JP2006220543A - Container damage detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a container damage detector for stably detecting with high accuracy whether and where pin holes are formed in a container due to damage without being affected by the physical condition or level of skill of a worker while eliminating the necessity for the worker to get in the container. <P>SOLUTION: Photographing is performed by a photographing device 5 while causing a self-propelled carriage 1 for detection capable of going and returning to travel from the side of a door body 10a of the container 10 toward the innermost part, with the photographing device 5 capable of photographing substantially in a 180 degree range including inner wall surfaces on both the sides of the container 10 and a ceiling surface. If a pin hole is formed in the container 10 owing to its damage, outside light comes therein and the light is caught by the photographing device 5. The then position of the pin hole is found from the traveling position of the carriage 1 for detection to roughly find the size of the pin hole from the trail of a light image. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container damage detection apparatus that detects damage when a container is damaged, and particularly detects a pinhole formed in a ceiling or a side wall of the container after being damaged.

  A container accommodates various loads, and is particularly suitable for being loaded on a container ship and transported. The loading and unloading work for loading and unloading the container is performed by a container crane, and the container may be damaged by colliding with the crane or other containers during the loading operation. In addition, even during loading and unloading operations inside a container in a warehouse, the container or the cargo handling machine may collide with the container and the container may be damaged. Container damage ranges from mild enough to cause dents and scratches to severe damage that can cause pinholes such as cracks and through holes. Or rust may generate | occur | produce from the dent and the part of a crack | wound, and a pinhole may be formed from corrosion.

  On the other hand, a loaded container may be loaded on the deck of a container ship, and is exposed to seawater and wind and rain during the voyage. If a pinhole is formed in the container, there is a risk of flooding inside the container, and if it is flooded, the contained load may be damaged, so the container with the pinhole is transported I can't. For this reason, it is necessary to inspect for the presence or absence of pinholes in the ceiling or side wall of the container.

  This container damage inspection is generally performed visually at the gate of the container terminal. For example, when an empty container is carried in, it is temporarily stopped at the gate, the worker enters the container and closes the door, looks over the ceiling and side walls and confirms whether external light enters the interior. ing. However, it takes time for inspection because workers must enter each container, and since it is visually, it is easily affected by the physical condition and skill level of workers, and it is necessary to open and close the door from the outside. Since it requires two workers, it takes manpower. Further, since the inside of the container becomes hot in summer, the work may be difficult, and the accuracy may be lowered even when the work is performed.

  In view of the complexity and accuracy of such visual inspection and the difficulty of work, the electromagnetic wave transmission mechanism arranged inside the container and the container can be built and shielded from the outside. An electromagnetic shield chamber that can be formed, an electromagnetic wave receiving mechanism laid along the inner surface of the electromagnetic shield chamber, an arithmetic mechanism that calculates the damage position and range of the container based on the signal from the electromagnetic wave receiving mechanism, and a signal from the arithmetic mechanism Based on this, a container flaw detector (see Patent Document 1) having a display mechanism for two-dimensionally displaying the damage position and range, a pulse light source that emits short pulse light, and transmitting the pulse light to make the surface to be inspected stronger than the periphery A photoelectric transmitter that illuminates with illuminance, a CCD camera that captures the surface to be inspected in synchronization with the pulsed light source, and the illuminance of the dark part in the captured image with a predetermined threshold A damage detection device (see Patent Document 2) having a damage detection device that generates a damage detection signal when the comparison is lower than this, and an image of the upper surface of the container is displayed many times in a line crossing the container above each lane of the gate. A camera unit including a high-resolution digital line camera that shoots in continuous shooting and a moving drive device that drives the camera unit to move at a constant low speed in the length direction of the container are provided to stop the container. A container damage check system that takes a picture while moving the camera unit in the state, outputs the color digital image signal to a computer in the damage checker booth, stores it, displays the image on the display, and visually checks the damage (See Patent Document 3).

JP-A-5-188039 JP 2001-194318 A JP2002-177009A

  However, the container flaw detection device disclosed in Patent Document 1 requires a shield chamber containing the container, and the damage detection device disclosed in Patent Document 2 includes a pulse light source, a pulse light transmission device, a damage detection device, and the like. Since various inspection-related devices are required, the devices disclosed in any of the patent documents have complicated device configurations or become large-scale devices. In the container damage check system disclosed in Patent Document 3, since the container is inspected on the outer surface, a large crack or the like is easy to detect, but there is a possibility that a small pinhole or the like cannot be detected. In addition, the detection is performed while the digital line camera and the container are moved relative to each other, and the container must be positioned at a predetermined position where the camera is installed, so that the preparation work for detection becomes complicated and large-scale. Will require a lot of equipment.

  Therefore, the present invention eliminates the need for an operator to enter the container, makes the detection accuracy high and stable without visual inspection, and does not select the installation location of the container for detection. The object is to provide a detection device.

  As a technical means for achieving the above object, a container damage detection apparatus according to the present invention is a container damage detection apparatus that detects cracks and through holes formed in a container by external light incident on the container. A detection cart that reciprocates on the floor of the container in the depth direction of the container, and a direction that is mounted on the detection cart and that is oriented in an arc about the travel direction of the detection cart, A light capturing means for capturing light with a direction of about 180 degrees including the ceiling surface and both side surfaces as the capturing direction, and a position detecting means for determining the incident position of the light from the captured light. In the closed state, the light capturing unit captures light while moving the detection carriage, and the position detecting unit obtains the incident position of the light.

  The detection carriage may be either self-propelled or remotely operated. When the container is opened and a detection cart is placed at the open end and the container door is closed, the inside of the container becomes dark, and the light capture means captures light while moving the detection cart. This means that a pinhole is formed in the container. The position of the pinhole can be detected by determining the position of the detection carriage, the incident angle of light, and the like from the travel distance of the detection carriage. Since the detection range of the light capturing means is 180 degrees, the position of the pinhole can be detected regardless of whether a pinhole is formed on the ceiling surface or the left and right wall surfaces of the container. In addition, if the detection cart reaches the innermost part of the container, it is not necessary for an operator to enter the container in order to collect the detection cart if it is retracted and returned to the door. preferable.

  In the container damage detection apparatus according to the second aspect of the present invention, the light capturing means is a photographing means, and the position detecting means obtains an incident position of light from an image captured by the photographing means. It is a feature.

  When the photographing means is used as the light capturing means, and the photographing is performed while the detection cart is running using, for example, a video camera, the locus of the light incident from the pinhole is photographed. In the still camera, when the shutter is opened and shooting is performed along with the traveling of the detection carriage, the light trajectory is captured. That is, even if the pinhole is very small, it is possible to more reliably recognize the pinhole by capturing the locus of light. Then, the incident position of the light is obtained from the position of the detection carriage with respect to the position where the light capture is started from the photographed image, and the size of the pinhole can be recognized from the width of the trajectory or the like. The processing of these images is performed by the position detection means.

  According to a third aspect of the present invention, there is provided the container damage detection apparatus, wherein the position detection means is mounted on the detection carriage, and the display means for displaying the incident position of the light obtained by the position detection means is detected. It is characterized by being mounted on a trolley.

  The incident position of light and its trajectory are displayed on a display device such as a liquid crystal display device. For example, an image representing the inner surface of a container in a developed view is displayed in advance, and the photographed image is superimposed on the developed view. Thus, the position of the pinhole can be easily grasped. In this case, after the detection carriage finishes reciprocating, the detection carriage is collected, and the position and size of the pinhole are grasped from the image displayed on the display device.

  Further, in the container damage detection apparatus according to the invention of claim 4, the position detection means is provided in a detection chamber provided in the vicinity of the container where damage should be detected, and the detection data signal captured by the light capturing means. Is provided in the detection carriage, receiving means for receiving the detection data signal from the transmitting means is provided in the detection chamber, and the detection data signal received by the receiving means is transmitted to the position detecting means. It is characterized by that.

  The detection data of the light capturing means mounted on the detection carriage is transferred outside the container, and the detection data is processed outside the container. When processing the detection data obtained by the position detection means on the detection carriage, the detection data cannot be obtained until the detection carriage completes the reciprocating travel inside the container, but the detection data can be obtained by processing outside the container. The detection data can be obtained in real time even when the carriage is running.

  The container damage detection apparatus according to the invention of claim 5 is characterized in that an endless circulating moving body is used as the moving member of the detection carriage.

  Although the detection carriage may be moved by wheels, it is moved by an endless circulating moving body that is stretched around the belt carriage. Thereby, even when the floor surface is uneven, it is possible to travel in a state where the horizontal posture is maintained.

  According to the container damage detection apparatus of the present invention, since the detection cart that travels inside the container is provided and the light incident on the container is captured by the light capturing means mounted on the detection cart, The presence or absence of a pinhole and its position can be confirmed without entering the container. Moreover, the detection work can be performed by one worker, and the damage of the container can be detected stably and with high accuracy without being affected by the physical condition or skill level of the worker.

  According to the container damage detection apparatus of the second aspect of the present invention, since the light is captured by the photographing means, a minute pinhole can be detected, and the position of the pinhole is determined from the start point of the trajectory. The size of the pinhole can be grasped from the width.

  According to the container damage detection apparatus of the third aspect of the present invention, since the position of the pinhole is displayed on the display device, the worker on site can easily grasp the position of the pinhole.

  According to the container damage detection apparatus of the fourth aspect of the present invention, the pinhole position and the like can be grasped outside the container, so that the detection time is shortened.

  In addition, according to the damage detection apparatus for a container according to the invention of claim 5, the detection cart can be reliably driven even when the bottom surface of the container is uneven, and the detection of the pinhole can be reliably performed. Can do.

  Hereinafter, based on a preferred embodiment shown in the drawings, a container damage detection apparatus according to the present invention will be described in detail.

  FIG. 2 is a perspective view showing a schematic structure of a detection carriage 1 which is a main part of the damage detection apparatus for containers according to the present invention. The detection carriage 1 is equipped with position detection means and a drive unit (not shown). By the operation of the drive unit, one axle 2a of the pair of axles 2a and 2b rotatably supported on the detection carriage 1 is rotated. A belt wheel 3 is provided on each of the axles 2a and 2b, and a belt 4 as an endless circulating moving body is stretched around the front and rear belt wheels 3. The belt 4 may be made of steel, rubber, or the like that stabilizes the traveling of the detection carriage 1 as will be described later. Further, the detection carriage 1 can advance and retreat according to the moving direction of the belt 4. Furthermore, when detecting that an obstacle such as a wall exists in the traveling direction, the detection cart 1 is provided with direction changing means (not shown) so as to travel in the opposite direction. Yes. This direction changing means detects, for example, that the front end of the traveling direction is in contact with the wall during the traveling of the detection carriage 1 and thereby changes the direction, and a front obstacle. It may be an electronic type using a sensor for detecting the presence or absence.

  In the central part of the detection carriage 1, a photographing device 5 is mounted as light photographing means and photographing means. The photographing device 5 is a video camera, and is used with a slow shutter speed. The photographing direction is a direction directed to an arc with the advancing / retreating direction of the detection carriage 1 as an axis, and from the traveling surface of the detection carriage 1. A range of about 180 degrees can be taken on the upper side. As long as an imaging range of 180 degrees is ensured, a wide-angle lens may be used or a plurality of imaging devices may be used. Note that when there are a plurality of photographing apparatuses, it is desirable to overlap a part of photographing ranges of adjacent photographing apparatuses. In addition, as will be described later, photographing means (not shown) is mounted in which the detection cart 1 is installed in the container 10 (shown in FIG. 1) and the surface of the container door is photographed.

  The detection cart 1 is equipped with a liquid crystal display device 6 as display means. The liquid crystal display device 6 displays information on the position and size of the detected pinhole. Further, when the information is displayed on the liquid crystal display device 6, as shown in FIG. 3, the information is displayed on the basis of a developed view with respect to the field of view from the inside of the container 10.

  FIG. 4 is a block diagram for explaining the outline of the position detecting means for detecting the position of the pinhole of this damage detection apparatus, and is constituted mainly by a microcomputer (microcomputer) 11. An output signal of the photographing means 5 is input to the microcomputer 11, and an image is processed by the microcomputer 11. Further, the microcomputer 11 sends a cart drive signal to the cart drive unit 12 and a display drive signal to the display device drive unit 13, respectively. In response to the output signal of the cart drive unit 12, the drive unit of the detection cart 1 operates. Further, image information is sent from the microcomputer 11 to the position detection calculation unit 16, and the position detection calculation unit 16 calculates the position of the pinhole based on this image information. The display device 6 displays an image in response to an output signal from the display device driving unit 13. The microcomputer 10 is operated with an appropriate time delay through the timer circuit 15 by closing the switch 14.

  The effect | action is demonstrated below about the damage detection apparatus of the container based on embodiment of this invention comprised by the above.

  As shown in FIG. 1, the door 10 a of the container 10 is opened, and the detection cart 1 is placed at the rear position of the container 10. When the switch 14 is turned on, after the timer 15 measures a predetermined time, a driving signal is sent from the microcomputer 11 to the carriage driving unit 12 and the detection carriage 1 starts moving forward. The time measured by the timer 15 is set so that the door 10a can be closed during this time. By closing the door 10a, the inside of the container 10 becomes dark, and the detection carriage 1 travels in the dark. When the ceiling plate or wall plate of the container 10 is damaged and a pinhole such as a crack or a through hole is formed, external light is inserted into the container 10 from the pinhole. When the detection carriage 1 reaches the incident position of the light beam, it is captured by the photographing device 5. Since the detection carriage 1 is traveling, the light beam is captured as a locus. The position and size of the pinhole can be detected by the position detecting means from the image of the distance of the detection carriage 1 that has traveled until the incident light beam is captured and the trajectory of the captured light.

  The bottom surface of the container 10 may be wavy or uneven in shape depending on the weight and handling of the loaded load. However, if the detection carriage 1 is driven by the movement of the belt 4 made of the endless circulating moving body, the detection carriage 1 can be driven as stably as possible even if there is such undulation or unevenness.

  Then, as shown in FIG. 3, the detected position of the pinhole is indicated and displayed on the development view, and this display is displayed on the liquid crystal display device 6. For example, in FIG. 3, the ceiling plate 10b of the container 10 has a size “1” pinhole, the right side wall 10c has the same size “1” pinhole, and the left side wall 10d has a size “2” pinhole. Are shown to be formed. Note that the positions of these pinholes are portions where numbers indicating sizes are displayed. In addition, the size of the pinhole can be indicated by a method of displaying characters such as “Large”, “Medium”, and “Small”, color-coded, etc., regardless of numbers.

  When the detection cart 1 moves forward and reaches the innermost part of the container 10, the front wall surface is detected by the direction changing means, so that the detection cart 1 moves backward and returns to the door 10a. . The returned detection cart 1 is collected, the position of the pinhole is grasped from the image displayed on the liquid crystal display device 6, and the container 10 is repaired.

  In the embodiment described above, the structure using the belt 4 for the traveling of the detection carriage 1 has been described. However, a wheel may be used instead of the belt 4. In some cases, a guide rail for guiding the traveling of the detection cart 1 may be laid.

  Further, in this embodiment, the position detection means is described as being mounted on the detection carriage 1. However, an image relating to incident light captured by the imaging means is wirelessly transmitted to the outside of the container 10, and the container 10 to be inspected. Can be received in an examination room or the like installed in the vicinity of the position where the image is placed and image processing can be performed in the examination room. In particular, in order to transmit and receive data between the detection carriage 1 and the examination room, each is provided with transmission / reception means. Therefore, the detection carriage 1 can be run remotely by using this. it can. Of course, transmission / reception means may be installed only for remote operation without transmitting detection data.

  In this embodiment, the video camera is used as the photographing means. However, a still camera may be used. If the still camera is used with the shutter open, the locus of incident light can be captured. can do. Moreover, it may replace with a camera and may be photoelectric conversion devices, such as an optical sensor which can detect incident light. When the optical sensor is used, the incident position changes according to the traveling of the detection carriage 1 if the optical sensor is divided into a large number in the direction of 180 degrees and the detection unit is arranged in parallel in the traveling direction of the detection carriage 1. Therefore, the angle of incidence is obtained by obtaining the change, and the position of the pinhole can be obtained from the relationship between this angle and the position of the detection carriage 1.

  By using the container damage detection device according to the present invention, it is possible to detect damage to the container without entering the container, and the container damage is stable without being affected by the physical condition or skill level of the worker. Detection work with high accuracy. In addition, the time required for the detection work can be shortened.

It is a figure explaining the use condition of the damage detection apparatus of the container which concerns on this invention, and is a schematic perspective view which shows the rear part of a container. It is a perspective view which shows an example of the detection trolley | bogie which concerns on this invention. It is a figure which shows an example of the display mode of the test result which concerns on this invention, and is an expanded view of a container. It is a block diagram explaining the outline of the position detection means of the damage detection apparatus concerning this invention.

Explanation of symbols

1 Detection cart 4 Belt (endless circulation moving body)
5 Imaging device 6 Liquid crystal display device (display means)
10 container
10a Door
11 Microcomputer
16 Position detection calculator

Claims (5)

In a container damage detection device that detects cracks and through holes formed in a container by external light incident on the inside of the container,
A detection carriage that reciprocates on the floor of the container in the depth direction of the container;
Mounted on the detection carriage and oriented in an arc with the traveling direction of the detection carriage as an axis, the direction of about 180 degrees including the ceiling and both sides of the container as the capture direction, Light capturing means for capturing;
It consists of position detection means for obtaining the incident position of the light from the captured light,
An apparatus for detecting damage to a container, wherein the light capturing means captures light while moving the detection carriage while the container door is closed, and the position detecting means determines the incident position of the light. The light capturing means is a photographing means,
2. The container damage detection apparatus according to claim 1, wherein the position detection unit obtains an incident position of light from an image captured by the photographing unit.   2. The position detection means is mounted on the detection carriage, and a display means for displaying an incident position of light obtained by the position detection means is mounted on the detection carriage. 2. The container damage detection apparatus according to 2. The position detection means is provided in a detection chamber provided in the vicinity of a container where damage should be detected,
A transmission means for transmitting the detection data signal captured by the light capturing means is provided in the detection carriage,
A receiving means for receiving a detection data signal from the transmitting means is provided in the detection chamber,
4. The damage detection apparatus for a container according to claim 1, wherein the detection data signal received by the receiving means is sent to the position detecting means. The container damage detection device according to any one of claims 1 to 4, wherein an endless circulation moving body is used as a moving member of the detection carriage.

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