WO2019205873A1 - 集装箱检查***、港口设施及集装箱检查方法 - Google Patents

集装箱检查***、港口设施及集装箱检查方法 Download PDF

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Publication number
WO2019205873A1
WO2019205873A1 PCT/CN2019/079903 CN2019079903W WO2019205873A1 WO 2019205873 A1 WO2019205873 A1 WO 2019205873A1 CN 2019079903 W CN2019079903 W CN 2019079903W WO 2019205873 A1 WO2019205873 A1 WO 2019205873A1
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WIPO (PCT)
Prior art keywords
container
inspection
station
platform
temporary storage
Prior art date
Application number
PCT/CN2019/079903
Other languages
English (en)
French (fr)
Inventor
宗春光
郭以伟
史俊平
孟辉
宋全伟
孙尚民
李荐民
顾菁宇
李营
胡煜
李元景
陈志强
Original Assignee
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 同方威视技术股份有限公司 filed Critical 同方威视技术股份有限公司
Priority to EP19792168.7A priority Critical patent/EP3786099A4/en
Publication of WO2019205873A1 publication Critical patent/WO2019205873A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container cranes

Definitions

  • the present disclosure relates to the field of scanning inspection technology, and in particular, to a container inspection system, a port facility, and a container inspection method.
  • the container In order to prevent the illegal goods from entering the territory through the port and ensuring the safety of the transferred goods, it is usually necessary to scan the containers after the goods are unloaded.
  • the container is transported to the designated location by the AGV transfer trolley (or truck transport vehicle) in the station, and the container is scanned and inspected.
  • the area scanned and inspected not only occupies a large space, but also takes a long time.
  • the efficiency of container flow in the port is low, and dangerous contraband can enter the station, which poses a safety hazard.
  • the embodiments of the present disclosure provide a container inspection system, a port facility, and a container inspection method, so as to improve the flow efficiency of the container as much as possible, reduce the floor space of the inspection system, and improve the safety in the station.
  • a container inspection system comprising:
  • the shore bridge has an inspection platform, and the lifting components on the shore bridge are used for lifting the container and placing the container on the inspection platform;
  • a sensor disposed on the inspection platform, for detecting whether the container is in place
  • the inspection device is disposed on the inspection platform, and the inspection device moves relative to the container to perform scanning inspection on the container.
  • the inspection platform is provided with an inspection station and a temporary storage station, the inspection station is for receiving the container lifted by the lifting component, and the temporary storage station is used for temporarily storing the container for completing the scanning inspection.
  • the inspection station is placed on the side close to the initial storage position of the container, and the temporary storage station is disposed on the side away from the initial storage position of the container.
  • the inspection device comprises:
  • the L-shaped arm has one end mounted on the mounting base and the other end suspended, forming a lower opening frame with the mounting base;
  • the detector is mounted on the L-arm.
  • the mounting base is disposed on a side of the inspection station that is remote from the temporary station, and the vertical portion of the L-arm is disposed on a side of the inspection station that is adjacent to the temporary station.
  • the container inspection system includes:
  • a lifting component for lifting the container onto the inspection platform
  • a sensor disposed on the inspection platform for detecting whether the container has reached the inspection platform
  • the inspection device is disposed on the inspection platform for performing scanning inspection on the container reaching the inspection platform.
  • the inspection platform is provided with an inspection station and a temporary storage station, the inspection station is configured to receive the container lifted by the lifting component, and the inspection device is configured to perform scanning inspection on the container that arrives at the inspection station.
  • the temporary storage station is used to temporarily store the container that has completed the scanning inspection.
  • the present disclosure also provides a port facility including the container inspection system described above.
  • the present disclosure also provides a container inspection method, including:
  • the inspection device disposed on the inspection platform is driven to move relative to the first container to perform a scan inspection of the first container.
  • the container inspection method further includes: prior to lifting the first container through the lifting member on the shore bridge to the inspection platform disposed on the shore bridge, the container inspection method further includes:
  • the container inspection method further includes:
  • the lifting component After lifting the first container to the inspection platform, the lifting component is separated from the first container;
  • the second container is lifted by the lifting member.
  • the container inspection method further includes:
  • the first container After completing the scanning inspection of the first container, the first container is transferred to the temporary storage station of the inspection platform.
  • the container inspection method further includes:
  • the second container that is lifted during the scanning inspection of the first container by the inspection device is placed at the inspection station by the lifting member;
  • the drive inspection device moves relative to the second container to perform a scan inspection of the second container.
  • the container inspection method further includes:
  • the lifting member After placing the second container at the inspection station, the lifting member is detached from the second container;
  • the first container at the temporary storage station is lifted to the container transport device by the lifting member.
  • the container inspection method further includes:
  • the third container is lifted by the lifting component, and after the second container is scanned and transferred to the temporary storage station, the third container is placed Check the station.
  • the container inspection method further includes:
  • the guiding mechanism provided on the inspection platform is raised to drop the first container through the guiding mechanism during the process of placing the first container in the inspection platform Guided.
  • the container inspection method further includes:
  • the guiding mechanism set at the inspection station is lowered to enable the first container to be translated to the temporary storage station.
  • the inspection device after completing the scanning inspection of the first container, the inspection device returns to the original position to cause the inspection device to scan the first container while scanning the second container.
  • the direction of motion is the same when inspecting; or,
  • the inspection device After the scanning inspection of the first container is completed, the inspection device remains stationary so that the direction of movement of the inspection device during the scanning inspection of the second container is opposite to the direction of motion when the first container is scanned.
  • the container inspection method includes:
  • the inspection device disposed on the inspection platform is driven to move relative to the first container to perform a scan inspection of the first container arriving at the inspection platform.
  • the container inspection method prior to lifting the first container through the lifting member on the shore bridge to the inspection platform disposed on the shore bridge, the container inspection method further includes:
  • the container inspection method further includes:
  • the lifting unit is detached from the first container, and the second container is lifted by the lifting member during the inspection of the first container by the inspection device.
  • an inspection station and a temporary storage station are provided on the inspection platform.
  • Lifting the first container to the inspection platform provided on the shore bridge by lifting members on the shore bridge includes: lifting the first container to the on-shore bridge by lifting members on the shore bridge Check the inspection station on the platform;
  • Detecting whether the first container arrives at the inspection platform includes: detecting whether the first container reaches the inspection station;
  • driving the inspection device disposed on the inspection platform relative to the first container to perform scanning inspection on the first container reaching the inspection platform includes: detecting the arrival of the first container After checking the station, the inspection device set on the inspection platform is driven relative to the first container to perform scanning inspection on the first container arriving at the inspection station;
  • Container inspection methods also include:
  • the first container After completing the scanning inspection of the first container, the first container is transferred from the inspection station to the temporary storage station.
  • the container inspection method further includes:
  • the second container lifted during the scanning inspection of the first container by the inspection device is placed at the inspection station by the lifting member;
  • the drive inspection device moves relative to the second container to perform a scan inspection of the second container that arrives at the inspection station.
  • the container inspection method further includes:
  • the lifting component is detached from the second container, and during the scanning inspection of the second container, the first container at the temporary storage station is lifted to the container transportation device by the lifting component.
  • the container inspection method further includes:
  • the third container is lifted by the lifting component, and after the second container completes the scanning inspection and is transferred to the temporary storage station, the third container is placed at the inspection station.
  • the container inspection method prior to lifting the first container through the lifting member on the shore bridge to the inspection platform disposed on the shore bridge, the container inspection method further includes:
  • the guide mechanism provided on the inspection platform is raised to guide the drop of the first container through the guiding mechanism during the placement of the first container in the inspection platform.
  • the container inspection method further includes: before transferring the first container from the inspection station to the temporary storage station:
  • the guide mechanism placed at the inspection station is lowered to enable the first container to be translated to the temporary storage station.
  • the inspection device moves in the same direction as or opposite to the direction of movement of the first container when performing a scan inspection of the second container.
  • the embodiment of the present inspection system can reduce the footprint of the inspection device by arranging the inspection device on the inspection platform of the shore bridge, and does not need to reserve a special for the inspection device in the area other than the shore bridge. Check the location to make the overall layout of the port more reasonable; set the inspection device on the inspection platform of the shore bridge, and also complete the scanning process during the process of unloading the container from the ship or loading the container from the ground to the ship.
  • Inspection avoiding on-site inspection, omitting the process of transporting the container to the AGV trolley and transporting the container to the inspection location through the AGV trolley, greatly reducing the time for loading and unloading and scanning inspection of the container, and shortening the total transit time of the container at the port It can improve the efficiency of circulation; it can also avoid dangerous contraband entering the station and improve safety.
  • the sensor by setting the sensor to detect whether the container reaches the inspection platform, it can provide reference information for the opening and closing of the inspection device, and can also improve the scanning inspection. Accuracy makes the inspection process more reasonable and smooth.
  • the port facility and container inspection method provided by the present disclosure also have the above-described beneficial technical effects.
  • FIG. 1 is a front elevational view of one embodiment of a container inspection system of the present disclosure.
  • FIG. 2 is a top plan view of an inspection platform in one embodiment of the container inspection system of the present disclosure.
  • Figure 3 is a left side elevational view of one embodiment of the container inspection system of the present disclosure.
  • Figure 4 is an enlarged view of a portion indicated by reference numeral I in Figure 1.
  • Figure 5 is an enlarged view of a portion indicated by reference numeral II in Figure 2 .
  • Figure 6 is an enlarged view of a portion indicated by reference numeral III in Figure 3.
  • 201 a mounting base
  • 202 an L-shaped arm
  • 203 a radiation source.
  • the present disclosure has improved the inspection system.
  • the inspection system includes a shore bridge 100, a sensor, and an inspection device 200.
  • the shore bridge 100 is provided with an inspection platform 102, and the lifting component 101 on the shore bridge 100 is used for lifting the container and placing the container on the inspection platform 102; the sensor is disposed on the inspection platform 102 and is used to detect whether the container is in place.
  • the inspection device 200 is disposed on the inspection platform 102, and the inspection device 200 is moved relative to the container to perform a scanning inspection of the container.
  • the footprint of the inspection device 200 can be reduced, and it is not necessary to pre-inspect the inspection device 200 in an area other than the shore bridge 100.
  • the special inspection position is left to make the overall layout of the port more reasonable; the inspection device 200 is placed on the inspection platform 102 of the shore bridge 100, and the container 300 can be unloaded from the ship or the container 300 can be removed from the ground.
  • Scanning inspection is completed during loading into the ship, avoiding on-site inspection, omitting the process of transporting the container 300 to the AGV trolley and transporting the container 300 to the inspection location by the AGV trolley, greatly reducing the loading and unloading and scanning inspection time of the container
  • the total transit time of the container in the port is shortened, and the circulation efficiency is improved; the dangerous contraband can be prevented from entering the station and the safety is improved; and the inspection device 200 can be inspected by setting the sensor to detect whether the container 300 reaches the inspection platform 102.
  • the opening and closing provides reference information, which can also improve the accuracy of the scanning inspection and make the inspection process Plus reasonable and smooth.
  • the inspection platform 102 is provided with an inspection station 106 and a temporary storage station 107 for receiving the container lifted by the lifting member 101, and the inspection device 200 is configured.
  • the temporary storage station 107 is used to temporarily store the container that has completed the scan inspection.
  • the inspection station 106 is disposed on a side near the initial storage location of the container, and the temporary storage station 107 is disposed on a side remote from the initial storage location of the container.
  • the initial storage location when unloading the container, may be a cargo carrying device such as a ship; when loading the container, the initial storage location may be a mobile device (such as an AGV trolley) that transports the container or a storage container of the storage container.
  • a cargo carrying device such as a ship
  • the initial storage location when loading the container, may be a mobile device (such as an AGV trolley) that transports the container or a storage container of the storage container.
  • the placement position of the container 300 on the inspection platform 102 can be guided to facilitate scanning inspection of the container 300, thereby improving the efficiency of the scanning inspection.
  • the container 300 that has completed the scan inspection can be moved to the temporary storage station 107 for temporary storage, and even if it is too late to hang the container 300 from the temporary storage station 107, the next container 300 is not affected. Scanning, the inspection station 106 can continue to receive the next container 300 and perform the scanning inspection of the next container 300, thereby achieving the continuity of the scanning inspection work and effectively improving the efficiency of the scanning inspection.
  • the inspection station 106 is disposed on the side close to the initial storage position of the container 300, and the container 300 can be conveniently hoisted, thereby effectively shortening the movement path of the container 300; and the temporary storage station 107 is disposed at the initial storage position away from the container 300. On one side, the container 300 can be conveniently hoisted, effectively shortening the moving path.
  • This arrangement can prevent the container 300 on the inspection station 106 from interfering with the movement of the container 300 on the temporary storage station 107, and can also prevent the container 300 on the temporary storage station 107 from placing the container 300 on the inspection station 106. Cause interference.
  • the container inspection system includes a plurality of inspection stations 106 and a plurality of temporary storage stations 107, which can further improve the efficiency of the scanning inspection.
  • the temporary storage station 107 is disposed on the side of one of the long sides of the inspection station 106, and the long sides of the temporary storage station 107 and the long sides of the inspection station 106 are parallel to each other. In this arrangement, further optionally, the center of the temporary storage station 107 and the center line of the inspection station 106 are parallel to the short side of the temporary storage station 107 or the inspection station 106.
  • the temporary storage station 107 is disposed on the side of one of the short sides of the inspection station 106, and the short side of the temporary storage station 107 and the short side of the inspection station 106 are parallel to each other. In this arrangement, further optionally, the center of the temporary storage station 107 and the center line of the inspection station 106 are parallel to the long side of the temporary storage station 107 or the inspection station 106.
  • the area of the inspection station 106 and the temporary storage station 107 is substantially similar to the shape of the container 300.
  • the container 300 has a rectangular parallelepiped shape, and the long side of the inspection station 106 and the long side of the temporary storage station 107 are The longitudinal direction of the container 300 (denoted as the first direction) is parallel, and the short side of the inspection station 106 and the short side of the temporary storage station 107 are parallel to the width direction of the container 300 (referred to as the second direction).
  • the container 300 can remain stationary and the scanning inspection is accomplished by inspection of the movement of the device 200 relative to the container 300.
  • the inspection device 200 remains stationary and the scan inspection is completed by movement of the container 300 relative to the inspection device 200.
  • the inspection apparatus 200 includes a mounting base 201, an L-shaped arm 202, a radiation source 203, and a detector, wherein the mounting base 201 is disposed on the inspection platform 102; one end of the L-shaped arm 202 is mounted on the mounting base 201, L The other end of the arm 202 is suspended, and the L-shaped arm 202 and the mounting base 201 form a lower open frame to pass the container 300 through the lower opening when the inspection device 200 moves relative to the container 300; the radiation source 203 is mounted on the mounting base 201 The detector is mounted on the L-shaped arm 202.
  • the L-shaped arm 202 includes a cross arm and a vertical arm.
  • a detector is disposed on the cross arm and the vertical arm, and the radiation source 203 emits a fan-shaped radiating surface, and the radiating surface intersects the container 300 through the cross arm and the vertical arm. The detector receives radiation passing through the container 300 to effect a scan inspection of the container 300.
  • the fan-shaped radiating surface emitted by the radiation source 203 is perpendicular to the longitudinal direction of the container 300.
  • the inspection device 200 moves relative to the container 300 along the length of the container 300.
  • the radiation source 203 and the detector in the inspection apparatus 200 both move relative to the container 300 along the length direction of the container 300.
  • the inspection platform 102 is provided with a guide rail 105.
  • the bottom of the mounting base 201 is provided with a roller.
  • the mounting base 201 can be moved on the inspection platform 102. Thereby driving the entire inspection device 200 to move.
  • the container inspection system further includes a drive mechanism for driving the inspection device 200 to move relative to the container 300.
  • the driving mechanism can drive the inspection device 200 by using a driving component such as a motor or a cylinder.
  • the driving mechanism may also adopt an AGV trolley or the like to place the inspection device 200 as a whole on the AGV trolley, and drive the inspection device 200 to move by the movement of the AGV trolley.
  • the mounting base 201 is disposed at a side of the inspection station 106 away from the temporary storage station 107, and the vertical portion (ie, the vertical arm) of the L-shaped arm 202 is disposed at the inspection station 106 near the temporary storage station 107.
  • the cross arm of the L-shaped arm 202 is disposed above the container 300. Since the floor space of the mounting base 201 is large, the vertical arm of the L-shaped arm 202 is disposed between the inspection station 106 and the temporary storage station 107, and the inspection station 106 and the temporary storage station 107 can be shortened as much as possible. The distance between the containers 300 facilitates the transfer of the container 300 between the inspection station 106 and the temporary station 107.
  • the container after the inspection of the container is completed on the inspection platform of the shore bridge 100, the container can be lifted by the lifting member 101 on the shore bridge 100 to the container mobile device.
  • the container mobile device transports the container to the target location.
  • the target position in the case of unloading the container from the cargo carrying equipment such as a ship, the target position may be a warehouse of a storage container on the ground in the port yard station, or a truck carrying the container, etc.; In the case of loading a container onto a cargo carrying device such as a ship, the target location may be a storage bin for placing the container on a cargo carrying device such as a ship.
  • the above-mentioned container moving equipment may be an AGV trolley or a truck transport vehicle, etc., and in the case of loading the container onto a cargo carrying device such as a ship, the above container movement
  • the device may be a device for placing a container in a corresponding storage bin on a cargo carrying device such as a ship.
  • the container inspection system further includes a transfer device 104 disposed on the inspection platform 102 and configured to transfer the container 300 at the inspection station 106 to the temporary storage station 107.
  • a transfer device 104 By providing the transfer device 104, work efficiency can be further improved.
  • the transfer device 104 transports the container 300 from the inspection station 106 to the temporary storage station 107 and returns to the original position after the container 300 has been hoisted, in preparation for the next transfer.
  • the specific structure of the transfer device 104 can have various options.
  • the transfer trolley can be used, and the track can be used to facilitate the movement of the container 300 between different stations; the roller, the belt, the chain drive mechanism, etc. can also be used. .
  • the present disclosure also proposes a port facility including the above-described container inspection system.
  • the present disclosure also provides a container inspection method.
  • the container inspection method includes:
  • the inspection device 200 disposed on the inspection platform 102 is driven to move relative to the first container 300 to perform a scan inspection of the first container 300.
  • the shore bridge 100 is provided with an inspection platform 102.
  • the inspection device 200 scans the container on the inspection platform 102, that is, the container 100 is transported from the cargo carrying equipment such as the ship to the port at the shore bridge 100.
  • the container can be scanned in the process of loading the container onto the cargo carrying equipment such as the ship in the station, and the container can be omitted from the cargo carrying equipment such as the ship to the AGV trolley and then transported by the AGV trolley.
  • the special scanning inspection position in the station, or the container is first transported to the vicinity of the shore bridge 100 through the AGV trolley and then loaded onto the cargo carrying equipment such as the ship by the AGV trolley.
  • the container inspection method further includes:
  • the container is placed at the inspection station 106;
  • the safety of the operation flow can be ensured, and the collision risk or the scan failure caused by the simultaneous storage of the two containers and the inspection station 106 can be avoided.
  • the container inspection method further includes:
  • the lifting member 101 After lifting the first container 300 to the inspection platform 102, the lifting member 101 is separated from the first container 300;
  • the second container 300 is lifted by the lifting member 101.
  • the lifting member 101 can be fully utilized, and the second container 300 can be lifted by the time of scanning inspection of the first container 300, which can speed up the inspection process and improve the efficiency of the scanning inspection.
  • the container inspection method further includes:
  • the first container 300 is lifted to the inspection station 106 of the inspection platform 102, and the first container 300 is scanned and inspected at the inspection station 106;
  • the first container 300 is transferred to the temporary storage station 107 of the inspection platform 102.
  • the efficiency of the container inspection method can be further improved.
  • the lifting unit 101 is used to lift the second container 300
  • the first container 300 that completes the scanning inspection can be moved to the first container 300.
  • the temporary storage station 107 performs storage while vacating the inspection station 106 to provide a vacancy for the second container 300.
  • the container inspection method further includes:
  • the drive inspection device 200 After detecting that the second container 300 is in place, the drive inspection device 200 is moved relative to the second container 300 to perform a scan inspection of the second container 300.
  • the second container 300 is scanned for the same process as the scanning of the first container 300.
  • the container inspection method further includes:
  • the lifting member 101 is separated from the second container 300;
  • the first container 300 at the temporary storage station 107 is lifted by the lifting member 101 to the container transport device.
  • the lifting member 101 hoists the first container 300, further realizing the full utilization of the lifting member 101, making the scanning inspection process more compact, and greatly improving the scanning inspection efficiency. .
  • the container inspection method further includes:
  • the third container 300 is hoisted by the lifting member 101, and after the second container 300 completes the scan inspection and transfers to the temporary storage station 107, Three containers 300 are placed on the inspection station 106. At this point, the scanning inspection of the third container 300 is started, and so on, the scanning inspection of a plurality of containers can be completed, and the inspection process is compact and the inspection effect is high.
  • the guiding mechanism disposed on the inspection platform 102 can be raised to guide the placement of the first container 300 in the inspection platform 102.
  • the agency directs the whereabouts of the first container 300.
  • the precise drop of the container can be realized; the container 300 can also be limited to prevent the container 300 from deviating from the inspection station 106 or the temporary storage station 107, and the lifting member 101 can be accurately determined after each falling.
  • the container 300 is hoisted to reduce the alignment time and improve the transfer efficiency.
  • the guiding mechanism disposed at the inspection station 106 can be lowered to enable the first container 300 to translate to the temporary storage station 107.
  • the guiding mechanism is arranged as a lifting structure, which can be raised or lowered as the container falls and transports, and can play a guiding position without affecting the transportation.
  • the guiding mechanism comprises a plurality of guiding cylinders 103 arranged along the edge of the inspection station 106 on the inspection platform 102 such that the container 300 can be guided and positioned by the guiding cylinders 103.
  • the top of the guide cylinder 103 is tapered to better guide the container 300 to fall quickly and accurately.
  • a guide cylinder 103 may also be provided on the temporary storage station 107 on the inspection platform 102 to limit the container 300.
  • the inspection apparatus 200 can be returned to the home position to cause the inspection apparatus 200 to move in the direction of the scan inspection of the second container 300 and to the first container 300.
  • the direction of motion is the same when performing a scan check; or,
  • the inspection device 200 may also remain stationary to cause the inspection device 200 to scan the first container 300 during the scanning inspection of the second container 300. The direction of motion during inspection is reversed.
  • the lifting member 101 on the shore bridge 100 lifts the first container 300 on the ship.
  • the lifting member 101 is unloaded and disengaged from the first container 300, and then returned to the ship to hoist the second.
  • the inspection device 200 After the inspection device 200 receives the signal that the first container 300 is located at the inspection station 106, the inspection device 200 starts the scanning operation, and the inspection device 200 moves relative to the first container 300; after the scanning operation is completed, As shown in Figures 4-6, the transfer device 104 transfers the first container 300 to the temporary storage station 107, at which time the inspection station 106 is in an idle state;
  • the lifting component 101 in the shore bridge 100 lifts and transports the second container 300 from the ship to the inspection station 106, due to the original first on the inspection station 106.
  • the container 300 has completed the scan inspection and is transferred to the temporary storage station 107, so that the inspection station 106 is in an idle state, the lifting member 101 can place the second container 300 to the inspection station 106; then the inspection device 200 is receiving After the second container 300 is dropped on the signal of the inspection station 106, the inspection device 200 starts scanning inspection of the second container 300; meanwhile, after the second container 300 is seated, the lifting member 101 is separated from the second one.
  • the container 300 transports the original first container 300 (at the temporary storage station 107) to the AGV trolley, and directly transports the first container 300 to the container storage or carrier by the AGV trolley; After the lifting component 101 transports the first container 300 to the container's storage or carrier, the lifting component 101 can continue to hoist the third container 300 and complete in the second container 300. After the description and transported to the inspection station 107 temporarily stores the third container 300 onto the lifting inspection station 106, and so forth, to complete a continuous scan of a plurality of containers.
  • continuous scanning inspection of a plurality of containers can be efficiently performed with at least one lifting member, and can be applied to a shore bridge having one or more lifting members, and the scope of application is wide.
  • scanning inspection of multiple containers may also be accomplished with two or more lifting components.
  • the inspection device is installed on the shore bridge, and the scanning inspection is completed during the loading or unloading of the container, which can avoid the on-site inspection, simplify the process, reduce the loading and unloading and scanning time, shorten the total flow of the container in the port, and improve the circulation efficiency;
  • the inspection device is installed on the shore bridge, which can also save the floor space. It is not necessary to set a special inspection position in the area outside the shore bridge, so that the overall layout of the port is more reasonable;
  • the inspection station on the inspection platform is closer to the initial storage position of the container, and the temporary storage station is closer to the target position of the container, so that the transportation path can be effectively shortened while avoiding interference between containers at different stations;
  • At least one continuous lifting component can be used to complete continuous scanning inspection of multiple containers, and the applicability is strong.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Automation & Control Theory (AREA)
  • Bridges Or Land Bridges (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
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Abstract

一种集装箱检查***、港口设施及集装箱检查方法，其中集装箱检查***包括岸桥(100)、传感器和检查装置(200)，岸桥(100)包括检查平台(102)和起重部件(101)，起重部件(101)用于将集装箱(300)吊运至检查平台(102)上；传感器设置在检查平台(102)上，用于检测集装箱(300)是否到达检查平台(102)；检查装置(200)设置在检查平台(102)上，用于对到达检查平台(102)的集装箱(300)进行扫描检查。港口设施包括集装箱检查***。该集装箱检查***占地面积小；在装卸过程中完成扫描检查，缩短了集装箱在港口的流转时间，流转效率高；避免危险违禁品进入场站，安全性高。

Description

集装箱检查***、港口设施及集装箱检查方法
相关申请的交叉引用
本申请是以中国申请号为201810377420.X，申请日为2018年4月25日的申请为基础，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申请中。
技术领域
本公开涉及扫描检查技术领域，尤其涉及一种集装箱检查***、港口设施及集装箱检查方法。
背景技术
随着大船工业的发展，集装箱的装卸工作量越来越大。岸桥作为一种大型的集装箱装卸设备，越来越多地被应用于各地港口，实现了自动化装卸。
为了避免违禁货物通过港口流入境内，保证流转货物的安全性，在货物卸载后通常需要对集装箱进行扫描检查。目前，一般在利用岸桥将集装箱卸载后，通过场站内的AGV转运小车(或集卡运输车)将集装箱运送到指定的地点，对集装箱进行扫描检查，这样就需要在港口设置专门的用于扫描检查的区域，不仅占用空间较大，而且耗费时间较长，集装箱在港口的流转效率较低，还有可能造成危险违禁品进入场站，存在安全隐患。
需要说明的是，公开于本公开背景技术部分的信息仅仅旨在增加对本公开的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的相关技术。
发明内容
本公开实施例提出一种集装箱检查***、港口设施及集装箱检查方法，以尽可能提高集装箱的流转效率，减少检查***的占地面积，提高场站内的安全性。
根据本公开的一个方面，提供了一种集装箱检查***，包括：
岸桥，设有检查平台，岸桥上的起重部件用于吊运集装箱并将集装箱放置在检查平台上；
传感器，设置在检查平台上，用于检测集装箱是否到位；和
检查装置，设置在检查平台上，检查装置相对于集装箱运动以对集装箱进行扫描检查。
在一些实施例中，检查平台上设有检查工位和暂存工位，检查工位用于接收起重部件吊运的集装箱，暂存工位用于对完成扫描检查的集装箱进行暂存，检查工位设置在靠近集装箱的起始储存位置的一侧，暂存工位设置在远离集装箱的起始储存位置的一侧。
在一些实施例中，检查装置包括：
安装基体，设置在检查平台上；
L型臂，一端安装在安装基体上，另一端悬空，与安装基体形成下方开口的框架；
射线源，安装在安装基体上；和
探测器，安装在L型臂上。
在一些实施例中，安装基体设置在检查工位的远离暂存工位的一侧，L型臂的竖直部分设置在检查工位的靠近暂存工位的一侧。
在一些实施例中，集装箱检查***包括：
岸桥，包括：
检查平台；和
起重部件，用于将集装箱吊运至检查平台上；
传感器，设置在检查平台上，用于检测集装箱是否到达检查平台；和
检查装置，设置在检查平台上，用于对到达检查平台的集装箱进行扫描检查。
在一些实施例中，检查平台上设有检查工位和暂存工位，检查工位用于接收起重部件吊运的集装箱，检查装置被配置为对到达检查工位的集装箱进行扫描检查，暂存工位用于对完成扫描检查的集装箱进行暂存。
根据本公开的另一个方面，本公开还提供了一种港口设施，包括上述的集装箱检查***。
根据本公开的又一个方面，本公开还提供了一种集装箱检查方法，包括：
通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台；
检测第一个集装箱是否到位；
在检测到第一个集装箱到位后，驱动设置在检查平台上的检查装置相对于第一个集装箱运动，以对第一个集装箱进行扫描检查。
在一些实施例中，在通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设 置的检查平台之前，集装箱检查方法还包括：
对检查平台上的检查工位进行检测，判断检查工位是否处于空闲状态；
若是，将第一个集装箱放置在检查工位上；
若否，则等待，直到判断检查工位处于空闲状态为止。
在一些实施例中，集装箱检查方法还包括：
在将第一个集装箱吊运至检查平台后，起重部件脱离第一个集装箱；
在检查装置对第一个集装箱进行扫描检查的过程中，通过起重部件去吊运第二个集装箱。
在一些实施例中，集装箱检查方法还包括：
将第一个集装箱吊运至检查平台的检查工位，并在检查工位对第一个集装箱进行扫描检查；
在完成对第一个集装箱的扫描检查后，将第一个集装箱转运至检查平台的暂存工位。
在一些实施例中，集装箱检查方法还包括：
在将第一个集装箱转运至暂存工位后，通过起重部件将在检查装置对第一个集装箱进行扫描检查的过程中所吊运的第二个集装箱放置在检查工位；
检测第二个集装箱是否到位；
在检测到第二个集装箱到位后，驱动检查装置相对于第二个集装箱运动，以对第二个集装箱进行扫描检查。
在一些实施例中，集装箱检查方法还包括：
在将第二个集装箱放置在检查工位后，起重部件脱离第二个集装箱；
在对第二个集装箱进行扫描检查的过程中，通过起重部件将位于暂存工位的第一个集装箱吊运至集装箱运输设备上。
在一些实施例中，集装箱检查方法还包括：
将第一个集装箱吊运至集装箱运输设备上后，通过起重部件吊取第三个集装箱，并在第二个集装箱完成扫描检查并转移至暂存工位后，将第三个集装箱放置在检查工位上。
在一些实施例中，集装箱检查方法还包括：
在将第一个集装箱吊运至检查平台之前，将设置在检查平台上的导向机构升起，以在将第一个集装箱放置在检查平台的过程中，通过导向机构对第一个集装箱的下落 进行导向。
在一些实施例中，集装箱检查方法还包括：
在将第一个集装箱转运至暂存工位之前，将设置在检查工位上的导向机构降落，以使第一个集装箱能够平移至暂存工位。
在一些实施例中，在完成对第一个集装箱的扫描检查后，检查装置返回至原位，以使检查装置在对第二个集装箱进行扫描检查时的运动方向与对第一个集装箱进行扫描检查时的运动方向相同；或者，
在完成对第一个集装箱的扫描检查后，检查装置保持不动，以使检查装置在对第二个集装箱进行扫描检查时的运动方向与对第一个集装箱进行扫描检查时的运动方向相反。
在一些实施例中，集装箱检查方法包括：
通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台；
检测第一个集装箱是否到达检查平台；
在检测第一个集装箱到达检查平台后，驱动设置在检查平台上的检查装置相对于第一个集装箱运动，以对到达检查平台的第一个集装箱进行扫描检查。
在一些实施例中，在通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台之前，集装箱检查方法还包括：
检测检查平台是否处于空闲状态；
若是，将第一个集装箱放置在检查平台上；
若否，则等待，直到判断检查平台处于空闲状态为止。
在一些实施例中，在通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台之后，集装箱检查方法还包括：
将起重部件脱离第一个集装箱，并在检查装置对第一个集装箱进行扫描检查的过程中，通过起重部件去吊运第二个集装箱。
在一些实施例中，检查平台上设有检查工位和暂存工位，
通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台包括：通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台上的检查工位；
检测第一个集装箱是否到达检查平台包括：检测第一个集装箱是否到达检查工位；
在检测第一个集装箱到达检查平台后，驱动设置在检查平台上的检查装置相对于第一个集装箱运动，以对到达检查平台的第一个集装箱进行扫描检查包括：在检测第一个集装箱到达检查工位后，驱动设置在检查平台上的检查装置相对于第一个集装箱运动，以对到达检查工位的第一个集装箱进行扫描检查；
集装箱检查方法还包括：
在完成对第一个集装箱的扫描检查后，将第一个集装箱从检查工位转运至暂存工位。
在一些实施例中，在将第一个集装箱从检查工位转运至暂存工位后，集装箱检查方法还包括：
通过起重部件将在检查装置对第一个集装箱进行扫描检查的过程中所吊运的第二个集装箱放置在检查工位；
检测第二个集装箱是否到达检查工位；
在检测到第二个集装箱到达检查工位后，驱动检查装置相对于第二个集装箱运动，以对到达检查工位的第二个集装箱进行扫描检查。
在一些实施例中，在通过起重部件将在检查装置对第一个集装箱进行扫描检查的过程中所吊运的第二个集装箱放置在检查工位之后，集装箱检查方法还包括：
将起重部件脱离第二个集装箱，并在对第二个集装箱进行扫描检查的过程中，通过起重部件将位于暂存工位的第一个集装箱吊运至集装箱运输设备上。
在一些实施例中，在将位于暂存工位的第一个集装箱吊运至集装箱运输设备上后，集装箱检查方法还包括：
通过起重部件吊取第三个集装箱，并在第二个集装箱完成扫描检查并转移至暂存工位后，将第三个集装箱放置在检查工位上。
在一些实施例中，在通过岸桥上的起重部件将第一个集装箱吊运至在岸桥上所设置的检查平台之前，集装箱检查方法还包括：
将设置在检查平台上的导向机构升起，以在将第一个集装箱放置在检查平台的过程中，通过导向机构对第一个集装箱的下落进行导向。
在一些实施例中，在将第一个集装箱从检查工位转运至暂存工位之前，集装箱检查方法还包括：
将设置在检查工位上的导向机构降落，以使第一个集装箱能够平移至暂存工位。
在一些实施例中，检查装置在对第二个集装箱进行扫描检查时的运动方向与对第 一个集装箱进行扫描检查时的运动方向相同或者相反。
基于上述技术方案，本公开检查***实施例通过将检查装置设置在岸桥的检查平台上，可以减少检查装置的占地面积，不需要在岸桥之外的区域再为检查装置预留专门的检查位置，使港口的整体布局更加合理；将检查装置设置在岸桥的检查平台上，还可以在将集装箱从船舶上卸载下来的过程中或者在将集装箱从地面装载到船舶的过程中完成扫描检查，避免场内检测，省略了将集装箱转运到AGV小车并通过AGV小车将集装箱运送到检查位置的过程，大大减少了集装箱的装卸载和扫描检查的时间，缩短了集装箱在港口的流转总时间，提高流转效率；还可以避免危险违禁品进入场站内，提高安全性；另外，通过设置传感器对集装箱是否到达检查平台进行检测，可以对检查装置的开闭提供参考信息，还可以提高扫描检查的准确性，使检查流程更加合理和顺畅。
本公开提供的港口设施和集装箱检查方法也相应地具有上述有益技术效果。
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***一个实施例的主视图。
图2为本公开集装箱检查***一个实施例中检查平台的俯视图。
图3为本公开集装箱检查***一个实施例的左视图。
图4为图1中标号Ⅰ所示部分的放大图。
图5为图2中标号Ⅱ所示部分的放大图。
图6为图3中标号Ⅲ所示部分的放大图。
图中：
100、岸桥；200、检查装置；300、集装箱；
101、起重部件；102、检查平台；103、导向筒；104、转运装置；105、导轨；106、检查工位；107、暂存工位；
201、安装基体；202、L型臂；203、射线源。
具体实施方式
下面将结合本公开实施例中的附图，对实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要理解的是，术语“中心”、“横向”、“纵向”、“前”、“后”、“左”、“右”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
为了克服相关技术中检查***的缺点，本公开对检查***进行了改进。参考图1、图4和图5所示，在本公开所提供的集装箱检查***的一个示意性实施例中，检查***包括岸桥100、传感器和检查装置200。
其中，岸桥100上设有检查平台102，岸桥100上的起重部件101用于吊运集装箱并将集装箱放置在检查平台102上；传感器设置在检查平台102上，并用于检测集装箱是否到位；检查装置200设置在检查平台102上，检查装置200相对于集装箱运动以对集装箱进行扫描检查。
在上述示意性实施例中，通过将检查装置200设置在岸桥100的检查平台102上，可以减少检查装置200的占地面积，不需要在岸桥100之外的区域再为检查装置200预留专门的检查位置，使港口的整体布局更加合理；将检查装置200设置在岸桥100的检查平台102上，还可以在将集装箱300从船舶上卸载下来的过程中或者在将集装箱300从地面装载到船舶的过程中完成扫描检查，避免场内检测，省略了将集装箱300转运到AGV小车并通过AGV小车将集装箱300运送到检查位置的过程，大大减少了集装箱的装卸载和扫描检查的时间，缩短了集装箱在港口的流转总时间，提高流转效率；还可以避免危险违禁品进入场站内，提高安全性；另外，通过设置传感器对集装箱300是否到达检查平台102进行检测，可以对检查装置200的开闭提供参考信息，还可以提高扫描检查的准确性，使检查流程更加合理和顺畅。
参考图2、图4和图5所示，检查平台102上设有检查工位106和暂存工位107，检查工位106用于接收起重部件101吊运的集装箱，检查装置200被配置为对到达检查工位106的集装箱300进行扫描检查；暂存工位107用于对完成扫描检查的集装箱进行暂存。
可选地，检查工位106设置在靠近集装箱的起始储存位置的一侧，暂存工位107设置在远离集装箱的起始储存位置的一侧。
其中，在卸载集装箱时，起始储存位置可以为轮船等货物运载设备；在装载集装箱时，起始储存位置可以为输送集装箱的移动设备(比如AGV小车)或者储存集装箱的储存库等。
通过设置检查工位106，可以对集装箱300在检查平台102上的放置位置进行引导，方便对集装箱300进行扫描检查，提高扫描检查的效率。
通过设置暂存工位107，可以将完成扫描检查的集装箱300移动到暂存工位107进行暂存，即使来不及将该集装箱300从暂存工位107吊走，也不影响下一个集装箱300的扫描，可以通过检查工位106继续接收下一个集装箱300并进行下一个集装箱300的扫描检查工作，实现扫描检查工作的连续性，有效提高扫描检查的效率。
将检查工位106设置在靠近集装箱300的起始储存位置的一侧，可以方便吊取集装箱300，有效缩短集装箱300的移动路径；将暂存工位107设置在远离集装箱300的起始储存位置的一侧，可以方便将集装箱300吊走，有效缩短移动路径。这样设置可以避免检查工位106上的集装箱300对暂存工位107上的集装箱300的移动造成干涉，也可以避免暂存工位107上的集装箱300对检查工位106上的集装箱300的放置造成干涉。
可选地，集装箱检查***包括多个检查工位106和多个暂存工位107，这样可以进一步提高扫描检查效率。
关于检查工位106和暂存工位107的布置形式，可以有多种选择，下面给出两种可选的实施方式。
在一种可选的实施例中，暂存工位107设置在检查工位106的一个长边的侧面，且暂存工位107的长边和检查工位106的长边相互平行。在这种布置方式中，进一步可选地，暂存工位107的中心和检查工位106的中心连线与暂存工位107或检查工位106的短边相互平行。
在另一种可选的实施例中，暂存工位107设置在检查工位106的一个短边的侧面，且暂存工位107的短边和检查工位106的短边相互平行。在这种布置方式中，进一步可选地，暂存工位107的中心和检查工位106的中心连线与暂存工位107或检查工位106的长边相互平行。
检查工位106和暂存工位107的区域范围与集装箱300的形状大致相似，通常来 说，集装箱300呈长方体形状，上述的检查工位106的长边和暂存工位107的长边与集装箱300的长度方向(记为第一方向)平行，上述的检查工位106的短边和暂存工位107的短边与集装箱300的宽度方向(记为第二方向)平行。
在上述各个实施例中，集装箱300可以保持不动，通过检查装置200相对于集装箱300的运动来完成扫描检查。或者，检查装置200保持不动，通过集装箱300相对于检查装置200的运动来完成扫描检查。
可选地，检查装置200包括安装基体201、L型臂202、射线源203和探测器，其中，安装基体201设置在检查平台102上；L型臂202的一端安装在安装基体201上，L型臂202的另一端悬空，L型臂202与安装基体201形成下方开口的框架，以在检查装置200相对于集装箱300运动时，使集装箱300穿过下方开口；射线源203安装在安装基体201上；探测器，安装在L型臂202上。
L型臂202包括横臂和竖臂，可选地，横臂和竖臂上均设有探测器，射线源203发射扇形辐射面，辐射面与集装箱300相互交叉，通过横臂和竖臂上的探测器接收穿过集装箱300的射线，实现对集装箱300的扫描检查。
可选地，射线源203所发射的扇形辐射面与集装箱300的长度方向相互垂直。
可选地，检查装置200沿集装箱300的长度方向相对于集装箱300运动。在扫描检查时，检查装置200中的射线源203和探测器均沿集装箱300的长度方向相对于集装箱300运动。
为了方便实现检查装置200相对于集装箱300的运动，检查平台102上设有导轨105，安装基体201的底部设有滚轮，通过滚轮与导轨105的配合，可以使安装基体201在检查平台102上移动，从而带动整个检查装置200移动。
可选地，集装箱检查***还包括驱动机构，驱动机构用于驱动检查装置200相对于集装箱300运动。
在安装基体201的底部设有滚轮，滚轮与检查平台102上所设置的导轨105相互配合时，驱动机构可以采用电机或气缸等驱动元件来驱动检查装置200运动。
另外，驱动机构还可以采用AGV小车等形式，将检查装置200整体放置在AGV小车上，通过AGV小车的运动来带动检查装置200运动。
可选地，安装基体201设置在检查工位106的远离暂存工位107的一侧，L型臂202的竖直部分(即竖臂)设置在检查工位106的靠近暂存工位107的一侧，L型臂202的横臂设置在集装箱300的上方。由于安装基体201的占地空间较大，使L型臂 202的竖臂设置在检查工位106和暂存工位107之间，可以尽可能地缩短检查工位106和暂存工位107之间的距离，方便集装箱300在检查工位106和暂存工位107之间的转运。
在本公开所提供集装箱检查***各个实施例中，在岸桥100的检查平台上完成对集装箱的扫描检查后，集装箱可以被岸桥100上的起重部件101吊运至集装箱移动设备上，通过集装箱移动设备将集装箱运送到目标位置。
关于上述的目标位置，对于将集装箱从轮船等货物运载设备上卸载下来的情况，目标位置可以是港口场站内地面上某一储存集装箱的仓库，也可以是某一运送集装箱的货车等；而对于将集装箱装载到轮船等货物运载设备上的情况，目标位置可以是轮船等货物运载设备上的用于放置集装箱的存储仓位。
对于将集装箱从轮船等货物运载设备上卸载下来的情况，上述的集装箱移动设备可以为AGV小车或集卡运输车等；而对于将集装箱装载到轮船等货物运载设备上的情况，上述的集装箱移动设备可以为设置在轮船等货物运载设备上的用于将集装箱放置在对应存储仓位的设备。
可选地，集装箱检查***还包括转运装置104，转运装置104设置在检查平台102上并用于将位于检查工位106的集装箱300转运至暂存工位107。通过设置转运装置104，可以进一步提高工作效率。
转运装置104将集装箱300从检查工位106转运至暂存工位107并在集装箱300被吊走之后恢复至原位，为下一次的转运做好准备。
转运装置104的具体结构形式可以有多种选择，比如，可以采用转运小车，同时配合轨道，可以方便实现集装箱300在不同工位之间的移动；还可以采用滚子、皮带、链传动机构等。
基于上述的集装箱检查***，本公开还提出一种港口设施，该港口设施包括上述的集装箱检查***。
上述各个实施例中集装箱检查***所具有的积极技术效果同样适用于港口设施，这里不再赘述。
本公开还提供了一种集装箱检查方法，在一个可选的实施例中，集装箱检查方法包括：
通过岸桥100上的起重部件101将第一个集装箱300吊运至在岸桥100上所设置的检查平台102；
检测第一个集装箱300是否到位；
在检测到第一个集装箱300到位后，驱动设置在检查平台102上的检查装置200相对于第一个集装箱300运动，以对第一个集装箱300进行扫描检查。
在上述可选地实施例中，岸桥100上设有检查平台102，检查装置200在检查平台102上对集装箱进行扫描检查，即在岸桥100将集装箱从轮船等货物运载设备上转运至港口的场站内或从场站内将集装箱装载到轮船等货物运载设备上的过程中完成对集装箱的扫描，可以省略先将集装箱从轮船等货物运载设备上转运到AGV小车上再通过AGV小车将集装箱运输到场站内专门的扫描检查位置，或者先将集装箱在场站内专门的扫描检查位置检查完之后再通过AGV小车运输到岸桥100附近再通过岸桥100将其装载到轮船等货物运载设备上的过程，大大缩短集装箱的流转时间，提高流转效率；还可以减少检查装置的占地面积；避免危险违禁品进入场站，提高安全性；通过对集装箱是否到位进行检测，可以对检查装置的开闭提供参考信息，还可以提高扫描检查的准确性，使检查流程更加合理和顺畅。
进一步地，在通过岸桥100上的起重部件101将第一个集装箱300吊运至在岸桥100上所设置的检查平台102之前，集装箱检查方法还包括：
对检查平台102上的检查工位106进行检测，判断检查工位106是否处于空闲状态；
若是，将集装箱放置在检查工位106上；
若否，则等待，直到判断检查工位106处于空闲状态为止。
通过增加判断检查工位106是否处于空闲状态的步骤，可以保证操作流程的安全性，避免两个集装箱同时落位与检查工位106而带来的碰撞危险或扫描失败。
可选地，集装箱检查方法还包括：
在将第一个集装箱300吊运至检查平台102后，起重部件101脱离第一个集装箱300；
在检查装置200对第一个集装箱300进行扫描检查的过程中，通过起重部件101去吊运第二个集装箱300。
通过该设置，可以充分利用起重部件101，利用对第一个集装箱300进行扫描检查的时间去吊运第二个集装箱300，可以加快检查进程，提高扫描检查的效率。
可选地，集装箱检查方法还包括：
将第一个集装箱300吊运至检查平台102的检查工位106，并在检查工位106对 第一个集装箱300进行扫描检查；
在完成对第一个集装箱300的扫描检查后，将第一个集装箱300转运至检查平台102的暂存工位107。
通过设置检查工位106和暂存工位107，可以进一步提高集装箱检查方法的效率，在起重部件101去吊运第二个集装箱300时，完成扫描检查的第一个集装箱300可以先移动到暂存工位107进行储存，同时使检查工位106腾空，为第二个集装箱300提供空位。
进一步地，集装箱检查方法还包括：
在将第一个集装箱300转运至暂存工位107后，通过起重部件101将在检查装置200对第一个集装箱300进行扫描检查的过程中所吊运的第二个集装箱300放置在检查工位106；
检测第二个集装箱300是否到位；
在检测到第二个集装箱300到位后，驱动检查装置200相对于第二个集装箱300运动，以对第二个集装箱300进行扫描检查。
在第二个集装箱300落位检查工位106后，对第二个集装箱300进行扫描检查，该扫描检查过程与对第一个集装箱300扫描检查的过程相同。
进一步地，集装箱检查方法还包括：
在将第二个集装箱300放置在检查工位106后，起重部件101脱离第二个集装箱300；
在对第二个集装箱300进行扫描检查的过程中，通过起重部件101将位于暂存工位107的第一个集装箱300吊运至集装箱运输设备上。
利用对第二个集装箱300进行扫描检查的时间，起重部件101将第一个集装箱300吊走，进一步实现了起重部件101的充分利用，使扫描检查流程更加紧凑，大大提高了扫描检查效率。
可选地，集装箱检查方法还包括：
将第一个集装箱300吊运至集装箱运输设备上后，通过起重部件101吊取第三个集装箱300，并在第二个集装箱300完成扫描检查并转移至暂存工位107后，将第三个集装箱300放置在检查工位106上。至此，便开始了对第三个集装箱300的扫描检查，依次类推，可以完成对多个集装箱的扫描检查，并且检查流程紧凑，检查效果较高。
其中，在将第一个集装箱300吊运至检查平台102之前，可以将设置在检查平台102上的导向机构升起，以在将第一个集装箱300放置在检查平台102的过程中，通过导向机构对第一个集装箱300的下落进行导向。通过设置导向机构，可以实现集装箱的精准下落；还可以对集装箱300进行限位，防止集装箱300偏离检查工位106或暂存工位107，保证起重部件101每次下落后都可以准确地将集装箱300吊起，减少对准时间，提高转运效率。
进一步，在将第一个集装箱300转运至暂存工位107之前，可以将设置在检查工位106上的导向机构降落，以使第一个集装箱300能够平移至暂存工位107。导向机构设置为可升降结构，可以随着集装箱的下落和转运升起或降落，既可以起到导向定位作用，又不会影响转运。
可选地，导向机构包括多个导向筒103，导向筒103沿检查平台102上的检查工位106的边沿布置，这样可以通过导向筒103对集装箱300进行导向和定位。导向筒103的顶部呈锥形，可以更好地引导集装箱300快速准确地落下。检查平台102上的暂存工位107上也可以设置导向筒103，以对集装箱300进行限位。
另外，在完成对第一个集装箱300的扫描检查后，检查装置200可以返回至原位，以使检查装置200在对第二个集装箱300进行扫描检查时的运动方向与对第一个集装箱300进行扫描检查时的运动方向相同；或者，
在完成对第一个集装箱300的扫描检查后，检查装置200也可以保持不动，以使检查装置200在对第二个集装箱300进行扫描检查时的运动方向与对第一个集装箱300进行扫描检查时的运动方向相反。
下面结合附图1～6对本公开集装箱检查***、港口设施及集装箱检查方法的一个实施例的工作过程进行说明：
如图1～3所示，在判断岸桥100上的检查平台102所预设的检查工位106处于空闲状态时，岸桥100上的起重部件101将轮船上的第一个集装箱300吊装到检查工位106上，检查工位106上所设置的传感器检测到第一个集装箱300落位并稳定后，起重部件101卸载并脱离第一个集装箱300，然后返回轮船去吊取第二个集装箱300；检查装置200在接收到第一个集装箱300落位于检查工位106的信号后，检查装置200开始扫描作业，检查装置200相对于第一个集装箱300运动；扫描作业完成后，如图4～6所示，转运装置104将第一个集装箱300转运至暂存工位107，此时，检查工位106处于空闲状态；
在检查装置200的作业过程中，岸桥100中的起重部件101从轮船上将第二个集装箱300起吊并转运至检查工位106，由于在检查工位106上的原有的第一个集装箱300已完成扫描检查并被转运至暂存工位107，因此检查工位106处于空闲状态，起重部件101可以将第二个集装箱300落位至检查工位106；然后检查装置200在接收到第二个集装箱300落位于检查工位106的信号后，检查装置200开始对第二个集装箱300进行扫描检查；同时，在第二个集装箱300落位后，起重部件101脱离第二个集装箱300，将原来的第一个集装箱300(此时位于暂存工位107上)吊运至AGV小车上，通过AGV小车直接将第一个集装箱300运送到集装箱的储存库或者运载车上；在起重部件101将第一个集装箱300运送到集装箱的储存库或者运载车上之后，起重部件101就可以继续去吊取第三个集装箱300，并在第二个集装箱300完成扫描检查并转运至暂存工位107后，将第三个集装箱300吊运至检查工位106上，如此往复，即可完成对多个集装箱的连续扫描检查。
在该实施例中，最少通过一个起重部件就可以高效地完成对多个集装箱的连续扫描检查，可以适用于有一个或一个以上起重部件的岸桥，适用范围较广。当然，在其他实施例中，也可以用两个及以上起重部件来完成对多个集装箱的扫描检查。
通过对本公开集装箱检查***、港口设施及集装箱检查方法的多个实施例的说明，可以看到本公开集装箱检查***、港口设施及集装箱检查方法实施例至少具有以下一种或多种优点：
1、检查装置设置在岸桥上，在集装箱装载或卸载的过程中完成扫描检查，可以避免场内检测，简化流程，减少装卸和扫描时间，缩短集装箱在港口的流转总时间，提高流转效率；
2、检查装置设置在岸桥上，还可以节省占地面积，不需要在岸桥之外的区域设置专门的检查位置，使港口整体布局更加合理；
3、在集装箱进入场站之前完成检测，有效避免危险违禁品进入场站，提高安全性；
4、通过设置传感器，对集装箱是否到位进行检查，有效提高检测的准确性，为检查装置的开闭提供参考；
5、检查平台上的检查工位更靠近集装箱的起始储存位置，暂存工位更靠近集装箱的目标位置，这样可以有效缩短转运路径，同时避免处于不同工位的集装箱之间的干涉；
6、最少可以通过一个起重部件来完成对多个集装箱的连续扫描检查，适用性强。
以上所述仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (15)

  1. 一种集装箱检查***，包括：
    岸桥(100)，包括：
    检查平台(102)；和
    起重部件(101)，用于将集装箱(300)吊运至所述检查平台(102)上；
    传感器，设置在所述检查平台(102)上，用于检测所述集装箱(300)是否到达所述检查平台(102)；和
    检查装置(200)，设置在所述检查平台(102)上，用于对到达所述检查平台(102)的所述集装箱(300)进行扫描检查。
  2. 根据权利要求1所述的集装箱检查***，其中，所述检查平台(102)上设有检查工位(106)和暂存工位(107)，所述检查工位(106)用于接收所述起重部件(101)吊运的所述集装箱(300)，所述检查装置(200)被配置为对到达所述检查工位(106)的所述集装箱(300)进行扫描检查，所述暂存工位(107)用于对完成扫描检查的所述集装箱(300)进行暂存。
  3. 根据权利要求2所述的集装箱检查***，其中，所述检查装置(200)包括：
    安装基体(201)，设置在所述检查平台(102)上；
    L型臂(202)，一端安装在所述安装基体(201)上，另一端悬空，与所述安装基体(201)形成下方开口的框架；
    射线源(203)，安装在所述安装基体(201)上；和
    探测器，安装在所述L型臂(202)上。
  4. 根据权利要求3所述的集装箱检查***，其中，所述安装基体(201)设置在所述检查工位(106)的远离所述暂存工位(107)的一侧，所述L型臂(202)的竖直部分设置在所述检查工位(106)的靠近所述暂存工位(107)的一侧。
  5. 一种港口设施，包括如权利要求1～4任一项所述的集装箱检查***。
  6. 一种集装箱检查方法，包括：
    通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)；
    检测第一个所述集装箱(300)是否到达所述检查平台(102)；
    在检测第一个所述集装箱(300)到达所述检查平台(102)后，驱动设置在所述检查平台(102)上的检查装置(200)相对于第一个所述集装箱(300)运动，以对到达所述检查平台(102)的第一个所述集装箱(300)进行扫描检查。
  7. 根据权利要求6所述的集装箱检查方法，其中，在通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)之前，所述集装箱检查方法还包括：
    检测所述检查平台(102)是否处于空闲状态；
    若是，将第一个所述集装箱(300)放置在所述检查平台(102)上；
    若否，则等待，直到判断所述检查平台(102)处于空闲状态为止。
  8. 根据权利要求6所述的集装箱检查方法，其中，在通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)之后，所述集装箱检查方法还包括：
    将所述起重部件(101)脱离第一个所述集装箱(300)，并在所述检查装置(200)对第一个所述集装箱(300)进行扫描检查的过程中，通过所述起重部件(101)去吊运第二个集装箱(300)。
  9. 根据权利要求6所述的集装箱检查方法，其中，所述检查平台(102)上设有检查工位(106)和暂存工位(107)，
    所述通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)包括：通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)上的检查工位(106)；
    所述检测第一个所述集装箱(300)是否到达所述检查平台(102)包括：检测第一个所述集装箱(300)是否到达所述检查工位(106)；
    所述在检测第一个所述集装箱(300)到达所述检查平台(102)后，驱动设置在所述检查平台(102)上的检查装置(200)相对于第一个所述集装箱(300)运动，以对到达所述检查平台(102)的第一个所述集装箱(300)进行扫描检查包括：在检测第一个所述集装箱(300)到达所述检查工位(106)后，驱动设置在所述检查平台(102)上的检查装置(200)相对于第一个所述集装箱(300)运动，以对到达所述检查工位(106)的第一个所述集装箱(300)进行扫描检查；
    所述集装箱检查方法还包括：
    在完成对第一个所述集装箱(300)的扫描检查后，将第一个所述集装箱(300)从所述检查工位(106)转运至所述暂存工位(107)。
  10. 根据权利要求9所述的集装箱检查方法，其中，在将第一个所述集装箱(300)从所述检查工位(106)转运至所述暂存工位(107)后，所述集装箱检查方法还包括：
    通过所述起重部件(101)将在所述检查装置(200)对第一个所述集装箱(300)进行扫描检查的过程中所吊运的第二个集装箱(300)放置在所述检查工位(106)；
    检测第二个所述集装箱(300)是否到达所述检查工位(106)；
    在检测到第二个所述集装箱(300)到达所述检查工位(106)后，驱动所述检查装置(200)相对于第二个所述集装箱(300)运动，以对到达所述检查工位(106)的第二个所述集装箱(300)进行扫描检查。
  11. 根据权利要求10所述的集装箱检查方法，其中，在通过所述起重部件(101)将在所述检查装置(200)对第一个所述集装箱(300)进行扫描检查的过程中所吊运的第二个集装箱(300)放置在所述检查工位(106)之后，所述集装箱检查方法还包括：
    将所述起重部件(101)脱离第二个所述集装箱(300)，并在对第二个所述集装箱(300)进行扫描检查的过程中，通过所述起重部件(101)将位于所述暂存工位(107)的第一个所述集装箱(300)吊运至集装箱运输设备上。
  12. 根据权利要求11所述的集装箱检查方法，其中，在将位于所述暂存工位(107)的第一个所述集装箱(300)吊运至所述集装箱运输设备上后，所述集装箱检查方法还包括：
    通过所述起重部件(101)吊取第三个集装箱(300)，并在第二个所述集装箱(300)完成扫描检查并转移至所述暂存工位(107)后，将第三个所述集装箱(300)放置在所述检查工位(106)上。
  13. 根据权利要求6所述的集装箱检查方法，其中，在通过岸桥(100)上的起重部件(101)将第一个集装箱(300)吊运至在所述岸桥(100)上所设置的检查平台(102)之前，所述集装箱检查方法还包括：
    将设置在所述检查平台(102)上的导向机构升起，以在将第一个所述集装箱(300)放置在所述检查平台(102)的过程中，通过所述导向机构对第一个所述集装箱(300)的下落进行导向。
  14. 根据权利要求9所述的集装箱检查方法，其中，在将第一个所述集装箱(300)从所述检查工位(106)转运至所述暂存工位(107)之前，所述集装箱检查方法还包括：
    将设置在所述检查工位(106)上的导向机构降落，以使第一个所述集装箱(300)能够平移至所述暂存工位(107)。
  15. 根据权利要求10所述的集装箱检查方法，其中，所述检查装置(200)在对第二个所述集装箱(300)进行扫描检查时的运动方向与对第一个所述集装箱(300)进行扫描检查时的运动方向相同或者相反。
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