Container testing system and container crane

Abstract

Container inspection system (100) for checking the condition of a freight container (1), the container inspection system (100) comprising: a sensor unit (5) which is designed to generate sensor data on a freight container (1) which is located within the monitoring area of ​​the sensor unit (5); and an evaluation unit (7) which is designed to extract specific information about the freight container (1) from the sensor data thus generated; characterized in that the sensor unit (5) is designed to generate sensor data on the entire underside of a freight container (1) while the latter is located in the monitoring area of ​​the sensor unit (5) and / or while the latter passes the monitoring area of ​​the sensor unit (5) in a predetermined direction of movement, wherein the evaluation unit (7) is designed to identify structural inconsistencies in the underside of the respective freight container (1), in particular twist locks, on the basis of the generated sensor data and to output a corresponding signal.

Description

[0001] The present invention relates to checking the condition of a freight container and, in particular, to identifying twist locks that have not been removed therefrom.

[0002] Such container inspection systems typically comprise a sensor unit and an evaluation unit. The sensor unit is designed to generate sensor data on a freight container located within the sensor unit's monitoring range. The evaluation unit is designed to extract specific information about the freight container from the thus generated sensor data.

[0003] Such information may include, for example, the shape and / or dimensions of the freight container. The container inspection system also regularly inspects the freight container for deformations and / or irregularities on the outer walls of the freight container. For this purpose, it is known to provide at least two optical 2D distance sensors, which are arranged opposite each other and form a horizontal monitoring plane through which the freight container is to be moved vertically.

[0004] However, deformations and / or elevations on the underside of the respective freight container, in particular in the form of twist locks that have not been removed, cannot be determined or can only be determined unreliably.

[0005] It is therefore an object underlying the present invention to show a way to further develop the known devices and methods so that twist locks that have not been removed can be identified reliably and efficiently.

[0006] This object is achieved by a container testing system according to claim 1. Advantageous further developments can be found in the further claims.

[0007] According to the invention, the container inspection system is characterized in that the sensor unit is designed to generate sensor data on the entire underside of a freight container while the container is located within the monitoring area of ​​the sensor unit and / or while it passes through the monitoring area of ​​the sensor unit in a predetermined direction of movement. The evaluation unit is designed to identify structural inconsistencies on the underside of the respective freight container, in particular twist locks that have not been removed, based on the generated sensor data and to output a corresponding signal.

[0008] In comparison to conventional container inspection systems, the invention actually scans the entire underside of the cargo container, instead of just scanning it across the underside. Depending on the specific design of the sensor unit, this can be done both statically, i.e., when the cargo container is stationary, and dynamically, i.e., when the cargo container is moving. The resulting scan of the entire underside of the cargo container makes it possible to analyze and classify not only the presence but also the specific spatial configuration of protrusions or elevations (in particular, their extent along the underside of the cargo container). This enables an accurate and reliable assessment of corresponding discrepancies and an appropriate response to them.For example, by analyzing the spatial extent of detected protrusions along the underside, it is possible to distinguish twist locks that have not actually been removed from measurement noise, measurement errors, and / or large-scale deformations of the underside of the freight container and to output a corresponding signal. Depending on the specific design of the sensor unit, this can be achieved with fewer sensors than required for conventional inspection systems.

[0009] The sensor unit preferably comprises at least, in particular precisely, one 2D scanner, for example a 2D LiDAR sensor. The planar monitoring area of ​​said 2D scanner is aligned at an angle of less than 90° to the expected normal of the underside of the freight container as it passes through the monitoring area. The evaluation unit is designed to monitor the movement of the freight container as it passes through the monitoring area of ​​the 2D scanner and to reconstruct the shape of the underside of the respective freight container from the respective individual measurements or multi-layer measurements or combined sensor data (as explained below) as it passes through the monitoring area.

[0010] This is a design for dynamically scanning the underside of a freight container as it passes through the monitoring area of ​​an obliquely aligned 2D scanner. The combination of the inclined position of the sensor unit and the movement of the freight container means that a single laser scanner is sufficient to image the entire underside of the freight container. For evaluation, the sensor data from the entire passage of the underside through the monitoring area must then be collected and correlated. For this purpose, it is advantageous to obtain position and / or movement information for the respective freight container via a separate movement monitoring unit. The combined sensor data ultimately enables the reconstruction and analysis of the underside of the corresponding freight container.

[0011] The sensor unit preferably comprises at least, in particular precisely, one 3D scanner, in particular a 3D LiDAR sensor or a 4D FMCW LiDAR sensor. The evaluation unit is designed to determine the shape of the underside of the respective freight container from at least, in particular precisely, one scan of the underside of the freight container.

[0012] Specifically, a 3D scanner allows the measurement of the underside of a stationary cargo container within the monitoring range of the respective sensor. Instead of extending the detection range of a 2D scanner by the movement of the cargo container itself, a 3D scanner can capture the entire underside of the container in a single measurement. This simplifies evaluation and ultimately enables more precise mapping and analysis of the underside of the cargo container. Alternatively or additionally, several consecutive 3D LiDAR scans or 4D FMCW LiDAR scans can be combined with the position and / or movement information of the respective cargo container to achieve significantly higher spatial resolution and thus improve the verification of the condition of a cargo container and, in particular, the identification of twist locks that have not been removed.To comprehensively image the underside of the cargo container in a single scan, the 3D scanner must be positioned and aligned appropriately below the cargo container during the scan and aligned with it (i.e., particularly at an angle upwards). The scanner's field of view can encompass the entire underside of the cargo container, or at least one of its corners.

[0013] Preferably, the evaluation unit is coupled, or at least connectable, to a movement monitoring unit that outputs position and / or movement information for the respective freight container. The evaluation unit is designed to consider the position and / or movement information thus obtained when evaluating the sensor data.

[0014] Such position and / or sensor data significantly facilitate the evaluation of sensor data, especially when using 2D scanners. By utilizing multiple consecutive scans from a 3D scanner or a 4D FMCW LiDAR, particularly using radial velocity measurement, the position and / or sensor data can be validated.

[0015] Preferably, the sensor unit comprises at least, in particular precisely, a 2D or 3D distance sensor and the evaluation unit is designed to generate a 3D point cloud from the sensor data of the sensor unit, which maps the three-dimensional configuration of at least the underside of the respective freight container.

[0016] Such a 3D point cloud is relatively simple and inexpensive to obtain from sensor data and is an excellent basis for further analysis. If the freight container moves during the scanning process (whether with a 2D or 3D sensor), the creation of the 3D point cloud requires temporal calculation of the individual measured values. However, suitable methods for this are well-known and can be significantly simplified if certain boundary conditions, such as the orientation of the sensor unit and / or the direction of movement of the freight container as it passes through the monitoring area, are met.

[0017] Preferably, the evaluation unit is designed to determine the extension plane of the bottom surface of the respective freight container from the sensor data relating to the underside of the respective freight container.

[0018] In this context, the floor surface is understood to be the wall of the generally cuboid-shaped freight container on which it is to be placed. This is generally oriented vertically downwards during both transport and shipping. Elevations and / or protrusions, for example, caused by clumps of dirt or, in particular, by twist locks that have not been removed, are not considered part of the floor surface of the freight container in this context. However, it should be noted that the floor surface does not necessarily have to be flat, but usually has a special structure. The plane of extension of the floor surface indicates the generally horizontal extent of this structure.

[0019] Preferably, the evaluation unit is designed to take into account only a part of the sensor data relating to the underside of the respective freight container when determining the plane of extension of the floor area, in particular without sensor data relating to an edge region of the underside of the freight container, preferably at least without the corners of the underside of the freight container.

[0020] This makes it possible to ignore undesirable edge effects, such as bevelled outer edges and / or twist locks in the corners that have not been removed, when determining the extension plane of the floor surface and thus obtain a better reference point for the subsequent identification and analysis of irregularities.

[0021] The evaluation unit is preferably designed to define the plane of extension of the floor surface via a suspension point and a surface normal. The evaluation unit is particularly designed to use the vertical as the surface normal, the expected direction of settling and / or lifting, and to use only the mean value of a relative height of the floor surface as the suspension point. The suspension point can also be referred to as a reference point.

[0022] Such a definition is particularly easy to evaluate and is particularly suitable for identifying twist locks that have not been removed, which typically extend vertically downwards from the floor surface, which is normally largely horizontal. This enables a rapid and sufficiently accurate analysis of the underside of the freight container under normal conditions. This embodiment is preferably supplemented by a monitoring and / or verification unit designed to check or verify that normal conditions actually prevail, so that the aforementioned assumptions are applicable. For example, signals from a movement monitoring unit for the freight container could be checked for deviations from the norm.For example, large fluctuations in the output of an encoder of a lifting and lowering device as a movement monitoring unit of a corresponding crane could indicate a strong swaying of the freight container and thus mark the assumption of the vertical alignment of the floor surface as inapplicable.

[0023] Preferably, the evaluation unit is further configured to identify unevenness, in particular locally limited elevations, on the underside of the respective freight container and to output a corresponding signal. A corresponding signal is preferably only output if the dimensions of the identified elevations exceed a specified extent with respect to one or the identified extension plane of the bottom surface of the respective freight container.

[0024] This enables, for example, the reliable determination of the presence of twist locks that have not been removed and the output of a corresponding signal, for example comprising a warning signal and / or a control signal, in particular for stopping a loading process of the freight container.

[0025] Preferably, the evaluation unit is designed to examine only one or more specific areas of the underside of the respective freight container, in particular the edge area of ​​the underside of the freight container, preferably only the corners of the underside of the respective freight container, for corresponding projections.

[0026] This focuses the analysis on specific areas of the underside of the freight container. This saves computing power and reduces the number of false alarms if only specific inconsistencies need to be identified. For example, unremoved twist locks are only possible in the corners of the underside if corresponding recordings are only planned there. If only sensor data for specific areas of the underside were taken into account when determining the floor area's extension plane, it goes without saying that the areas now determined should be different from these. The respective areas for determining the floor area's extension plane and the areas now considered may overlap, but preferably do not.

[0027] The evaluation unit is preferably designed to determine a statistical measure, in particular the standard deviation, of the sensor data for the underside of the respective freight container with respect to the plane of extension of the floor surface of the respective freight container. The evaluation unit preferably uses a multiple of this standard deviation as the threshold value for triggering the signal, in particular 3 to 20 times, preferably 5, 10, or 15 times.

[0028] To put it simply, the mean value of the height coordinate from a set of measurement points covering a central area of ​​the underside of the respective freight container is used as the suspension point of the extension plane. Using the vertical as the expected settling direction or the averaged cross product, the assumed horizontal extension plane of the bottom surface of the freight container is determined from the set of measurement points. The standard deviation of the height coordinates of the measurement points used from the mean value thus determined serves as the basis for defining a threshold value below which deviations of the height coordinate of a measurement point from the mean value are classified as insignificant. This is particularly relevant for freight containers with an uneven, for example, grooved, underside in order to avoid incorrect analysis of the underside.The specific factor used to determine the threshold value can, for example, be determined empirically or depending on separate measured values, such as the surface condition of the respective freight container.

[0029] Preferably, the evaluation unit is designed to use a fixed value as the threshold value for triggering the signal, which value was determined system-related or empirically to identify special elevations, in particular in the form of twist locks that have not been removed.

[0030] A fixed threshold value is independent of the specific design and orientation of a freight container and is therefore not dependent on errors in the acquisition of the sensor data. However, it must, of course, be chosen large enough that expected statistical variations do not trigger the signal, while it must be chosen low enough to reliably trigger a corresponding signal, for example, in the presence of twist locks.

[0031] Preferably, the evaluation unit is designed to access information indicating the expected shapes and / or dimensions of the respective freight container when checking the respective freight container.

[0032] Relevant information can be retrieved, for example, from a database containing common shapes and / or dimensions for freight containers. This facilitates the evaluation of the sensor data as well as the detection of errors in the sensor data and / or during its evaluation. In particular, this information can be used to subject a 3D point cloud derived from the scan data, which is intended to depict the respective freight container, to a plausibility test. If there is an inconsistency with the respective information, an error message can be issued and / or a correction can be made. The digitized shape of the freight container can also be checked in this process.

[0033] According to the invention, a container crane, in particular in the form of an RTG crane, an RXG crane, or a ship-to-shore crane, for transporting freight containers comprises a lifting and lowering device for lifting and lowering freight containers and a container inspection system as described above. The lifting and lowering device and the container inspection system are coordinated such that the lifting and lowering device moves a freight container to be transported into and / or through the monitoring area of ​​the sensor unit of the container inspection system in such a way that the sensor unit scans the entire underside of the respective freight container.

[0034] This allows the evaluation unit to carry out the analysis of the underside of the freight container as described above and in particular to identify any twist locks that cannot be removed therefrom.

[0035] The invention is described below purely by way of example with reference to the accompanying drawing. This schematically shows the structure and operation of an embodiment according to the invention.

[0036] Fig. 1 shows a freight container 1 which is held by a lifting and lowering device 3 and whose underside lies in the monitoring area of ​​a sensor unit 5 of a container inspection system 100 according to the invention.

[0037] Specifically, the sensor unit 5 shown is a 2D LiDAR sensor. It is tilted by an angle α relative to the vertical V, the assumed set-down direction and normal to a floor surface B of the cargo container 1. The angle α is less than 90°. Thus, the sensor unit 5 shown only images a fraction of the underside of the cargo container 1.

[0038] While the freight container 1 is lowered (or raised) by the lifting and lowering device 3 (see the downward arrow), the monitoring area of ​​the sensor unit 5 moves along the underside of the freight container 1 (see the left-facing arrow). This allows the stationary scanning unit to scan the entire underside of the freight container 1. This can alternatively be achieved by moving the freight container 1 horizontally through the monitoring area of ​​the sensor unit 5. It would also be possible to move the sensor unit relative to the freight container 1 (in particular vertically or horizontally) or to design the sensor unit 5 as a 2D scanner with a deflection unit, as a 3D scanner, or as a 4D scanner and have the underside of the freight container scanned (preferably without simultaneous movement of the freight container 1).

[0039] The sensor unit 5 is connected to an evaluation unit 7. The evaluation unit 7 is designed to receive and analyze the sensor data from the sensor unit 5. Specifically, the evaluation unit 7 is designed, for example, to compile the sensor data that the sensor unit 5 has generated and output during a scan of the underside of the freight container 1 and to generate a 3D point cloud from this. For this purpose, the evaluation unit 7 can be coupled to a motion monitoring unit (not shown), for example an encoder of the lifting and lowering device 3. Particularly with 2D sensors for the sensor unit 5, such a motion monitoring unit can be advantageous for forming a corresponding 3D point cloud. It is also possible for the evaluation unit 7 to have access to other framework conditions that enable it to correctly form the 3D point cloud.For example, the determination that the freight container is cuboid-shaped can be used by the evaluation unit 7 to minimize shear in the resulting 3D point cloud. Permissible dimensions and / or ratios of side lengths can also be used by the evaluation unit 7 as corrective factors when forming the 3D point cloud. Corresponding information can also be used to detect errors or problems in the scan data.

[0040] According to the invention, it is essential that the said 3D point cloud actually depicts the entire underside of the freight container 1. This specifically refers to the entire extent of the underside of the freight container 1. Shadow areas are permissible, but should be kept as small as possible by aligning the sensor unit 5 as steeply as possible to the underside of the freight container 1. It is possible for the generated 3D point cloud to also include areas of the side walls of the freight container 1. These can be used to correct the 3D point cloud, but are not essential for the present invention.

[0041] The task of the intended evaluation unit 7 is to identify structural inconsistencies, for example in the form of twist locks 9 on the underside of the freight container 1, based on the scan data from the sensor unit 5, i.e. in this case from the 3D point cloud generated therefrom.

[0042] This can be achieved, for example, by the evaluation unit 7 determining the extension plane of the floor surface 11 of the freight container 1 from the sensor data, in this case in the form of the 3D point cloud. For this purpose, the evaluation unit 7 can only consider a part of the generated 3D point cloud that is clearly assigned to the floor surface 11.

[0043] For example, if the primary objective is to identify twist locks that have not been removed from the corners of the floor surface 11, it is advisable to disregard the measurement points from the corner areas of the underside of the freight container 1 when determining the extension plane of the floor surface 11. Disregarding the edge areas of the underside beyond the corners (i.e., along the side edges of the floor surface) when determining the extension plane of the floor surface 11 also enables better results. Fig.1 shows an example of a corresponding determination area B.

[0044] Assuming that the extension plane of the floor surface 11 generally runs largely horizontally (because freight containers 1 are transported as horizontally as possible), the determination of the extension plane can be limited to determining a reference height. For a freight container 1 whose height remains constant during the scan of its underside, this reference height can, for example, correspond to a relative height (relative to the sensor unit) or an absolute height (e.g., relative to the floor level).

[0045] Discrepancies, particularly in the form of twist locks that have not been removed, are then identified by comparing the positions of individual measurement points with the extension plane of the floor surface 11. Specifically, the evaluation unit 7 can determine the distance of all measurement points to the underside of the freight container 1 from the determined extension plane of the floor surface 11 (i.e., vertical to it along its surface normal) and compare it with a threshold value. If the distance of a measurement point is above this threshold value, the evaluation unit 7 can output a corresponding signal. Preferably, another condition precedes the output of the signal.For example, the evaluation unit 7 only outputs a corresponding signal if the threshold value is exceeded for multiple measurement points in a contiguous area, particularly in an area with a predefined extent (e.g., corresponding to twist locks that have not been removed). This allows sensor noise or measurement errors to be filtered out. A fixed value or a variable value, for example, in the form of a multiple of a standard deviation when determining the plane of extension of the floor surface 11, can be used as the threshold value.

[0046] For example, a mean value for the height of the floor surface 11 of the freight container 1 and the corresponding standard deviation are determined. This standard deviation is a measure of the sensor noise and / or measurement errors and the average unevenness of the floor surface 11 of the freight container 1 (e.g., in the case of a grooved outer wall of the freight container), provided the structural size is greater than the measurement error. Subsequently, an analysis is carried out to determine whether there are specific areas along the underside of the freight container in which the individual measurement points are located more than, for example, 5 times this standard deviation as a threshold value from the plane of extension of the floor surface 11 (i.e., have a correspondingly lower height). If this is the case, the evaluation unit can output a signal indicating the detection of a corresponding discrepancy.

[0047] When evaluating the individual measurement points in relation to the determined extension plane of the floor surface 11, it can be particularly efficient to consider only measurement points from specific sub-areas of the underside of the freight container 1. For example, if the objective is merely to identify twist locks that have not been removed, it is usually sufficient to analyze only the measurement points in the corner areas E of the underside of the freight container 1.

[0048] Finally, it should be noted that the above-described embodiment is merely an exemplary embodiment. There are numerous possibilities for deviating from this embodiment without departing from the scope of the appended claims.

[0049] For example, instead of a sensor unit 5 with only one 2D sensor or scanner or 3D sensor or scanner, sensor units 5 with two or more 2D and / or 3D sensors can also be provided. The sensors provided in the sensor unit 5 can be LiDAR sensors, radar sensors, and / or related designs. The described movement monitoring unit can be components of other devices, such as the lifting and lowering device 3, or additional sensors of the sensor unit 5, for example simple 1D distance sensors or 1D FMCW LiDAR sensors that measure the container's settling speed via radial velocity measurement. The evaluation unit 7 can also be designed to independently infer corresponding position and / or movement information directly from the sensor data of the sensor unit 5.In the case of an FMCW sensor, particularly when using a 4D (multi-layer) FMCW lidar sensor to detect the underside of the cargo container 1, the lowering speed can be determined using measurement data from the FMCW sensor. Additional system information from the lifting and lowering device 3 would then be unnecessary. The underside of the cargo container 1 can be scanned while it is largely stationary (for example, using a moving or stationary 3D scanner or a moving 2D scanner). The cargo container 1 can also perform a targeted movement (for example, vertically and / or horizontally or even rotationally – preferably around the vertical) while its underside is being scanned. List of reference symbols 1 freight container 3 Lifting and lowering device 5 Sensor unit 7 Evaluation unit 9 Twist Lock 11 Floor area / extension plane 100 Container testing system α angle B Determination area E Corner area V Vertical

Claims

[1] Container inspection system (100) for checking the condition of a freight container (1), the container inspection system (100) comprising: a sensor unit (5) which is designed to generate sensor data on a freight container (1) which is located within the monitoring area of ​​the sensor unit (5); and an evaluation unit (7) which is designed to extract specific information about the freight container (1) from the sensor data thus generated; characterized by , that the sensor unit (5) is designed to generate sensor data on the entire underside of a freight container (1) while the latter is located in the monitoring area of ​​the sensor unit (5) and / or while the latter passes the monitoring area of ​​the sensor unit (5) in a predetermined direction of movement, wherein the evaluation unit (7) is designed to identify structural inconsistencies in the underside of the respective freight container (1), in particular twist locks, on the basis of the generated sensor data and to output a corresponding signal. [2] Container inspection system (100) according to claim 1, wherein the sensor unit (5) comprises at least, in particular precisely, a 2D scanner, for example a 2D LiDAR sensor, wherein the planar monitoring area of ​​said 2D scanner is aligned at an angle (α) of less than 90° to the expected normal (V) of the underside of the freight container (1) when passing through the monitoring area, wherein the evaluation unit (7) is designed to monitor the movement of the freight container when passing through the monitoring area of ​​the 2D scanner and to reconstruct the shape of the underside of the respective freight container (1) from the respective individual measurements or multi-layer measurements and / or combined sensor data while passing through the monitoring area. [3] Container testing system (100) according to claim 1 or 2, wherein the sensor unit (5) comprises at least, in particular precisely, a 3D scanner, in particular a 3D LiDAR sensor or a 4D FMCW LiDAR sensor, wherein the evaluation unit (7) is designed to determine the shape of the underside of the respective freight container (1) from at least, in particular precisely, one scan of the underside of the freight container (1). [4] Container inspection system (100) according to one of the preceding claims, wherein the evaluation unit (7) is coupled or at least can be coupled to a movement monitoring unit which outputs position and / or movement information for the respective freight container (1), wherein the evaluation unit (7) is designed to take the position and / or movement information thus obtained into account when evaluating the sensor data. [5] Container inspection system (100) according to one of the preceding claims, wherein the sensor unit (5) comprises at least, in particular precisely, a 2D or 3D distance sensor and the evaluation unit (7) is designed to generate a 3D point cloud from the sensor data of the sensor unit (5), which maps the three-dimensional configuration of at least the underside of the respective freight container (1). [6] Container inspection system (100) according to one of the preceding claims, wherein the evaluation unit (7) is designed to determine the plane of extension of the bottom surface (11) of the respective freight container (1) from the sensor data relating to the underside of the respective freight container (1). [7] Container inspection system (100) according to claim 6, wherein the evaluation unit (7) is designed to take into account only a part of the sensor data relating to the underside of the respective freight container (1) when determining the plane of extension of the floor surface (11), in particular without sensor data relating to an edge region of the underside of the freight container (1), preferably at least without the corners of the underside of the freight container (1). [8] Container testing system (100) according to claim 6 or 7, wherein the evaluation unit (7) is designed to define the extension plane of the floor surface (11) via a suspension point and a surface normal, wherein the evaluation unit (7) is designed in particular to use the vertical (V) as the surface normal and only the mean value of a relative height of the floor surface (11) as the suspension point. [9] Container testing system (100) according to one of the preceding claims, wherein the evaluation unit (7) is further designed to identify unevenness, in particular locally limited elevations, for example in the form of twist locks, on the underside of the respective freight container (1) and to output a corresponding signal, wherein a corresponding signal is only emitted if the dimensions of the identified elevations exceed a specified extent with respect to one or the identified extension plane of the floor surface (11) of the respective freight container (1). [10] Container inspection system (100) according to claim 9, wherein the evaluation unit (7) is designed to examine only one or more specific areas of the underside of the respective freight container (1), in particular the edge area of ​​the underside of the freight container, preferably only the corners of the underside of the respective freight container (1), for corresponding projections. [11] Container inspection system (100) according to claim 9 or 10, wherein the evaluation unit (7) is designed to determine a statistical measure, in particular the standard deviation, of the sensor data for the underside of the respective freight container (1) with respect to the extension plane of the bottom surface (11) of the respective freight container (1) and to use a multiple, in particular 3 times to 20 times, preferably 5 times, 10 times or 15 times, of this standard deviation as the threshold value for triggering the signal. [12] Container testing system (100) according to claim 9 or 10, wherein the evaluation unit (7) is designed to use a fixed value as a threshold value for triggering the signal, which value is determined system-related or empirically for identifying special elevations, in particular in the form of twist locks. [13] Container inspection system (100) according to one of the preceding claims, wherein the evaluation unit (7) is designed to access information indicating the expected shapes and / or dimensions of the respective freight container (1) when inspecting the respective freight container (1). [14] Container crane, in particular RTG crane, RXG crane or ship-to-shore crane, for transporting freight containers (1), wherein the container crane comprises a lifting and lowering device (3) for lifting and lowering freight containers (1) and a container inspection system (100) according to one of the preceding claims, wherein the lifting and lowering device (3) and the container inspection system (100) are coordinated with one another in such a way that the lifting and lowering device (3) moves a freight container (1) to be transported into and / or through the monitoring area of ​​the sensor unit (5) of the container inspection system (100) in such a way that the sensor unit (5) scans the entire underside of the respective freight container (1).

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