KR20220150128A - The Methode of Container Inspection - Google Patents

Abstract

A container inspection method according to an embodiment of the present invention comprises the steps of: preparing a plurality of AGVs circulating with individual operation schedules so as to transfer container vehicles entering continuously; transferring, by a preceding AGV, the container vehicles according to an input preceding operation schedule; setting an operation time point of an accompanying AGV, according to an operation time of the preceding operation schedule and the location of the preceding AGV; and estimating an operation time point of an accompanying operation schedule and an operation time point of a subsequent AGV according to the accompanying operation schedule, wherein the operation schedule may include: a step for the AGV moving to an entering location of the container vehicle; a step for setting a first standby time for standing by for a time during which the container vehicle enters and a driver gets off; a loading step for loading the container vehicle; a scanning step for transferring the loaded container vehicle through a container inspection apparatus; a step for unloading the container vehicle that has passed through the container inspection apparatus; and a step for setting a second standby time for standing by for a time during which the driver boards the unloaded container vehicle. Therefore, provided is a container inspection system capable of inspecting containers more swiftly and more safely.

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.

When imported or exported cargo is transported overseas through ports, etc., 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, as 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 includes the steps of providing a plurality of AGVs circulating with respective operation schedules so as to transport a container vehicle that enters continuously, 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 location 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 waiting step 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 is determined by dividing the number of a plurality of AGVs scheduled to be operated during the preceding AGV operation time to set a reference time, and setting a preparation time by assigning a disembarkation weight to the first waiting time of the preceding AGV; It may include adding the preparation time to the reference time point.

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 driver.

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 .
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 describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned 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 100 may include an AGV 10 , a container inspection device 20 , and a monitoring system 30 .

The container inspection apparatus 20 may include an electron accelerator 21 , a collimator 23 , and a detector 25 capable of generating radiation. For example, the radiation generated by the electron accelerator 21 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 23 to be irradiated to the container C. The detector 25 is spaced apart from the electron accelerator 21 and the collimator 23 and can sequentially recognize the X-rays irradiated to the container C. For example, according to the moving speed of the container (C), the inside of the container (C) is divided into continuous and uniform areas. Each area may be transmitted to the monitoring system 30 and reprocessed into one image. In addition, X-rays of several wavelengths may be irradiated to distinguish the articles accommodated inside the container (C).

The electron accelerator 21, the collimator 23, and the detector 25 may be arranged vertically or horizontally, and may be arranged together vertically and horizontally. Through this, it is possible to more accurately grasp the goods inside the container (C).

The monitoring system 30 may receive a plurality of areas irradiated with X-rays transmitted from the detector 25 and reprocess them into a container (C) image. For example, through X-ray irradiation, an image of an article loaded inside the container C may be acquired, and whether it is legal or not may be determined.

The AGV 10 may move the container vehicle to the container inspection device 20 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. In order to speed up the inspection, the AGV 10 may be operated in a plurality of cycles. 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 boarding of 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 leading AGV and the location of the preceding 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 accompanying AGV, thereby enabling more efficient and rapid operation. For this purpose, the container C can be continuously inspected.

FIG. 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 ( S100 ) and the preceding AGVs are performed according to the input prior operation schedule so as to transport container vehicles entering continuously. It may include a step (S200) of transporting the container vehicle.

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 operation time of the accompanying AGV may be set ( S300 ). 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, it may include a step (S400) of 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. In this way, it is possible to inspect the container more quickly and continuously.

The operation schedule includes the steps of moving the AGV to the container vehicle entry position (S1000), setting a first waiting time to wait for the container vehicle entry and the driver getting off (S2000), and loading the container vehicle (S1000). S3000) may be included.

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. In this case, since the driver getting off 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 (S4000) 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 in 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 unloading the container vehicle that has passed through the container inspection device (S5000) and setting a second waiting time for waiting for the driver to board the unloaded container vehicle (S6000).

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 vary 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 phase 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 to be operated during the preceding AGV operation time to set the reference time, setting the preparation time by assigning a disembarkation weight to the first waiting time of the preceding AGV, and the reference time It may include the step of summing the preparation time to.

The reference point can be set according to the number of AGVs planned for operation. That is, the operating time of the leading 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, the alighting information may include a cargo type, a weight weight, and an alighting weight as shown in Table 1. More specifically, the weight weight may set a score from 1 to 10 according to the weight of the cargo loaded inside the container. A lighter weight can give a score closer to 1, and a heavier cargo can give a score closer to 10. The drop-off weight can be assigned a weight ranging from 0.7 to 1.5 according to the criteria of a specific company. The closer the drop-off weight is to 0.7, the less time it takes to get off, and the closer it is set to 1.5, the more time it takes to get off. Through this, it can be set as a standard for measuring the container inspection cost.

division cargo type weight weight drop off weight Company A metal 9 1.0 Company B Liquid 7 1.0 Company C glass 5 1.3 Company D fiber 3 0.7

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, where the operation schedule 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 method may further include 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. 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, it is possible to claim the inspection cost for the inspection time required. 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 colliding with a waiting container vehicle as it enters the scanning phase and does not complete the inspection.

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 transfer 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.

100: container inspection system
10: AGV 20: container inspection device
21: electron accelerator 23: collimator
25: detector 30: monitoring system
C: container

Claims (4)

providing a plurality of AGVs circulating with respective operation schedules to transport container vehicles entering continuously;
transferring the container vehicle according to the input preceding AGV operation schedule by the preceding AGV;
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
estimating the operating time of the following AGV according to the operating time of the accompanying operation schedule and the accompanying operation schedule,
The operating schedule is
moving the AGV to the container vehicle entry position;
setting a first waiting time for waiting for a time for the container vehicle to enter and a 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 to wait for a time for a driver to board the unloaded container vehicle. The method of claim 1,
Before the scanning step,
Container inspection method further comprising the step of closing the door of the container inspection device. 3. The method of claim 2,
After the scanning step,
Container inspection method further comprising the step of opening the door of the container inspection device. The method of claim 1,
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 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.

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