provided on the bottom side of the middle position of the fixed beam 501, and anti-collision parts 503 are provided at both ends of the fixed beam 501; two rotating shafts 504, one end of which is provided on the bearing seat 505 at both ends of the bottom of the fixed beam 501, and is parallel to the fixed beam 501, the other ends of the two rotating shafts 504 are respectively connected to the two ends of the double-output shaft motor 502 through a reducing coupling 506, flanges 507 are provided at both ends of the rotating shaft 504, the flanges 507 are fixed to the second camera 508, and a photoelectric switch 509 and a positioning plate 510 are provided on the rotating shaft 504 for positioning the rotation angle of the rotating shaft 504.

[0071] Specifically, by adjusting the angle of the second camera 508 through the flipping mechanism 5, it is possible to detect different angles of the container, ensuring the comprehensiveness and meticulousness of the detection, and facilitating the discovery of subtle damage to the surface of the container, such as cracks, dents, etc.; the middle position of the fixed beam 501 is fixedly connected to the lower end of the three-stage telescopic mechanism 4 by a reinforcing connecting piece 5011, which enhances the stability of the system and prevents the equipment from shaking or deviating during the flipping process; the output shafts at both ends of the motor are connected to the rotating shaft 504 through a reducing coupling 506, which can stably drive the rotating shaft 504 to rotate, ensuring the smoothness and controllability of the flipping action; the anti-collision part 503 can prevent the second camera 508 from colliding with the container body; the rotating shaft 504 in the flipping mechanism 5 is provided with a photoelectric switch 509 and a positioning plate 510. The combined use of the two can accurately control the rotation angle of the rotating shaft 504, so that the flipping mechanism 5 can quickly and accurately position to the required angle, thereby improving the detection efficiency.

[0072] In an optional embodiment of the present application, the anti-collision portion 503 includes: an anti-collision bracket 5031, which is L-shaped, and the bottom end of the L is arranged toward the side of the fixed beam 501 where the second camera 508 is installed.

[0073] Specifically, the design of the anti-collision bracket 5031 can effectively prevent the second camera 508 from colliding with the container during the flipping process, and the L-shaped design can effectively utilize limited space.

[0074] In an optional embodiment of the present application, the anti-collision portion 503 includes: a through-beam photoelectric sensor 5032 , which is disposed on the anti-collision bracket 5031 .

[0075] Specifically, a through-beam photoelectric sensor 5032 is fixedly installed on the anti-collision bracket 5031, which can monitor the distance between the second camera 508 and the container in real time to avoid collision.

[0076] In this embodiment, the anti-collision part 503 may be provided with only an L-shaped anti-collision bracket 5031, with the bottom end of the L extending out from the bottom end of the second camera 508, so that the container cannot collide with the second camera 508; or an L-shaped anti-collision bracket 5031 and a through-beam photoelectric sensor 5032 may be provided, and the through-beam photoelectric sensor 5032 is used to detect the distance to the container in real time. When the distance is too small, the three-stage telescopic mechanism 4 and the flipping mechanism 5 are adjusted in time to prevent a collision.

[0077] In such Figure 6 In the embodiment shown, the lower end of the third linear rail 4031 is fixedly connected to the flipping mechanism 5, and the flipping mechanism 5 includes a fixed beam 501, and a reinforcing connecting piece 5011 is installed on the side of the fixed beam 501 and fixedly installed with the third linear rail 4031, and a motor fixing plate 5012 is installed at the bottom of the fixed beam 501, and a double-output shaft motor 502 is installed at the lower end of the motor fixing plate 5012, and the output shaft ends on both sides of the double-output shaft motor 502 are installed with a reducing coupling 506, and the reducing coupling 506 is installed with a rotating shaft 504, and the rotating shaft 504 is fixed on the bearing seat 505 at the same axis end, and the bearing seat 505 is located below the bottom of both sides of the fixed beam 501, and flanges 507 are installed at both ends of the rotating shaft 504, and the flange 507 is fixed to the second camera 508 (3D camera). A photoelectric switch 509 and a positioning plate 510 are also installed on the rotating shaft 504, which can locate the angle of the rotating shaft 504. Anti-collision brackets 5031 are installed on both end surfaces of the fixed beam 501. The anti-collision bracket 5031 is L-shaped. A through-beam photoelectric sensor 5032 (which can be simply referred to as through-beam photoelectric) is fixedly installed on the anti-collision bracket 5031 to prevent the 3D camera from colliding with the box.

[0078] In summary, the yard crossing detection system for inspecting containers provided by the present application, in which the column steel mechanism 2 drives the cantilever steel mechanism 3, the three-stage telescopic mechanism 4 and the flipping mechanism 5 to move on the ground rail 1. As needed, the container is transported by the truck, and the column steel mechanism 2 is moved. Through the simultaneous operation of the first camera 202 and the second camera 508, multiple sides of the container can be inspected at the same time, thereby improving the overall inspection efficiency. The second camera 508 can adjust the scanning angle in the flipping mechanism 5, and can take images of the container from different angles to ensure the comprehensiveness and accuracy of the inspection. The design of the three-stage telescopic mechanism 4 allows the inspection equipment to be telescoped in the vertical direction, which can adapt to the inspection requirements of containers at different heights. The container trucks gather during the inspection process, avoiding accumulation in the process and further improving the overall inspection efficiency.

[0079] Unless otherwise defined, all technical and scientific terms used in this application are the same as those commonly understood by those skilled in the art to which this application belongs. In the event of any inconsistency, the meaning described in the full text of this application or the meaning derived from the content recorded in the full text of this application shall prevail. In addition, the terms used in this description are only for the purpose of describing the embodiments of the present application and are not intended to limit this application.

[0080] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the technical concept of the present application, all of which fall within the scope of protection of the present application.

[0081] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structural transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A container yard crossing detection system, characterized in that: include: Two ground rails are arranged parallel to each other at a predetermined distance on the foundation of the yard crossing; A column steel structure is slidably disposed on an upper surface of one of the ground rails, and a plurality of first cameras are disposed on one side of the column steel structure facing the inner side between the two ground rails; A cantilever steel structure is provided at the top of the column steel structure, and a cantilever side end of the cantilever steel structure extending toward the inner side of the middle of the two ground rails is provided with a three-stage telescopic mechanism, wherein the three-stage telescopic mechanism is telescopic in the vertical direction; A flipping mechanism is arranged at the bottom end of the three-stage telescopic mechanism. A plurality of second cameras are arranged on the side of the flipping mechanism facing the entrance of the yard crossing, and the second cameras are flipped at an angle under the action of the flipping mechanism.

2. The container yard crossing detection system according to claim 1, characterized in that: The turning mechanism comprises: A fixed beam, wherein both sides of the middle position thereof are provided with reinforcing connecting pieces, the reinforcing connecting pieces are fixedly connected to the lower end of the three-stage telescopic mechanism, a double-output shaft motor is provided on the bottom side of the middle position of the fixed beam, and anti-collision parts are provided at both ends of the fixed beam; Two rotating shafts, one end of which is arranged on the bearing seats at both ends of the bottom of the fixed beam and is parallel to the fixed beam, and the other ends of the two rotating shafts are respectively connected to the two ends of the double-output shaft motor through a reducing coupling, and flanges are provided at both ends of the rotating shaft, and the flanges are fixed to the second camera. A photoelectric switch and a positioning plate are provided on the rotating shaft for positioning the rotation angle of the rotating shaft.

3. The container yard crossing detection system according to claim 2, characterized in that: The anti-collision portion comprises: The anti-collision bracket is L-shaped, and the bottom end of the L-shape is arranged toward the side of the fixed beam where the second camera is installed.

4. The container yard crossing detection system according to claim 3, characterized in that: The anti-collision portion comprises: A through-beam photoelectric sensor is arranged on the anti-collision bracket.

5. The container yard crossing detection system according to claim 1, characterized in that: The three-stage telescopic mechanism includes a first telescopic portion, a second telescopic portion, and a third telescopic portion arranged parallel to each other, wherein: The first telescopic portion includes a first linear rail and a first electric cylinder, wherein a side end of the first linear rail is fixedly connected to an electric cylinder body of the first electric cylinder; The second telescopic portion includes a second linear rail and a second electric cylinder, wherein the bottom end of the second linear rail is fixedly connected to the push rod end of the first electric cylinder, the top end of the second linear rail is fixedly connected to the push rod end of the second electric cylinder, and the second linear rail is slidably connected to the first linear rail; The third telescopic part includes a third linear rail, a side end of which is fixedly connected to the electric cylinder body of the second electric cylinder, and the third linear rail is slidably connected to the second linear rail.

6. The container yard crossing detection system according to claim 5, characterized in that: A first slider fixing plate is fixedly connected to a side end of the second linear rail, and the first slider fixing plate is fixedly connected to the first slider of the first linear rail; A second slider fixing plate is fixedly connected to a side end of the third linear rail, and the second slider fixing plate is fixedly connected to the second slider of the second linear rail.

7. The container yard crossing detection system according to claim 1, characterized in that: The sliding member is arranged on the upper surface of the ground rail, and further comprises: Two slide rails fixed to the upper surface of the floor rail and a rack parallel to the two slide rails, with the teeth of the rack facing the inner sides of the two slide rails; A slider slidably connected to the slide rail; A bottom plate is fixedly provided on the upper surface of the slider, a sliding portion is fixedly provided on the bottom plate, and the sliding portion is meshed and connected with the rack; The upper surface of the base plate is fixedly connected to the column steel structure.

8. The container yard crossing detection system according to claim 1, characterized in that: The column steel structure is provided with a plurality of first cameras on one side facing the inner side between the two ground rails, and further includes: A plurality of camera module brackets are threadedly connected in the vertical direction of the side ends of the column steel body, and the first camera is assembled in the camera module bracket.

9. The container yard crossing detection system according to claim 7, characterized in that: The sliding portion is meshedly connected with the rack, and further comprises: The sliding portion includes a servo motor, and the servo motor is meshedly connected to the rack.

10. The container yard crossing detection system according to claim 1, characterized in that: Also includes: An in-box identification mechanism is independently arranged at the entrance of the two ground rails, and includes a high-position cantilever bracket, a high-position camera, a flash device, and a network camera. The high-position camera and the flash device are sequentially arranged on the high-position cantilever bracket, and the network cameras are fixedly arranged on both sides of the high-position camera; The gate mechanism is arranged at the entrances and exits at both ends of the two ground rails. An intelligent sentinel device is provided on the same side of the gate mechanism to direct vehicles to enter and exit the yard in an orderly manner.

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