TECHNICAL FIELD

[0001] The present invention relates to intermodal container inspection systems, and methods for inspecting intermodal containers.

BACKGROUND

[0002] Container ships typically carry intermodal containers. Intermodal containers may be removed from the container ship for transport and/or storage on land.

SUMMARY

[0003] According to a first aspect of the present invention there is provided an intermodal container inspection system comprising: a platform for receiving an intermodal container to be inspected; a sensor assembly configured to determine, when an intermodal container is located on the platform, presence of an object attached to an exterior surface of the intermodal container; and an indicator configured to provide an indication based on the determination made by the sensor assembly.

[0004] By determining presence of an object attached to an exterior surface of an intermodal container when the intermodal container is located on the platform, a simpler and/or safer intermodal container inspection system may be provided when compared to, for example, an inspection system where an intermodal container is required to move relative to, or be suspended relative to, a support structure such as a platform.

[0005] Providing an indication that an object is attached to the exterior surface of the intermodal container may enable remedial action to be taken to remove the object, which may reduce a risk of accidents occurring as a result of presence of the object. Equally, providing an indication that an object is attached to the exterior surface of the intermodal container may provide a simple way to know that all desired objects have been attached to the exterior surface of the intermodal container, thereby allowing further processing of the intermodal container to continue. [0006] The sensor assembly may be configured to determine, when the intermodal container is stationary on the platform, presence of the object attached to an exterior surface of the intermodal container.

[0007] The indicator may be configured to provide the indication where a determination is made by the sensor assembly that the object is attached to the exterior surface of the intermodal container.

[0008] The sensor assembly may be configured to determine, when the intermodal container is located on the platform, presence of an object attached to an underside of the intermodal container, for example an exterior surface of the intermodal container that corresponds to an internal surface of the intermodal container configured to receive goods thereon for transport and/or storage. This may enable assurance that the underside of the intermodal container is substantially free from attached objects that would otherwise inhibit the intermodal container from being transported and/or stored correctly, for example in a stack of containers. Equally, this may enable assurance that all desired objects are attached to the underside of the intermodal container to enable further processing of the intermodal container to continue.

[0009] The sensor assembly may be configured to determine, when the intermodal container is located on the platform, presence of an object of a pre-determined class of objects attached to an exterior surface of the intermodal container. By determining presence of an object of a predetermined class of objects attached to the exterior surface of the intermodal container, unnecessary delays in processing of an intermodal container which has relatively unimportant objects attached to it may be avoided. For example, where dirt is attached to the surface of the intermodal container, it may be desirable for processing of the intermodal container to continue without interruption, e.g. without the indication being made by the indicator, and hence the dirt may be ignored by the system. Use of pre-determined classes may thereby reduce processing time of the intermodal container compared to, for example, a system where all and/or unnecessary objects are detected.

[0010] The indicator may be configured to provide the indication where the sensor assembly determines presence of the object of the pre-determined class of objects.

[0011] The sensor assembly may be configured to determine, when the intermodal container is located on the platform, presence of a lock device attached to an exterior surface of the intermodal container, the lock device for locking together the container and a further container in a stack. Presence of a lock device on an exterior surface, such as the underside, of an intermodal container may be undesirable when the intermodal container is unloaded from a container ship. For example, such lock devices may inhibit correct storage and/or transportation of the intermodal container at a quay or terminal. By determining the presence of a lock device attached to an exterior surface of an intermodal container, and providing an appropriate indication, appropriate remedial action may be taken to ensure removal of the lock device from the exterior surface of the intermodal container.

[0012] Similarly, before the intermodal container is loaded onto a container ship, it may be desirable for all required lock devices to be pre-installed on the intermodal container. The intermodal container inspection system may enable a relatively quick check of presence of lock devices to be performed, for example without requiring an operator to make a circuit of the intermodal container to visually inspect for presence of lock devices, before providing an appropriate indication.

[0013] The lock device may comprise first and second couplers for engaging with respective corner castings of first and second intermodal containers when the first intermodal container is stacked on top of the second intermodal container.

[0014] The sensor assembly may be configured to interrogate a region of space relative to the platform, and the indicator may be configured to provide the indication where an object is detected in a pre-determined sub-region of the region of space. By providing the indication where the object is detected in a pre-determined sub-region of the region of space interrogated by the sensor assembly, objects in particular regions of interest may be identified, whilst objects in regions not of interest may be ignored. This may facilitate processing of an intermodal container, for example by decreasing unnecessary delays that would otherwise be caused were the indication provided for objects in regions deemed not to be of interest.

[0015] The indicator may be configured to provide the indication only where an object is detected in the pre-determined sub-region of the region of space.

[0016] The platform may be configured to receive an intermodal container in one of a plurality of pre-determined positions relative to the platform, and the sensor assembly may be configured to interrogate a region of space relative to the platform corresponding to a sub-area of a footprint of an intermodal container when located in one of the plurality of pre-determined positions. By restricting the intermodal container to one of a plurality of pre-determined positions on the platform, regions of interest may be known relative to the platform. In such a manner only those regions of an exterior surface of the intermodal container of interest may be interrogated. This may facilitate processing of an intermodal container, for example by decreasing unnecessary delays that would otherwise be caused were the indication provided for objects in regions deemed not to be of interest.

[0017] The sensor assembly may be configured to interrogate a region of space relative to the platform corresponding to a sub-area of a footprint of an intermodal container that comprises a corner of the intermodal container when located in one of the plurality of pre-determined positions. The region of space may correspond to all sub-areas of the footprint of the intermodal container that comprise a corner of the intermodal container when located in one of the plurality of predetermined positions. For example, the region of space may comprise a plurality of discrete subregions, each sub-region corresponding to a sub-area of the footprint of the intermodal container that comprises one or more corners of the intermodal container when located in one of the plurality of pre-determined positions.

[0018] Corner castings of intermodal containers may comprise portions which are utilised for connecting to other intermodal containers, and hence it may be desirable to know whether an object is connected to such a region of an intermodal container. For example, lock devices, such as twist-locks, are typically located on corner castings of intermodal containers. By interrogating the region of space relative to the platform corresponding to the sub-area of the footprint of the intermodal container that comprises the corner of the intermodal container, detection of lock devices may be facilitated.

[0019] The indicator may be configured to provide the indication where the object is detected in a pre-determined sub-region of the region of space corresponding to a corner of the intermodal container when located in one of the plurality of positions. By providing the indication where the object is detected in the sub-region of the region of space corresponding to the corner of the intermodal container, objects in corners of intermodal containers may be identified, whilst objects in other regions not of interest may be ignored. This may facilitate processing of an intermodal container, for example by decreasing unnecessary delays that would otherwise be caused were the indication provided for objects in regions deemed not to be of interest. [0020] The indicator may be configured to provide the indication only where the object is detected in the pre-determined sub-region of the region of space corresponding to the corner of the intermodal container.

[0021] The indicator may be configured to provide an indication of the sub-region in which an object is detected, for example with the sub-region corresponding to a specific location of an intermodal container received on the platform. This may enable location of a detected unit to be provided by the intermodal container detection system.

[0022] The sensor assembly may be configured to, where an object is determined to be attached to an exterior surface of the intermodal container, determine a size of the object, and the indicator may be configured to provide the indication based on the determination of the size of the object. This may provide a relatively simple filter to ensure that objects not of interest, such as dirt and the like, are ignored. This may avoid unnecessary delays in processing of the intermodal container, for example by ensuring that the indication is not provided where objects such as dirt can be ignored.

[0023] The indicator may be configured to provide the indication where the object is determined to have a length in the region of 3cm to 30cm, and/or a width in the region of 3cm to 30cm and/or a depth in the region of 3cm to 30cm. The indicator may be configured to provide the indication where the object is determined to have a size in accordance with lock devices compliant with ISO 1161 :1984, for example as of the filing date of the present application.

[0024] The indicator may be configured to provide no indication where absence of an object attached to the external surface of the intermodal container is determined.

[0025] The sensor assembly may be configured to determine presence of an object attached to an exterior surface of the intermodal container in response to an operator input. This may enable the intermodal container inspection system to verify whether objects have been correctly removed from and/or installed to correct locations on the intermodal container. For example, a manual operator may remove objects such as lock devices from, or install objects such as lock devices to, an exterior surface of an intermodal container. The intermodal container inspection system may then be utilised to verify when such manual removal and/or installation has taken place, before subsequent processing, for example by an automated portion of the intermodal container inspection system, can take place. [0026] The sensor assembly may be configured to determine presence of an object attached to an exterior surface of the intermodal container in response to a manual operator input, for example in response to a pressing of a button or the like by the operator.

[0027] The sensor assembly may be configured to make a first determination of presence of an object attached to an exterior surface of the intermodal container in response to a first operator input; the indicator may be configured to provide a first indication to a manual operator of the intermodal container inspection system based on the first determination made by the sensor assembly; the sensor assembly may be configured to make a second determination of presence of an object attached to an exterior surface of the intermodal container in response to a second operator input; and the indicator may be configured to provide a second indication to a remote operator of the intermodal container inspection system based on the second determination made by the sensor assembly. This may allow for escalation to the remote operator, for example in the instance where a manual operator is unable to correctly remove objects from and/or install objects to particular locations on an exterior surface of the intermodal container.

[0028] The intermodal container inspection system may be configured to log details of at least one of the first and second determinations in response to the second indication. Logging details in such a manner may enable details, for example dates, times and/or operators, to be kept, for example to determine why particular objects were detected multiple times in spite of the first indication being made to the manual operator.

[0029] The intermodal container inspection system may comprise a memory, and the intermodal container inspection system may be configured to log details in the memory of at least one of the first and second determinations in response to the second indication.

[0030] The sensor assembly may be configured to determine absence of an object attached to an exterior surface of the intermodal container; and the intermodal container inspection system may comprise an automated movement mechanism configured to move the intermodal container from the platform based on the determination of absence of the object by the sensor assembly. This may enable processing of the intermodal container to be uninterrupted where no object is attached to the exterior surface of the intermodal container, for example where no object is attached to the exterior surface of the intermodal container in a region of interest. [0031] The automated movement mechanism may be configured to move the intermodal container from the platform as a default based on the operator input that triggers operation of the sensor assembly. The indication based on the determination of presence of the object may interrupt operation of the automated movement mechanism. The indication based on the determination of presence of the object may interrupt processing of the intermodal container. The automated movement mechanism may comprise a hoist.

[0032] The intermodal container inspection assembly may comprise a further movement mechanism for moving an intermodal container to the platform. The further movement mechanism may comprise a hoist.

[0033] The indicator may be configured to provide the indication to an operator of the intermodal container inspection system, for example to a local manual operator. This may enable the operator to take appropriate remedial action in response to the indication, for example by removing objects from and/or adding objects to the exterior surface of the intermodal container.

[0034] The indicator may be configured to provide at least one of a visual indication and an audible indication to the operator of the intermodal container inspection system based on the determination made by the sensor assembly. Visual and/or audible indications may provide simple indications that are readily understandable by a human operator.

[0035] The indicator may comprise a light, for example a light configured to flash, to provide the indication. A light may provide a relatively simple indicator which may be easily understood by an operator. The light may be located adjacent to a user operable input configured to initiate the sensor assembly to perform the determination. The light may be located within 2 meters, for example within 1 meter, within 50cm, or within 25cm, of a user operable input configured to initiate the sensor assembly to perform the determination.

[0036] The indicator may comprise a display configured to provide the indication. For example, the display may provide a pictorial representation of where an object is present or absent to a manual operator.

[0037] The indicator may be configured to provide the indication in the form of a digital signal, for example to provide the indication in the form of a digital signal to a controller of one or more components of the intermodal container inspection system. [0038] The sensor assembly may comprise a plurality of sensors spaced along the platform. Providing a plurality of sensors spaced along the platform may facilitate determination of presence of an object on an exterior surface of an intermodal container located on the platform irrespective of relative orientation of the intermodal container to the platform.

[0039] The plurality of sensors may be spaced along a length of the platform, for example along a dimension of the platform parallel to a longitudinal axis of an intermodal container when located on the platform.

[0040] The platform may comprise a plurality of beams defining a support surface for receiving an intermodal container, and the sensor assembly may comprise a plurality of sensors either side of one or each of the plurality of beams.

[0041] The platform may comprise a first side for receiving an intermodal container, and the sensor assembly may comprise a sensor located on a second side of the platform opposite to the first side of the platform. This may facilitate inspection of an underside of the intermodal container when located on the platform.

[0042] The platform may be configured to receive a plurality of intermodal containers simultaneously. This may facilitate inspection of multiple intermodal containers with a minimal number of sensors.

[0043] The sensor assembly may comprise an optical sensor. The sensor assembly may comprise an emitter and a receiver. The sensor assembly may comprise a laser scanner, for example a 2D LiDAR scanner. The sensor assembly may comprise a camera. The sensor assembly my comprise a classifier, for example a machine learning classifier, configured to classify objects in an image captured by the camera.

[0044] The sensor assembly may comprise at least one processor configured to make the determination. The at least one processor may be located remotely from the platform.

[0045] The platform may be configured to receive intermodal containers in accordance with ISO 668 and associated standards, for example ISO 668 and associated standards as of the filing date of the present application. [0046] According to a second aspect of the present invention there is provided a method of inspecting an intermodal container, the method comprising: determining, using a sensor assembly, presence of an object attached to an exterior surface of the intermodal container when the intermodal container is located on a platform; and providing an indication based on the determination made by the sensor assembly.

[0047] According to a third aspect of the present invention there is provided intermodal container inspection system comprising: a sensor assembly configured to determine, when an intermodal container is stationary, presence of an object attached to an exterior surface of an intermodal container; and an indicator configured to provide an indication based the determination made by the sensor assembly.

[0048] By determining presence of an object attached to an exterior surface of an intermodal container when the intermodal container is stationary, a simpler and/or safer intermodal container inspection system may be provided when compared to, for example, an inspection system where an intermodal container is required to move during inspection. Providing an indication that an object is attached to the exterior surface of the intermodal container may enable remedial action to be taken to remove the object, which may reduce a risk of accidents occurring as a result of presence of the object. Equally, providing an indication that an object is attached to the exterior surface of the intermodal container may provide a simple way to know that all desired objects have been attached to the exterior surface of the intermodal container, thereby allowing further processing of the intermodal container to continue.

[0049] According to a fourth aspect of the present invention there is provided a method of inspecting an intermodal container, the method comprising: determining, using a sensor assembly, presence of an object attached to an exterior surface of an intermodal container when the intermodal container is stationary; and providing an indication based on the determination made by the sensor assembly.

[0050] According to a fifth aspect of the present invention there is provided a container terminal comprising the intermodal container inspection system of any of the first and third aspects of the present invention. [0051] Optional features of aspects of the present invention may be equally applied to other aspects of the present invention, where appropriate.

BRIEF DESCRIPTION OF DRAWINGS

[0052] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0053] Figure 1 is a schematic illustration of a container ship;

[0054] Figure 2 is a schematic illustration of an intermodal container transportable using the container ship of Figure 1;

[0055] Figure 3 is a schematic illustration of an intermodal container inspection system for inspecting the intermodal container of Figure 2;

[0056] Figure 4 is a first enlarged schematic illustration of components of the intermodal container inspection system of Figure 3;

[0057] Figure 5 is a second enlarged schematic illustration of components of the intermodal container inspection system of Figure 3;

[0058] Figure 6 is a schematic illustration of an operator interface of the intermodal container inspection system of Figure 3;

[0059] Figure 7 is a flow diagram illustrating use of the intermodal container inspection system of Figure 3;

[0060] Figure 8 is a flow diagram illustrating a first method in accordance with use of the intermodal container inspection system of Figure 3; and

[0061] Figure 9 is a flow diagram illustrating a second method in accordance with use of the intermodal container inspection system of Figure 3. DETAILED DESCRIPTION

[0062] Figure 1 shows an example marine vessel 1 , which here is a container ship 1 , carrying intermodal containers 10. Although not visible in Figure 1 , the ship is carrying further intermodal containers below deck.

[0063] Figure 2 shows an example of one of the intermodal containers 10, which is thus standardised and built for intermodal freight transport. For example, it can be carried by ship, rail and road vehicle. Each of the eight corners of the intermodal container 10 has a corner casting (also known as a corner fitting) 12 for receiving a lock device (sometimes called a twist-lock) that is used to secure the intermodal container 10 during transit. Only six of the corner castings are visible in Figure 2; namely three of the four top corner castings 12 at the top corners of the intermodal container 10 and three of the bottom corner castings 12 at the bottom corners of the intermodal container 10. The corner castings 12 are standardized to ensure compatibility with standardized lock devices and other devices that might cooperate with the corner castings 12 in use. All the corner castings 12 of the intermodal container 10 shown in Figure 2 are compliant with ISO 1161 :2016. The skilled person will be very familiar with intermodal containers, and so no further explanation of the other details of the intermodal container 10 and its possible uses will be given, in the interests of brevity.

[0064] When the intermodal container 10 is removed from the container ship 1 for storage and/or transport on land, for example for storage at a quay or terminal, it may be desirable to remove lock devices from the corner castings 12 of the intermodal container 10, such that the intermodal container 10 does not accidentally lock to a further intermodal container. This may be of particular importance where movement of the intermodal container on the quay or terminal is automated, with little to no human interaction. Equally, when the intermodal container 10 is intended to be placed on the container ship 1 , for example as part of a stack of intermodal containers, it may be desirable to ensure that all required lock devices are present at the respective corner castings 12 of the intermodal container 10 before the intermodal container 10 is manoeuvred onto the container ship 1.

[0065] An intermodal container inspection system 100 is illustrated schematically in Figure 3. The intermodal container inspection system 100 comprises a gantry crane 102, a platform 104, a sensor assembly 106, and an operator interface 108. [0066] The gantry crane 102 comprises a first hoist 110 and a second hoist 112. The first hoist 110 is configured to move intermodal containers 10 between the platform 104 and the container ship 1. The first hoist 110 is remotely controlled by an operator at a control center remote from the gantry crane 102, although examples with a greater degree of manual or automated control of the first hoist 110 are also envisaged. Further structural details of the first hoist 110 will be apparent to a person skilled in the art, and so are not described here for sake of brevity, save to say that the first hoist 110 can be capable of moving more than one intermodal container 10 at a time.

[0067] The second hoist 112 is configured to move intermodal containers 10 between the platform 104 and a horizontal transport system 114, which may take the form of any appropriate vehicle or mechanism for moving an intermodal container 10 along the ground at a terminal. The second hoist 112 is automated, although initiation of the second hoist 112 is in response to an operator input, as will be discussed in more detail hereafter. Further structural details of the second hoist 112 will be apparent to a person skilled in the art, and so are not described here for sake of brevity.

[0068] The platform 104, sensor assembly 106, and operator interface 108 are illustrated in isolation from the gantry crane 102 in Figures 4 and 5. It will be appreciated that certain components may be omitted in certain figures for sake of clarity.

[0069] The platform 104 comprises eight support beams 116 that are spaced apart to define first 118 and second 120 container receiving areas. The support beams 116 within the first 118 and second 120 container receiving areas are spaced such that intermodal containers 10 can be received in pre-determined positions within the first 118 and second 120 container receiving areas. In particular, and with reference to the first container receiving area 118 and arrows as illustrated in Figure 4, an intermodal container 10 can be supported by the upper two support beams 116, an intermodal container 10 can be supported by the lower two support beams 116, an intermodal container 10 can be supported by the middle two support beams 116, or an intermodal container 10 can be supported by all four support beams 116. The same applies for the second container receiving area. The support beams 116 are raised relative to a surface of the platform 104, with intermodal containers 10 received upon upper surfaces of the support beams 116 in use. [0070] In the shown example of Figure 3, the sensor assembly 106 comprises five optical sensors 122 spaced along the platform 104 centrally between the first 118 and second 120 container receiving areas. The optical sensors 122 are located at a level below lower surfaces of the support beams 116.

[0071] The optical sensors 122 are 2D LiDAR sensors, such as the LMS511-20100 2D LiDAR sensor commercially available from SICK AG. Each optical sensor 122 is configured to scan a pre-determined region of space 124 relative to the platform 104, with the pre-determined region of space 124 corresponding to a region of space underlying the first 118 and second 120 container receiving areas. In particular, the region of space corresponds to a region of space below the intermodal container 10 when received in one of the first 118 and second 120 container receiving areas, such that the optical sensors 122 are configured to observe an underside of the intermodal container 10 in use. In other examples, the region of space may correspond to a region of space adjacent a different side, such as a top side, of the intermodal container 10.

[0072] Each optical sensor 122 is configured to output a signal to the operator interface 108 only when it detects objects within a sub-region 126 of the region of space 124, with the sub-regions 126 corresponding to regions which could possibly underlie a corner casting 12 of the intermodal container 10 when received on the support beams 116 in use, as will be discussed in more detail hereafter. Each optical sensor 122 is configured to output the signal to the operator interface 108 only when it detects objects within a pre-determined size range, with the pre-determined size range corresponding to a typical size of a lock device that could be connected to the corner casting 12 of the intermodal container 10. Such a pre-determined size range includes a length in the region of 3cm to 30cm, and/or a width in the region of 3cm to 30cm and/or a depth in the region of 3cm to 30cm. In such a manner the signal may be output only where corresponding to objects in accordance with ISO 1161 :1984 are detected.. Whilst described here as each optical sensor 122 making an individual determination, examples in which one of more of the optical sensors transmit a signal to a processor, for example a remote processor located at a control centre, for the processor to make the determination are also envisaged.

[0073] The operator interface 108 is illustrated schematically in isolation in Figure 6. The operator interface 108 is located on the platform 104, and comprises a user-actuable button 128 and an indicator 130 in the form of a series of LEDs disposed around the user-actuable button 128. The indicator 130 is operable in response to receipt of a signal from the sensor assembly 106, as will be described in more detail hereafter. [0074] In use, a remote operator, located in a control center, remotely controls the first hoist 110 to move an intermodal container 10 from the container ship 1 to the platform 104. At this point, the intermodal container 10 has lock devices attached to each of its corner castings 12. The intermodal container 10 is placed, using the first hoist 110, on an upper surface of the support beams 116 in one of the first 118 and second 120 container receiving areas. The corner castings 12 and lock devices are exposed and accessible, in that they do not directly overlie any support beam 116.

[0075] A local operator then makes a circuit of the intermodal container 10, with the intention of manually removing all lock devices from the corner castings 12. However, there may be certain situations in which some lock devices remain attached to the intermodal container 10, for example as a result of local operator error. Thus, once the local operator has completed their circuit of the intermodal container 10, the local operator presses the user-actuable button 128 to begin further processing of the intermodal container 10. Further processing of the intermodal container 10 typically involves the second hoist 112 autonomously removing the intermodal container 10 from the platform 104, and providing the intermodal container 10 to the horizontal transport system 114.

[0076] Here, upon actuation of the user-actuable button 128 by the local operator, the optical sensors 122 of the sensor assembly 106 interrogate their respective pre-determined regions of space 124 to determine presence of objects of a pre-determined size located on an external surface of the intermodal container 10. The interrogation takes place with the intermodal container 10 located on, and stationary on, the platform 104, and the objects that the optical sensors 122 are looking for are principally lock devices such as twist-locks. Where no objects of a predetermined size are found within the appropriate sub-regions 126 of the pre-determined region of space 124, operation of the second hoist 112 is permitted to continue to move the intermodal container 10 from the platform 104 to the horizontal transport system 114.

[0077] However, where an object, for example a lock device, is determined to be present in the sub-region 126, operation of the second hoist 112 is interrupted, and a control signal is sent to the indicator 130. The indicator 130 then flashes to alert the local operator to the possible presence of the object, for example the lock device. [0078] In response to flashing of the indicator 130, the local operator can make another circuit of the intermodal container 10 to verify presence of the object, and, if appropriate, to remove the object from the intermodal container. Once this second circuit of the intermodal container 10 is complete, the local operator again presses the user-actuable button 128.

[0079] The optical sensors 122 of the sensor assembly 106 again interrogate their respective pre-determined regions of space 124 to determine presence of objects of a pre-determined size located on an external surface of the intermodal container 10. Where no objects of a predetermined size are found within the appropriate sub-regions 126 of the pre-determined region of space 124, operation of the second hoist 112 is permitted to continue to move the intermodal container 10 from the platform 104 to the horizontal transport system 114.

[0080] However, where an object, for example a lock device, is determined to be present in the sub-region 126, operation of the second hoist 112 is interrupted, and a signal is transmitted to a remote operator, which can be the remote operator of the first hoist 110. This enables the remote operator to communicate with the local operator to determine why the optical sensors 122 are still determining presence of an object, such as the lock device, in spite of two instances where the local operator has had the opportunity to remove any objects from the intermodal container 10. The local operator can then work alongside the remote operator to determine why presence of an object is being detected, with remedial action being taken, if appropriate, such that the second hoist 112 can then be used to remove the intermodal container 10 from the platform 104. The intermodal container inspection system 100 also logs details of the transfer to the remote operator, either in a local or remote memory, with details including dates, times, and local and remote operator names.

[0081] A flow diagram illustrating use of the intermodal container inspection system 100 in accordance with the description above is shown in Figure 7. By determining presence of an object attached to an exterior surface of the intermodal container 10 when the intermodal container 10 is located on the platform 104, a simpler and/or safer intermodal container inspection system may be provided when compared to, for example, an inspection system where an intermodal container is required to move relative to, or be suspended relative to, a support structure such as a platform. Providing the indication that the object is attached to the exterior surface of the intermodal container 10 may enable remedial action to be taken to remove the object, which may reduce a risk of accidents occurring as a result of presence of the object. [0082] By limiting the area of detection to the particular sub-region 126 of the pre-determined region of space 124, and by limiting detection to objects of a particular size, detection may effectively be limited to only objects of a particular class or type, such as lock devices of a particular size that would typically be expected to be located in regions of space below a corner casting of an intermodal container. This may prevent false positive detection that could otherwise negatively impact processing time of the intermodal container 104.

[0083] A first method 200 in accordance with the above is illustrated in the flow diagram of Figure 8. The method 200 comprises determining 202, using the sensor assembly 106, presence of an object attached to an exterior surface of the intermodal container 10 when the intermodal container 10 is located on the platform 104. The method 200 comprises providing 204 an indication based on the determination made by the sensor assembly 106.

[0084] A second method 300 in accordance with the above is illustrated in the flow diagram of Figure 9. The method 300 comprises determining 302, using the sensor assembly 106, presence of an object attached to an exterior surface of the intermodal container 10 when the intermodal container 10 is stationary. The method 300 comprises providing 304 an indication based on the determination made by the sensor assembly 106.

[0085] Whilst the sensor assembly 106 described above utilises optical sensors in the form of 2D LiDAR sensors, it will be appreciated that other forms of sensor may be utilised provided they can detect objects attached to an exterior surface of the intermodal container 10 when the intermodal container 10 is located on the platform 104 and/or stationary. For example, the sensor assembly 106 may comprise at least one camera and at least one classifier configured to determine the presence of the object. In particular, an output of the camera can be fed to the classifier, which may take the form of a machine learning classifier such as a neural network, with the classifier configured to determine presence of a particular type of object in the image. The classifier may, in some examples, be configured to detect presence of a lock device such as a twist-lock, and where a lock device is present at a corner casting 12 of the intermodal container 10 a process similar to that above, with a manual operator being notified with the indicator 130, can take place. In certain implementations, the sensor assembly 106 may comprise other types of sensors than optical sensors. For example, the sensor assembly 106 may comprise any type of time-of-flight sensor. [0086] Although described above in relation to a visual indication being provided to the local manual operator, alternative forms of indication, such as an audible indication via an appropriate transducer, are also envisaged. In some examples, additionally or alternatively to the local manual operator being provided with an indication based on presence of the object, a remote operator can be provided with an indication that the object is present. The remote operator can then take appropriate remedial action, such as removing the object from the intermodal container 10. In some examples, additionally or alternatively to the local manual operator being provided with an indication based on presence of the object, an electronic component of the intermodal container inspection system 100 can be provided with an electronic indication based on presence of the object. For example, the intermodal container inspection system 100 can comprise an automated system for removing objects, such as lock devices, from external surfaces of the intermodal container, and such an automated system may be operable in response to determination of presence of an object on an external surface of the intermodal container 100 by the sensor assembly 106.

[0087] As well as just providing an indication to a local manual operator that an object has been detected, in some examples the indicator 130 can be used to provide an indication as to the particular sub-region 126 in which an object has been detected. For example, where the visual indicator 130 comprises a number of LEDs, a pre-determined sub-set of the LEDs may correspond to each sub-region 126, with flashing of a particular subset of the LEDs then indicative of detection of an object in a particular sub-region 126. Additionally or alternatively, the indicator may comprise a display such as a screen, which may provide an image indicating a particular sub-region 126 corresponding to a particular location on the intermodal container 10 where an object has been detected. For example, the particular sub-region 126 may be identified based on the corresponding optical sensors 122. In another example, the particular sub-region 126 may be identified based on the parameters detected by the sensor assembly 106.

[0088] In the examples described above, the intermodal container 1 is unloaded from the container ship 1 , with the intermodal container inspection system 100 then utilised to determine presence of an object on an exterior surface of the intermodal container 10. In other examples, the intermodal container inspection system 10 can be utilised prior to loading of an intermodal container 10 onto the container ship 1 .

[0089] For example, the intermodal container can be received via the horizontal transport system 114, and placed onto the platform 104 using the second hoist 112. A manual operator can make a circuit of the intermodal container 10, whilst also installing lock devices at the corner castings 12 of the intermodal container 10. Once installation of the lock devices is complete, the manual operator can press the user-actuable button 128, and in response the sensor assembly 106 can scan for presence of lock devices in a similar manner to that described above. Where lock devices are installed at all desired locations on the intermodal container 10, operation of the first hoist 114, either by the remote operator or in an autonomous or semi-autonomous manner, can be enabled. Where the sensor assembly 106 determines that one or more lock device is missing, operation of the first hoist 112 may be inhibited, with an indication provided in any manner as previously described herein.

[0090] Example embodiments of the present invention have been discussed, with particular reference to the examples illustrated. However, it will be appreciated that variations and modifications may be made without departing from the scope of the invention as defined by the appended claims.