WO2019192327A1 - 集装箱检查***、转运方法及港口设施 - Google Patents

集装箱检查***、转运方法及港口设施 Download PDF

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Publication number
WO2019192327A1
WO2019192327A1 PCT/CN2019/079008 CN2019079008W WO2019192327A1 WO 2019192327 A1 WO2019192327 A1 WO 2019192327A1 CN 2019079008 W CN2019079008 W CN 2019079008W WO 2019192327 A1 WO2019192327 A1 WO 2019192327A1
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WO
WIPO (PCT)
Prior art keywords
container
scanning
inspection system
initial position
transport
Prior art date
Application number
PCT/CN2019/079008
Other languages
English (en)
French (fr)
Inventor
孟辉
史俊平
宗春光
宋全伟
郭以伟
李荐民
孙尚民
李玉兰
顾菁宇
李元景
陈志强
Original Assignee
清华大学
同方威视技术股份有限公司
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 清华大学, 同方威视技术股份有限公司 filed Critical 清华大学
Priority to PL436636A priority Critical patent/PL436636A1/pl
Priority to DE112019001767.5T priority patent/DE112019001767T5/de
Publication of WO2019192327A1 publication Critical patent/WO2019192327A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays

Definitions

  • the present disclosure relates to the field of security inspection technology, and in particular, to a container inspection system, a transportation method, and a port facility.
  • the container In the current port facilities, the container is generally taken out of the cargo ship by the shore bridge crane (referred to as the shore bridge), and the hoisting is transported to the unmanned Automated Guided Vehicle (AGV). .
  • AGV Automated Guided Vehicle
  • the current port facilities In order to prevent dangerous goods from being stored in the container entering the infield, the current port facilities will set up scanning devices in the field to scan and inspect each container. Once dangerous items are found, they are disposed of.
  • Such a method of transporting the container to the infield for scanning inspection requires occupying a certain space in the AGV traveling site, and each of the automatic guided transport vehicles needs to carry the container for inspection, which will reduce the container transportation efficiency.
  • this method may lead to dangerous and prohibited items entering the infield, thus bringing certain security risks to the port facilities.
  • Embodiments of the present disclosure propose a container inspection system, a transportation method, and a port facility, which can improve the transportation efficiency of the container.
  • a container inspection system comprising:
  • a shore bridge comprising a transfer platform and a lifting component, the lifting component being configured to hoist the container to an initial position on the transfer platform;
  • a delivery device disposed on the transport platform, is configured to drive the container in the initial position through the scanning channel of the scanning device.
  • the delivery device is configured to deliver the scanned container to a pick-up location on the transport platform, the pick-up location configured to store a container to be lifted onto the container mobile device.
  • the lifting components include:
  • the first weight is configured to hoist the container to the initial position and hoist the container at the pick-up location to the container moving device.
  • the lifting components include:
  • the first heavy portion is configured to hoist the container to the initial position
  • the second lifting portion is configured to hoist the container at the pick-up location to the container moving device.
  • the initial position and the pick-up position are preset fixed positions.
  • the scanning device is disposed between an initial position and a pick-up position.
  • the initial position and the pick-up position are arranged side by side along the direction of extension of the motion track of the shore bridge.
  • a scanning channel is respectively disposed on each side of the scanning device, and each scanning channel is correspondingly provided with a set of working positions, and the working position includes an initial position and a boxing position.
  • the delivery device includes a transfer vehicle and a track disposed on the transfer platform, the transfer vehicle being movable along the track and configured to carry the container.
  • the transfer cart is configured to move to the pick-up position after carrying the container and return to the initial position after the container is lifted off the transfer cart.
  • the scanning device is configured to enter a scanning operational state upon receipt of an instruction to arrive at the initial position of the container and to exit the scanning operational state upon completion of the scanning.
  • the shore bridge is provided with a to-be-processed location that is configured to store a container that is loaded with dangerous goods by the scanning device.
  • the delivery device is configured to drive the container through the scanning channel along the length of the container.
  • the container inspection system includes:
  • the conveying device is disposed on the transport platform for driving the container in the initial position to pass through the scanning channel of the scanning device.
  • the delivery device is further configured to deliver the scanned container to a pick-up location on the transfer platform such that the container at the pick-up location is hoisted to the container moving device.
  • the lifting components of the shore bridge include:
  • the first heavy part is used for lifting the container to the initial position and lifting the container at the picking position to the container moving device.
  • the lifting components of the shore bridge include:
  • the first heavy part for lifting the container to the initial position
  • the second lifting portion is used for lifting the container at the picking position to the container moving device.
  • the initial position and the pick-up position are preset fixed positions.
  • the scanning device is disposed between the initial position and the pick-up position.
  • the initial position and the pick-up position are arranged side by side along the direction of extension of the motion track of the shore bridge.
  • each side of the scanning device has a scanning channel, and each scanning channel is correspondingly provided with a set of initial positions and a boxing position.
  • the delivery device includes a transfer cart and a track disposed on the transfer platform for carrying the container and moving along the track.
  • the container inspection system further includes control means for controlling the movement of the transfer vehicle after carrying the container on the transfer vehicle and controlling the transfer vehicle to return to the initial position after the container is hoisted from the transfer vehicle.
  • the container inspection system further includes control means for causing the scanning device to enter a scanning operation state after confirming that the container reaches the initial position, and exiting the scanning operation state after the scanning is completed.
  • the shore bridge is provided with a to-be-processed location, and the shore bridge is capable of placing the dangerous goods inspected by the scanning device in the position to be treated.
  • the delivery device is configured to drive the container through the scanning channel of the scanning device along the length of the container.
  • a port facility including the container inspection system of the above embodiment.
  • the container inspection system further includes a container moving device that includes an automated guided transport vehicle for loading the container.
  • a transport method based on the above container inspection system comprising:
  • the lifting components of the shore bridge hoist the container to the initial position on the transport platform
  • the conveying device drives the container through the scanning channel of the scanning device.
  • the container shipping method further includes:
  • the conveying device transports the container to the picking position on the transport platform
  • the delivery device includes a transfer vehicle
  • the container transport method further includes:
  • the control device controls the transfer vehicle to return to the initial position after the container is lifted from the transfer vehicle.
  • the container shipping method further includes:
  • control device After confirming that the container reaches the initial position, the control device causes the scanning device to enter a scanning working state
  • control device After the container scan is completed, the control device causes the scanning device to exit the scanning operation state.
  • the container shipping method includes:
  • the conveying device drives the container through the scanning channel of the scanning device.
  • the container shipping method further includes:
  • the delivery device includes a transfer vehicle
  • the container transport method further includes:
  • the transfer vehicle After the container is lifted from the transfer vehicle, the transfer vehicle is returned to the initial position.
  • the container shipping method further includes:
  • the scanning device After determining that the container reaches the initial position, the scanning device is brought into a scanning working state;
  • the scanning device is caused to exit the scanning operation state.
  • the container inspection system of some embodiments of the present disclosure places the scanning device on the transfer platform of the shore bridge, and firstly passes the lifting component of the shore bridge when the container needs to be transferred from the first site to the second site.
  • the container is hoisted from the first site to the initial position on the transport platform, and then the container at the initial position is driven by the transport device provided on the transport platform to pass through the scanning channel of the scanning device, and the scanned container is returned to the second site.
  • the inspection system integrates the scanning device in the shore bridge, eliminating the need to occupy additional scanning areas in the second site; and, in the process of transporting the container to the second site, rapid detection can be achieved without secondary detection. It can avoid the entry of dangerous and prohibited articles into the second site, which can improve the efficiency and safety of the entire transshipment process of the container.
  • FIG. 1 is a schematic view showing the working principle of an embodiment of the container inspection system of the present disclosure
  • Figure 2 is a front elevational view of one embodiment of a container inspection system of the present disclosure operating in a port facility;
  • Figure 3 is a plan view of one embodiment of the container inspection system of the present disclosure.
  • Figure 4 is a side elevational view of one embodiment of the container inspection system of the present disclosure.
  • Figure 5 is an enlarged view of the structure of Figure 1;
  • Figure 6 is an enlarged view of the structure of II in Figure 3;
  • Fig. 7 is an enlarged view showing the structure of Fig. 4;
  • the inventor considers the process of optimizing the container transshipment process by placing the scanning inspection link on the shore bridge to transfer the container from the cargo ship to the infield AGV, so that the container can be inspected before entering the infield. Accordingly, the scanning device is integrated on the shore bridge without the need to provide a fixed or mobile scanning device in the internal field.
  • the present disclosure proposes a container inspection system, in one embodiment, comprising a shore bridge 1, a scanning device 4 and a conveying device 5.
  • the shore bridge 1 is disposed between the first site and the second site for transferring the container of the first site to the second site.
  • the first site is a cargo ship
  • the second site is an infield
  • the shore bridge 1 can be located at a dock for hoisting the container 3 on the cargo ship to place the container in the container mobile device in the field.
  • the container mobile device may be an AGV or a truck transport vehicle, etc., and the following embodiments are described by taking such a use case as an example.
  • the first site may also be an infield
  • the second site may be a cargo ship, ie, the container is shipped away.
  • the bottom of the shore bridge 1 is provided with a moving track. According to the position where the cargo ship is docked and the position of the container on the ship, the shore bridge 1 can be moved along the moving track (arrow K direction) in the port facility to change the lifting position. , Lift the container on the cargo ship to the AGV in the AGV travel site.
  • the shore bridge 1 includes a fuselage and a lifting component, the fuselage adopts a truss structure, and the lifting components include a boom and a spreader for performing lifting work.
  • the shore bridge 1 is provided with a transfer platform 2, which can be arranged on the fuselage, for example in the lower part of the fuselage, to facilitate unloading the container 3 onto the container moving device.
  • the lifting members of the shore bridge 1 are used to hoist the container 3 from the first site to the initial position A on the transfer platform 2.
  • the scanning device 4 is disposed on the transport platform 2, and the scanning device 4 includes a radiation source 41 and a detecting arm.
  • the detecting arm may include a cross arm 42 and a vertical arm 43 to form a gantry frame to form a container. 3 through the scanning channel.
  • the radiation source 41 can emit radiation for scanning the inspection container
  • the detection arm is provided with a plurality of detectors for receiving the radiation transmitted by the radiation source 41 when scanning the container 3, and then obtaining the inside of the container 3 by image processing. happening.
  • the scanning device 4 can be integrally secured to the transport platform 2.
  • the scanning device 4 is integrally detachably disposed on the transport platform 2, and when the scanning device 4 fails to be maintained or replaced, it can be easily removed without affecting the normal use of the shore bridge 1.
  • the transport device 5 is provided on the transport platform 2 for transporting the container 3 of the initial position A through the scanning channel of the scanning device 4 to complete the scanning inspection of the container 3.
  • the conveying device 5 is used to drive the container 3 to pass through the scanning channel of the scanning device 4 along the length direction of the container 3, which facilitates scanning inspection and has high scanning reliability.
  • the inspection system of this embodiment of the present disclosure integrates the scanning device 4 in the shore bridge 1 to form an integral structure, at least having one of the following advantages:
  • the scanning inspection link is set in the process of transferring the container from the cargo ship to the infield. It is not necessary to check after the container enters the infield, and the AGV of the infield is omitted to perform the scanning task.
  • the required movement schedule enables quick inspection, simplifies the process of container transfer, and improves container transfer efficiency.
  • the container is first placed on the transfer platform during the hoisting process, and then the transport device carries the container for scanning, so that the scanning device can be directly fixed on the transport platform, the setting is simple and convenient, and the cost is saved; and the conveying device can drive
  • the container stably passes through the scanning channel, and compared with the method of hovering inspection in the air, it is not easily affected by environmental factors such as wind blowing, and the container does not sway, which can improve the accuracy of scanning.
  • the transport device 5 is also used to transport the scanned container 3 to the pick-up position B on the transfer platform 2 so that the container 3 of the pick-up position B is hoisted to the container mobile device on.
  • the scanned container 3 is transported to the pick-up position B, and the shore bridge 1 or other crane can be used to lift the scanned container 3 from a predetermined position, thereby improving the container transport efficiency. Moreover, it is advantageous to realize the entire process of transferring the container from the cargo ship to the infield, and in the process of scanning inspection, the mutual automation of the container can be improved by the mutual cooperation of the components.
  • the conveying device 5 comprises: a transfer vehicle and a track provided on the transfer platform 2, the transfer vehicle is used to carry the container 3, and the wheel set provided at the bottom of the transfer vehicle is movable along the track.
  • the track can pass through the initial position A, the scanning channel, and the picking position B in sequence.
  • the transfer vehicle can move flexibly and quickly, and has better carrying capacity.
  • the transport device 5 can also be other equipment such as a belt or a roller.
  • the fixed platform on the existing shore bridge 1 can be modified, and by arranging the rails to form the transport platform 2, the conveying device 5 can be assisted by the container 3 to complete the scanning during the lifting process.
  • an additional transfer platform 2 can also be provided on the shore bridge 1.
  • the lifting component of the shore bridge 1 comprises a first lifting portion 11 for lifting the container 3 from a first site (eg a cargo ship) to an initial position A on the transport platform 2,
  • the container 3 of the picking position B is hoisted to the container moving device of the second site (for example, the inner field).
  • the first weight 11 may include a first spreader and a rope, for example, the first spreader may be a hook of the shore bridge 1.
  • the working principle is that the first lifting portion 11 lifts the container 3 from the cargo ship, moves along the first boom 13 toward the inner field, and when moving to the upper side of the transport platform 2, the rope of the first lifting portion 11 is elongated.
  • the container 3 is placed at the initial position A of the transport platform 2, and the transport device 5 drives the container 3 to scan and then arrives at the pick-up position B.
  • the first lifting portion 11 continues to move along the first boom 13 above the picking position B, and can be moved laterally in the extending direction of the moving rail of the coastal bridge 1 as needed to lift and place the container 3 from the picking position B.
  • This embodiment can simplify the structure of the shore bridge 1, and it is only necessary to provide a lifting member to complete the entire transportation and scanning process of the container, and the control is simple.
  • the lifting component of the shore bridge 1 comprises: a first lifting portion 11 for initial lifting of the container 3 from the first site (e.g., a cargo ship) onto the transport platform 2 Position A; and second lifting portion 12 for lifting the container 3 of the picking position B onto the container moving device of the second site (for example, the infield).
  • the second lifting portion 12 may include a second spreader and a rope, for example, the second spreader may be a hook of the shore bridge 1.
  • the first lifting portion 11 and the second lifting portion 12 may be disposed on opposite sides of the shore bridge 1, the first lifting portion 11 is disposed toward the first field, and the second lifting portion 12 is disposed toward the second site.
  • the height of the first lifting portion 11 may be higher than that of the second lifting portion 12.
  • the working principle is that the first lifting portion 11 lifts the container 3 from the cargo ship, moves in the direction of the infield along the first boom 13, and controls the elongation of the rope of the first lifting portion 11 when moving to above the transport platform 2.
  • the container 3 is placed in the initial position A of the transfer platform 2, at which time the first lifting portion 11 can be returned along the first boom 13 to perform a new lifting task.
  • the conveying device 5 drives the container 3 to move and scans to reach the picking position B.
  • the rope of the second lifting portion 12 is shortened and moved to above the pick-up position B, the container 3 is lifted from the pick-up position B, and moved along the second boom 14 toward the in-field direction, upon reaching the container mobile device
  • the rope of the second lifting portion 12 is elongated at the top to place the container 3 on the container moving device of the inner field.
  • This embodiment works by providing two lifting members on the shore bridge 1 to complete the entire container transfer and scanning process.
  • the first lifting portion 11 places the container 3 in the initial position A, it can be returned to hoist the new container 3, and the work of the two lifting members is relatively independent, which can shorten the transit time and improve the transport efficiency.
  • the lifting component of the shore bridge 1 includes a first lifting portion 11 for lifting the container 3 from a first site (eg, a cargo ship) to an initial position A on the transfer platform 2.
  • a transfer crane is additionally provided on the side of the shore bridge 1 facing the second field for hoisting the container 3 of the pick-up position B to the container moving device of the second site (for example, the inner field).
  • This embodiment does not need to increase the structural complexity of the shore bridge 1, and can select a suitable transfer crane according to the height of the transfer platform 2, which can improve the flexibility of use in different occasions.
  • the scanning device 4 when the shore bridge 1 moves along the arrow K on its moving track according to the lifting demand, the scanning device 4 also moves with ease of use.
  • the step of adjusting the position of the transfer crane is omitted, and when the container 3 at different positions needs to be hoisted, Improve efficiency.
  • the initial position A and the pick-up position B are preset fixed positions.
  • the first station can be set at the initial position A
  • the second station can be set at the take-up position B, the first station and the second station being in a fixed position on the transfer platform 2.
  • the container 3 can be placed at a fixed position on the transport platform 2 every time, and the container 3 can be lifted from the fixed position to the container mobile device after scanning, which can reduce the control difficulty of the lifting component and simplify the workflow. Improve the reliability of container transportation.
  • the initial position A and the pick-up position B may also be respectively provided with a plurality of stations, and in the process of transporting each container 3, the container 3 may be placed at different stations according to rules preset in the control device. Therefore, when the conveying device 5 fails to timely transport the container 3 from the initial position A in time due to the failure, the subsequent container is not hoisted from the cargo ship to the transfer platform 2, and the entire container lifting process is smoothly performed.
  • the scanning device 4 is disposed between the initial position A and the pick-up position B. As shown in FIG. 3, the scanning device 4 is located on a path in which the initial position A and the take-up position B are linearly connected. This embodiment can shorten the path of the container 3 from the initial position A through the scanning passage to the picking position B, thereby improving the container transport efficiency.
  • the initial position A and the take-up position B are arranged side by side along the extending direction of the moving track of the shore bridge 1, and the initial position A and the pick-up position B correspond to the length direction of the station and the shore bridge.
  • the direction of movement of the 1 track is the same.
  • the scanning device 4 is located between the initial position A and the pickup position B.
  • the arrangement of the embodiment enables the conveying device 5 to be along the container.
  • the lengthwise movement of 3 facilitates passage through the scanning passage of the scanning device 4, and facilitates the movement of the transport vehicle when the conveying device 5 is a transfer vehicle.
  • the initial position A is located directly below the first lifting portion 11 of the shore bridge 1 and is inside the fuselage truss structure;
  • the box position B extends beyond the side of the shore bridge 1 and is located outside the truss structure to facilitate removal of the container 3 by the second lifting portion 12 of the shore bridge 1 or the transfer crane.
  • the initial position A and the pick-up position B may also be arranged side by side along an extending direction perpendicular to the moving track of the shore bridge 1.
  • each side of the scanning device 4 has a scanning channel, and each scanning channel is correspondingly provided with a set of initial positions A and a boxing position B.
  • This embodiment enables simultaneous lifting and scanning of the plurality of containers 3 in the case where the shore bridge 1 has a plurality of first lifting portions 11, thereby improving the transport efficiency.
  • each of the left and right sides of the radiation source 41 is provided with a detecting arm, and the radiation source 41 can simultaneously emit radiation to the detecting arms on both sides.
  • the radiation source 41 can simultaneously emit radiation to the detection arm on the corresponding side.
  • the shore bridge 1 is provided with a to-be-processed position configured to place the scanning device 4 to inspect the container 3 with dangerous goods.
  • the position to be treated may be provided in an area other than the initial position A and the take-up position B on the transfer platform 2, or may be provided at other positions on the shore bridge 1.
  • the efficiency of transporting and scanning the container 3 can be improved by setting the position to be treated without directly processing during the hoisting process.
  • the container inspection system may further include control means for controlling the movement of the transfer vehicle after carrying the container 3 on the transfer vehicle and controlling the transfer vehicle to return to the initial position A after the container 3 is hoisted from the transfer vehicle.
  • a detection component can be placed on the transfer vehicle to detect whether the container is carried on the transfer vehicle.
  • a pressure sensor is disposed on the carrying surface of the transfer vehicle to determine whether the container 3 is placed on the transfer vehicle by pressure detection; or a distance sensor is disposed on the side of the transfer vehicle to determine whether the container 3 is placed on the transfer vehicle by displacement detection.
  • the container inspection system may further include control means for causing the scanning device 4 to enter a scanning operation state after confirming that the container 3 has reached the initial position A, and exiting the scanning operation state after the scanning is completed. This embodiment enables the scanning device 4 to operate as needed, saving energy.
  • the control device After receiving the signal that the container 3 reaches the initial position A, the control device causes the scanning device 4 to enter the scanning operation state, and the radiation source 41 starts to transmit the radiation. At this time, the control device controls the conveying device 5 to move the container 3 through the scanning passage. After the entire container 3 completely leaves the scanning channel, that is, after the scanning is completed, the radiation source 41 is turned off, and the scanning device 4 is taken out of the scanning working state, and is in a standby state.
  • the scanning device 4 and the control device of the conveying device 5 can be integrated into the control device of the shore bridge 1 to enable integrated control of the control device on the shore bridge 1, the scanning device 4 and the conveying device, eliminating the difference.
  • the signal interaction between the control devices can improve the reliability of the container inspection system control and improve the integration of the control device.
  • the shore bridge 1, the scanning device 4, and the conveying device 5 can also employ independent control devices.
  • the present disclosure also provides a port facility including the container inspection system of the above embodiment. Further, the port facility also includes an AGV travel venue as a second venue, the port facility can be an intelligent port, and the shore bridge 1 can be an automated shore bridge.
  • the container moving device includes an automated guided transport vehicle for loading the container 3.
  • the scanning inspection of the container 3 can be realized, so that the entire operation process of the container 3 is more continuous, and the scanning in the AGV traveling site is omitted.
  • the inspection process can simplify the container transfer process, thereby improving the inspection and operation efficiency of the container. Moreover, it can prevent dangerous goods from entering the AGV travel site of the port and improve safety. In addition, there is no need to provide a scanning device in the AGV travel field, leaving more room for the movement of the AGV.
  • FIGS. 1 to 4 will be taken as an example to explain the working method of the container inspection system of the present disclosure when it is used in a port facility.
  • the shore bridge 1 is moved along the moving track to a position aligned with the cargo ship, and the first lifting portion 11 lifts the container 3 from the cargo ship so that the first lifting portion 11 is along the first boom 13 moves to a position above the transfer platform 2, as shown in Fig. 3, placing the container 3 in the initial position A. After the container 3 is placed stably, the first lifting portion 11 can be returned to hoist the next container 3.
  • the control device After receiving the signal that the container 3 has been placed at the initial position A, the control device causes the scanning device 4 to enter the scanning operation state, and prepares for scanning.
  • the control device controls the transfer vehicle to move along the track, and the transfer vehicle carries the container 3 through the scanning channel to realize the scanning inspection and moves to the picking position B.
  • the second lifting portion 12 of the shore bridge 1 lifts the container 3 from the picking position B, and moves the second lifting portion 12 to the outside along the second boom 14 to The position above the AGV, after the AGV is moved in place, the second lifting portion 12 places the container 3 on the AGV, wherein the second boom 14 can be located below the first boom 13.
  • the present disclosure also provides a method of transporting a container inspection system.
  • the method of transport includes:
  • Step 101 the container 3 is hoisted to the initial position A on the transport platform 2 by the lifting member of the shore bridge 1;
  • Step 102 The container 3 of the initial position A is driven by the conveying device 5 to pass through the scanning channel of the scanning device 4.
  • the scanning inspection link is set in the process of transferring the container from the cargo ship to the inner field, and the inspection is not required after the container enters the inner field, thereby eliminating the in-field AGV not performing the scanning task.
  • the required movement schedule enables rapid detection, simplifies the process of container transfer, and improves container transfer efficiency and safety.
  • the container shipping method may further include:
  • Step 103 the container 3 is transported by the transport device 5 to the pick-up position B on the transport platform 2;
  • Step 104 Lifting the container 3 of the picking position B onto the container moving device.
  • steps 103 and 104 are performed after step 102.
  • the movement of the delivery device 5 can be controlled by the control device.
  • the container 3 can be hoisted to the container moving device by the first lifting portion 11, the second lifting portion 12 or the additional transport crane on the shore bridge 1.
  • the container mobile device may be a mobile trolley such as an AGV or a truck.
  • the scanned container 3 is transported to the pick-up position B, and the shore bridge 1 or other crane can be used to lift the scanned container 3 from a predetermined position, thereby improving the container transport efficiency. Moreover, it is advantageous to realize the entire process of transferring the container from the cargo ship to the infield, and in the process of scanning inspection, the mutual automation of the container can be improved by the mutual cooperation of the components.
  • the delivery device 5 includes a transfer vehicle
  • the container transport method further includes:
  • Step 105 The control device controls the transfer vehicle to return to the initial position A after the container 3 is lifted from the transfer vehicle.
  • step 105 is performed after 104.
  • the container shipping method further includes:
  • Step 106 After confirming that the container 3 reaches the initial position A, the control device causes the scanning device 4 to enter a scanning working state;
  • Step 107 After the scanning of the container 3 is completed, the control device causes the scanning device 4 to exit the scanning operation state.
  • This embodiment enables the scanning device 4 to operate as needed, saving energy.

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Abstract

一种集装箱（3）检查***、转运方法及港口设施。集装箱（3）检查***包括岸桥（1），岸桥（1）包括转运平台（2）和起重部件，起重部件用于将集装箱（3）吊装到转运平台（2）上的初始位置（A）；扫描装置（4），设在转运平台（2）上；和输送装置（5），设在转运平台（2）上，用于带动初始位置（A）的集装箱（3）通过扫描装置（4）的扫描通道。将扫描装置（4）集成在岸桥（1）中，无需在第二场地中占用额外的扫描区域；而且，在将集装箱（3）转运至第二场地的过程中能够实现快速检测，无需二次检测，还能避免危险违禁物品进入第二场地，可提高集装箱（3）转运流程的效率和安全性。

Description

集装箱检查***、转运方法及港口设施
本公开是以申请号为 201810300239.9，申请日为 2018年4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
本公开涉及安全检查技术领域，尤其涉及一种集装箱检查***、转运方法及港口设施。
背景技术
在目前的港口设施中，一般通过岸桥起重机(简称岸桥)将集装箱从货船上取出，并将其吊装转运至内场无人驾驶的自动导引运输车(Automated Guided Vehicle，简称AGV)上。为了防止进入内场的集装箱中存放有危险品，目前的港口设施都会在内场设置扫描装置，以对各个集装箱进行扫描检查。一旦发现危险物品，再对其进行处理。
此种在集装箱转运至内场再进行扫描检查的方式，需要在AGV行进场地中占用一定的空间，而且各个自动引导运输车都需要携带集装箱进行检查，会降低集装箱的转运效率。另外，此种方法有可能导致危险违禁物品进入内场，从而对港口设施带来一定的安全隐患。
公开内容
本公开的实施例提出一种集装箱检查***、转运方法及港口设施，能够提高集装箱的转运效率。
根据本公开的一些实施例，提供了一种集装箱检查***，包括：
岸桥，岸桥包括转运平台和起重部件，起重部件被配置为将集装箱吊装到转运平台上的初始位置；
扫描装置，设在转运平台上；和
输送装置，设在转运平台上，被配置为驱动位于初始位置的集装箱通过扫描装置的扫描通道。
在一些实施例中，输送装置被配置为将扫描后的集装箱输送至转运平台上的取箱 位置，取箱位置被配置为存放将被吊装到集装箱移动设备上的集装箱。
在一些实施例中，起重部件包括：
第一起重部，被配置为将集装箱吊装到初始位置，并将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，起重部件包括：
第一起重部，被配置为将集装箱吊装到初始位置；和
第二起重部，被配置为将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，初始位置和取箱位置为预设的固定位置。
在一些实施例中，扫描装置设在初始位置和取箱位置之间。
在一些实施例中，初始位置和取箱位置沿着岸桥的运动轨道的延伸方向并排设置。
在一些实施例中，扫描装置的两侧分别设有一个扫描通道，每个扫描通道对应设置一组工作位置，工作位置包括初始位置和取箱位置。
在一些实施例中，输送装置包括：转运车和设在转运平台上的轨道，转运车沿轨道可移动，并被配置为承载集装箱。
在一些实施例中，转运车被配置为在承载集装箱后运动至取箱位置，并在集装箱被吊离转运车后返回至初始位置。
在一些实施例中，扫描装置被配置为在接收到集装箱到达初始位置的指令后进入扫描工作状态，并在扫描完成后退出扫描工作状态。
在一些实施例中，岸桥上设有待处理位置，待处理位置被配置为存放通过扫描装置检查出装有危险品的集装箱。
在一些实施例中，输送装置被配置为带动集装箱沿着集装箱的长度方向通过扫描通道。
在一些实施例中，集装箱检查***包括：
岸桥，岸桥上设有转运平台，岸桥的起重部件用于将集装箱吊装到转运平台上的初始位置；
扫描装置，设在转运平台上；和
输送装置，设在转运平台上，用于带动初始位置的集装箱通过扫描装置的扫描通道。
在一些实施例中，输送装置还用于将扫描后的集装箱输送至转运平台上的取箱位 置，以便取箱位置的集装箱被吊装到集装箱移动设备上。
在一些实施例中，岸桥的起重部件包括：
第一起重部，用于将集装箱吊装到初始位置，并将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，岸桥的起重部件包括：
第一起重部，用于将集装箱吊装到初始位置；和
第二起重部，用于将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，初始位置和取箱位置为预设的固定位置。
进一步地，扫描装置设在初始位置和取箱位置之间。
在一些实施例中，初始位置和取箱位置沿着岸桥的运动轨道的延伸方向并排设置。
在一些实施例中，扫描装置的两侧分别具有一个扫描通道，每个扫描通道对应设置一组初始位置和取箱位置。
在一些实施例中，输送装置包括：转运车和设在转运平台上的轨道，转运车用于承载集装箱并沿轨道运动。
在一些实施例中，集装箱检查***还包括控制装置，用于在转运车上承载集装箱后控制转运车运动，并在集装箱被从转运车上吊走后控制转运车返回至初始位置。
在一些实施例中，集装箱检查***还包括控制装置，用于在确认集装箱到达初始位置后使扫描装置进入扫描工作状态，并在扫描完成后退出扫描工作状态。
在一些实施例中，岸桥上设有待处理位置，岸桥能够将扫描装置检查出的危险品放置在待处理位置。
在一些实施例中，输送装置用于带动集装箱沿着集装箱的长度方向通过扫描装置的扫描通道。
根据本公开的另一些实施例，提供一种港口设施，包括上述实施例的集装箱检查***。
在一些实施例中，集装箱检查***还包括集装箱移动设备，集装箱移动设备包括用于装载集装箱的自动引导运输车。
根据本公开的再一些实施例，提供了一种基于上述集装箱检查***的转运方法，包括：
岸桥的起重部件将集装箱吊装到转运平台上的初始位置；
输送装置带动集装箱通过扫描装置的扫描通道。
在一些实施例中，在扫描完成后，集装箱转运方法还包括：
输送装置将集装箱输送至转运平台上的取箱位置；
将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，输送装置包括转运车，集装箱转运方法还包括：
控制装置在集装箱被从转运车上吊走后控制转运车返回至初始位置。
在一些实施例中，集装箱转运方法还包括：
控制装置在确认集装箱到达初始位置后，使扫描装置进入扫描工作状态；
在集装箱扫描完成后，控制装置使扫描装置退出扫描工作状态。
在一些实施例中，集装箱转运方法包括：
通过岸桥的起重部件将集装箱吊装到转运平台上的初始位置；
通过输送装置带动集装箱通过扫描装置的扫描通道。
在一些实施例中，在扫描完成后，集装箱转运方法还包括：
通过输送装置将集装箱输送至转运平台上的取箱位置；
将取箱位置的集装箱吊装到集装箱移动设备上。
在一些实施例中，输送装置包括转运车，集装箱转运方法还包括：
在将集装箱从转运车上吊走后，使转运车返回至初始位置。
在一些实施例中，集装箱转运方法还包括：
在判断出集装箱到达初始位置后，使扫描装置进入扫描工作状态；
在集装箱扫描完成后，使扫描装置退出扫描工作状态。
基于上述技术方案，本公开一些实施例的集装箱检查***，将扫描装置设在岸桥的转运平台上，在需要将集装箱从第一场地转运至第二场地时，先通过岸桥的起重部件将集装箱从第一场地吊装到转运平台上的初始位置，再通过设在转运平台上的输送装置带动初始位置的集装箱通过扫描装置的扫描通道，经过扫描检查后的集装箱再进入第二场地。此种检查***将扫描装置集成在岸桥中，无需在第二场地中占用额外的扫描区域；而且，在将集装箱转运至第二场地的过程中就能实现快速检测，无需二次检测，还能避免危险违禁物品进入第二场地，可提高集装箱整个转运流程的效率和安全性。
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为本公开集装箱检查***的一个实施例的工作原理示意图；
图2为本公开集装箱检查***一个实施例在港口设施中工作的主视图；
图3为本公开集装箱检查***的一个实施例的俯视图；
图4为本公开集装箱检查***的一个实施例的侧视图；
图5为图2中的I处结构放大图；
图6为图3中的II处结构放大图；
图7为图4中的III处结构放大图。
具体实施方式
下面通过附图和实施例，对本公开的技术方案做进一步的详细描述。
针对于现有港口设施中的集装箱转运过程存在的缺点，发明人注意到，如果将集装箱先转运至内场再进行扫描检查，每个AGV都需要携带集装箱运动至固定的区域进行扫描检查，或者通过扫描装置的移动进行扫描检查，在需要转运的集装箱数量较多时，无疑会占用较多的检查时间，降低集装箱转运的效率。而且，在集装箱进入内场后再进行检查，很可能导致危险品进入内场，存在一定的安全隐患。
基于上述考虑，发明人从优化集装箱转运流程的角度考虑，将扫描检查环节放在岸桥将集装箱从货船转运至内场AGV的过程中，使集装箱在进入内场之前就完成检查。相应地，将扫描装置集成在岸桥上，无需在内场中设置固定或移动式的扫描装置。
基于上述构思，如图1至图7，本公开提出了一种集装箱检查***，在一个实施例中，包括岸桥1、扫描装置4和输送装置5。其中，岸桥1设在第一场地和第二场地之间，用于将第一场地的集装箱转运至第二场地。例如，在港口中，第一场地为货船，第二场地为内场，岸桥1可设在码头，用于对货船上的集装箱3进行吊装操作，以将集装箱放置在内场的集装箱移动设备上，集装箱移动设备可以是AGV或者集卡运输车等，后面的实施例均以此种使用场合为例进行说明。在其它的使用场合下，第一场地也可以是内场，第二场地可以是货船，即把集装箱运走。
如图4所示，岸桥1的底部设有移动轨道，根据货船停靠的位置以及集装箱在船上的位置，岸桥1在港口设施中可沿着移动轨道(箭头K方向)运动以改变吊装位置， 将货船上的集装箱吊装到AGV行进场地中的AGV上。
岸桥1包括机身和起重部件，机身采用桁架结构，起重部件包括吊臂和吊具，用于执行吊装作业。岸桥1上设有转运平台2，转运平台2可设在机身上，例如设在机身的下部区域，有利于将集装箱3卸到集装箱移动设备上。岸桥1的起重部件用于将集装箱3从第一场地吊装到转运平台2上的初始位置A。
如图5和图6所示，扫描装置4设在转运平台2上，扫描装置4包括射线源41和探测臂，探测臂可包括横臂42和竖臂43，形成门式框架，形成供集装箱3通过的扫描通道。其中，射线源41能够发出用于扫描检查集装箱的射线，探测臂上设有多个探测器，用于接收射线源41扫描集装箱3时透过的射线，进而通过图像处理来获得集装箱3的内部情况。
在一些实施例中，扫描装置4可整体固定在转运平台2上。优选地，扫描装置4整体可拆卸地设在转运平台2上，在扫描装置4出现故障需要维护或更换时，可方便地拆下，也不会影响岸桥1的正常使用。
仍参考图5，输送装置5设在转运平台2上，用于带动初始位置A的集装箱3通过扫描装置4的扫描通道，以完成集装箱3的扫描检查。在一些实施例中，如图3～图5所示，输送装置5用于带动集装箱3沿着集装箱3的长度方向通过扫描装置4的扫描通道，方便扫描检查，扫描可靠性较高。
本公开该实施例的检查***将扫描装置4集成在岸桥1中，形成整体结构，至少具有如下优点之一：
(1)在集装箱的转运流程中，将扫描检查环节设在将集装箱从货船转运至内场的过程中，无需在集装箱进入内场后再进行检查，省去了内场的AGV为执行扫描任务所需的运动行程，能够实现快速检查，简化集装箱转运的流程，提高集装箱转运效率。
(2)在将集装箱转运至内场的过程中进行检查，可避免危险违禁物品进入内场，可提高港口设施的安全性，也省去了现有技术中需要将危险品从内场清出的环节。
(3)将扫描装置集成在岸桥中，充分地利用了岸桥自身的结构特点和空间，无需在内场中占用额外的扫描区域，可节约空间，优化港口设施中各设备的布局。
(4)集装箱在吊装过程中先放置在转运平台上，再由输送装置带着集装箱进行扫描的方式，可直接将扫描装置固定于转运平台上，设置简单方便，节约成本；而且输送装置可带动集装箱稳定地通过扫描通道，与在空中悬停检查的方法相比，不容易 受风吹等环境因素的影响，集装箱不会发生晃动，可提高扫描的准确度。
在一些实施例中，如图4所示，输送装置5还用于将扫描后的集装箱3输送至转运平台2上的取箱位置B，以便取箱位置B的集装箱3被吊装到集装箱移动设备上。
该实施例将扫描后的集装箱3输送至取箱位置B，能够使岸桥1或其它起重机从预定的位置吊取扫描后的集装箱3，提高集装箱转运效率。而且，有利于实现将集装箱从货船转运到内场的整个流程，并在此过程中进行扫描检查，通过各部件的相互配合，可提高集装箱转运的自动化程度。
如图5所示，输送装置5包括：转运车和设在转运平台2上的轨道，转运车用于承载集装箱3，转运车底部设置的轮组可沿轨道运动。轨道可依次通过初始位置A、扫描通道和取箱位置B。转运车可灵活快速地运动，且具有较优的承载能力。可选地，输送装置5也可以是皮带或辊子等其它设备。
为了设置输送装置，可对现有岸桥1上的固定平台进行改造，通过布置轨道，形成转运平台2，能够使输送装置5协助集装箱3完成在吊装过程中的扫描。另外，也可以在岸桥1上额外设置转运平台2。
根据执行吊装作业的起重部件不同，下面给出三种实施例。
在第一种实施例中，参考图2，岸桥1的起重部件包括第一起重部11，用于将集装箱3从第一场地(例如货船)吊装到转运平台2上的初始位置A，并将取箱位置B的集装箱3吊装到第二场地(例如内场)的集装箱移动设备上。第一起重部11可包括：第一吊具和绳索，例如，第一吊具可以是岸桥1的吊钩。
其工作原理为：第一起重部11将集装箱3从货船上吊起，沿着第一吊臂13向内场方向移动，当移动至转运平台2上方时，使第一起重部11的绳索伸长，将集装箱3放置在转运平台2的初始位置A，由输送装置5带动集装箱3运动进行扫描后到达取箱位置B。同时，第一起重部11继续沿着第一吊臂13运动至取箱位置B上方，需要时可沿岸桥1运动轨道的延伸方向横向移动，以将集装箱3从取箱位置B吊起并放置在内场的集装箱移动设备上。
该实施例能够简化岸桥1的结构，只需要设置一个起重部件就能够完成集装箱的整个转运和扫描流程，控制简单。
在第二种实施例中，如图2所示，岸桥1的起重部件包括：第一起重部11，用于将集装箱3从第一场地(例如货船)吊装到转运平台2上的初始位置A；和第二起重部12，用于将取箱位置B的集装箱3吊装到第二场地(例如内场)的集装箱移动设备 上。第二起重部12可包括：第二吊具和绳索，例如，第二吊具可以是岸桥1的吊钩。在图2中，第一起重部11和第二起重部12可设在岸桥1相对的两侧，第一起重部11朝向第一场地设置，第二起重部12朝向第二场地设置，第一起重部11的高度可高于第二起重部12。
其工作原理为：第一起重部11将集装箱3从货船上吊起，沿着第一吊臂13向内场方向移动，当移动至转运平台2上方时，控制第一起重部11的绳索伸长，将集装箱3放置在转运平台2的初始位置A，此时，第一起重部11可沿着第一吊臂13返回执行新的吊装任务。接着，输送装置5带动集装箱3运动进行扫描后到达取箱位置B。然后，使第二起重部12的绳索缩短并移动至取箱位置B上方，将集装箱3从取箱位置B吊起，并沿第二吊臂14向内场方向移动，在到达集装箱移动设备上方时使第二起重部12的绳索伸长以将集装箱3放置在内场的集装箱移动设备上。
该实施例通过在岸桥1上设置两个起重部件配合工作，以完成整个集装箱转运和扫描过程。当第一起重部11将集装箱3放置在初始位置A后，可以返回吊装新的集装箱3，两个起重部件的工作相对独立，能够缩短转运时间，提高转运效率。
在第三种实施例中，参考图2，岸桥1的起重部件包括第一起重部11，用于将集装箱3从第一场地(例如货船)吊装到转运平台2上的初始位置A。另外，在岸桥1朝向第二场地的一侧额外设置转运起重机，用于将取箱位置B的集装箱3吊装到第二场地(例如内场)的集装箱移动设备上。
该实施例无需增加岸桥1的结构复杂程度，可根据转运平台2的高度选择合适的转运起重机，能够提高不同场合下使用的灵活性。
如图4所示，当岸桥1根据吊装需求在其运动轨道上沿箭头K移动时，扫描装置4也随着移动，使用方便。对于上述的第一种和第二种实施例，由于无需增设转运起重机，在岸桥1沿运动轨道移动时，省去了调整转运起重机位置的步骤，当需要吊装不同位置的集装箱3时，可提高效率。
下面说明初始位置A和取箱位置B的设置方式。
在一些实施例中，初始位置A和取箱位置B为预设的固定位置。例如，可以在初始位置A设定第一工位，在取箱位置B设定第二工位，第一工位和第二工位处于转运平台2上固定的位置。该实施例可将集装箱3每次都放置在转运平台2上固定的位置，并在扫描后从固定的位置吊取集装箱3至集装箱移动设备上，可降低起重部件的控制难度，简化工作流程，提高集装箱转运的可靠性。
可替代地，初始位置A和取箱位置B也可以分别设置多个工位，在每个集装箱3转运的过程中，可根据控制装置中预先设置的规则，将集装箱3放在不同的工位中，这样在输送装置5由于故障未能及时将集装箱3及时从初始位置A运走时，不影响将后续集装箱从货船吊装至转运平台2上，保证整个集装箱吊装流程顺畅进行。
在一些实施例中，扫描装置4设在初始位置A和取箱位置B之间。如图3所示，扫描装置4位于初始位置A和取箱位置B直线连接的路径上。该实施例可缩短集装箱3从初始位置A经过扫描通道到达取箱位置B的路径，提高集装箱转运效率。
在一些实施例中，如图4所示，初始位置A和取箱位置B沿着岸桥1的运动轨道的延伸方向并排设置，初始位置A和取箱位置B对应工位的长度方向与岸桥1的运动轨道的延伸方向一致。扫描装置4位于初始位置A和取箱位置B之间。
如图7所示，集装箱3在被起重部件吊装的过程中，由于集装箱3的长度方向与岸桥1运动轨道的延伸方向保持一致，因此该实施例的设置方式能够使输送装置5沿集装箱3的长度方向运动，便于通过扫描装置4的扫描通道，当输送装置5为转运车时，方便转运车的运动。
从图4中可以看出，当第一起重部11运动至与转运平台2对应的位置时，初始位置A位于岸桥1第一起重部11的正下方，处于机身桁架结构的内部；取箱位置B部分伸出岸桥1的侧面，且位于桁架结构外部，以便于岸桥1的第二起重部12或转运起重机将集装箱3取下。
在另一些实施例中，初始位置A和取箱位置B也可沿着垂直于岸桥1运动轨道的延伸方向并排设置。
在一些实施例中，扫描装置4的两侧分别具有一个扫描通道，每个扫描通道对应设置一组初始位置A和取箱位置B。该实施例能够在岸桥1具有多个第一起重部11的情况下，实现多个集装箱3的同时吊装和扫描，从而提高转运效率。
例如，射线源41的左右两侧各设有一个探测臂，射线源41能够同时向两侧的探测臂发送射线。或者设有两个射线源41，两个射线源41可分别向对应侧的探测臂发送射线。
在一些实施例中，岸桥1上设有待处理位置，待处理位置被配置为放置扫描装置4检查出有危险品的集装箱3。待处理位置既可以设在转运平台2上初始位置A和取箱位置B以外的区域，也可以设在岸桥1上的其它位置。通过设置待处理位置，而不在吊装过程中直接处理，可提高转运和扫描集装箱3的效率。
在一些实施例中，集装箱检查***还可包括控制装置，用于在转运车上承载集装箱3后控制转运车运动，并在集装箱3被从转运车上吊走后控制转运车返回至初始位置A。通过转运车在初始位置A和取箱位置B之间往返，只需要设置一个转运车就能实现集装箱3的运输。
具体地，可在转运车上设置检测部件，以检测转运车上是否承载集装箱。例如在转运车的承载面设置压力传感器，以通过压力检测判断转运车上是否放置有集装箱3；或者在转运车的侧部设置距离传感器，以通过位移检测判断转运车上是否放置有集装箱3。
在一些实施例中，集装箱检查***还可还包括控制装置，用于在确认集装箱3到达初始位置A后使扫描装置4进入扫描工作状态，并在扫描完成后退出扫描工作状态。该实施例能够使扫描装置4按需工作，节省能耗。
具体地，控制装置在接收到集装箱3到达初始位置A的信号之后，使扫描装置4进入扫描工作状态，射线源41开始发送射线。此时，控制装置控制输送装置5带动集装箱3运动通过扫描通道。待整个集装箱3完全离开扫描通道，即扫描完成后，关闭射线源41，使扫描装置4退出扫描工作状态，处于待机状态。
在一些实施例中，扫描装置4和输送装置5的控制装置可集成设置到岸桥1的控制装置中，以使控制装置对岸桥1、扫描装置4和输送装置进行集成控制，省去了不同控制装置之间的信号交互，可提高集装箱检查***控制的可靠性，并提高控制装置的集成度。另外，岸桥1、扫描装置4和输送装置5也可采用独立的控制装置。
其次，本公开还提供了一种港口设施，包括上述实施例的集装箱检查***。进一步地，港口设施还包括作为第二场地的AGV行进场地，港口设施可以为智能港口，岸桥1可以为自动化岸桥。
在一些实施例中，集装箱移动设备包括用于装载集装箱3的自动引导运输车。
在此种港口中，在将集装箱3从货船转运至AGV行进场地的过程中，就能实现集装箱3的扫描检查，使集装箱3的整个运转过程更加连续，省去了在AGV行进场地中进行扫描检查的环节，能够简化集装箱转运过程，从而提高集装箱的检查和运转效率。而且，还能防止危险品进入港口的AGV行进场地中，提高安全性。另外，也无需在AGV行进场地中设置扫描装置，为AGV的运动留出更大的空间。
下面以图1至图4的集装箱检查***为例，来说明本公开的集装箱检查***用于港口设施时的工作方法。
(1)如图2所示，使岸桥1沿运动轨道移动至与货船对正的位置，第一起重部11将集装箱3从货船上吊起，使第一起重部11沿着第一吊臂13移动至转运平台2上方的位置，如图3所示，将集装箱3放置在初始位置A。待集装箱3放置稳定后，第一起重部11可返回吊装下一个集装箱3。
(2)控制装置在接收到集装箱3已经放置到初始位置A的信号之后，使扫描装置4进入扫描工作状态，做好扫描准备。
(3)控制装置控制转运车沿轨道移动，转运车带着集装箱3通过扫描通道，实现扫描检查，并移动至取箱位置B。
(4)如图1和2所示，岸桥1的第二起重部12将集装箱3从取箱位置B吊起，使第二起重部12沿着第二吊臂14向外侧移动至AGV上方的位置，待AGV运动到位后，第二起重部12将集装箱3放置在AGV上，其中，第二吊臂14可位于第一吊臂13下方。
(5)在第二起重部12将集装箱3从取箱位置B吊起之后，转运车沿着轨道返回至初始位置A，等待携带下一个集装箱3进行扫描。
最后，本公开还提供了一种集装箱检查***的转运方法，在一个示意性的实施例中，该转运方法包括：
步骤101、通过岸桥1的起重部件将集装箱3吊装到转运平台2上的初始位置A；
步骤102、通过输送装置5带动初始位置A的集装箱3通过扫描装置4的扫描通道。
该实施例在集装箱的转运流程中，将扫描检查环节设在将集装箱从货船转运至内场的过程中，无需在集装箱进入内场后再进行检查，省去了内场的AGV未执行扫描任务需要的运动行程，能够实现快速检测，简化集装箱转运的流程，提高集装箱转运效率和安全性。
进一步地，在扫描完成后，集装箱转运方法还可包括：
步骤103、通过输送装置5将集装箱3输送至转运平台2上的取箱位置B；
步骤104、将取箱位置B的集装箱3吊装到集装箱移动设备上。
其中，步骤103和104在步骤102之后执行。在步骤102和103中，输送装置5的运动可由控制装置控制。在步骤104中，对于不同结构的岸桥1，可通过岸桥1上的第一起重部11、第二起重部12或额外设置的转运起重机将集装箱3吊装到集装箱移动设备上。例如，集装箱移动设备可以是AGV或者集卡运输车等移动小车。
该实施例将扫描后的集装箱3输送至取箱位置B，能够使岸桥1或其它起重机从预定的位置吊取扫描后的集装箱3，提高集装箱转运效率。而且，有利于实现将集装箱从货船转运到内场的整个流程，并在此过程中进行扫描检查，通过各部件的相互配合，可提高集装箱转运的自动化程度。
在一些实施例中，输送装置5包括转运车，集装箱转运方法还包括：
步骤105、控制装置控制转运车在集装箱3被从转运车上吊走后返回至初始位置A。
其中步骤105在104之后执行。通过转运车在初始位置A和取箱位置B之间往返，只需要设置一个转运车就能实现集装箱3的运输。
在另一些实施例中，此种集装箱转运方法还包括：
步骤106、控制装置在确认集装箱3到达初始位置A后，使扫描装置4进入扫描工作状态；
步骤107、在集装箱3扫描完成后，控制装置使扫描装置4退出扫描工作状态。
该实施例能够使扫描装置4按需工作，节省能耗。
最后应当说明的是以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (19)

  1. 一种集装箱检查***，包括：
    岸桥(1)，所述岸桥(1)包括转运平台(2)和起重部件，所述起重部件被配置为将集装箱(3)吊装到转运平台(2)上的初始位置(A)；
    扫描装置(4)，设在所述转运平台(2)上；和
    输送装置(5)，设在所述转运平台(2)上，被配置为驱动位于所述初始位置(A)的集装箱(3)通过所述扫描装置(4)的扫描通道。
  2. 根据权利要求1所述的集装箱检查***，其中，所述输送装置(5)被配置为将扫描后的集装箱(3)输送至所述转运平台(2)上的取箱位置(B)，所述取箱位置(B)被配置为存放将被吊装到集装箱移动设备上的集装箱(3)。
  3. 根据权利要求2所述的集装箱检查***，其中，所述起重部件包括：
    第一起重部(11)，被配置为将所述集装箱(3)吊装到所述初始位置(A)，并将所述取箱位置(B)的集装箱(3)吊装到所述集装箱移动设备上。
  4. 根据权利要求2所述的集装箱检查***，其中，所述起重部件包括：
    第一起重部(11)，被配置为将所述集装箱(3)吊装到所述初始位置(A)；和
    第二起重部(12)，被配置为将所述取箱位置(B)的集装箱(3)吊装到所述集装箱移动设备上。
  5. 根据权利要求2所述的集装箱检查***，其中，所述初始位置(A)和所述取箱位置(B)为预设的固定位置。
  6. 根据权利要求2所述的集装箱检查***，其中，所述扫描装置(4)设在所述初始位置(A)和所述取箱位置(B)之间。
  7. 根据权利要求2所述的集装箱检查***，其中，所述初始位置(A)和所述取箱位置(B)沿着所述岸桥(1)的运动轨道的延伸方向并排设置。
  8. 根据权利要求2所述的集装箱检查***，其中，所述扫描装置(4)的两侧分别设有一个扫描通道，每个扫描通道对应设置一组工作位置，所述工作位置包括所述初始位置(A)和所述取箱位置(B)。
  9. 根据权利要求1所述的集装箱检查***，其中，所述输送装置(5)包括：转运车和设在所述转运平台(2)上的轨道，所述转运车沿所述轨道可移动，并被配置为承载所述集装箱(3)。
  10. 根据权利要求9所述的集装箱检查***，其中，被配置为所述转运车被配置为在承载所述集装箱(3)后运动至所述取箱位置(B)，并在所述集装箱(3)被吊离所述转运车后返回至所述初始位置(A)。
  11. 根据权利要求1所述的集装箱检查***，其中，所述扫描装置(4)被配置为在接收到所述集装箱(3)到达初始位置(A)的指令后进入扫描工作状态，并在扫描完成后退出扫描工作状态。
  12. 根据权利要求1所述的集装箱检查***，其中，所述岸桥(1)上设有待处理位置，所述待处理位置被配置为存放通过所述扫描装置(4)检查出装有危险品的集装箱(3)。
  13. 根据权利要求1所述的集装箱检查***，其中，所述输送装置(5)被配置为带动所述集装箱(3)沿着所述集装箱(3)的长度方向通过所述扫描通道。
  14. 一种港口设施，包括权利要求1～13任一所述的集装箱检查***。
  15. 根据权利要求14所述的港口设施，还包括集装箱移动设备，所述集装箱移动设备包括用于装载集装箱(3)的自动引导运输车。
  16. 一种基于权利要求1～13任一所述集装箱检查***的转运方法，包括：
    通过所述岸桥(1)的起重部件将所述集装箱(3)吊装到所述转运平台(2)上的初始位置(A)；
    通过所述输送装置(5)带动所述集装箱(3)通过所述扫描装置(4)的扫描通道。
  17. 根据权利要求16所述的集装箱转运方法，其中，在扫描完成后，还包括：
    通过所述输送装置(5)将集装箱(3)输送至所述转运平台(2)上的取箱位置(B)；
    将所述取箱位置(B)的集装箱(3)吊装到集装箱移动设备上。
  18. 根据权利要求16所述的集装箱转运方法，其中，所述输送装置(5)包括转运车，所述集装箱转运方法还包括：
    在将所述集装箱(3)从转运车上吊走后，使所述转运车返回至所述初始位置(A)。
  19. 根据权利要求16所述的集装箱转运方法，还包括：
    在判断出所述集装箱(3)到达所述初始位置(A)后，使所述扫描装置(4)进入扫描工作状态；
    在集装箱(3)扫描完成后，使所述扫描装置(4)退出扫描工作状态。
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