JP2007191173A - Container gravity central position detecting device, container gravity central position detecting method, and container gravity central position notification system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a container gravity central position detecting device and a container gravity central position detecting method by which the gravity central position of a container can easily be specified without unsealing the container, and to provide a container gravity central position notification system by which the information for the gravity central position of the container can easily be recognized. <P>SOLUTION: A radiation source 11, a detector 12 which is arranged by placing a container advancing space S between it and the radiation source 11, and an operation device 13 which performs an operation process conforming to the output of the detector 12 are provided. The operation device 13 is constituted in such a manner that the intensity distribution of the radiation having reached the detector 12 from the radiation source 11 under a state in which the container C has advanced in the container advancing space S is obtained, and at the same time, the density distribution of the container C is calculated from the intensity distribution of the radiation, and the gravity central position of the container C is specified from the density distribution. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a container gravity center position detection device, a container gravity center position detection method, and a container gravity center position notification system.

Recently, there have been frequent rollover accidents of container carriers that transport imported containers on land.
In some imported containers, the cargo inside the container is stacked in a single-packed state overseas, and the center of gravity of the container deviates from the center of the container.
In this way, when the container vehicle driver transports a container with a biased center of gravity without knowing it, the balance of the vehicle body is lost when entering a curve, and a rollover accident is likely to occur.

For this reason, a technique for specifying the position of the center of gravity of the container without opening the container is required.
As a method for specifying the position of the center of gravity of a container, for example, a method using a detection unit described in Patent Document 1 described below is known.
In this method, the length of the refrigerated container is detected using the detecting means, and the center of gravity position corresponding to the length of the refrigerated container is set from a plurality of predetermined center of gravity positions.

JP 2000-72398 A

However, this method only specifies the center of gravity of the refrigerated container itself whose center of gravity is known based on the length information of the refrigerated container, and the center of gravity of the entire container including the cargo is determined. Not specific.
For this reason, even if this center-of-gravity position setting means is used, it cannot be known whether or not the cargo in the container is stacked in a single-load state.
Even if the center of gravity position of the container can be detected using any method, conventionally, no means has been established for informing the parties such as the driver of the container transport vehicle.

  The present invention has been made in view of such circumstances, and a container center-of-gravity position detection device and a container center-of-gravity position detection method capable of easily specifying the center-of-gravity position of a container without opening the container, It is another object of the present invention to provide a container center-of-gravity position notification system that can easily know information on the center-of-gravity position of a container.

In order to solve the above problems, the present invention employs the following means.
That is, the present invention includes a radiation source, a detector disposed with a container entry space between the radiation source, and an arithmetic device that performs arithmetic processing based on the output of the detector, An arithmetic unit calculates an intensity distribution of the radiation that has reached the detector from the radiation source in a state where a container has entered the container entry space, and calculates a density distribution of the container based on the intensity distribution of the radiation. And a container center-of-gravity position detection device that specifies the center-of-gravity position of the container based on the density distribution.

When radiation (for example, X-rays or γ-rays) passes through an object, the intensity of the radiation is attenuated or absorbed by the interaction with the substance constituting the object, and the intensity thereof is reduced.
When radiation passes through a dense substance, or when the distance that the radiation has passed through the substance is long (when the size of the object in the radiation transmission direction is large), the interaction between the radiation and the substance is large, Low radiation transmittance. On the other hand, when the radiation passes through a low-density substance or when the distance that the radiation has passed through the substance is short (when the size of the object in the radiation transmission direction is short), the interaction between the radiation and the substance is small. Therefore, the radiation transmittance increases.
That is, the radiation transmittance increases as the mass of the substance in the radiation-transmitted region increases, and increases as the substance mass in the radiation-transmitted region decreases.

The present invention utilizes this fact to detect the position of the center of gravity of the container.
Specifically, in the container center-of-gravity position detection apparatus according to the present invention, the container is irradiated with radiation from a radiation source in a state where the container enters the container entry space, and the radiation transmitted through the container is detected by the detector.
Based on the output of the detector, the intensity distribution of the radiation transmitted through the container is obtained, and the density distribution of the container is calculated based on the intensity distribution of the radiation (that is, the distribution of the transmittance of the radiation in the container). By obtaining the density distribution of the container in this way, the position of the center of gravity of the container can be specified.

Here, the computing device creates a radiation transmission image based on the intensity distribution of the radiation that has reached the detector from the radiation source, and has entered the container entry space based on the distribution of light and shade of the radiation transmission image. The container may be configured to calculate the density distribution of the container and specify the position of the center of gravity of the container.
In this case, the container center-of-gravity position detection apparatus according to the present invention can be used as a nondestructive inspection apparatus that performs inspection using a radiation transmission image. In addition, the container center-of-gravity position detection apparatus according to the present invention can be easily created using a general nondestructive inspection apparatus.

  The radiation sources are arranged at a plurality of locations, and the arithmetic unit obtains an intensity distribution of the radiation that has reached the detector from each of the radiation sources based on an output of the detector, and each of the detectors with respect to the detector Based on the position information of the radiation source and the intensity distribution of the radiation incident on the detector from each radiation source, the density distribution of the container entering the container entry space is calculated, and the three-dimensional center of gravity of the container is calculated. You may be set as the structure which pinpoints a position.

In this way, by providing radiation sources at a plurality of locations, and irradiating the containers that have entered the container entry space from these radiation sources from a plurality of different directions, the detector has passed through the containers from different directions. Radiation enters.
For this reason, the intensity distribution of the radiation that has passed through the container from each radiation source and reached the detector (ie, radiation that has passed through the container from different directions) is obtained from the output of the detector.

From the radiation intensity distribution for each radiation source thus obtained, the center of gravity position of the container viewed from each radiation source side can be specified. Furthermore, the three-dimensional center-of-gravity position of the container can be specified based on the information on the center-of-gravity position of the container viewed from a plurality of directions and the position information of each radiation source.
Here, the detector may be provided for each radiation source, or may be configured to irradiate radiation from a plurality of radiation sources to the same detector.

Here, since it is necessary to use the radiation source under strict management, it is preferable to reduce the number of radiation sources used as much as possible from the viewpoint of safety and management cost. In addition, since the detector is expensive and large and bulky, it is preferable to reduce the number of installations as much as possible in view of installation cost and installation space.
Therefore, instead of using a plurality of radiation sources, only a pair of the radiation source and the detector disposed opposite to each other on a horizontal plane is provided, and a holding device that holds and lifts the container at a plurality of locations in plan view, and the holding device And a load detecting device for detecting a load applied to each part of the container, wherein the computing device detects the position of the center of gravity on the vertical plane of the container based on the output of the detector, and uses the holding device to It is good also as a structure which detects the gravity center position of the said container on a horizontal surface based on the output of the said load detection apparatus in the state which lifted up.

In this case, as described above, the center of gravity of the container on the vertical plane is detected based on the output of the detector, and the center of gravity of the container on the horizontal plane is detected based on the output of the load detection device.
Specifically, the container is lifted using the holding device, and the container is held in a balanced state. Based on the output of the load detection device in this state (force applied to each part of the holding device), the container on the horizontal plane The position of the center of gravity is detected.
The position of the center of gravity of the container can be calculated based on the equation of balance of the moment of the container and the output of the load detection device.
By detecting the position of the center of gravity of the container on the vertical plane and the position on the horizontal plane in this way, the position of the three-dimensional center of gravity of the container can be detected while using only one pair of the radiation source and the detector. Can do.

  The holding device includes a spreader that holds the container, a plurality of ropes connected to different parts of the spreader, and a hoisting machine that winds and feeds the ropes, and detects the load. The apparatus may have a tension measuring device provided on each of the ropes.

  In this case, the position of the center of gravity of the container on the horizontal plane of the container can be detected using a general container handling device (a cargo handling device that handles a container using a spreader suspended by a rope).

  In addition, the container center-of-gravity position detection device according to the present invention includes a support device that suspends and supports the container, and a vibration detection device that detects a state of vibration of the container, and the radiation source and the detector include: There may be provided only a pair that are arranged to face each other on a horizontal plane, and the calculation device may detect the position of the center of gravity of the container on the horizontal plane based on the output of the vibration detection device.

In this case, as described above, the position of the center of gravity of the container on the vertical plane is detected based on the output of the detector, and the container suspended and supported by the support device is vibrated, and the vibration detection device in this state Based on the output, the position of the center of gravity of the container on the horizontal plane is detected.
The position of the center of gravity of the container on the horizontal plane can be calculated using the fact that the equilibrium position of the container vibration varies depending on the position of the center of gravity of the container.
By detecting the position of the center of gravity of the container on the vertical plane and the position on the horizontal plane in this way, the position of the three-dimensional center of gravity of the container can be detected while using only one pair of the radiation source and the detector. Can do.

The support device may include a spreader that holds the container, a plurality of ropes connected to different parts of the spreader, and a hoisting machine that winds and feeds the ropes.
In this case, the position of the center of gravity of the container on the horizontal plane of the container can be detected using a general container handling device.

  Further, the present invention provides the radiation source and the detector in a state where a container entry space is provided between each other and a container is entered into the container entry space based on the output of the detector. A container gravity center position detection method is provided for determining the intensity distribution of the radiation that has reached the detector from the above, calculating the density distribution of the container based on the intensity distribution of the radiation, and identifying the gravity center position of the container.

The container center-of-gravity position detection method of the present invention utilizes the fact that the transmittance of radiation decreases as the mass of a substance in a region through which radiation is transmitted increases and increases as the mass of the substance in a region through which radiation passes through decreases. The center of gravity position of the container is detected.
Specifically, in the container center-of-gravity position detection method of the present invention, the container is irradiated with radiation from a radiation source in a state where the container has entered the container entry space, and the radiation transmitted through the container is detected by the detector.
Based on the output of the detector, the intensity distribution of the radiation transmitted through the container is obtained, and the density distribution of the container is calculated based on the intensity distribution of the radiation (that is, the distribution of the transmittance of the radiation in the container). By obtaining the density distribution of the container in this way, the position of the center of gravity of the container can be specified.

  Further, the radiation sources are arranged at a plurality of locations, and based on the output of the detector, the intensity distribution of the radiation that has reached the detector from each of the radiation sources is obtained, respectively, and positional information of each of the radiation sources with respect to the detector; Based on the intensity distribution of the radiation incident on the detector from each radiation source, the density distribution of the container that has entered the container entry space is calculated, and the three-dimensional center of gravity position of the container can be specified. Good.

In this way, by providing radiation sources at a plurality of locations, and irradiating the containers that have entered the container entry space from these radiation sources from a plurality of different directions, the detector has passed through the containers from different directions. Radiation enters.
For this reason, the intensity distribution of the radiation that has passed through the container from each radiation source and reached the detector (ie, radiation that has passed through the container from different directions) is obtained from the output of the detector.

From the radiation intensity distribution for each radiation source thus obtained, the center of gravity position of the container viewed from each radiation source side can be specified. Furthermore, the three-dimensional center-of-gravity position of the container can be specified based on the information on the center-of-gravity position of the container viewed from a plurality of directions and the position information of each radiation source.
Here, the detector may be provided for each radiation source, or may be configured to irradiate radiation from a plurality of radiation sources to the same detector.

  In the center-of-gravity position detection method according to the present invention, instead of using a plurality of radiation sources as described above, a holding device that holds and lifts the container at a plurality of locations in plan view, and loads applied to each part of the holding device A load detecting device for detecting, and providing only a pair of the radiation source and the detector opposed to each other on a horizontal plane, and detecting the position of the center of gravity on the vertical plane of the container based on the output of the detector The center of gravity of the container on a horizontal plane may be detected based on the output of the load detection device when the container is lifted using the holding device.

In this case, as described above, the center of gravity of the container on the vertical plane is detected based on the output of the detector, and the center of gravity of the container on the horizontal plane is detected based on the output of the load detection device.
Specifically, the container is lifted using the holding device, and the container is held in a balanced state. Based on the output of the load detection device in this state (force applied to each part of the holding device), the container on the horizontal plane The position of the center of gravity is detected.
The position of the center of gravity of the container can be calculated based on the equation of balance of the moment of the container and the output of the load detection device.
In this way, by detecting the position of the center of gravity of the container on the vertical plane and the position on the horizontal plane, the position of the three-dimensional center of gravity of the container is detected while using only one radiation source and one detector. be able to.

  In the center-of-gravity position detection method according to the present invention, instead of using a plurality of radiation sources as described above, a support device that suspends and supports the container and a vibration detection device that detects the state of vibration of the container are provided. The radiation source and the detector may be provided only in a pair arranged to face each other on the horizontal plane, and the center of gravity position of the container on the horizontal plane may be detected based on the output of the vibration detection device.

In this case, as described above, the position of the center of gravity of the container on the vertical plane is detected based on the output of the detector, and the container suspended and supported by the support device is vibrated, and the vibration detection device in this state Based on the output, the position of the center of gravity of the container on the horizontal plane is detected.
The position of the center of gravity of the container on the horizontal plane can be calculated using the fact that the equilibrium position of the container vibration varies depending on the position of the center of gravity of the container.
By detecting the position of the center of gravity of the container on the vertical plane and the position on the horizontal plane in this way, the position of the three-dimensional center of gravity of the container can be detected while using only one pair of the radiation source and the detector. Can do.

  Further, the present invention provides an ID tag provided in the container and capable of writing and reading information, and information on the center of gravity position of the container obtained by the container center of gravity position detecting device according to the present invention is written to the ID tag. There is provided a container center-of-gravity position notification system including an information recording device and an information reading device that reads out information on the center-of-gravity position of the container written in the ID tag and notifies the user of the information.

In this container center-of-gravity position notification system, after the center-of-gravity position of the container detected by the container center-of-gravity position detection device according to the present invention is recorded on an ID tag provided on the container by the information recording device, a user (for example, container transportation The driver of the car can easily know the position of the center of gravity of the container by using the information reader.
In addition, since the ID tag that records the information on the center of gravity of the container is provided in the container itself, the information on the center of gravity of the container is difficult to be mistaken for the information on the center of gravity of another container.
Here, by using an RFID tag capable of writing and reading information by wireless communication as an ID tag, it becomes possible to record and read information on the center of gravity position of the container on the ID tag without contact. Convenience is further improved.
The method of notifying the user of the position of the center of gravity of the container to the user by the information reading device is arbitrary. For example, it may be notified by an image using an image display device, or by voice using a sound generation device. May be.

According to the container center-of-gravity position detection apparatus and the container center-of-gravity position detection method according to the present invention, the center-of-gravity position of the container can be easily specified without opening the container.
In addition, according to the container center-of-gravity position notification system according to the present invention, information on the position of the center of gravity of the container detected by the container center-of-gravity position detection device is easily notified to a worker handling a container such as a driver of a container transport vehicle. Therefore, an operator can be alerted to handle the container carefully with respect to the container whose center of gravity is biased, thereby preventing an accident.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to FIG.
As schematically shown in the side view of FIG. 1, the container center-of-gravity position notification system 1 shown in the present embodiment is provided in a container center-of-gravity position detection device 2 installed in an area where the container C is unloaded and the container C. The ID tag 3 that can write and read information, the information recording device 4 that writes the information on the gravity center position of the container C obtained by the container gravity center position detection device 2 to the ID tag 3, and the ID tag 3 And an information reading device 5 for reading out the information of the center of gravity position of the container C and notifying the user.

In this embodiment, an RFID tag capable of writing and reading information by wireless communication is used as the ID tag 3. Thereby, in this container center-of-gravity position notification system 1, it is possible to record and read information on the center-of-gravity position of the container on the ID tag without contact.
In the present embodiment, an RFID tag writer that can write information in an RFID tag in a contactless manner by wireless communication is used as the information recording device 4.
The information recording device 4 may be a portable terminal carried by the operator of the container center-of-gravity position detection device 2 or may be incorporated in the container center-of-gravity position detection device 2.

In the present embodiment, an RFID tag reader that can read information from an RFID tag in a contactless manner by wireless communication is used as the information reading device 5.
This information reading device 5 may be a portable terminal carried by the driver of the container transport vehicle V, or may be mounted on the container transport vehicle V itself.
The method of notifying the user of the information on the center of gravity of the container C by the information reading device 5 is arbitrary. For example, an image display device is provided in the information reading device 5 and the center of gravity position is determined by the image displayed by the image display device. Information may be notified, and a voice generating device may be provided in the information reading device 5 so that the information on the position of the center of gravity is notified by voice generated by the voice generating device.

The container center-of-gravity position detection device 2 includes a radiation source 11 and a detector 12 disposed with a container entry space S between the radiation source 11 and the radiation source 11. As a result, the detector 12 can be irradiated with radiation through the container C that has entered the container entry space S from the radiation source 11.
In the present embodiment, a space that allows the container C to enter along with the container transport vehicle V is secured as the container entry space S between the radiation source 11 and the detector 12. As a result, the radiation can be applied to the detector 12 from the radiation source 11 through the container C while the container C is loaded on the loading platform of the container transport vehicle V.
Here, as the radiation source 11, for example, a source that generates γ rays in addition to a source that generates X rays can be used.

The detector 12 has a configuration in which a plurality of radiation detection elements 16 are arranged adjacent to each other. In the present embodiment, the detector 12 has a configuration in which the radiation detection element 16 is disposed adjacent to each other in a substantially horizontal direction and a substantially vertical direction in a state where the light receiving unit is directed to the side where the radiation source 11 is disposed. .
As shown in the plane sectional view of FIG. 2A and the side view of FIG. 2B, each radiation detection element 16 is disposed opposite to the photomultiplier tube 16a and the light receiving portion of the photomultiplier tube 16a. The scintillator 16b has a mirror 16c that reflects the fluorescence emitted from the scintillator 16b toward the light receiving portion of the photomultiplier 16a.
In the radiation detection element 16, when radiation is incident on the scintillator 16b, a site where the radiation is incident on the scintillator 16b is excited and emits fluorescence (visible light) having an intensity corresponding to the intensity of the radiation. This fluorescence is directly incident on the light receiving portion of the photomultiplier tube 16a, or is reflected by the mirror 16c to be incident on the light receiving portion of the photomultiplier tube 16a, whereby the photomultiplier tube 16a is fluorescent. A detection signal is output at an intensity corresponding to the intensity.

In the present embodiment, the scintillator 16b has a rectangular plate shape (for example, 30 mm in length and 450 mm in width) having a larger area than the light receiving portion of the photomultiplier 16a, and is arranged so that its long side is substantially horizontal. Has been.
Further, the mirror 16c is arranged along a plane passing from each side of the scintillator 16b to the periphery of the light receiving part of the photomultiplier 16a (for example, a plane passing through the upper side of the scintillator 16b and the upper side of the light receiving part). ing.

In addition, the container center-of-gravity position detection device 2 includes an arithmetic device 13 that performs arithmetic processing based on the output of the detector 12.
The arithmetic unit 13 determines the intensity distribution of the radiation incident on the detector 12 (that is, the transmittance of the radiation in the container C) based on the position of the radiation detection element 16 that has detected the radiation and the intensity of the detection signal of the radiation detection element 16. Distribution).
Furthermore, the calculation device 13 calculates the density distribution of the container C that has entered the container entry space S based on the information on the intensity distribution of the radiation thus obtained, and identifies the position of the center of gravity of the container C. Has been.
In the present embodiment, the arithmetic unit 13 creates a radiation transmission image I (see FIG. 3) of the container C based on the intensity distribution of the radiation incident on the detector 12, and based on the density distribution of the radiation transmission image I. Thus, the density distribution of the container C that has entered the container entry space S is calculated, and the position of the center of gravity of the container C is specified.

The container centroid position detection device 2 shown in the present embodiment detects the centroid position of the radiation transmission image I as follows.
First, the container C to be detected in the center of gravity is carried into the container entry space S together with the container transport vehicle V. In this state, the driver of the container transport vehicle V is once lowered from the container transport vehicle V and retracted from the container entry space S, and further, a shielding wall that shields radiation around the container center-of-gravity position detection device 2 or In a state where entry of a person into the periphery of the container center-of-gravity position detection device 2 is prohibited, the detector 12 is irradiated with radiation from the radiation source 11 through the container C.

Thereby, the arithmetic device 13 creates the radiation transmission image I based on the output signal of the detector 12.
Specifically, as shown in FIG. 3, the arithmetic unit 13 displays a color that is darker as the radiation intensity is higher and lighter as the radiation intensity is weaker, based on the radiation intensity distribution obtained from the output of the detector 12. A radiation transmission image I of the container C is created.

Here, when the radiation passes through the object, the radiation is attenuated or absorbed by the interaction with the substance constituting the object, and the intensity thereof is reduced.
When radiation passes through a dense substance, or when the distance that the radiation has passed through the substance is long (when the size of the object in the radiation transmission direction is large), the interaction between the radiation and the substance is large, Low radiation transmittance. On the other hand, when the radiation passes through a low-density substance or when the distance that the radiation has passed through the substance is short (when the size of the object in the radiation transmission direction is short), the interaction between the radiation and the substance is small. Therefore, the radiation transmittance increases.
That is, the radiation transmittance increases as the mass of the substance in the radiation-transmitted region increases, and increases as the substance mass in the radiation-transmitted region decreases.
For this reason, as described above, the radiation transmission image I in which the intensity of the radiation is represented by the shading of the image can be regarded as the distribution of the mass of the container C represented by the shading of the image.
The arithmetic unit 13 uses this fact to detect the position of the center of gravity of the container C.

Specifically, as shown in FIG. 3, the arithmetic device 13 divides the radiation transmission image I into a plurality of regions at equal intervals X along the horizontal direction (this direction is the X-axis direction). The average density m ₁ , m ₂ , m ₃ ,..., M _l (where l is an arbitrary integer) is regarded as the mass of each region, and the position X _G of the center of gravity in the X-axis direction is calculated.
If the coordinates of the center position of each region in the X-axis direction are X ₁ , X ₂ , X ₃ ,... X ₁ , the center-of-gravity position X _G of this radiation transmission image I is expressed by the following equation (1) Sought by.

Similarly, the arithmetic unit 13 divides the radiation transmission image I into a plurality of regions at equal intervals Z along the vertical direction (this direction is the Z-axis direction), and the average value M of the image density in each region. ₁ , M ₂ , M ₃ ,... M _n (where n is an arbitrary integer) is regarded as the mass of each region, and the position Z _G of the center of gravity in the Z-axis direction is calculated.
Assuming that the coordinates of the center position of each region in the Z-axis direction are Z ₁ , Z ₂ , Z ₃ ,... Z _n , the center-of-gravity position Z _G of this radiation transmission image I is Sought by.

  As described above, the container center-of-gravity position detection device 2 can easily specify the center-of-gravity position of the container C (however, only the position in the X direction and the Z direction) without opening the container C.

Information on the gravity center position of the container C obtained by the arithmetic device 13 in this way is written into the ID tag 3 provided in the container C by the information recording device 4.
Thereby, thereafter, an operator who handles the container C (for example, a driver of the container transport vehicle) can easily know the position of the center of gravity of the container C by using the information reading device 5.
For this reason, even when there is a container C whose center of gravity is biased, the operator can be alerted to handle the container C carefully, and an accident can be prevented.
Further, as described above, since the ID tag 3 in which the information on the center of gravity of the container C is recorded is provided in the container C itself, the information on the center of gravity of the container C is unlikely to be mistaken for the information on the center of gravity of another container C. .

In the present embodiment, since an RFID tag capable of writing and reading information by wireless communication is used as the ID tag 3, the information recording device 4 writes information on the center of gravity position of the container C and the information reading device 5. Since the information on the center of gravity of the container C can be read out in a non-contact manner, the convenience is further improved.
In the present embodiment, the container gravity center position detection device 2 is configured to detect the gravity center position of the container C using the radiation transmission image I of the container C. It can be used as a non-destructive inspection apparatus that performs inspection using the transmission image I. Moreover, this container gravity center position detection apparatus 2 can be easily produced using a general nondestructive inspection apparatus.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS.
As shown in the plan view of FIG. 4, the container center-of-gravity position notification system 21 according to the present embodiment is the same as the container center-of-gravity position notification system 1 described in the first embodiment. The position detection device 22 is used.
Hereinafter, members that are the same as or the same as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The container center-of-gravity position detection device 22 shown in the present embodiment is provided with a plurality of radiation sources 11 in the container position detection device 2 shown in the first embodiment.
Specifically, in this container center-of-gravity position detection device 21, the radiation sources 11 are arranged at a plurality of locations, and the detector 12 can be irradiated with radiation from each radiation source 11 through the container C. .
In the present embodiment, as the radiation source 11, the first radiation source 11a and the second radiation source 11b are arranged with the same distance from the detector 12 and spaced apart in the substantially horizontal direction.

Thus, by providing the first and second radiation sources 11a and 11b at different positions and irradiating the container C that has entered the container entry space S from each of these radiation sources 11, the detector 12 is irradiated with radiation. The radiation transmitted through the container C is incident from different directions.
For this reason, by individually irradiating the radiation from each radiation source 11, the radiation transmitted through the container C from each radiation source 11 and reaching the detector 12 from the output of the detector 12 (that is, transmitted through the container C from different directions). Intensity distribution) is obtained.

  In the container center-of-gravity position detection device 22, the calculation device 13 individually calculates the intensity distribution of the radiation that has reached the detector 12 through the container C for each of the first and second radiation sources 11 a and 11 b based on the output of the detector 12. And the position of the center of gravity of the container C that has entered the container entry space S is specified based on the positional information of each radiation source 11 with respect to the detector 12 and the intensity distribution of the radiation incident on the detector 12 from each radiation source 11.

Hereinafter, a method of detecting the three-dimensional center of gravity position of the container C by the arithmetic device 13 will be described using a specific example.
First, in order to show the basic idea of the detection method of the center of gravity position by the arithmetic unit 13, the conditions are simplified. Below, as shown in FIG. 4, the case where only one mass point G exists in the container C is demonstrated.
Here, in FIG. 4, the position of the first radiation source 11 a is the origin, the direction from the first radiation source 11 a to the second radiation source 11 b is the positive direction of the X axis, and the first radiation source 11 a is directed to the detector 12. The direction is the positive direction of the Y axis. The X coordinate of the second radiation source 11b is Lx, and the Y coordinate of the detector 12 is Ly.

  In the radiation transmission image I of the container C by the radiation emitted from the first radiation source 11a, the mass point G is projected at a position where X = Xa (a point of (Xa, Ly) in the XY coordinates), and this portion is projected onto this part. An image density peak is formed. Similarly, in the radiation transmission image I of the container C by the radiation emitted from the second radiation source 11b, the mass point G is projected at a position where X = Xb (a point of (Xb, Ly) when expressed by XY coordinates) An image density peak is formed in this portion.

As shown in FIG. 4, the center-of-gravity position Y _G of the container C in the Y-axis direction (the position of the mass point G in this example) is the first radiation source 11a (point of (0, 0) in XY coordinates) and ( The first straight line W1 connecting the point of Xa, Ly) and the second straight line connecting the second radiation source 11b (point of (Lx, 0) in terms of XY coordinates) and the point of (Xb, Ly). At the intersection with W2.
From the above relation, coordinates of the center of gravity position Y _G in the Y-axis direction of the container C can be obtained by using the following equation (3).

Similarly, the coordinates of the center of gravity position X _G in the X-axis direction of the container C can be determined using the following formula (4).

The center of gravity Z _G in the Z-axis direction of the container C can be obtained in the same manner as in the first embodiment.

Next, as shown in FIG. 5, when only one object B1 having a substantially rectangular parallelepiped block shape is arranged in the container C, or as shown in FIG. A method for detecting the position of the center of gravity of the container C when only one is arranged will be described.
In FIG. 5, the object B1 is installed with the long side substantially parallel to the X axis, and in FIG. 6, the object B2 has a substantially isosceles triangle in plan view, and its base is the X axis. It is oriented in the negative direction and is installed with its apex facing the bottom side oriented in the positive direction of the X axis. Here, it is assumed that the objects B1 and B2 are each made of a homogeneous material.

Thus, when the object in the container C is a three-dimensional object, the arithmetic unit 13 detects the position of the center of gravity of the container C by approximating the objects B1 and B2 to the mass points.
Specifically, the arithmetic unit 13 obtains the center of gravity position in the X-axis direction (this is assumed as the provisional center of gravity position) for each of these radiation transmission images I using the method used in the first embodiment. Based on the provisional gravity center position and the position information of each radiation source 11, the gravity center position of the container C is detected.

In the example shown in FIG. 5, in the radiation transmission image I by the radiation emitted from the first radiation source 11a, the object B1 is projected in a band shape extending in the X-axis direction, so there is no image density peak in the X-axis direction. The image density of the entire area on which the object B1 is projected (excluding the end of this area) becomes a substantially constant value higher than that of the other areas. Note that the end of the region where the object B1 is projected is a region where the corner of the object B1 is projected, and thus the image density gradually rises in this region. The same applies to the radiation transmission image I by the radiation emitted from the second radiation source 11b.
The computing device 13 uses (Xa, Ly) as the temporary center of gravity position of the radiation transmission image I by radiation emitted from the first radiation source 11a, and the provisional center of gravity position of the radiation transmission image by radiation emitted from the second radiation source 11b. Is set to (Xb, Ly), and thereafter, the three-dimensional center-of-gravity position of the container C is obtained in the same procedure as the center-of-gravity position detection method for the container C in which the mass point G is stored.

In the example shown in FIG. 6, in the radiation transmission image I by the radiation emitted from the first radiation source 11a, the object B2 is projected in a band shape extending in the X-axis direction. In the radiation transmission image I, the peak of the image density in the X-axis direction is formed at a position shifted from the center of the region where the object B2 is projected. The same applies to the radiation transmission image I by the radiation emitted from the second radiation source 11b.
Also in this case, the arithmetic unit 13 sets the provisional barycentric position of the radiation transmission image I by the radiation emitted from the first radiation source 11a as (Xa, Ly), and the radiation transmission image by the radiation emitted by the second radiation source 11b. Is set to (Xb, Ly), and thereafter, the three-dimensional center of gravity position of the container C is obtained by the same procedure as the center of gravity position detecting method of the container C in which the mass point G is stored.

  Here, in each of the above embodiments, the calculation device 13 has shown an example in which the center of gravity of the container C is detected based on the density of the radiation transmission image I, but the calculation device 13 is not limited to this, and the calculation device 13 is not limited to this. The density distribution of the container may be calculated based on the radiation intensity distribution created based on the output signal, and the center of the distribution may be the center of gravity of the container C.

  Further, in each of the above embodiments, the radiation detection elements 16 constituting the detector 12 are arranged adjacent to each other in a substantially horizontal direction and a substantially vertical direction with the light receiving unit directed to the side where the radiation source 11 is disposed. However, the present invention is not limited to this. For example, like the container center-of-gravity position detection device 26 shown in FIG. It is good also as a structure arrange | positioned only in the direction which cross | intersects the conveyance direction of the container C by container handling apparatuses, such as a transfer crane.

In the container center-of-gravity position detection device 26, the first radiation source 11a and the first detector 12a are arranged to face each other across the conveyance path of the container C, and the first radiation source 11a and the first detector 12a are paired with each other. A pair of the second radiation source 11b and the second detector 12b is provided apart from the conveyance path of the container C.
Also in this container center-of-gravity position detection device 26, the first radiation source 11a and the second radiation source 11b are substantially orthogonal to the transport direction of the container C so that the three-dimensional center-of-gravity position of the container C can be detected. They are spaced apart in the direction.

Each detector 12 has a configuration in which only one row of radiation detection elements 16 is provided along a direction substantially orthogonal to the conveyance path of the container C (a direction crossing the conveyance path). However, the radiation detection elements 16 are arranged in a number that covers the entire container C in a direction substantially perpendicular to the conveyance direction of the container C (a direction substantially perpendicular to the paper surface).
Each radiation detection element 16 is arranged so that the short side of the scintillator 16b is substantially parallel to the conveyance direction of the container C (that is, the arrangement direction of the radiation sources 11), and the directivity in the conveyance direction of the container C is high. This makes it difficult to detect radiation from radiation sources 11 other than the corresponding radiation source 11.

In the container center-of-gravity position detection device 26, the container C that has passed between the pair of the radiation source 11 and the detector 12 in a state in which the corresponding detector 12 is irradiated with radiation from each radiation source 11 is the radiation source 11 and the detector 12. A radiation transmission image I of the entire container C is obtained for each pair of the radiation source 11 and the detector 12.
That is, the container center-of-gravity position detection device 26 can detect the center-of-gravity position of the container C while the container C is being transported.
Moreover, in this container gravity center position detection apparatus 26, since the number of the radiation elements 16 used for each detector 12 can be reduced significantly, manufacturing cost can be reduced significantly.
In the container center-of-gravity position detection device 26, only one pair of the radiation source 11 and the detector 12 may be provided. Also in this case, the two-dimensional center-of-gravity position of the container C can be detected as in the first embodiment.

[Third embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS.
A container center-of-gravity position notification system 31 according to the present embodiment uses a container center-of-gravity position detection device 32 instead of the container center-of-gravity position detection device 2 in the container center-of-gravity position notification system 1 shown in the first embodiment. .
Hereinafter, members that are the same as or the same as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

As shown in the front view of FIG. 8, the container center-of-gravity position detection device 32 shown in the present embodiment holds and lifts the container C at a plurality of locations in plan view in the container position detection device 2 shown in the first embodiment. A holding device 33 and a load detection device 34 for detecting a load applied to each part of the holding device 33 are provided.
In the present embodiment, a holding device 33 mounted on a container handling device (not shown) is used as the holding device 33.
Specifically, the holding device 33 includes a spreader 36 that holds the upper four corners of the container C, a plurality of ropes 37 that are respectively connected to different parts of the spreader 36, and a hoisting machine that winds and feeds each rope 37. 38. Here, the spreader 36 is supported by being suspended from a trolley 39 by a rope 37, and can be moved up and down by winding or unwinding the furnace rope 37 by a hoisting machine 38. The trolley 39 can be moved in the short side direction of the spreader 36 (a direction substantially perpendicular to the paper surface of FIG. 8) by a moving device (not shown).
In the present embodiment, a tension measuring device that detects the output of the hoisting machine and detects the tension applied to each rope 37 based on the magnitude of the output is used as the load detection device 34.

As shown in the plan view of FIG. 9, the spreader 36 includes a substantially rectangular plate-like frame 36a, arms 36b protruding from both ends in the longitudinal direction of the frame 36a, and upper four corners of the container C provided at the tip of the arm 36b. And an engaging portion (for example, a twist lock pin, not shown) that engages and disengages.
On the upper surface of the frame 36a, rope attachment portions 36c to which the ropes 37 are attached are provided at the four corners. Here, the suspension points of the ropes 37 of the spreader 36 are defined as suspension points P ₁ , P ₂ , P ₃ , and P _{4 in} the order of counterclockwise rotation from the lower left in FIGS.

In the container center-of-gravity position detection device 32 configured as described above, when detecting the center-of-gravity position of the container C, the container C is held and lifted by the holding device 33, and the container C is stopped in the air. The device 34 measures the tension T of each rope 37.
Here, the tension of the rope 37 connected to the hanging point P ₁ is T ₁ , the tension of the rope 37 connected to the hanging point P ₂ is T ₂ , and the tension of the rope 37 connected to the hanging point P ₃ is T _3. , T ₄ is the tension of the rope 37 connected to the hanging point P ₄ .

And the magnitude of the tension of the rope 37, by using the formula of the moment balance of the container C, obtaining a container C in the X-axis direction of the center of gravity position X _G and Y-axis direction of the gravity center position Y _G, respectively.
As shown in FIG. 10, the coordinates of the hanging point P ₁ on the horizontal plane are (X ₁ , Y ₁ ), the coordinates of the hanging point P ₂ are (X ₂ , Y ₂ ), and the coordinates of the hanging point P ₃ are (X ₃ , Y ₃ ), and the coordinates of the hanging point P ₄ are (X ₄ , Y ₄ ), the center-of-gravity position X _G of the container C in the X-axis direction is obtained by the following equation (5).

Similarly, the center of gravity position Y _G in the Y-axis direction of the container C is given by the following equation (6).

The center of gravity Z _G in the Z-axis direction of the container C, first, can be obtained by the method shown in the first embodiment.

Thus, according to the container center-of-gravity position detection device 32 according to the present embodiment, the position of the three-dimensional center of gravity of the container C can be detected while using only one pair of the radiation source 11 and the detector 12.
That is, in this container center-of-gravity position detection device 32, it is not necessary to provide a plurality of radiation sources 11 that require strict management and a plurality of expensive and bulky detectors 12, so that safety is improved, installation costs and management costs are reduced, and the device Can be miniaturized.

Here, when the center of gravity of the container C is located outside the quadrangle having the hanging points P _{1 to} P ₄ as vertices in plan view, the tension of some ropes 37 becomes 0. can be determined for the gravity center position Y _G of C in the Y-axis direction can not be determined accurately for center-of-gravity position X _G in the X-axis direction of the container C.
However, in this case, since the deviation of the center of gravity of the container C is too large and it becomes difficult to handle the container C, it is not preferable to continue handling the container C.
Therefore, in this container centroid position detector 32, the position of the center of gravity of the container C is a portion of the rope 37 when the case (i.e., located outside the quadrangle with apexes Tsuten P ₁ to P ₄ in a plan view In the case where the tension of the container C is 0), an alarm or the like notifies the operator that the deviation of the center of gravity of the container C is too large.

[Fourth embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 11, the container center-of-gravity position notification system 41 according to this embodiment is a container center-of-gravity position detection system 31 instead of the container center-of-gravity position detection apparatus 32 in the container center-of-gravity position detection system 31 shown in the third embodiment. 42 is used.
Hereinafter, members that are the same as or the same as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

As shown in the front view of FIG. 11, the container center-of-gravity position detection device 42 shown in the present embodiment includes a vibration detection device 43 that detects the state of container vibration in the container position detection device 32 shown in the third embodiment. It is provided.
The vibration detection device 43 includes a marker 46 provided at the center of the upper surface of the frame 36 a of the spreader 36, an imaging device 47 provided at the lower portion of the trolley 39 to image the upper surface of the spreader 36 from above, and a captured image of the imaging device 47. And an image processing device for detecting the movement of the marker 46 on the horizontal plane.
In the present embodiment, a laser light source that emits laser light vertically upward is used as the marker 46. In the present embodiment, the arithmetic device 13 plays the role of an image processing device. Based on the movement of the marker 46 on the image captured by the imaging device 47, the vibration state (amplitude and Vibration period etc.).

In the container position detection device 42 configured in this way, prior to the detection of the center of gravity position of the container C on the horizontal plane, first, the X-axis direction (longitudinal direction) of the container C using the radiation source 11 and the detector 12 is used. detection of the position of the center of gravity Z _G is performed for the center of gravity X _G and Z-axis direction (height direction of the container C).
Next, as shown in FIG. 11, from the state where the container C is lifted and made substantially horizontal and stationary (this state is the initial state), the trolley 39 is moved in the short side direction of the container C (perpendicular to the paper surface of FIG. 11). The container C is vibrated in the short side direction together with the spreader 36. Arithmetic unit 13, based on the output of the vibration detecting device 43 in this state, to detect the centroid position Y _G in the short side direction (this direction is the Y-axis direction) of the container C.

The computing device 13 detects the position of the center of gravity of the container C on the horizontal plane using the fact that the equilibrium position of the vibration of the container C differs depending on the position of the center of gravity of the container C.
Here, as shown in FIGS. 12 and 13, the eccentric amount of the center of gravity of the container C in the moving direction of the trolley 39 (the amount of deviation from the center of the container C in the Y-axis direction) is e, and the hanging point P of the spreader 36 The distance in the Z-axis direction from the center of gravity to the center of gravity of the container C is h. As shown in FIG. 13, the distance D between the suspension points P of the rope 37 in the Y-axis direction on the trolley 39 side is greater than the distance d between the suspension points P of the rope 37 in the Y-axis direction on the spreader 36 side. Is also assumed to be large.

  In this case, the inclination angle ξ of the rope 37 on the vibration plane (on the YZ plane) when the container C moves from the initial position (position indicated by the two-dot chain line) to the equilibrium position (position indicated by the solid line) is Approximately, it can be expressed by the following equation (7) (a method for deriving equation (7) will be described later).

  Here, α is the acceleration of the trolley 39, g is the acceleration of gravity, and L is the length from the hanging point P on the spreader 36 side of the rope 37 to the hanging point P on the trolley 39 side. Further, n = D / d−1.

Then, the value of α is obtained from the output of the control device of the trolley 39, the value of L is obtained from the feeding amount of the rope 37 by the hoisting machine 38, and the center of gravity position of the container C obtained in the Z-axis direction is obtained. The value of e is obtained by obtaining the value of h based on the information, obtaining the value of ξ from the output of the vibration detection device 43, and substituting these values into Equation (7).
Then, based on the value of the e, centroid position Y _G in the Y-axis direction of the container C is obtained.

Thus, according to the container center-of-gravity position detection device 42 according to the present embodiment, the position of the three-dimensional center of gravity of the container C can be detected while using only one pair of the radiation source 11 and the detector 12.
That is, in this container center-of-gravity position detection device 42, it is not necessary to provide a plurality of radiation sources 11 that require strict management and a plurality of expensive and bulky detectors 12, so that safety is improved, installation costs and management costs are reduced, and the device Can be miniaturized.

Below, the derivation | leading-out method of said Formula (7) is demonstrated.
First, as shown by a solid line in FIG. 13, the state of vibration of the container C in an obliquely suspended state will be considered.
Here, in the following description, each symbol in the figure is defined as follows.
M: Mass of container C T: Tension of rope 37 β: Inclination angle of each rope 37 with respect to the vertical line when container C is stationary θ: State where the center of gravity of container C is eccentric ( The inclination angle of each rope 37 with respect to the vertical line in the state shown in FIG. 12 (the clockwise direction is the positive direction)
φ: Angle of inclination of container C with respect to the horizontal plane (clockwise in FIG. 13 is a positive direction)
Of these symbols, those with a subscript of 0 are in the initial state, those with a subscript of 1 are for the left hanging point in FIG. 13, and those with a subscript of 2 Is related to the hanging point on the right side of FIG.
In the following description, the extension of the rope 37 is ignored.

I: Analysis on Static Balance The rope angle β at the balance position when the acceleration α = 0 and the eccentricity e = 0 is expressed by the following equation (8).

The tension T _{0 at} this time is expressed by the following equation (9).

  From the force balance equation, the following equations (10) and (11) are obtained.

  On the other hand, the following equation (12) is obtained from the equation of moment balance.

  From the geometric positional relationship, the following equations (13) and (14) are obtained.

Here, when L ₁ = L ₂ ≡L, θ ₁ = ξ−β, θ ₂ = ξ + β, the above formula (10) to formula (14) are rewritten, and the following formula (15) to formula (19) are changed. obtain. However, ξ << 1, β << 1.

  From the moment balance equation, the following equations (17), (18), and (19) are obtained.

The above formulas (15) to (19) are modified as follows.
From the equation (18), the following equation (20) is obtained.

  From the equation (19), the following equation (21) is obtained.

II: Analysis of dynamic characteristics The following equations (22) and (23) are obtained from the equation of balance of forces.

  Here, the relationship of the following equation (24) is approximately established.

  Thereby, Formula (22) and (23) can be rewritten to following Formula (25) and (26), respectively.

  From these equations (25) and (26), the following equation (27) is obtained.

Here, in the case of parallel suspension, only the term of total tension appears in the parallel runout, so each rope tension has not been a problem. However, in the case of slant suspension, the difference in rope tension also becomes a problem.
From the angular momentum equation, when I is the polar moment of inertia at the center between the container suspension points, the following equation (28) is obtained.

  When the relationship of the formula (21) is applied to this formula, the following formula (29) is obtained.

  By transforming this equation, the following equation (30) is obtained.

  This equation is modified to obtain the following equation (31).

  Here, the following equation (32) is defined.

  Using this equation, equation (31) is approximated to obtain the following equation (33).

  By transforming this equation, the following equation (34) is obtained.

  Substituting D = (n + 1) d into this equation, the following equation (35) is obtained.

  By further approximating this expression and omitting the minute term, the following expression (36) is obtained.

  Here, the following equation (37) is defined.

  Using this expression (37), expression (36) is expressed as the following expression (38).

  Here, the natural angular frequency of the container C is expressed by the following equation (39).

  For this reason, the vibration of the container C is a single vibration whose equilibrium position is expressed by the following equation (7).

In other words, the natural angular frequency is the same as that of the parallel suspension in the parallel run with the slant suspension.
Further, the vibration equilibrium position depends on the horizontal direction eccentricity and the vertical direction eccentricity from the center of the suspension point of the center of gravity, and the effect is expanded by the inclination factor n = D / d-1.

  Here, when the center of gravity of the container C is at the center position in the X-axis direction, even if the container C is vibrated on the YZ plane as in the present embodiment, the container C swings (skew) around the vertical axis. Does not occur. On the other hand, when the center of gravity of the container C deviates from the center position in the X-axis direction, when the container C is vibrated on the plane of the container CwoYZ, a single vibration in the skew direction is generated in the container C. The period of this simple vibration differs depending on the amount of deviation of the center of gravity of the container C from the center position in the X-axis direction.

Therefore, in the present embodiment, the center-of-gravity position of the container C in the X-axis direction may be calculated based on the presence or absence of the skew of the container C and the skew cycle.
The information on the center of gravity obtained from the state of skew in this way is compared with the information on the position of the center of gravity calculated using the radiation source 11 and the detector 12, and the accuracy of each is verified or obtained from the state of skew. By using the information on the center of gravity as data that complements the information on the center of gravity calculated using the radiation source 11 and the detector 12, the center of gravity in the X-axis direction of the container C can be obtained with higher accuracy.

  In addition, by combining a plurality of container center-of-gravity position detection methods shown in the above embodiments, the information on the center-of-gravity position of container C obtained by each container center-of-gravity position detection method is compared, and the accuracy of each is verified. By using the information on the center of gravity of the container C obtained using the container center of gravity position detection method as data that complements the information on the center of gravity of the container C obtained by other container center of gravity position detection methods, the container C can be more accurately The center of gravity position of C can be obtained.

It is a side view which shows roughly the structure of the container gravity center position notification system which concerns on 1st embodiment of this invention. It is a figure which shows the structure of the radiation detection element used for the detector of the container gravity center position detection apparatus which concerns on 1st embodiment of this invention, Comprising: (a) is a plane sectional view, (b) is a side view. It is a figure which shows the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 1st embodiment of this invention. It is a top view which shows an example of the detection method of the container gravity center position by the structure of the container gravity center position notification system which concerns on 2nd embodiment of this invention, and a container gravity center position detection apparatus. It is a figure which shows the other example of the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 2nd embodiment of this invention. It is a figure which shows the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 1st embodiment of this invention. It is a side view which shows roughly the other structural example of the container gravity center position notification system which concerns on 2nd embodiment of this invention. It is a front view which shows roughly the structure of the container gravity center position notification system which concerns on 3rd embodiment of this invention. It is an AA arrow line view of FIG. It is a figure which shows the other example of the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 3rd embodiment of this invention. It is a front view which shows the structure of the container gravity center position notification system which concerns on 4th embodiment of this invention. It is a figure which shows the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 4th embodiment of this invention. It is a figure which shows the detection method of the container gravity center position by the container gravity center position detection apparatus which concerns on 4th embodiment of this invention.

Explanation of symbols

1, 2, 26, 31, 41 Container center-of-gravity position notification system 2, 22, 32, 42 Container center-of-gravity position detection device 3 ID tag 4 Information recording device 5 Information reading device 11 Radiation source 12 Detector 13 Arithmetic device 33 Holding device 34 Load Detection device 36 Spreader (holding device, support device)
37 Rope (holding device, support device)
38 Winding machine (holding device, support device)
43 Vibration detection device C Container S Container entry space

Claims (12)

A radiation source;
A detector disposed with a container entry space between the radiation source and the detector;
An arithmetic unit that performs arithmetic processing based on the output of the detector,
The computing device calculates the intensity distribution of the radiation that has reached the detector from the radiation source in a state where the container has entered the container entry space, and calculates the density distribution of the container based on the intensity distribution of the radiation. And a container center-of-gravity position detection device that specifies the center-of-gravity position of the container based on the density distribution.   The computing device creates a radiation transmission image based on the intensity distribution of the radiation that has reached the detector from the radiation source, and based on the density distribution of the radiation transmission image, the container of the container that has entered the container entry space The container center-of-gravity position detection apparatus according to claim 1, wherein a density distribution is calculated to identify a center-of-gravity position of the container. The radiation sources are arranged at a plurality of locations;
The arithmetic unit obtains the intensity distribution of the radiation reaching the detector from each radiation source based on the output of the detector, and the positional information of each radiation source with respect to the detector and the radiation source to the detector. The container center of gravity according to claim 1 or 2, wherein a density distribution of the container that has entered the container entry space is calculated based on an intensity distribution of incident radiation, and a three-dimensional center of gravity position of the container is specified. Position detection device. A holding device for holding and lifting the container at a plurality of locations in plan view;
A load detecting device for detecting a load applied to each part of the holding device;
The radiation source and the detector are provided only in a pair opposed to each other on a horizontal plane,
The arithmetic device detects the position of the center of gravity on the vertical plane of the container based on the output of the detector, and based on the output of the load detection device in a state where the container is lifted using the holding device. The container gravity center position detection apparatus according to claim 1, wherein the gravity center position of the container on a horizontal plane is detected. A spreader for holding the container;
A plurality of ropes each connected to a different part of the spreader;
A hoisting machine for winding and unwinding each rope;
The container center-of-gravity position detection device according to claim 4, wherein the load detection device includes a tension measurement device provided on each of the ropes. A support device for hanging and supporting the container;
A vibration detecting device for detecting the state of vibration of the container;
The radiation source and the detector are provided only in a pair opposed to each other on a horizontal plane,
The container center-of-gravity position detection device according to claim 1 or 2, wherein the arithmetic device detects a center-of-gravity position of the container on a horizontal plane based on an output of the vibration detection device. A spreader for holding the container;
A plurality of ropes each connected to a different part of the spreader;
The container center-of-gravity position detection device according to claim 6, further comprising a hoisting machine that winds and unwinds the ropes. Place the radiation source and the detector with a container entry space between them,
Based on the output of the detector, obtain the intensity distribution of the radiation that has reached the detector from the radiation source in a state where a container has entered the container entry space,
A container center-of-gravity position detection method that calculates a density distribution of the container based on the intensity distribution of the radiation and identifies a center-of-gravity position of the container. Arranging the radiation source at a plurality of locations;
Based on the output of the detector, the intensity distribution of the radiation reaching the detector from each of the radiation sources, respectively,
Based on the positional information of each radiation source with respect to the detector and the intensity distribution of the radiation incident on the detector from each radiation source, the density distribution of the container that has entered the container entry space is calculated, and The container gravity center position detection method according to claim 8, wherein a three-dimensional gravity center position is specified. A holding device that holds and lifts the container at a plurality of locations in plan view, and a load detection device that detects a load applied to each part of the holding device,
The radiation source and the detector are provided only as a pair opposed to each other on a horizontal plane,
Detecting the position of the center of gravity on the vertical plane of the container based on the output of the detector;
The container gravity center position detection method according to claim 8, wherein the gravity center position of the container on a horizontal plane is detected based on an output of the load detection device when the container is lifted using the holding device. A support device for supporting the container in a suspended state, and a vibration detection device for detecting the state of vibration of the container,
The radiation source and the detector are provided only as a pair opposed to each other on a horizontal plane,
The container gravity center position detection method according to claim 8, wherein the gravity center position of the container on a horizontal plane is detected based on an output of the vibration detection device. An ID tag provided in the container and capable of writing and reading information;
An information recording device for writing information on the gravity center position of the container obtained by the container gravity center position detection device according to any one of claims 1 to 7 to the ID tag;
A container center-of-gravity position notification system comprising: an information reading device that reads information on the center-of-gravity position of the container written in the ID tag and notifies the user.

Images