WO2020140978A1 - 箱体识别系统、识别方法、安全检查设备及港口设施 - Google Patents

箱体识别系统、识别方法、安全检查设备及港口设施 Download PDF

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Publication number
WO2020140978A1
WO2020140978A1 PCT/CN2020/070304 CN2020070304W WO2020140978A1 WO 2020140978 A1 WO2020140978 A1 WO 2020140978A1 CN 2020070304 W CN2020070304 W CN 2020070304W WO 2020140978 A1 WO2020140978 A1 WO 2020140978A1
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WO
WIPO (PCT)
Prior art keywords
cabinet
shooting
box
identification
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/070304
Other languages
English (en)
French (fr)
Inventor
李荐民
张丽
李元景
陈志强
王永明
喻卫丰
许艳伟
宗春光
胡煜
孙尚民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Original Assignee
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University, Nuctech Co Ltd, Nuctech Beijing Co Ltd filed Critical Tsinghua University
Priority to EP20736194.0A priority Critical patent/EP3796207A4/en
Publication of WO2020140978A1 publication Critical patent/WO2020140978A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10722—Photodetector array or CCD scanning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10762—Relative movement
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects

Definitions

  • the present disclosure relates to the technical field of equipment detection, and in particular to a box identification system, identification method, security inspection equipment, and port facilities.
  • containers are widely used in logistics transportation, in order to be able to distinguish between containers, you can set the container number through the non-container.
  • a related technique known to the inventor is to attach a radio frequency identification (full name "Radio Frequency Identification", RFID for short) label to the container and bind it to the container number, and indirectly identify the container number by identifying the RFID.
  • RFID Radio Frequency Identification
  • a number of uprights and crossbars are fixed at the measurement site to install multiple detection components, used to identify the box number on different sides of the container, such as cameras and photoelectric switches and other sensors.
  • a cabinet identification system including:
  • the door frame has a passage for the box to be identified
  • Area laser scanner located on the gantry, to detect the current position of the cabinet
  • the mark acquisition component is provided on the door frame and used to obtain the marks on each face of the box according to the current position of the box.
  • the portal frame includes a beam and two longitudinal beams, the two longitudinal beams are respectively connected to the two ends of the beam, the regional laser scanner is set on one of the longitudinal beams, and the laser irradiation surface of the regional laser scanner faces aisle.
  • an area laser scanner is used to identify the front face of the box in the direction of movement.
  • the identification acquiring component includes a plurality of shooting cameras, and each shooting camera is set at a different position on the gantry, and used for shooting the signs on different surfaces of the cabinet respectively.
  • a control component is further included.
  • the area laser scanner is used to reflect the current position of the cabinet by detecting the distance between the shooting camera and the end surface of the cabinet, and the control component is used to determine each according to the distance between the capture camera and the end surface of the cabinet. Shoot the camera's turn on time.
  • the area laser scanner is used to detect the distance between the shooting camera and the front end surface
  • the control component is used to determine the distance between the front end surface, the first side surface, and the top front surface of the cabinet according to the distance between the shooting camera and the front end surface.
  • the logo on the first side is set near the front side; and/or
  • the area laser scanner is used to detect the distance between the shooting camera and the rear surface
  • the control part is used to determine the opening timing of the shooting camera used to shoot the rear surface, the second side, and the rear of the top surface of the cabinet according to the distance between the shooting camera and the rear surface ,
  • the mark on the second side is set close to the rear face.
  • only one camera is on at the same time.
  • the portal frame includes a beam and two longitudinal beams, the two beams are respectively connected to the two ends of the beam, and each camera is set on the beam and the beam.
  • a plurality of shooting cameras are arranged at intervals along at least one of the length and width directions of the beam.
  • the shooting directions of the shooting cameras are different, the number of shooting cameras is the same as the number of faces on the cabinet, and each shooting camera is used to obtain the marks on different faces of the cabinet.
  • it further includes a control component for receiving the identification obtained by each shooting camera, extracting the identification result, and outputting the final identification result after voting.
  • the identification acquisition component includes:
  • the first shooting camera is set on the edge of the beam close to the entry side of the box, and is set on the first side that is biased toward the center position of the beam in the longitudinal direction, and is used to shoot the sign of the front end surface of the box in the movement direction;
  • the second shooting camera is provided on the longitudinal beam on the opposite side of the area laser scanner, and is used to shoot the identification of the first side of the box opposite to the second shooting camera;
  • the third shooting camera is located on the edge of the beam close to the side of the box away, and is located at the center of the beam along the longitudinal direction, which is used to shoot the logo of the top surface of the box;
  • the fourth shooting camera set on the longitudinal beam on the same side as the area laser scanner, is used to shoot the identification of the second side of the box opposite to the fourth shooting camera;
  • the fifth shooting camera is provided on the edge of the beam close to the side of the box away from the center of the beam, and is located on the second side away from the center position of the beam in the longitudinal direction, which is used to shoot the logo of the rear surface of the box.
  • the second camera and the fourth camera illuminate toward the inside of the portal
  • the first camera, the third camera, and the fifth camera illuminate toward the outside of the portal
  • the irradiation direction of the fifth camera The centerline of the beam in the longitudinal direction is inclined.
  • the portal frame includes a cross beam and two longitudinal beams, and the length of at least one of the cross beam and the longitudinal beam is adjustable.
  • it further includes a base, the area laser scanner and the mark acquisition component are both installed on the gantry through the base, and the base is provided with at least one of a position adjustment mechanism and an attitude adjustment mechanism, wherein,
  • the position adjustment mechanism is used to change the installation position of the area laser scanner or the mark acquisition component on the gantry;
  • the attitude adjustment mechanism is used to change the installation attitude of the area laser scanner or the mark acquisition component.
  • an identification method based on the cabinet identification system of the above embodiment including:
  • the identification acquisition component acquires the identifications on all sides of the cabinet according to the current position of the cabinet.
  • the identification acquisition component includes a plurality of shooting cameras, which are respectively used to capture the identifications on different surfaces of the cabinet, and the cabinet recognition method further includes:
  • the identification acquiring component includes a plurality of shooting cameras, which are respectively used to photograph the identifications on different sides of the cabinet, and the step of causing the identification acquisition component to obtain the identifications on each side of the cabinet according to the current position of the cabinet specifically includes:
  • the identification acquiring component includes a plurality of shooting cameras, which are respectively used to photograph the identifications on different sides of the cabinet, and the step of causing the identification acquisition component to obtain the identifications on each side of the cabinet according to the current position of the cabinet specifically includes:
  • the distance between the shooting camera and the front end surface determine the opening timing of the shooting camera for shooting the front end surface, the first side surface, and the top front surface of the cabinet, and the logo on the first side surface is set near the front end surface; and/or
  • the step of acquiring the identification on each face of the cabinet according to the current position of the cabinet through the identification acquisition component specifically includes:
  • the opening timing of the shooting camera used for shooting the rear surface, the second side surface, and the rear of the top surface of the cabinet is determined according to the distance between the shooting camera and the rear surface.
  • the logo on the second side surface is set close to the rear surface.
  • the step of causing the identification acquiring component to acquire the identification on each face of the box according to the current position of the box specifically includes:
  • the area laser scanner detects that the distance between the first shooting camera and the front end face of the cabinet reaches a first preset value, the first shooting camera is started to obtain the identification of the front end face;
  • the area laser scanner detects the movement of the cabinet until the front end surface exceeds the second preset value of the second shooting camera, the second shooting camera is started to obtain the first side logo, and the first side logo is close to the front surface;
  • the third shooting camera is started to obtain the logo on the front of the top;
  • the fourth camera When the area laser scanner detects that the fourth camera is located in front of the rear face, and the distance from the rear face reaches the fourth preset value, the fourth camera is activated to obtain the second side mark, and the second side mark is close to the rear End face
  • the third camera is activated to obtain the logo on the rear of the top surface
  • the fifth shooting camera is activated to obtain the identification of the rear end face.
  • a security inspection device including the cabinet identification system of the above embodiment, the cabinet identification system is installed on the arm of the security inspection device; or the arm of the security inspection device is directly used as a box Frame of body recognition system.
  • a port facility including at least one of the cabinet identification system and the security inspection device of the above embodiment.
  • Figure 1 is a schematic diagram of the location of the logo on each side of the container
  • FIG. 2 is a schematic front view of some embodiments of a cabinet identification system of the present disclosure
  • FIG. 3 is a schematic diagram of the back structure of some embodiments of the box identification method of the present disclosure.
  • FIG. 4 is a schematic diagram of module composition of some embodiments of the cabinet identification system of the present disclosure.
  • FIG. 5 is a schematic diagram of the state of the identification of the front face of the cabinet photographed by the cabinet identification system of the present disclosure
  • FIG. 6 is a schematic diagram of a state where the box identification system of the present disclosure photographs the identification of the first side of the box;
  • FIG. 7 is a schematic diagram of the state of the box identification system of the present disclosure photographing the front and front signs of the box;
  • FIG. 8 is a schematic diagram of the state of the box side identification system of the present disclosure photographing the identification of the second side of the box;
  • FIG. 9 is a schematic diagram of the state of the cabinet identification system of the present disclosure photographing the logo on the rear of the top surface of the cabinet;
  • FIG. 10 is a schematic diagram of the state of the box identification system of the present disclosure photographing the identification of the rear surface of the box;
  • FIG. 11 is a schematic structural view of some embodiments of the security inspection device of the present disclosure.
  • FIG. 12 is a schematic structural diagram of other embodiments of the security inspection device of the present disclosure.
  • first and second appearing in this disclosure are just for convenience of description, to distinguish different component parts having the same name, and do not indicate a sequential or primary-secondary relationship.
  • the container number identification device known to the inventor has at least one of the following disadvantages: (1) RFID tag reading requires high tag position and external environment, and RFID tags require continuous maintenance, low cost performance, and no image recording is not easy to verify The accuracy of the recognition results; (2) A number of columns and crossbars are fixed on the measurement site, which occupies a large site, a large number of sensors, a long sensor commissioning cycle, and complex layout and wiring. In some special sites, even the layout of components cannot be completed. Use is limited. Therefore, it is necessary to design a new container identification system.
  • the present disclosure improves the box identification system, and proposes a box identification system, identification method, security inspection equipment, and port facilities, which can reduce the installation difficulty.
  • the cabinet identification system of the embodiment of the present disclosure is provided with an area laser scanner and a mark acquisition component on the portal, the area laser scanner is used to detect the relative movement direction and relative position of the cabinet and the portal, and the logo acquisition component is used to Obtain the marks on each face of the box according to the position detection results of the regional laser scanner.
  • This cabinet identification system integrates the area laser scanner and the mark acquisition component on the gantry, which can be installed as a whole in practical applications, which improves the integration of the identification system, occupies a small area, or can be additionally installed In other gantry equipment, the number of civil works and installation brackets is reduced, which is flexible and convenient to use, easy to install and debug, and is also conducive to the overall transfer.
  • the box identification system of the present disclosure is used to identify the identification on the box 1.
  • the box 1 may be a container.
  • the International Organization for Standardization ISO6346:1995 "Container Code, Identification and "Standard" standard specifies the container identification system, size and box code and its related markings and marking methods.
  • the marks specified in the standard include: box owner code, equipment identification code, box number and check code.
  • the identification of the container 1 includes a size and a box code A, a box number and a check code B, and a box main code and a device identification code C.
  • the group contains 4 Latin letters and 7 Arabic letters
  • the numbering of numbers and the use of a unified standard identification code can improve the versatility of the system and the identification logic is easy to obtain, without the need for a separate design, saving costs.
  • the identification code can also be a two-dimensional code commonly used nowadays.
  • each surface of the container 1 such as a container includes a first side surface 11, a second side surface 12, a top surface 13, a front end surface 14 and a rear end surface 15, the rear end surface 15 is a door end, and the first side 11.
  • the second side surface 12, the top surface 13, the front end surface 14 and the rear end surface 15 are marked with the size and box code A, box number and check code B as well as the box master code and equipment identification code C.
  • the location of the logo is different on each face.
  • the present disclosure first proposes a cabinet identification system.
  • a cabinet identification system includes: a gantry 5, an area laser scanner 2 and an identification acquisition component, where the gantry 5 has a The passage through which the cabinet 1 passes; the area laser scanner 2 is provided on the gantry 5 to detect the current position of the cabinet 1; the identification acquisition part is provided on the gantry 5 to be used according to the cabinet 1 and the gantry 5 Obtain the marks on each face of the cabinet 1 at the current position.
  • This kind of box identification system can be fixedly installed in the field, or a roller can be set on the bottom of the portal 5 to move on the track, or a walking wheel can be set on the bottom of the portal 5, or integrated in the security inspection equipment, the scope of application Wider.
  • the area laser scanner and the mark acquisition component are integrated on the door frame, which can be installed as a whole in practical applications, which improves the integration of the identification system, covers a small area, or can be additionally installed on other doors
  • the number of civil works and installation brackets is reduced, which is flexible and convenient to use, easy to install and debug, and is also conducive to the overall transfer.
  • each component layout allows each component layout to make full use of the space in the height direction to reduce the occupied space in the horizontal plane, thereby improving the adaptability to different occasions.
  • each component can be installed on the gantry in advance. When installing on site, only the gantry needs to be installed, which can improve the installation efficiency.
  • the portal frame 5 includes a cross beam 51 and two longitudinal beams 52.
  • the two longitudinal beams 52 are respectively connected to both ends of the cross beam 51.
  • the area laser scanner 2 is provided on one of the longitudinal beams 52 and the laser irradiation surface faces the channel. Referring to FIG. 7, the area laser scanner 2 emits a fan-shaped laser beam from the longitudinal beam 52, which can entirely cover the passage through which the cabinet 1 passes. Alternatively, the area laser scanner 2 may also be provided on the beam 51.
  • the direction of the vehicle loaded with the box 1 along the passage can be automatically determined. No matter from which direction the box 1 enters the passage, the type and type of the box 1 carried by the vehicle passing through the passage can be determined Quantity, at the same time get the size code and box code of box 1.
  • the area laser scanner 2 is used to identify the front end surface of the cabinet 1 in the moving direction.
  • the area laser scanner 2 can distinguish the front end face of the vehicle from the front end face 14 of the box 1 in order to start the identification process.
  • the identification acquisition component includes a plurality of shooting cameras, each of which is set at a different position on the gantry 5 and used for shooting the signs on different faces of the cabinet 1 respectively.
  • the use of a camera to obtain logos has lower requirements on the external environment, which can reduce the maintenance frequency, and it is easy to verify the correctness of the recognition results through image recording.
  • the shooting camera is a web camera, which can directly upload the shooting results to the control system.
  • the cabinet recognition system also includes a control component.
  • the area laser scanner 2 is used to detect the distance between the camera and the end surface of the cabinet 1 to reflect the current position of the cabinet 1.
  • the control component is used to determine the distance between the camera and the end surface of the cabinet 1 Determine when to turn on each camera.
  • each shooting camera can be shot when it reaches a suitable distance from the mark on the face to be shot , Can improve the accuracy of the recognition results.
  • the area laser scanner 2 is used to detect the distance between the shooting camera and the front end surface 14, and the control part is used to determine the front end surface 14 for shooting the box according to the distance between the shooting camera and the front end surface 14.
  • the logo on the first side surface 11 is located near the front end surface 14. Since the front signs of the first side face 11 and the top face 13 are closer to the front end face 14, the front face 14 is used as a reference to determine the opening timing of each camera to recognize the front signs of the front face 14, the first side face 11, and the top face 13 , To help improve the accuracy of distance detection, thereby improving the accuracy of recognition results.
  • the area laser scanner 2 is used to detect the distance between the shooting camera and the rear end surface, and the control part is used to determine the distance between the shooting camera and the rear end surface 15 after shooting the rear end surface 15, the second side surface 12, and the top surface 13 of the cabinet.
  • the logo on the second side 12 is set close to the rear face 15. Since the marks on the rear of the second side surface 12 and the top surface 13 are closer to the rear surface 15, the rear surface 15 is used as a reference to determine the opening timing of each camera to recognize the rear surface 15, the second side surface 12, and the rear of the top surface 13. It is beneficial to improve the accuracy of distance detection, thereby improving the accuracy of recognition results.
  • each shooting camera can be recognized when it reaches the appropriate distance from the logo, improving the quality of the captured image, and each shooting camera will not interfere during work, which is convenient for accurately obtaining the logo on the cabinet; and It can also reduce the amount of calculation processing undertaken by the control unit at the same time, which can reduce the calculation processing capacity requirement of the processor.
  • the cabinet identification system further includes a plurality of fill light lamps, which are provided on the gantry 5 and used to supplement the light source for the shooting camera in the adjacent position to improve the captured image or The clarity of the video, thereby improving the accuracy of recognition.
  • the gantry 5 includes a beam 51 and two longitudinal beams 52, the two longitudinal beams 52 are respectively connected to both ends of the beam 51, and each camera is set on the beam 51 and the beam 52. According to the needs of the different surfaces of the shooting cabinet 1, shooting cameras can be set at different positions of the gantry 5.
  • a plurality of shooting cameras are arranged at intervals along at least one of the length and width directions of the beam 51.
  • shooting cameras By arranging shooting cameras at intervals in the width direction of the beam 51, and the shooting surfaces facing different directions, it is possible to flexibly shoot the marks on different surfaces of the cabinet 1.
  • the shooting directions of the shooting cameras are different, the number of shooting cameras is the same as the number of faces on the cabinet 1, and each shooting camera is used to obtain the marks on different faces of the cabinet 1. This embodiment can reduce the number of shooting cameras and the cost while photographing the logos on all sides of the cabinet 1.
  • the cabinet identification system of the present disclosure further includes a control component for receiving the identification obtained by each shooting camera, extracting the identification result, and outputting the final identification result after voting.
  • a control component for receiving the identification obtained by each shooting camera, extracting the identification result, and outputting the final identification result after voting.
  • the identification acquisition component includes five shooting cameras, which are:
  • the first shooting camera 31 as shown in FIG. 3 and FIG. 5, is provided on the edge position of the cross beam 51 near the entry side of the box body 1 for shooting the mark on the front end surface 14 of the box body 1 in the moving direction. Accordingly, the first fill light 41 and the second fill light 41' may be provided on the beam 51 on both sides of the first camera 31, respectively.
  • the second shooting camera 32 is provided on the longitudinal beam 52 on the opposite side of the area laser scanner 2 for shooting the first side 11 of the cabinet 1 opposite to the second shooting camera 32 Logo. Accordingly, a third fill light 42 may be provided on the longitudinal beam 52 above or below the second shooting camera 32.
  • the third shooting camera 33 is located on the edge of the beam 51 near the exit side of the cabinet 1 and is located at the center of the beam 51 in the longitudinal direction for photographing the cabinet 1 Top and 13 logos on the front and rear.
  • a fourth fill light 43 may be provided on the crossbeam 51 outside the third shooting camera 33.
  • the fourth shooting camera 34 is provided on the longitudinal beam 52 on the same side as the area laser scanner 2, and is used to shoot the logo on the second side 12 of the cabinet 1 opposite to the fourth shooting camera 34 ;
  • a fifth fill light 44 may be provided on the longitudinal beam 52 above or below the fourth shooting camera 34;
  • the fifth shooting camera 35 is located on the edge position of the beam 51 near the exit side of the cabinet 1 and is offset from the center position of the beam 51 in the longitudinal direction, and is used to photograph the movement of the cabinet 1 along The logo on the rear face 15 of the direction.
  • a sixth fill light 45 may be provided on the beam 51 outside the fifth shooting camera 35.
  • the shooting cameras can be arranged on the gantry 5 with a narrow dimension along the extending direction of the passage. This arrangement can make each shooting camera to the box 1
  • the surface shooting is not affected by the size of the portal 5 along the channel extending direction, so the size of the portal 5 along the channel width direction can be reduced, the space occupied can be further reduced, and the lightweight design can be realized.
  • the second shooting camera 32 and the fourth shooting camera 34 are irradiated toward the inside of the gantry 5, and the first shooting camera 31, the third shooting camera 33 and the fifth shooting camera 35 are irradiated toward the outside of the portal 5 , And the irradiation direction of the fifth camera 35 is inclined toward the center line of the longitudinal direction of the beam 51.
  • the installation position and irradiation direction of each shooting camera on the gantry 5 can be aligned with the corresponding mark on the cabinet 1.
  • the cross beam 51 and the two longitudinal beams 52 can be designed to have an adjustable length structure to adapt to the box 1 with different widths and heights by adjusting the channel size.
  • Such a gantry 5 can increase at least one of the channel width and the height dimension when the cabinet 1 is large in size, so that the cabinet 1 can pass through smoothly and prevent damage to the area.
  • the size is small, at least one of the channel width and the height size can be reduced, so that each component is within a suitable working distance, and the accuracy of acquiring the identification information is improved.
  • the adjustable gantry 5 can also be adapted to the size of the gantry of the security inspection equipment, which is advantageous for integration with the security inspection equipment.
  • the area laser scanner 2 and the mark acquisition component can be installed on the gantry 5 through the base, and a position adjustment mechanism is provided on the base
  • the posture adjustment mechanism, the position adjustment mechanism is used to change the installation position of the area laser scanner 2 and or the logo acquisition component on the gantry 5, and the posture adjustment mechanism is used to change the installation attitude of the area laser scanner 2 and or the logo acquisition component.
  • This embodiment can flexibly adjust at least one of the installation position and the installation posture of each component according to the installation position of the mark on the box 1 to achieve a more accurate recognition result and improve versatility.
  • the identification includes at least one of a box owner code, a device identification code, a box number, a verification code, a size, and a box type code.
  • the working principle of the box identification system of the present disclosure will be described below with reference to FIGS. 5 to 10.
  • the arrow indicates the movement direction of the cabinet 1 relative to the portal 5 in the passage. This motion is relative, and does not limit the direction of relative motion, nor does it limit either the automatic identification system or the identified box to be absolutely stationary. At the same time, the system also does not limit the size of the gap between the box and the box and the number of boxes that continuously pass through the channel when the box passes through the identification channel.
  • the area laser scanner 2 When the area laser scanner 2 detects that the cabinet 1 moves to a preset position, the area laser scanner 2 recognizes the front end surface 14 of the cabinet 1 along the movement direction, and instructs the mark acquisition component to prepare for shooting and formal shooting, etc. Action process.
  • Shooting preparatory actions include, but are not limited to, ambient illumination collection, calculation of exposure parameters, gain parameters, whether to use lighting compensation measures, etc.; the formal shooting action can be photography or video image capture.
  • the regional laser scanner 2 detects that the distance between the first shooting camera 31 and the front end surface 14 of the cabinet 1 reaches the first preset value, and starts the A photographing camera 31 acquires and stores the size of the logo, the box code A, the box number and the verification code B, the box main code and the device identification code C on the front face 14 of the box 1.
  • the area laser scanner 2 detects that the front end surface 14 of the cabinet 1 exceeds the second preset value of the second shooting camera 32 and starts the second shooting camera 32 Obtain the logo on the first side 11 of the cabinet 1 and store it.
  • the area laser scanner 2 detects that the front end face 14 of the box 1 exceeds the third shooting camera 33 and the distance between the third shooting camera 33 and the front end face 14
  • the third shooting camera 33 is activated to obtain the logo of the front end of the top surface 13 of the cabinet 1 and store it.
  • the regional laser scanner 2 detects that the fourth camera 34 is located in front of the rear end face 15 and the distance reaches the fourth preset value, and the fourth camera 34 is activated Obtain the logo on the second side 12 of the cabinet 1 and store it.
  • the regional laser scanner 2 detects that the box 1 leaves the gantry 5 and the distance between the third camera 33 and the rear end face 15 reaches the fifth preset value , So that the third shooting camera 33 obtains the logo of the rear end of the top surface 13 of the cabinet 1 and stores it.
  • the area laser scanner 2 detects that the distance between the fifth shooting camera 35 and the rear end face 15 reaches the sixth preset value, and starts the fifth shooting camera 35 to acquire Mark and store the rear face 15 of the cabinet 1. After the cabinet 1 leaves the cabinet recognition system, six logos on the cabinet 1 can be obtained through five shooting cameras.
  • such a cabinet identification system can recognize at least one of the cabinet number, the cabinet type, and the number of cabinets passing through the door frame 5.
  • the present disclosure also provides a recognition method based on the cabinet recognition system of the above embodiment, in some embodiments, including:
  • the identification acquiring part acquires the identifications on each face of the cabinet 1 according to the current position of the cabinet 1.
  • the identification acquisition component includes a plurality of shooting cameras, which are used to capture the identifications on different faces of the cabinet 1, and the method for identifying the cabinet further includes:
  • the steps in this embodiment can be performed by the control component, according to the position of each surface of the cabinet 1 obtained by the laser area scanner 2, different shooting cameras are recognized at different times, and the recognition results of each shooting camera are activated to the control Components and control methods determine the final recognition result through voting to improve the accuracy of recognition.
  • the identification acquiring component includes a plurality of shooting cameras, which are respectively used to photograph the identifications on different surfaces of the cabinet 1 so that the identification acquisition component acquires the cabinet according to the relative movement direction and relative position of the cabinet 1 and the gantry 5 1
  • the steps for marking on each face include:
  • the distance between the shooting camera and the end surface of the box 1 is detected by the area laser scanner 2;
  • the opening time of each shooting camera is determined by the control part according to the distance between the shooting camera and the end surface of the cabinet 1.
  • the step of causing the identification acquiring component to acquire the identification on each face of the box 1 according to the current position of the box 1 specifically includes:
  • the fifth shooting camera 35 is activated to obtain the identification of the rear end face 15.
  • Steps (2) and (3) can be interchanged according to the front and back positions of the front side of the first side 11 and the top surface 13 of the cabinet 1; according to the front and back positions of the rear side of the top side 13 and the top side of the cabinet 1, Steps (4) and (5) are interchangeable.
  • the present disclosure also provides a security inspection device, as shown in FIG. 11 and FIG. 12, including the cabinet identification system of the above embodiment.
  • This security inspection device has an additional cabinet on the basis of the internal scanning function of the cabinet.
  • the body recognition function can enable at least one of the cabinet recognition function and the internal scanning function of the cabinet according to requirements.
  • the two functions are enabled at the same time, when the box 1 passes through the scanning channel of the security inspection device, not only can the goods inside the box 1 be checked by the detection arm, but also the identification on the box 1 can be recognized, and the two links can be carried out simultaneously. , Can improve the efficiency of scanning inspection and obtaining identification.
  • the box identification system is installed on the arm 6 of the security inspection device, including fixed installation and detachable installation.
  • the detachably installed safety inspection equipment of the cabinet identification system it is possible to decide whether to add a cabinet identification system according to user needs, or to flexibly replace cabinet identification systems of different types or specifications.
  • the safety inspection equipment includes an arm frame 6, a first cabin 7 and a second cabin 8, the arm frame 6 is in the form of a gantry frame, including a transverse arm and vertical arms provided at both ends of the horizontal arm, two vertical The arms are respectively installed on the first cabin 7 and the second cabin 8.
  • the cabinet identification system is directly installed on the arm frame 6 of the security inspection device through the door frame 5.
  • the cabinet identification system is installed as an independent module on the security inspection equipment, which is easy to install. This installation method is suitable for the security inspection equipment that adopts the gantry frame arm frame.
  • the arm frame 6 of the security inspection device directly serves as the door frame 5 of the box identification system, that is, the area laser scanner 2 and the identification acquisition component are directly integrated on the arm frame 6 of the security inspection device.
  • This embodiment can simplify the structure of the arm frame 6 of the safety inspection device, reduce the weight, and prevent the arm frame 6 from being deformed.
  • the safety inspection equipment includes an arm frame 6 and a ray source.
  • the arm frame 6 adopts the form of an L-shaped cantilever. Since the length of the vertical arm on the side of the arm frame 6 is short, it is not easy to install the door frame 5, so the arm
  • the frame 6 is directly used as the door frame 5 of the box identification system to reduce the weight of the arm frame 6 and prevent the arm frame 6 from being deformed, and does not affect the folding of the arm frame 6.
  • the area laser scanner 2 and the mark acquisition component can be installed on the side of the boom 6 along the inspection channel, so as not to affect the installation of the detector.
  • the ray scanning system and the box identification system can share the area laser scanner 2 to detect the movement position of the box, and the control part is used to turn on the ray source when the box is about to reach the arm 6 and acquire the part according to the marking Obtain the marks on each face of the cabinet 1 according to the current position of the cabinet 1.
  • This structure can reduce the use of position detection components and simplify the structure.
  • the security inspection device of the present disclosure may be a fixed type, a rail-moving type, a walking type security inspection device, or the like.
  • the present disclosure also provides a port facility including at least one of the cabinet identification system of the above embodiment and the security inspection equipment of the above embodiment.
  • the box identification system can be fixedly installed in the field, or on the track, or integrated in the security inspection equipment.
  • the port facility further includes a box 1, which is a container, and the signs provided on different sides of the container are the same. Generally, the installation position of the logo on each face of the general container is fixed.
  • a plurality of signs are arranged asymmetrically on the container, and a plurality of shooting cameras are arranged asymmetrically in the passage, so as to sequentially obtain the identification information of the container in different directions.
  • Acquiring identification information in different directions of the container in sequence can reduce the amount of calculation processing undertaken by the processor at the same time compared to the simultaneous acquisition method, thus reducing the calculation processing capacity requirement of the processor, and the sequential acquisition method also facilitates accurate access to the container.

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Abstract

一种箱体识别系统、识别方法、安全检查设备及港口设施，其中，箱体识别系统包括门架(5)，具有供待识别的箱体(1)经过的通道；区域激光扫描仪(2)，设在门架(5)上，用于检测箱体(1)的当前位置；以及标识获取部件，设在门架(5)上，用于根据箱体(1)的当前位置获取箱体(1)各个面上的标识。

Description

箱体识别系统、识别方法、安全检查设备及港口设施
本公开是以申请号为 201910009508.0，申请日为 2019年1月4日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及设备检测技术领域，尤其涉及一种箱体识别系统、识别方法、安全检查设备及港口设施。
背景技术
目前，集装箱被广泛地应用于物流运输中，为了能够对集装箱进行区分，可通过未集装箱设置箱号。发明人所知晓的一种相关技术是在集装箱贴上射频识别(全称“Radio Frequency Identification”，简称RFID)标签与箱号绑定，通过识别RFID间接识别出集装箱箱号。同时，在测量场地固定多个立柱和横杆，用以安装多个检测元器件，用于识别集装箱不同面上的箱号，如摄像机和光电开关等传感器。
发明内容
根据本公开的第一方面，提供了一种箱体识别系统，包括：
门架，具有供待识别的箱体经过的通道；
区域激光扫描仪，设在门架上，用于检测箱体的当前位置；以及
标识获取部件，设在门架上，用于根据箱体的当前位置获取箱体各个面上的标识。
在一些实施例中，门架包括横梁和两个纵梁，两个纵梁分别连接在横梁的两端，区域激光扫描仪设在其中一个纵梁上，且区域激光扫描仪的激光照射面朝向通道。
在一些实施例中，区域激光扫描仪用于识别箱体沿运动方向的前端面。
在一些实施例中，标识获取部件包括多个拍摄相机，各个拍摄相机设在门架上不同的位置，分别用于拍摄箱体不同面上的标识。
在一些实施例中，还包括控制部件，区域激光扫描仪用于通过检测拍摄相机与箱体端面的距离以反映箱体的当前位置，控制部件用于根据拍摄相机与箱体端面的距离确定各个拍摄相机的开启时机。
在一些实施例中，区域激光扫描仪用于检测拍摄相机与前端面的距离，控制部件 用于根据拍摄相机与前端面的距离确定用于拍摄箱体前端面、第一侧面和顶面前部的拍摄相机的开启时机，第一侧面上的标识靠近前端面设置；和/或
区域激光扫描仪用于检测拍摄相机与后端面的距离，控制部件用于根据拍摄相机与后端面的距离确定用于拍摄箱体后端面、第二侧面和顶面后部的拍摄相机的开启时机，第二侧面上的标识靠近后端面设置。
在一些实施例中，同一时刻仅有一个拍摄相机处于开启状态。
在一些实施例中，门架包括横梁和两个纵梁，两个纵梁分别连接在横梁的两端，各个拍摄相机设在横梁和纵梁上。
在一些实施例中，根据箱体不同面上标识的设置位置，多个拍摄相机沿着横梁的长度和宽度方向的至少一个方向间隔设置。
在一些实施例中，各个拍摄相机的拍摄方向均不同，拍摄相机的数量与箱体上设置标识的面数相同，且每个拍摄相机用于获取箱体不同面上的标识。
在一些实施例中，还包括控制部件，用于接收各个拍摄相机获得的标识，并提取识别结果进行表决后输出最终识别结果。
在一些实施例中，标识获取部件包括：
第一拍摄相机，设在横梁上靠近箱体进入侧的边缘位置，且偏向横梁沿长度方向的中心位置的第一侧设置，用于拍摄箱体沿运动方向前端面的标识；
第二拍摄相机，设在区域激光扫描仪对侧的纵梁上，用于拍摄箱体与第二拍摄相机相对的第一侧面的标识；
第三拍摄相机，设在横梁上靠近箱体离开侧的边缘位置，且位于横梁沿长度方向的中心位置设置，用于拍摄箱体顶面的标识；
第四拍摄相机，设在与区域激光扫描仪同侧的纵梁上，用于拍摄箱体与第四拍摄相机相对的第二侧面的标识；和
第五拍摄相机，设在横梁上靠近箱体离开侧的边缘位置，且偏离横梁沿长度方向的中心位置的第二侧设置，用于拍摄箱体后端面的标识。
在一些实施例中，第二拍摄相机和第四拍摄相机朝向门架内照射，第一拍摄相机、第三拍摄相机和第五拍摄相机朝向门架外照射，且第五拍摄相机的照射方向朝向横梁长度方向的中心线倾斜。
在一些实施例中，门架包括横梁和两个纵梁，横梁和纵梁中至少一个的长度可调。
在一些实施例中，还包括基座，区域激光扫描仪和标识获取部件均通过基座安装 在门架上，基座上设有位置调整机构和姿态调整机构中的至少一个，其中，
位置调整机构用于改变区域激光扫描仪或标识获取部件在门架上的设置位置；
姿态调整机构用于改变区域激光扫描仪或标识获取部件的安装姿态。
根据本公开的第二方面，提供了一种基于上述实施例箱体识别系统的识别方法，包括：
通过区域激光扫描仪检测箱体的当前位置；
通过标识获取部件根据箱体的当前位置获取箱体各个面上的标识。
在一些实施例中，标识获取部件包括多个拍摄相机，分别用于拍摄箱体不同面上的标识，箱体识别方法还包括：
接收各个拍摄相机获得的标识；
从各个拍摄相机获得的标识中提取识别结果；
对各识别结果进行表决后输出最终识别结果。
在一些实施例中，标识获取部件包括多个拍摄相机，分别用于拍摄箱体不同面上的标识，使标识获取部件根据箱体的当前位置获取箱体各个面上的标识的步骤具体包括：
通过区域激光扫描仪检测拍摄相机与箱体端面的距离；
根据拍摄相机与箱体端面的距离确定各个拍摄相机的开启时机。
在一些实施例中，标识获取部件包括多个拍摄相机，分别用于拍摄箱体不同面上的标识，使标识获取部件根据箱体的当前位置获取箱体各个面上的标识的步骤具体包括：
通过区域激光扫描仪检测拍摄相机与前端面的距离；
根据拍摄相机与前端面的距离确定用于拍摄箱体前端面、第一侧面和顶面前部的拍摄相机的开启时机，第一侧面上的标识靠近前端面设置；和/或
通过标识获取部件根据箱体的当前位置获取箱体各个面上的标识的步骤具体包括：
通过区域激光扫描仪检测拍摄相机与后端面的距离；
根据拍摄相机与后端面的距离确定用于拍摄箱体后端面、第二侧面和顶面后部的拍摄相机的开启时机，第二侧面上的标识靠近后端面设置。
在一些实施例中，使标识获取部件根据箱体的当前位置获取箱体各个面上的标识的步骤具体包括：
在区域激光扫描仪检测到第一拍摄相机与箱体的前端面之间的距离到达第一预设值时启动第一拍摄相机，以获取前端面的标识；
在区域激光扫描仪检测到箱体运动至前端面超出第二拍摄相机第二预设值时启动第二拍摄相机，以获取第一侧面的标识，第一侧面的标识靠近前端面；
在区域激光扫描仪检测到第三拍摄相机与前端面的距离到达第三预设值时启动第三拍摄相机，以获取顶面前部的标识；
在区域激光扫描仪检测到第四拍摄相机位于后端面前方，且与后端面的距离到达第四预设值时启动第四拍摄相机，以获取第二侧面的标识，第二侧面的标识靠近后端面；
在区域激光扫描仪检测到箱体离开门架且第三拍摄相机与后端面的距离到达第五预设值时启动第三拍摄相机，以获取顶面后部的标识；
在区域激光扫描仪检测到第五拍摄相机与后端面的距离到达第六预设值时启动第五拍摄相机，以获取后端面的标识。
根据本公开的第三方面，提供了一种安全检查设备，包括上述实施例的箱体识别系统，箱体识别系统安装在安全检查设备的臂架上；或者安全检查设备的臂架直接作为箱体识别系统的门架。
根据本公开的第四方面，提供了一种港口设施，包括上述实施例的箱体识别系统和安全检查设备中的至少一种。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为集装箱各个面上设置标识的设置位置示意图；
图2为本公开箱体识别系统的一些实施例的正面结构示意图；
图3为本公开箱体识别方法的一些实施例的背面结构示意图；
图4为本公开箱体识别系统的一些实施例的模块组成示意图；
图5为本公开箱体识别系统拍摄箱体前端面标识的状态示意图；
图6为本公开箱体识别系统拍摄箱体第一侧面标识的状态示意图；
图7为本公开箱体识别系统拍摄箱体顶面前部标识的状态示意图；
图8为本公开箱体识别系统拍摄箱体第二侧面标识的状态示意图；
图9为本公开箱体识别系统拍摄箱体顶面后部标识的状态示意图；
图10为本公开箱体识别系统拍摄箱体后端面标识的状态示意图；
图11为本公开安全检查设备的一些实施例的结构示意图；
图12为本公开安全检查设备的另一些实施例的结构示意图。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
在本公开的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“前”、“后”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
发明人所知晓的集装箱箱号识别装置至少具有如下缺点之一：(1)RFID标签读取对标签位置和外界环境要求高，且RFID标签需不断的维护，性价比低，没有图像记录不便于验证识别结果的正确性；(2)测量场地上固定多个立柱和横杆，占用场地较大、传感器数量多、传感器调试周期长和布局布线复杂，在一些特殊现场甚至不能完成元器件的布置，使用受到局限。因此需要设计一种新的集装箱识别系统。
有鉴于此，本公开对箱体识别系统进行了改进，提出一种箱体识别系统、识别方法、安全检查设备及港口设施，能够降低安装难度。
本公开实施例的箱体识别系统，在门架上设有区域激光扫描仪和标识获取部件，区域激光扫描仪用于检测箱体与门架的相对运动方向和相对位置，标识获取部件用于根据区域激光扫描仪的位置检测结果获取箱体各个面上的标识。此种箱体识别系统将区域激光扫描仪和标识获取部件集成设置在门架上，可在实际应用中作为整体进行安装，提高了识别系统的集成度，占地面积小，或者也可附加安装在其它门架式设备上，减少了土建工作和安装支架的数量，使用灵活方便，便于安装与调试，也利于进行整 体转移。
本公开的箱体识别系统用于识别箱体1上的标识，如图1所示，箱体1可以是集装箱，对于标识码的具体标识方式，国际标准化组织ISO6346:1995《集装箱代码、识别和标注》标准规定了集装箱识别系统、尺寸和箱型代码及其相关标记和标记的标打方法等。标准中所规定的标识包括：箱主代码、设备识别码、箱号和校验码。具体地，如图1所示，集装箱1的标识包括尺寸和箱型代码A、箱号和校验码B以及箱主代码和设备识别码C组成的一组包含4位拉丁字母和7位阿拉伯数字的编号，采用统一标准的标识码能够提高系统的通用性且识别逻辑易于获得，无需单独设计，节约成本。当然，标识码也可以为现在常用的二维码。
如图1所示，箱体1例如集装箱的各各面包括：第一侧面11、第二侧面12、顶面13、前端面14以及后端面15，后端面15为门端，在第一侧面11、第二侧面12、顶面13、前端面14以及后端面15均标记有尺寸和箱型代码A、箱号和校验码B以及箱主代码和设备识别码C，在箱体1的各个面上，标识的设置位置不同。
本公开首先提出了一种箱体识别系统，在一些实施例中，如图2所示，包括：门架5、区域激光扫描仪2和标识获取部件，其中，门架5具有供待识别的箱体1经过的通道；区域激光扫描仪2设在门架5上，用于检测箱体1的当前位置；标识获取部件设在门架5上，用于根据箱体1与门架5的当前位置获取箱体1各个面上的标识。
在识别过程中，只要箱体1与门架5发生相对运动即可，包括：门架5固定，箱体1搭载于卡车或AGV车辆上从通道中经过；箱体1不动，门架5搭载于移动设备上使其跨过箱体1移动；门架5与箱体1均处于运动状态。由此，此种箱体识别系统在使用时通用性较强。
此种箱体识别系统可固定设置在场地中，或者在门架5底端设置滚轮在轨道上移动，或者在门架5底端设置可行走的轮子，或者集成在安全检查设备中，应用范围较广。
本公开该实施例的箱体识别系统至少具备如下优点之一：
(1)将区域激光扫描仪和标识获取部件集成设置在门架上，可在实际应用中作为整体进行安装，提高了识别系统的集成度，占地面积小，或者也可附加安装在其它门架式设备上，减少了土建工作和安装支架的数量，使用灵活方便，便于安装与调试，也利于进行整体转移。
(2)采用门架式识别系统可使各元器件布置充分利用高度方向的空间，以减小 在水平面内的占用空间，从而提高对不同场合的适应性。而且可以将各元器件提前安装于门架上，在现场安装时，只需要安装门架，可提高安装效率。
(3)通过采用区域激光扫描仪检测箱体的位置，由于区域激光扫描仪可发射多个激光束信号以形成激光束扫描扇形区域来检测所述箱体位置，因此只需要设置一个就能准确地获取箱体的位置以及各个面上标识的位置，由此可减少传感器数量，缩短调试周期，降低布局布线难度。
(4)使用区域激光扫描仪得到集装箱的实时位置信息，便于系统更加灵活地选择标识获取部件的布置位置，降低了元器件布局难度，可兼容多种应用。
在一些实施例中，如图2和图3所示，门架5包括横梁51和两个纵梁52，两个纵梁52分别连接在横梁51的两端。
在一些实施例中，如图2所示，区域激光扫描仪2设在其中一个纵梁52上，且激光照射面朝向通道。参考图7，区域激光扫描仪2从纵梁52处发出扇形激光束，可整体覆盖箱体1经过的通道。可替代地，区域激光扫描仪2也可设在横梁51上。
通过设置区域激光扫描仪2，能够自动判别装载箱体1的车辆沿通道的进入方向，无论箱体1从哪个方向进入通道，均能够判别从通道中通过的车辆所载箱体1的类型和数量，同时得到箱体1的尺寸代码和箱型代码。
在一些实施例中，区域激光扫描仪2用于识别出箱体1沿运动方向的前端面。当车辆承载着箱体1朝着门架5靠近时，区域激光扫描仪2能够将车辆的前端面与箱体1的前端面14区分开来，以便开始识别过程。
在一些实施例中，仍参考图1和图2，标识获取部件包括多个拍摄相机，各个拍摄相机设在门架5上不同的位置，分别用于拍摄箱体1不同面上的标识。采用拍摄相机获取标识对外界环境要求较低，可降低维护频率，而且通过图像记录便于验证识别结果的正确性。在一些实施例中，拍摄相机是网络相机，能够将拍摄结果直接上传至控制系统。
箱体识别系统中还包括控制部件，区域激光扫描仪2用于检测拍摄相机与箱体1端面的距离以反映箱体1的当前位置，控制部件用于根据拍摄相机与箱体1端面的距离确定各个拍摄相机的开启时机。
由于箱体1上各面上的标识沿其运动方向处于不同的位置，因此通过判断各个拍摄相机与箱体端面的距离，可使各个拍摄相机在与待拍摄面上的标识达到合适距离时拍摄，能够提高识别结果的准确性。
具体地，参考图5至图10，区域激光扫描仪2用于检测拍摄相机与前端面14的距离，控制部件用于根据拍摄相机与前端面14的距离确定用于拍摄箱体前端面14、第一侧面11和顶面13前部的拍摄相机的开启时机，第一侧面11上的标识靠近前端面14设置。由于第一侧面11和顶面13前部的标识更加靠近前端面14，因此以前端面14为基准，确定各拍摄相机在识别前端面14、第一侧面11和顶面13前部标识的开启时机，利于提高距离检测的准确性，从而提高识别结果的准确性。
或者，区域激光扫描仪2用于检测拍摄相机与后端面的距离，控制部件用于根据拍摄相机与后端面15的距离确定用于拍摄箱体后端面15、第二侧面12和顶面13后部的拍摄相机的开启时机，第二侧面12上的标识靠近后端面15设置。由于第二侧面12和顶面13后部的标识更加靠近后端面15，因此以后端面15为基准，确定各拍摄相机在识别后端面15、第二侧面12和顶面13后部的开启时机，利于提高距离检测的准确性，从而提高识别结果的准确性。
在箱体标号识别过程中，同一时刻仅有一个拍摄相机处于开启状态。此种方式使每个拍摄相机都能在与标识达到合适的距离时进行识别，提高拍摄图像的质量，且各拍摄相机在工作时不会发生干扰，便于准确地获得箱体上的标识；而且，还能减少控制部件同一时刻承担的计算处理量，可降低对处理器的计算处理能力要求。
在一些实施例中，如图2和图3所示，箱体识别系统还包括多个补光灯，设在门架5上，用于为邻近位置的拍摄相机补充光源，以提高拍摄图像或视频的清晰度，从而提高识别的准确度。
在一些实施例中，门架5包括横梁51和两个纵梁52，两个纵梁52分别连接在横梁51的两端，各个拍摄相机设在横梁51和纵梁52上。根据拍摄箱体1不同面的需求，可在门架5的不同位置设置拍摄相机。
如图5所示，根据箱体1不同面上标识的设置位置，多个拍摄相机沿着横梁51的长度和宽度方向中的至少一个方向间隔设置。通过在横梁51的宽度方向间隔设置拍摄相机，且拍摄面朝向不同的方向，可灵活地拍摄箱体1的不同面上的标识。
在一些实施例中，各个拍摄相机的拍摄方向均不同，拍摄相机的数量与箱体1上设置标识的面数相同，且每个拍摄相机用于获取箱体1不同面上的标识。该实施例能够在拍摄箱体1各面标识的同时，减少拍摄相机的设置数量，降低成本。
在一些实施例中，如图4所示，本公开的箱体识别系统还包括控制部件，用于接收各个拍摄相机获得的标识，并提取识别结果进行表决后输出最终识别结果。根据激 光区域扫描仪2获得的箱体1各个面的位置，在不同时刻使不同的拍摄相机进行识别，并将各个拍摄相机的识别结果发动至控制部件，控制方式通过表决的方式确定最终识别结果，以提高识别的准确率。
在一些实施例中，标识获取部件包括五个拍摄相机，分别为：
第一拍摄相机31，如图3和图5，设在横梁51上靠近箱体1进入侧的边缘位置，用于拍摄箱体1沿运动方向前端面14上的标识。相应地，可在横梁51上位于第一拍摄相机31的两侧分别设置第一补光灯41和第二补光灯41’。
第二拍摄相机32，如图2和图6所示，设在区域激光扫描仪2对侧的纵梁52上，用于拍摄箱体1与第二拍摄相机32相对的第一侧面11上的标识。相应地，可在纵梁52上位于第二拍摄相机32的上方或下方设置第三补光灯42。
第三拍摄相机33，如图2、图7和图9所示，设在横梁51上靠近箱体1离开侧的边缘位置，且位于横梁51沿长度方向的中心位置设置，用于拍摄箱体1顶面13上前部和后部的标识。相应地，可在横梁51上位于第三拍摄相机33的外侧设置第四补光灯43。
第四拍摄相机34，如图2和图8，设在与区域激光扫描仪2同侧的纵梁52上，用于拍摄箱体1与第四拍摄相机34相对的第二侧面12上的标识；相应地，可在纵梁52上位于第四拍摄相机34的上方或下方设置第五补光灯44；和
第五拍摄相机35，如图2和图10所示，设在横梁51上靠近箱体1离开侧的边缘位置，且偏离横梁51沿长度方向的中心位置设置，用于拍摄箱体1沿运动方向后端面15上的标识。相应地，可在横梁51上位于第五拍摄相机35的外侧设置第六补光灯45。
该实施例通过将各个拍摄相机在门架5上合理布局，能够将各个拍摄相机布置在沿通道延伸方向尺寸较窄的门架5上，此种布置方式能够使得各拍摄相机对箱体1各面的拍摄不受门架5沿通道延伸方向尺寸的影响，因此能够减小门架5沿通道宽度方向的尺寸，进一步减小占用空间，并实现轻量化设计。
如图5至图10所示，第二拍摄相机32和第四拍摄相机34朝向门架5内照射，第一拍摄相机31、第三拍摄相机33和第五拍摄相机35朝向门架5外照射，且第五拍摄相机35的照射方向朝向横梁51长度方向的中心线倾斜。各个拍摄相机在门架5上的设置位置以及照射方向能够使其与箱体1上相应面的标识对准。
在一些实施例中，为了提高箱体识别系统的通用性，可将横梁51和两个纵梁52 设计为长度可调的结构，以通过调整通道尺寸适应不同宽度和高度的箱体1。
此种门架5在箱体1尺寸较大时，可增加通道宽度和高度尺寸中的至少一个，以使箱体1能够顺利通过，防止损坏区域激光扫描仪2和标识获取部件；在箱体1尺寸较小时，可减小通道宽度和高度尺寸中的至少一个，以使各元器件处于合适的工作距离内，提高标识信息获取的准确度。另外，在箱体识别系统集成在门架式安全检查设备时，可调式门架5还可适应安全检查设备的门架尺寸，利于与安全检查设备集成。
在一些实施例中，由于不同箱体1上标识的设置位置也不尽不同，可将区域激光扫描仪2和标识获取部件通过基座安装在门架5上，基座上设有位置调整机构和姿态调整机构，位置调整机构用于改变区域激光扫描仪2和或标识获取部件在门架5上的设置位置，姿态调整机构用于改变区域激光扫描仪2和或标识获取部件的安装姿态。
该实施例能够根据箱体1上标识的设置位置灵活地调整各元器件的安装位置和安装姿态中的至少一个，以达到较为准确的识别结果，提高通用性。
在上述各实施例中，标识包括：箱主代码、设备识别码、箱号、校验码、尺寸和箱型代码中的至少一个。
下面结合图5至图10来说明本公开箱体识别系统的工作原理。箭头表示箱体1在通道内相对于门架5的运动方向。这种运动是相对的，不限定相对运动的方向，也不限定自动识别系统或被识别的箱体中的任一方处于绝对静止状态。同时，该系统也不限定箱体通过识别通道时，箱与箱之间的间隙大小以及连续通过通道的箱体数量。
当区域激光扫描仪2检测到箱体1运动到预设位置时，通过区域激光扫描仪2识别出箱体1沿运动方向的前端面14，并指示标识获取部件做出拍摄预备和正式拍摄等动作过程。拍摄预备动作包括且不限于环境照度采集，计算拍摄曝光参数、增益参数，是否采用灯具补光措施等；正式拍摄动作可以是照相也可以是拍摄视频图像。
当箱体1行进到如图5所示的位置时，此时区域激光扫描仪2检测到第一拍摄相机31与箱体1的前端面14之间的距离到达第一预设值，启动第一拍摄相机31获取箱体1前端面14上的标识尺寸和箱型代码A、箱号和校验码B以及箱主代码和设备识别码C并进行储存。
当箱体1继续向前运动到如图6所示的位置时，此时区域激光扫描仪2检测到箱体1前端面14超出第二拍摄相机32第二预设值，启动第二拍摄相机32获取箱体1的第一侧面11上的标识并进行储存。
当箱体1继续行进到如图7所示的位置时，此时区域激光扫描仪2检测到箱体1 前端面14超出第三拍摄相机33，且第三拍摄相机33与前端面14的距离到达第三预设值，启动第三拍摄相机33获取箱体1的顶面13前端的标识并进行储存。
当箱体1继续行进到如图8所示的位置时，此时区域激光扫描仪2检测到第四拍摄相机34位于后端面15前方且距离到达第四预设值，启动第四拍摄相机34获取箱体1的第二侧面12上的标识并进行储存。
当箱体1继续行进到如图9所示的位置时，此时区域激光扫描仪2检测到箱体1离开门架5且第三拍摄相机33与后端面15的距离到达第五预设值，使第三拍摄相机33获取箱体1的顶面13后端的标识并进行储存。
当箱体1继续行进到如图10所示的位置时，此时区域激光扫描仪2检测到第五拍摄相机35与后端面15的距离到达第六预设值，启动第五拍摄相机35获取箱体1后端面15的标识并进行储存。在箱体1离开箱体识别系统后，通过五个拍摄相机可获得箱体1上的六个标识。
假定图中箭头方向为箱体1移动的正方向，当箱体1反向经过通道时，拍摄可按照按完全相反的顺序进行。无论箱体是正向通过还是反向通过，均不限制下一辆搭载箱体1的车辆的进入方向。由此，此种箱体识别系统能够识别从门架5中通过的箱体号码、箱体类型和箱体数量中的至少一个。
其次，本公开还提供了一种基于上述实施例箱体识别系统的识别方法，在一些实施例中，包括：
通过区域激光扫描仪2检测箱体1的当前位置；
通过标识获取部件根据箱体1的当前位置获取箱体1各个面上的标识。
在一些实施例中，标识获取部件包括多个拍摄相机，分别用于拍摄箱体1不同面上的标识，箱体识别方法还包括：
接收各个拍摄相机获得的标识；
从各个拍摄相机获得的标识中提取识别结果；
对各识别结果进行表决后输出最终识别结果。
该实施例中的步骤可通过控制部件执行，根据激光区域扫描仪2获得的箱体1各个面的位置，在不同时刻使不同的拍摄相机进行识别，并将各个拍摄相机的识别结果发动至控制部件，控制方式通过表决的方式确定最终识别结果，以提高识别的准确率。
在一些实施例中，标识获取部件包括多个拍摄相机，分别用于拍摄箱体1不同面上的标识，使标识获取部件根据箱体1与门架5的相对运动方向和相对位置获取箱体 1各个面上的标识的步骤具体包括：
通过区域激光扫描仪2检测拍摄相机与箱体1端面的距离；
通过控制部件根据拍摄相机与箱体1端面的距离确定各个拍摄相机的开启时机。
针对图2和图3的箱体识别系统，在一个具体的实施例中，使标识获取部件根据箱体1的当前位置获取箱体1各个面上的标识的步骤具体包括：
(1)在区域激光扫描仪2检测到第一拍摄相机31与箱体1的前端面14之间的距离到达第一预设值时启动第一拍摄相机31，以获取前端面14的标识；
(2)在区域激光扫描仪2检测到箱体1运动至前端面14超出第二拍摄相机32第二预设值时启动第二拍摄相机32，以获取第一侧面11的标识，第一侧面11的标识靠近前端面14；
(3)在区域激光扫描仪2检测到第三拍摄相机33与前端面14的距离到达第三预设值时启动第三拍摄相机33，以获取顶面13前部的标识；
(4)在区域激光扫描仪2检测到第四拍摄相机34位于后端面15前方且距离达到第四预设值时启动第四拍摄相机34，以获取第二侧面12的标识，第二侧面12的标识靠近后端面15；
(5)在区域激光扫描仪2检测到箱体1离开门架5且第三拍摄相机33与后端面15的距离到达第五预设值时启动第三拍摄相机33，以获取顶面13后部的标识；
(6)在区域激光扫描仪2检测到第五拍摄相机35与后端面15的距离到达第六预设值时启动第五拍摄相机35，以获取后端面15的标识。
根据箱体1第一侧面11与顶面13前部标识的前后位置，步骤(2)和(3)可互换；根据箱体1第二侧面12与顶面13后部标识的前后位置，步骤(4)和(5)可互换。
另外，本公开还提供了一种安全检查设备，如图11和图12，包括上述实施例的箱体识别系统，此种安全检查设备在具备箱体内部扫描功能的基础上，还附加了箱体识别功能，可根据需求开启箱体识别功能和箱体内部扫描功能中的至少一种。
如果两个功能同时开启，在箱体1通过安全检查设备的扫描通道时，不仅能够通过探测臂检查箱体1内部货物情况，同时还能识别箱体1上的标识，将两个环节同时进行，可提高扫描检查以及获取标识的效率。
在一些实施例中，箱体识别系统安装在安全检查设备的臂架6上，包括固定式安装和可拆卸式安装。采用箱体识别系统可拆卸式安装的安全检查设备，可根据用户需 求决定是否增设箱体识别系统，或者还能灵活地更换不同类型或规格的箱体识别系统。
如图11所示，安全检查设备包括臂架6、第一舱体7和第二舱体8，臂架6采用龙门架形式，包括横臂和设在横臂两端的竖臂，两个竖臂分别安装在第一舱体7和第二舱体8上。箱体识别系统通过门架5直接安装在安全检查设备的臂架6上。箱体识别系统作为独立模块安装在安全检查设备上，易于安装，此种安装方式适合于采用龙门架形式臂架的安全检查设备。
在另一些实施例中，安全检查设备的臂架6直接作为箱体识别系统的门架5，即区域激光扫描仪2和标识获取部件直接集成在安全检查设备的臂架6上。该实施例可简化安全检查设备臂架6的结构，减小重量，防止臂架6发生变形。
如图12所示，安全检查设备包括臂架6和射线源，臂架6采用L形悬臂形式，由于臂架6安装侧竖臂的长度较短，不便于安装门架5，因此可将臂架6直接作为箱体识别系统的门架5，以减轻臂架6的重量，防止臂架6发生变形，也不影响臂架6的收合。例如，区域激光扫描仪2和标识获取部件可安装在臂架6沿检查通道的侧部，这样不影响探测器的安装。射线扫描系统和箱体识别系统可共用区域激光扫描仪2，用于检测箱体的运动位置，控制部件用于在箱体即将到达臂架6时，使射线源开启，并根据使标识获取部件根据箱体1的当前位置获取箱体1各个面上的标识。此种结构能够减少位置检测部件的使用，并简化结构。
本公开的安全检查设备可以是固定式、轨道移动式或者行走式安全检查设备等。
最后，本公开还提供了一种港口设施，包括上述实施例的箱体识别系统和上述实施例的安全检查设备中的至少一种。在智能港口中，箱体识别系统可固定设置在场地中，或者设在轨道上，或者集成在安全检查设备中。
在一些实施例中，港口设施还包括箱体1，箱体1为集装箱，集装箱的不同面上设置的标识相同。一般地，通用集装箱各面上标识的设置位置固定。
在一些实施例中，多个标识在集装箱上呈非对称设置，多个拍摄相机在通道内呈非对称设置，以实现依次获取集装箱不同方位上的标识信息。依次获取集装箱不同方位上的标识信息相对于同时获取的方式能够减少处理器同时承担的计算处理量，因而降低对处理器的计算处理能力要求，而且依次获取的方式也便于准确地获得集装箱上的标识。
以上对本公开所提供的一种箱体识别系统、识别方法、安全检查设备及港口设施 进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (22)

  1. 一种箱体识别系统，包括：
    门架(5)，具有供待识别的箱体(1)经过的通道；
    区域激光扫描仪(2)，设在所述门架(5)上，用于检测所述箱体(1)的当前位置；以及
    标识获取部件，设在所述门架(5)上，用于根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识。
  2. 根据权利要求1所述的箱体识别系统，其中所述门架(5)包括横梁(51)和两个纵梁(52)，两个所述纵梁(52)分别连接在横梁(51)的两端，所述区域激光扫描仪(2)设在其中一个所述纵梁(52)上，且所述区域激光扫描仪(2)的激光照射面朝向所述通道。
  3. 根据权利要求1所述的箱体识别系统，其中所述区域激光扫描仪(2)用于识别出所述箱体(1)沿运动方向的前端面。
  4. 根据权利要求1所述的箱体识别系统，其中所述标识获取部件包括多个拍摄相机，各个所述拍摄相机设在所述门架(5)上不同的位置，分别用于拍摄所述箱体(1)不同面上的标识。
  5. 根据权利要求4所述的箱体识别系统，还包括控制部件，所述区域激光扫描仪(2)用于通过检测所述拍摄相机与所述箱体(1)端面的距离以反映箱体(1)的当前位置，所述控制部件用于根据所述拍摄相机与所述箱体(1)端面的距离确定各个所述拍摄相机的开启时机。
  6. 根据权利要求5所述的箱体识别系统，其中所述区域激光扫描仪(2)用于检测所述拍摄相机与前端面(14)的距离，所述控制部件用于根据所述拍摄相机与前端面(14)的距离确定用于拍摄箱体前端面(14)、第一侧面(11)和顶面(13)前部的拍摄相机的开启时机，第一侧面(11)上的标识靠近所述前端面(14)设置；和/或
    所述区域激光扫描仪(2)用于检测所述拍摄相机与后端面的距离，所述控制部件用于根据所述拍摄相机与后端面(15)的距离确定用于拍摄箱体后端面(15)、第二侧面(12)和顶面(13)后部的拍摄相机的开启时机，第二侧面(12)上的标识靠近所述后端面(15)设置。
  7. 根据权利要求4所述的箱体识别系统，其中同一时刻仅有一个所述拍摄相机处于开启状态。
  8. 根据权利要求4所述的箱体识别系统，其中所述门架(5)包括横梁(51)和两个纵梁(52)，两个所述纵梁(52)分别连接在横梁(51)的两端，各个所述拍摄相机设在所述横梁(51)和纵梁(52)上。
  9. 根据权利要求8所述的箱体识别系统，其中根据箱体(1)不同面上标识的设置位置，多个所述拍摄相机沿着所述横梁(51)的长度和宽度方向的至少一个方向间隔设置。
  10. 根据权利要求4所述的箱体识别系统，其中各个所述拍摄相机的拍摄方向均不同，所述拍摄相机的数量与所述箱体(1)上设置标识的面数相同，且每个所述拍摄相机用于获取箱体(1)不同面上的标识。
  11. 根据权利要求4所述的箱体识别系统，还包括控制部件，用于接收各个所述拍摄相机获得的标识，并提取识别结果进行表决后输出最终识别结果。
  12. 根据权利要求2所述的箱体识别系统，其特征在于，所述标识获取部件包括：
    第一拍摄相机(31)，设在所述横梁(51)上靠近箱体(1)进入侧的边缘位置，且偏向所述横梁(51)沿长度方向的中心位置的第一侧设置，用于拍摄箱体(1)沿运动方向前端面(14)的标识；
    第二拍摄相机(32)，设在所述区域激光扫描仪(2)对侧的纵梁(52)上，用于拍摄箱体(1)与所述第二拍摄相机(32)相对的第一侧面(11)的标识；
    第三拍摄相机(33)，设在所述横梁(51)上靠近箱体(1)离开侧的边缘位置，且位于所述横梁(51)沿长度方向的中心位置设置，用于拍摄箱体(1)顶面(13)的标识；
    第四拍摄相机(34)，设在与所述区域激光扫描仪(2)同侧的纵梁(52)上，用于拍摄箱体(1)与所述第四拍摄相机(34)相对的第二侧面(12)的标识；和
    第五拍摄相机(35)，设在所述横梁(51)上靠近箱体(1)离开侧的边缘位置，且偏向所述横梁(51)沿长度方向的中心位置的第二侧设置，用于拍摄箱体(1)后端面(15)的标识。
  13. 根据权利要求12所述的箱体识别系统，其中所述第二拍摄相机(31)和第四拍摄相机(34)朝向所述门架(5)内照射，所述第一拍摄相机(31)、第三拍摄相机(33)和第五拍摄相机(35)朝向所述门架(5)外照射，且所述第五拍摄相机 (35)的照射方向朝向所述横梁(51)长度方向的中心线倾斜。
  14. 根据权利要求1所述的箱体识别系统，其中所述门架(5)包括横梁(51)和两个纵梁(52)，所述横梁(51)和所述纵梁(52)中至少一个的长度可调。
  15. 根据权利要求1所述的箱体识别系统，还包括基座，所述区域激光扫描仪(2)和标识获取部件均通过所述基座安装在所述门架(5)上，所述基座上设有位置调整机构和姿态调整机构中的至少一个，其中，
    所述位置调整机构用于改变所述区域激光扫描仪(2)或标识获取部件在门架(5)上的设置位置；
    所述姿态调整机构用于改变所述区域激光扫描仪(2)或标识获取部件的安装姿态。
  16. 一种基于权利要求1～15任一所述箱体识别系统的识别方法，包括：
    通过所述区域激光扫描仪(2)检测所述箱体(1)的当前位置；
    通过所述标识获取部件根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识。
  17. 根据权利要求16所述的箱体识别方法，其中所述标识获取部件包括多个拍摄相机，分别用于拍摄所述箱体(1)不同面上的标识，所述箱体识别方法还包括：
    接收各个所述拍摄相机获得的标识；
    从各个所述拍摄相机获得的标识中提取识别结果；
    对各识别结果进行表决后输出最终识别结果。
  18. 根据权利要求16所述的箱体识别方法，其中所述标识获取部件包括多个拍摄相机，分别用于拍摄所述箱体(1)不同面上的标识，使所述标识获取部件根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识的步骤具体包括：
    通过所述区域激光扫描仪(2)检测所述拍摄相机与所述箱体(1)端面的距离；
    根据所述拍摄相机与所述箱体(1)端面的距离确定各个所述拍摄相机的开启时机。
  19. 根据权利要求16所述的箱体识别方法，其中所述标识获取部件包括多个拍摄相机，分别用于拍摄所述箱体(1)不同面上的标识，使所述标识获取部件根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识的步骤具体包括：
    通过所述区域激光扫描仪(2)检测所述拍摄相机与前端面(14)的距离；
    根据所述拍摄相机与前端面(14)的距离确定用于拍摄箱体前端面(14)、第一 侧面(11)和顶面(13)前部的拍摄相机的开启时机，第一侧面(11)上的标识靠近所述前端面(14)设置；和/或
    通过所述标识获取部件根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识的步骤具体包括：
    通过所述区域激光扫描仪(2)检测所述拍摄相机与后端面(15)的距离；
    根据所述拍摄相机与后端面(15)的距离确定用于拍摄箱体后端面(15)、第二侧面(12)和顶面(13)后部的拍摄相机的开启时机，第二侧面(12)上的标识靠近所述后端面(15)设置。
  20. 根据权利要求16所述的箱体识别方法，其中使所述标识获取部件根据所述箱体(1)的当前位置获取箱体(1)各个面上的标识的步骤具体包括：
    在所述区域激光扫描仪(2)检测到第一拍摄相机(31)与所述箱体(1)的前端面(14)之间的距离到达第一预设值时启动所述第一拍摄相机(31)，以获取前端面(14)的标识；
    在所述区域激光扫描仪(2)检测到所述箱体(1)运动至前端面(14)超出第二拍摄相机(32)第二预设值时启动第二拍摄相机(32)，以获取第一侧面(11)的标识，所述第一侧面(11)的标识靠近前端面(14)；
    在所述区域激光扫描仪(2)检测到第三拍摄相机(33)与前端面(14)的距离到达第三预设值时启动第三拍摄相机(33)，以获取顶面(13)前部的标识；
    在所述区域激光扫描仪(2)检测到第四拍摄相机(34)位于后端面(15)前方，且与所述后端面(15)的距离达到第四预设值时启动第四拍摄相机(34)，以获取第二侧面(12)的标识，所述第二侧面(12)的标识靠近后端面(15)；
    在所述区域激光扫描仪(2)检测到箱体(1)离开门架(5)且第三拍摄相机(33)与后端面(15)的距离到达第五预设值时启动第三拍摄相机(33)，以获取顶面(13)后部的标识；
    在所述区域激光扫描仪(2)检测到第五拍摄相机(35)与后端面(15)的距离到达第六预设值时启动第五拍摄相机(35)，以获取后端面(15)的标识。
  21. 一种安全检查设备，包括权利要求1～15任一所述的箱体识别系统，所述箱体识别系统安装在所述安全检查设备的臂架(6)上；或者所述安全检查设备的臂架(6)直接作为所述箱体识别系统的门架(5)。
  22. 一种港口设施，包括权利要求1～15任一所述的箱体识别系统，和权利要求 21所述的安全检查设备中的至少一种。
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