KR20210139076A - The Methode of Container Inspection - Google Patents

Abstract

A container inspection method according to one embodiment of the present invention comprises the steps of: preparing a plurality of AGVs which circulate with respective operation schedule to transport a continuously entering container vehicle; allowing a preceding AGV to transport the container vehicle according to an input preceding operation schedule; setting an operation time of an accompanying AGV according to an operation time of the preceding operation schedule and a position of the preceding AGV; and estimating an operation time of a succeeding AGV according to the operation time of the accompanying operation schedule and the accompanying operation schedule. According to the container inspection method, radiation effect on operators and drivers can be reduced while a plurality of containers are continuously inspected so as to rapidly and safely inspect the containers.

Description

{The Methode of Container Inspection}

The present invention relates to a container inspection system.

In general, containers are widely used to transport cargo. Such containers are transported to their destinations through transport devices such as vehicles and ships.

In the case of transporting imported or exported cargo overseas through ports, it is required to inspect the cargo loaded in the container for contraband or dangerous goods. Instead of the method, a method of inspecting cargo by looking through the inside of a container with an X-ray detector is being introduced.

In this container inspection method, since X-rays with strong penetrating power are used, unmanned workplaces are required so that drivers or workers are not affected by radiation emitted during the inspection process. In addition, there is a need for a container search system capable of increasing the inspection speed by continuously inspecting a plurality of containers.

Developed based on the above technical background, the present invention relates to a container inspection system capable of inspecting containers more quickly and safely by reducing radiation effects on workers or drivers while continuously inspecting a plurality of containers.

A container inspection method according to an embodiment of the present invention comprises the steps of providing a plurality of AGVs circulating with respective operation schedules so as to transport continuously entering container vehicles, the preceding AGVs according to the input prior operation schedule. The steps of transferring the container vehicle, setting the operating time of the accompanying AGV according to the operating time of the preceding operating schedule and the position of the preceding AGV, and the operating time of the accompanying operating schedule and the following AGV according to the accompanying operating schedule It may include the step of estimating the operating time of the.

The operation schedule includes the steps of moving the AGV to the container vehicle entry position, setting a first waiting time to wait for a time for the container vehicle to enter and the driver to get off, a loading step for loading the container vehicle, and loading A second standby for transferring the container vehicle to pass through the container inspection device, unloading the container vehicle passing through the container inspection device, and waiting for a time for the driver to board the unloaded container vehicle It may include setting a time.

Before the scanning step, it may further include the step of closing the door of the container inspection device.

After the scanning step, it may further include the step of opening the door of the container inspection device.

The operating time of the accompanying AGV includes the steps of dividing the number of a plurality of AGVs scheduled to be operated during the preceding AGV operating time to set a reference time point, setting a preparation time by assigning a drop-off weight to the first waiting time of the preceding AGV, and It may include adding the preparation time to the reference time point.

The method may further include, before the loading step of the accompanying AGV, determining whether the preceding AGV enters the container inspection device.

The method may further include, before the scanning step of the accompanying AGV, setting an entry point of the container inspection system by giving a boarding weight to the second waiting time of the preceding AGV.

The operation time of the following AGV is resetting the reference time by dividing the number of a plurality of AGVs scheduled to be operated during the operation time of the accompanying AGV, and resetting the preparation time by assigning a drop-off weight to the first waiting time of the accompanying AGV It may include the step of adding up the reset reference time point and the preparation time point.

The scanning step of the following AGV may further include resetting the entry point by assigning a boarding weight to the second waiting time of the accompanying AGV.

In the scanning step, according to the transport speed of the container vehicle, the radiation irradiation speed of the container inspection apparatus may be adjusted.

Container inspection system according to an embodiment of the present invention, while continuously inspecting a plurality of containers, it is possible to inspect the containers more quickly and safely by reducing the radiation effect on the operator or the operator.

1 is a schematic diagram of a container inspection apparatus system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of the container inspection apparatus shown in FIG. 1 .
3 is a flowchart illustrating a container inspection method of the container inspection system shown in FIG. 1 .
FIG. 4 is a flowchart illustrating an operation schedule of the container inspection method shown in FIG. 3 .

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar elements throughout the specification.

In addition, since the size and thickness of each component shown in the drawings are arbitrarily indicated for convenience of description, the present invention is not necessarily limited to the illustrated bar.

In addition, throughout the specification, when a part "includes" a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

1 is a schematic diagram of a container inspection apparatus system according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of the container inspection apparatus shown in FIG. 1 .

1 and 2 , the container inspection system may include an AGV, a container inspection device, and a monitoring system.

The container inspection apparatus may include an electron accelerator, a collimator and a detector capable of generating radiation. For example, radiation generated from the electron accelerator may be X-rays and may have a wavelength of 200 Hz. These X-rays may be transformed into parallel rays while passing through the collimator and irradiated to the container. The detector is positioned to be spaced apart from the electron accelerator and collimator, and can sequentially recognize X-rays irradiated by the container. For example, according to the moving speed of the container, the inside of the container is divided into continuous and uniform areas. Each area can be transmitted to a monitoring system and reprocessed into a single image. In addition, X-rays of different wavelengths may be irradiated to distinguish the articles accommodated inside the container. For example, by irradiating a wavelength of 00 Hz and a wavelength of 00 Hz, an organic material and an inorganic material inside the container can be distinguished.

The electron accelerator, collimator, and detector may be disposed vertically or horizontally, and may be disposed vertically and horizontally together. Through this, it is possible to more accurately grasp the goods inside the container.

The monitoring system may receive a plurality of areas irradiated with X-rays transmitted from the detector and reprocess them into a container image. For example, through X-ray irradiation, it is possible to acquire an image of an article loaded in a container, and determine whether it is legal or not.

The AGV can move the container vehicle to the container inspection device unmanned. Through this, it is possible to inspect the container without the driver's boarding, and to block the effect of radiation that can be fatal to the operator or the driver. To speed up the inspection, multiple AGVs can be cycled. For example, the operating time and operating schedule of the accompanying AGV may be set in consideration of the movement of the preceding AGV. The time to get off and board the driver and the time to determine whether the goods loaded in the container are legal may differ from container to container. Accordingly, the operation of the preceding AGV may affect the operation of the subsequent AGV. Therefore, the operation time of the companion AGV is set in consideration of the operation time of the preceding AGV and the location of the leading AGV, and the operation time of the trailing AGV is estimated according to the operation time of the companion AGV and the operation schedule of the companion AGV, thereby enabling more efficient and rapid operation. For this purpose, the container can be continuously inspected.

3 is a flowchart illustrating a container inspection method of the container inspection system illustrated in FIG. 1 , and FIG. 4 is a flowchart illustrating an operation schedule of the container inspection method illustrated in FIG. 3 .

3 and 4 , the step of providing a plurality of AGVs circulating with respective operation schedules so as to transport continuously entering container vehicles, and the preceding AGVs operate the container vehicles according to the input advance operation schedule. It may include the step of transferring.

For the plurality of circulating AGVs, respective operation schedules may be input. Through this, it is possible to more rapidly and efficiently transport container vehicles that enter continuously.

The preceding AGV may be operated according to the preceding AGV operation schedule to transport the container vehicle. For example, the preceding AGV means the AGV that first transports the container vehicle. That is, the operation schedule of the preceding AGV can be a standard for the subsequent AGV, and can be operated without worrying about the collision of the container vehicle.

Next, according to the operation time of the preceding operation schedule and the position of the preceding AGV, the step of setting the operating time of the accompanying AGV may be included. Here, the companion AGV means an AGV operated following the preceding AGV. For example, the companion AGV may be operated according to the companion operation schedule in the middle of the operation of the preceding AGV. In this case, the operating time of the accompanying AGV may be determined depending on the operating time of the preceding AGV and the location of the preceding AGV. For example, when the driver's disembarkation or boarding is later than the normal time or when the inspection time according to the scan is delayed, the operating time of the accompanying AGV may be determined in consideration of this. The operation time and operation schedule of the accompanying AGV determined in this way may affect the operation time and operation schedule of the succeeding AGV.

Next, the method may include estimating the operating time of the trailing AGV according to the operating time of the accompanying operation schedule and the accompanying operation schedule. That is, the operation time of the trailing AGV may be reset in consideration of the operation time and operation schedule of the preceding AGV and accompanying AGV. Through this, it is possible to inspect the container more quickly and continuously.

The operation schedule may include a step of moving the AGV to a container vehicle entry position, setting a first waiting time for waiting time for the container vehicle to enter and a driver to get off, and a loading step for loading the container vehicle.

The AGV moves to the container vehicle entry position before entering the container vehicle. That is, the time can be reduced by loading the container vehicle immediately after the container vehicle enters and the driver gets off. At this time, since the driver disembarkation time may be different for each driver of each container vehicle, the waiting time may vary each time. Accordingly, the AGV may recognize the driver getting off. For example, the AGV may recognize a change in the weight of the boarding part of the container vehicle. Through this, it is possible to determine whether the driver gets off the boarding unit. As another example, the AGV may determine whether the driver is on the boarding unit through the vision inspection device. Accordingly, after the driver gets off, the AGV loads the container vehicle to prevent a driver's safety accident.

Next, it may include a scanning step of passing the container inspection device by transferring the loaded container vehicle. The container inspection device continuously irradiates X-rays on the boarding part of the container vehicle and the container. Through this, it is possible to determine whether the article loaded on the boarding unit or the container is legal through the monitoring system. The scanning stage in which radiation is generated is fatal to the operator or driver, so it is done unattended. At this time, it is very important to secure a reliable image in order to make a good judgment on whether it is legal or not. Therefore, the transport speed of the container vehicle must be constant. Therefore, it is possible to set the operating time of the accompanying AGV in consideration of the operating time and location of the preceding AGV, and secure enough time for the scanning step of the preceding AGV to secure a stable image while enabling continuous container inspection.

It may include the steps of unloading the container vehicle that has passed through the container inspection device and setting a second waiting time for waiting for a time for the driver to board the unloaded container vehicle.

After the scanning step, after unloading the container vehicle, the driver may wait for the time to board the container vehicle. For example, the driver can get into the vehicle in a position not affected by X-rays. The container vehicle that has been inspected must be moved quickly for subsequent inspection of the container vehicle. In this case, the driver's boarding time may differ depending on the condition of the container article or whether it is legal. Accordingly, the following operating time of the AGV may be changed according to the second waiting time, which is the driver's boarding time. For example, in consideration of the second waiting time of the preceding AGV, the entry point of the scan step of the accompanying AGV may be reset.

The operating time of the accompanying AGV includes the steps of dividing the number of a plurality of AGVs scheduled for operation during the preceding AGV operation time to set the reference time, setting the preparation time by assigning a drop-off weight to the first waiting time of the preceding AGV, and the reference time It may include the step of summing the preparation time.

The reference point can be set according to the number of AGVs scheduled for operation. That is, the operating time of the preceding AGV can be the standard for the accompanying AGV and the trailing AGV. For example, the preceding AGV is operated according to the operation schedule without affecting the preceding container vehicle, and a reference point may be set in consideration of the number of AGVs scheduled to be operated on that day. That is, when four AGVs are scheduled to be operated, the operating time of the preceding AGV may be divided by 4 to set a reference time point. More specifically, in general, a plurality of containers may be introduced through a container ship. In this case, the type of cargo loaded in the container may be differentiated to some extent according to the type of container ship, the departure region of the container ship, or the owner of the container. Accordingly, the type of cargo inside the container inspected by the preceding AGV may be similar to the type of cargo inside the container inspected by the accompanying AGV or the trailing AGV. Accordingly, the reference time set by the operating time of the preceding AGV may be a criterion for selecting the operating time of the accompanying AGV or the following AGV. In this way, it is possible to schedule inspectionable container vehicles per hour or per day.

After the reference point is set, a drop-off weight is given to the first waiting time to set the preparation time. For example, the driver's get-off time cannot be constant, and as described above, a group of drivers may be set according to the type of cargo loaded in the container or the owner, etc. can be given For example, a weight from 0.7 to 1.5 can be assigned according to the criteria of a specific company. Through this, it can be set as a standard for measuring the container inspection cost.

The operating time of the companion AGV is determined by adding the preparation time to the base time. That is, the companion AGV moves to the location where the container vehicle enters at the time of operation, and the companion operation schedule starts. The method may further include, before the loading step of the accompanying AGV, determining whether the preceding AGV enters the container inspection device. Due to the characteristics of a container inspection device in which a container vehicle is transported unmanned and a radiation device is operated, prevention of collision accidents and safety accidents is very important. Accordingly, before the loading step of the accompanying AGV, the operation schedule of which is started at the time of operation, the position of the preceding AGV is checked once more to proceed with the operation schedule. Through this, it is possible to prevent the accompanying AGV from colliding with the container vehicle loaded in the preceding AGV.

Next, before the scanning step of the accompanying AGV, the step of setting the entry point of the container inspection device by giving a boarding weight to the second waiting time of the preceding AGV may be further included. As described above, the driver's boarding may be set in consideration of whether the container cargo is legal or not. At this time, since the second waiting time may be changed according to the type of cargo loaded in the container or the tendency of the driver group, a boarding weight may be given to the second waiting time to set the entry point of the container inspection device of the accompanying AGV. For example, the boarding weight is set in the range of 0.7 to 1.5, which can be set in consideration of the type of cargo loaded in the container and the tendency of the driver group. According to such a ride weight, the total operating time of the preceding AGV may be set, and the reference point of the day may be changed. Specifically, in the case of cigarettes, expensive precious metals, or drugs, which are sensitive to contraband, it is difficult to determine the legality compared to other types of cargo, and accordingly, the legality determination time may be longer. In this case, by setting the boarding weight to 1.5, the inspection cost for the inspection time may be charged. In addition, the inspection reference time for the same type of container may be set. Through this, it is possible to prevent the subsequent AGV from entering the scanning phase and collide with the waiting container vehicle because the inspection is not finished.

In the scanning step, when the transport speed of the container vehicle is slowed, a relatively large amount of X-rays may be irradiated to the container. That is, if the speed is slow, the distance traveled at the same time is short, so that the irradiated X-rays may overlap. In this case, the irradiation speed of X-rays can be adjusted in conjunction with the feed speed of the AGV. Accordingly, it is possible to secure a more reliable image in the monitoring system.

Although the present invention has been described through preferred embodiments as described above, the present invention is not limited thereto, and various modifications and variations are possible without departing from the concept and scope of the following claims. Those in the technical field to which it belongs will readily understand.

1: Container inspection system
100: AGV 200: container inspection device
210: electron accelerator 220: collimator
230: detector 300: monitoring system
400: container

Claims (10)

providing a plurality of AGVs circulating with respective operation schedules to transport container vehicles entering continuously;
transferring the container vehicle to the preceding AGV according to the input preceding AGV operation schedule;
setting an operating time of the accompanying AGV according to the operating time of the preceding operation schedule and the position of the preceding AGV; and
and estimating the operating time of the accompanying operation schedule and the operation time of the following AGV according to the accompanying operation schedule. According to claim 1,
The operating schedule is
moving the AGV to the container vehicle entry position;
setting a first waiting time for waiting for the container vehicle to enter and the driver to get off;
a loading step of loading the container vehicle;
a scanning step of transporting the loaded container vehicle and passing through the container inspection device;
unloading the container vehicle passing through the container inspection device; and
Container inspection method comprising the step of setting a second waiting time for waiting time for a driver to board the unloaded container vehicle. 3. The method of claim 2,
Before the scanning step,
Container inspection method further comprising the step of closing the door of the container inspection device. 4. The method of claim 3,
After the scanning step,
Container inspection method further comprising the step of opening the door of the container inspection device. 3. The method of claim 2,
The operating time of the accompanying AGV is,
setting a reference point by dividing the number of a plurality of AGVs scheduled to be operated in the preceding AGV operating time;
setting a preparation time by assigning a drop-off weight according to 00 to the first waiting time of the preceding AGV; and
Container inspection method comprising the step of adding the preparation time to the reference time point. 6. The method of claim 5,
Before the loading step of the accompanying AGV,
Container inspection method further comprising the step of determining whether the preceding AGV enters the container inspection apparatus. 7. The method of claim 6,
Before the scan step of the accompanying AGV,
and setting an entry point of the container inspection apparatus by assigning a boarding weight to the second waiting time of the preceding AGV. 8. The method of claim 7,
The operating time of the following AGV is,
resetting the preparation time by assigning a drop-off weight to the first waiting time of the accompanying AGV; and
Container inspection method including the step of summing the reference time and the reset preparation time. 9. The method of claim 8,
The scanning step of the following AGV is,
Container inspection method further comprising the step of resetting the entry point by giving a boarding weight to the second waiting time of the accompanying AGV. 3. The method of claim 2,
The scanning step is
Container inspection method for adjusting the radiation irradiation speed of the container inspection device according to the transport speed of the container vehicle.

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