WO2021230575A1 - 컨테이너 검사방법 - Google Patents
컨테이너 검사방법 Download PDFInfo
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- WO2021230575A1 WO2021230575A1 PCT/KR2021/005728 KR2021005728W WO2021230575A1 WO 2021230575 A1 WO2021230575 A1 WO 2021230575A1 KR 2021005728 W KR2021005728 W KR 2021005728W WO 2021230575 A1 WO2021230575 A1 WO 2021230575A1
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- Prior art keywords
- container
- agv
- time
- vehicle
- accompanying
- Prior art date
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000002360 preparation method Methods 0.000 claims description 8
- 230000032258 transport Effects 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 6
- 230000005855 radiation Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000191 radiation effect Effects 0.000 description 2
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000010970 precious metal Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/06—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and measuring the absorption
- G01N23/083—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and measuring the absorption the radiation being X-rays
-
- 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
Definitions
- the present invention relates to a container inspection system.
- containers are widely used to transport cargo. Such containers are transported to their destinations through transport devices such as vehicles and ships.
- the present invention relates to a container inspection system capable of inspecting containers more quickly and safely by reducing radiation effects on workers or drivers while continuously inspecting a plurality of containers.
- a container inspection method includes the steps of providing a plurality of AGVs circulating with respective operation schedules so as to transport a container vehicle that enters continuously, the preceding AGVs according to the input prior operation schedule
- the steps of transferring the container vehicle, setting the operating time of the accompanying AGV according to the operating time of the preceding operating schedule and the position of the preceding AGV, and the operating time of the accompanying operating schedule and the following AGV according to the accompanying operating schedule It may include the step of estimating the operating time of the.
- the operation schedule includes the steps of moving the AGV to the container vehicle entry position, setting a first waiting time to wait for a time for the container vehicle to enter and the driver to get off, a loading step for loading the container vehicle, and loading A second waiting step for transferring the container vehicle to pass through the container inspection device, unloading the container vehicle passing through the container inspection device, and waiting for a time for the driver to board the unloaded container vehicle It may include setting a time.
- the scanning step may further include the step of closing the door of the container inspection device.
- the scanning step it may further include the step of opening the door of the container inspection device.
- the operating time of the accompanying AGV is determined by dividing the number of a plurality of AGVs scheduled to be operated during the preceding AGV operation time to set a reference time, and setting a preparation time by assigning a disembarkation weight to the first waiting time of the preceding AGV; It may include adding the preparation time to the reference time point.
- Container inspection system while continuously inspecting a plurality of containers, it is possible to inspect the containers more quickly and safely by reducing the radiation effect on the operator or driver.
- FIG. 1 is a schematic diagram of a container inspection apparatus system according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the container inspection apparatus shown in FIG. 1 .
- FIG. 3 is a flowchart illustrating a container inspection method of the container inspection system shown in FIG. 1 .
- FIG. 4 is a flowchart illustrating an operation schedule of the container inspection method shown in FIG. 3 .
- FIG. 1 is a schematic diagram of a container inspection apparatus system according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of the container inspection apparatus shown in FIG. 1 .
- the container inspection system 100 may include an AGV 10 , a container inspection device 20 , and a monitoring system 30 .
- the container inspection apparatus 20 may include an electron accelerator 21 , a collimator 23 , and a detector 25 capable of generating radiation.
- the radiation generated by the electron accelerator 21 may be X-rays and may have a wavelength of 200 Hz. These X-rays may be transformed into parallel rays while passing through the collimator 23 to be irradiated to the container C.
- the detector 25 is spaced apart from the electron accelerator 21 and the collimator 23 and can sequentially recognize the X-rays irradiated to the container C.
- the inside of the container (C) is divided into continuous and uniform areas. Each area may be transmitted to the monitoring system 30 and reprocessed into one image.
- X-rays of several wavelengths may be irradiated to distinguish the articles accommodated inside the container (C).
- the electron accelerator 21, the collimator 23, and the detector 25 may be arranged vertically or horizontally, and may be arranged together vertically and horizontally. Through this, it is possible to more accurately grasp the goods inside the container (C).
- the monitoring system 30 may receive a plurality of areas irradiated with X-rays transmitted from the detector 25 and reprocess them into a container (C) image. For example, through X-ray irradiation, an image of an article loaded inside the container C may be acquired, and whether it is legal or not may be determined.
- the AGV 10 may move the container vehicle to the container inspection device 20 unmanned. Through this, it is possible to inspect the container without the driver's boarding, and to block the effect of radiation that can be fatal to the operator or the driver.
- the AGV 10 may be operated in a plurality of cycles. For example, the operating time and operating schedule of the accompanying AGV may be set in consideration of the movement of the preceding AGV. The time to get off and boarding of the driver and the time to determine whether the goods loaded in the container are legal may differ from container to container. Accordingly, the operation of the preceding AGV may affect the operation of the subsequent AGV.
- the operation time of the companion AGV is set in consideration of the operation time of the leading AGV and the location of the preceding AGV, and the operation time of the trailing AGV is estimated according to the operation time of the companion AGV and the operation schedule of the companion AGV, thereby enabling more efficient and rapid operation.
- the container C can be continuously inspected.
- FIG. 3 is a flowchart illustrating a container inspection method of the container inspection system illustrated in FIG. 1
- FIG. 4 is a flowchart illustrating an operation schedule of the container inspection method illustrated in FIG. 3 .
- the step of providing a plurality of AGVs circulating with respective operation schedules ( S100 ) and the preceding AGVs are performed according to the input prior operation schedule so as to transport container vehicles entering continuously. It may include a step (S200) of transporting the container vehicle.
- respective operation schedules may be input. Through this, it is possible to more rapidly and efficiently transport container vehicles that enter continuously.
- the preceding AGV may be operated according to the preceding AGV operation schedule to transport the container vehicle.
- the preceding AGV means the AGV that first transports the container vehicle. That is, the operation schedule of the preceding AGV can be a standard for the subsequent AGV, and can be operated without worrying about the collision of the container vehicle.
- the operation time of the accompanying AGV may be set ( S300 ).
- the companion AGV means an AGV operated following the preceding AGV.
- the companion AGV may be operated according to the companion operation schedule in the middle of the operation of the preceding AGV.
- the operating time of the accompanying AGV may be determined depending on the operating time of the preceding AGV and the location of the preceding AGV. For example, when the driver's disembarkation or boarding is later than the normal time or when the inspection time according to the scan is delayed, the operating time of the accompanying AGV may be determined in consideration of this.
- the operation time and operation schedule of the accompanying AGV determined in this way may affect the operation time and operation schedule of the succeeding AGV.
- the operation schedule includes the steps of moving the AGV to the container vehicle entry position (S1000), setting a first waiting time to wait for the container vehicle entry and the driver getting off (S2000), and loading the container vehicle (S1000). S3000) may be included.
- the AGV moves to the container vehicle entry position before entering the container vehicle. That is, the time can be reduced by loading the container vehicle immediately after the container vehicle enters and the driver gets off. In this case, since the driver getting off time may be different for each driver of each container vehicle, the waiting time may vary each time. Accordingly, the AGV may recognize the driver getting off. For example, the AGV may recognize a change in the weight of the boarding part of the container vehicle. Through this, it is possible to determine whether the driver gets off the boarding unit. As another example, the AGV may determine whether the driver is on the boarding unit through the vision inspection device. Accordingly, after the driver gets off, the AGV loads the container vehicle to prevent a driver's safety accident.
- the container inspection device continuously irradiates X-rays on the boarding part of the container vehicle and the container. Through this, it is possible to determine whether the article loaded in the boarding unit or the container is legal through the monitoring system.
- the scanning stage in which radiation is generated is fatal to the operator or driver, so it is done unattended. At this time, it is very important to secure a reliable image in order to make a good judgment on whether it is legal or not. Therefore, the transport speed of the container vehicle must be constant. Therefore, it is possible to set the operating time of the accompanying AGV in consideration of the operating time and location of the preceding AGV, and secure enough time for the scanning step of the preceding AGV to secure a stable image while enabling continuous container inspection.
- It may include unloading the container vehicle that has passed through the container inspection device (S5000) and setting a second waiting time for waiting for the driver to board the unloaded container vehicle (S6000).
- the driver may wait for the time to board the container vehicle. For example, the driver can get into the vehicle in a position not affected by X-rays.
- the container vehicle that has been inspected must be moved quickly for subsequent inspection of the container vehicle.
- the driver's boarding time may vary depending on the condition of the container article or whether it is legal. Accordingly, the following operating time of the AGV may be changed according to the second waiting time, which is the driver's boarding time. For example, in consideration of the second waiting time of the preceding AGV, the entry point of the scan phase of the accompanying AGV may be reset.
- the operating time of the accompanying AGV includes the steps of dividing the number of a plurality of AGVs scheduled to be operated during the preceding AGV operation time to set the reference time, setting the preparation time by assigning a drop-off weight to the first waiting time of the preceding AGV, and the reference time It may include the step of summing the preparation time to.
- the reference point can be set according to the number of AGVs planned for operation. That is, the operating time of the leading AGV can be the standard for the accompanying AGV and the trailing AGV.
- the preceding AGV is operated according to the operation schedule without affecting the preceding container vehicle, and a reference point may be set in consideration of the number of AGVs scheduled to be operated on that day. That is, when four AGVs are scheduled to be operated, the operating time of the preceding AGV may be divided by 4 to set a reference time point. More specifically, in general, a plurality of containers may be introduced through a container ship.
- the type of cargo loaded in the container may be differentiated to some extent according to the type of container ship, the departure region of the container ship, or the owner of the container. Accordingly, the type of cargo inside the container inspected by the preceding AGV may be similar to the type of cargo inside the container inspected by the accompanying AGV or the trailing AGV. Accordingly, the reference time set by the operating time of the preceding AGV may be a criterion for selecting the operating time of the accompanying AGV or the following AGV. In this way, it is possible to schedule inspectionable container vehicles per hour or per day.
- a drop off weight is given to the first waiting time to set the preparation time.
- the driver's get-off time cannot be constant, and as described above, a group of drivers may be set according to the type of cargo loaded in the container or the owner, etc. can be given
- the alighting information may include a cargo type, a weight weight, and an alighting weight as shown in Table 1. More specifically, the weight weight may set a score from 1 to 10 according to the weight of the cargo loaded inside the container. A lighter weight can give a score closer to 1, and a heavier cargo can give a score closer to 10.
- the drop-off weight can be assigned a weight ranging from 0.7 to 1.5 according to the criteria of a specific company. The closer the drop-off weight is to 0.7, the less time it takes to get off, and the closer it is set to 1.5, the more time it takes to get off. Through this, it can be set as a standard for measuring the container inspection cost.
- the operating time of the companion AGV is determined by adding the preparation time to the base time. That is, the companion AGV moves to the location where the container vehicle enters at the time of operation, and the companion operation schedule starts.
- the method may further include, before the loading step of the accompanying AGV, determining whether the preceding AGV enters the container inspection device. Due to the characteristics of a container inspection device in which a container vehicle is transported unmanned and a radiation device is operated, prevention of collision accidents and safety accidents is very important. Accordingly, before the loading step of the accompanying AGV, where the operation schedule is started at the time of operation, the position of the preceding AGV is checked once more to proceed with the operation schedule.
- a boarding weight is given to the second waiting time of the preceding AGV to enter the container inspection device.
- the method may further include setting a time point. As described above, the driver's boarding may be set in consideration of whether the container cargo is legal or not. At this time, since the second waiting time may be changed according to the type of cargo loaded in the container or the tendency of the driver group, a boarding weight may be given to the second waiting time to set the entry point of the container inspection device of the accompanying AGV.
- the boarding weight is set in the range of 0.7 to 1.5, which can be set in consideration of the type of cargo loaded in the container and the tendency of the driver group. According to such a ride weight, the total operating time of the preceding AGV may be set, and the reference point of the day may be changed. Specifically, in the case of cigarettes, expensive precious metals, or drugs, which are sensitive to contraband, it is difficult to determine the legality compared to other types of cargo, and accordingly, the legality determination time may be longer. In this case, by setting the boarding weight to 1.5, it is possible to claim the inspection cost for the inspection time required. In addition, the inspection reference time for the same type of container may be set. Through this, it is possible to prevent the subsequent AGV from colliding with a waiting container vehicle as it enters the scanning phase and does not complete the inspection.
- the scanning step when the transport speed of the container vehicle is slowed, a relatively large amount of X-rays may be irradiated to the container. That is, if the speed is slow, the distance traveled at the same time is short, so that the irradiated X-rays may overlap. In this case, the irradiation speed of X-rays can be adjusted in conjunction with the transfer speed of the AGV. Accordingly, it is possible to secure a more reliable image in the monitoring system.
- AGV 20 container inspection device
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- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Toxicology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- Analysing Materials By The Use Of Radiation (AREA)
Abstract
Description
구분 | 화물 종류 | 무게 가중치 | 하차 가중치 |
A업체 | 금속 | 9 | 1.0 |
B업체 | 액체 | 7 | 1.0 |
C업체 | 유리 | 5 | 1.3 |
D업체 | 섬유 | 3 | 0.7 |
Claims (4)
- 연속적으로 진입하는 컨테이너 차량을 이송할 수 있도록 각각의 운용스케쥴을 갖고 순환하는 복수개의 AGV를 마련하는 단계;선행AGV는 입력된 선행AGV 운용스케쥴에 따라 상기 컨테이너 차량을 이송하는 단계;상기 선행운용스케쥴의 운용시간 및 상기 선행AGV의 위치에 따라, 동행 AGV의 운용시점을 설정하는 단계; 및상기 동행운용스케쥴의 운용시간 및 상기 동행운용스케쥴에 따라 후행 AGV의 운용시점을 추정하는 단계를 포함하고,상기 운용스케쥴은,AGV가 상기 컨테이너 차량 진입 위치로 이동하는 단계;상기 컨테이너 차량이 진입하고 운전자가 하차하는 시간을 대기하는 제1 대기시간을 설정하는 단계;상기 컨테이너 차량을 로딩하는 로딩단계;로딩된 상기 컨테이너 차량을 이송하여 컨테이너 검사장치를 관통하는 스캔단계;상기 컨테이너 검사장치를 관통한 상기 컨테이너 차량을 언로딩하는 단계; 및언로딩된 상기 컨테이너 차량에 운전자가 탑승하는 시간을 대기하는 제2 대기시간을 설정하는 단계를 포함하는 컨테이너 검사방법.
- 제1 항에 있어서,상기 스캔단계 전에,상기 컨테이너 검사장치의 도어를 닫는 단계를 더 포함하는 컨테이너 검사방법.
- 제2 항에 있어서,상기 스캔단계 후에,상기 컨테이너 검사장치의 도어를 여는 단계를 더 포함하는 컨테이너 검사방법.
- 제1 항에 있어서,상기 동행AGV 운용시점은,상기 선행AGV 운용시간에 운용예정인 복수개의 AGV의 수를 나누어 기준시점을 설정하는 단계;상기 선행AGV의 제1 대기시간에 따라 하차가중치를 부여하여 준비시점을 설정하는 단계; 및상기 기준시점에 상기 준비시점을 합산하는 단계를 포함하는 컨테이너 검사방법.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020200057356A KR102433972B1 (ko) | 2020-05-13 | 2020-05-13 | 컨테이너 검사방법 |
KR10-2020-0057356 | 2020-05-13 | ||
KR10-2021-0057472 | 2021-05-03 | ||
KR1020210057472A KR20220150128A (ko) | 2021-05-03 | 2021-05-03 | 컨테이너 검사방법 |
Publications (1)
Publication Number | Publication Date |
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WO2021230575A1 true WO2021230575A1 (ko) | 2021-11-18 |
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PCT/KR2021/005728 WO2021230575A1 (ko) | 2020-05-13 | 2021-05-07 | 컨테이너 검사방법 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114414598A (zh) * | 2022-03-09 | 2022-04-29 | 河南省科学院同位素研究所有限责任公司 | 高空封闭空间内钢结构锈蚀定位非接触评价方法 |
Citations (5)
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US20080025825A1 (en) * | 2004-03-12 | 2008-01-31 | Mitsui Engineering & Shipbuilding Co., Ltd. | Container Inspection/Cargo-Handling Method and Container Inspection/Cargo-Handling System |
KR20080100725A (ko) * | 2007-05-14 | 2008-11-19 | 포스데이타 주식회사 | 차량 화물 검색 시스템 및 이의 제어 방법 |
KR101352009B1 (ko) * | 2013-01-18 | 2014-01-16 | 삼익티에이치케이 주식회사 | 화물검사센터용 컨테이너 차량 이송장치 |
KR101767385B1 (ko) * | 2017-02-28 | 2017-08-11 | 한국해양과학기술원 | 순환식 이송구조를 갖는 컨테이너 검색 시스템 |
KR102090158B1 (ko) * | 2019-09-10 | 2020-03-17 | 주식회사 유케이로보틱스 | 차량 이송장치 및 이를 이용한 검색시스템 |
-
2021
- 2021-05-07 WO PCT/KR2021/005728 patent/WO2021230575A1/ko active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080025825A1 (en) * | 2004-03-12 | 2008-01-31 | Mitsui Engineering & Shipbuilding Co., Ltd. | Container Inspection/Cargo-Handling Method and Container Inspection/Cargo-Handling System |
KR20080100725A (ko) * | 2007-05-14 | 2008-11-19 | 포스데이타 주식회사 | 차량 화물 검색 시스템 및 이의 제어 방법 |
KR101352009B1 (ko) * | 2013-01-18 | 2014-01-16 | 삼익티에이치케이 주식회사 | 화물검사센터용 컨테이너 차량 이송장치 |
KR101767385B1 (ko) * | 2017-02-28 | 2017-08-11 | 한국해양과학기술원 | 순환식 이송구조를 갖는 컨테이너 검색 시스템 |
KR102090158B1 (ko) * | 2019-09-10 | 2020-03-17 | 주식회사 유케이로보틱스 | 차량 이송장치 및 이를 이용한 검색시스템 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114414598A (zh) * | 2022-03-09 | 2022-04-29 | 河南省科学院同位素研究所有限责任公司 | 高空封闭空间内钢结构锈蚀定位非接触评价方法 |
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