Radiation scanning inspection system and control method

Abstract

The invention relates to the field of radiation scanning, in particular to a radiation scanning inspection system and a control method. The radiation scanning inspection system includes: a quay crane including a gantry structure and a cargo handling mechanism disposed on the gantry structure, where the gantry structure includes a sea side gantry and a land side gantry, the cargo handling mechanism configured to perform cargo handling between a first position on the sea side and a second position on the land side; the first radiation scanning inspection device is arranged on the sea side door frame and is configured to carry out radiation scanning inspection on the goods in the process that the goods carrying mechanism carries out goods carrying from the first position to the second position; the cargo carrying mechanism is further configured to adjust the length direction of the cargo before the first radiation scanning inspection device conducts radiation scanning inspection on the cargo. According to the embodiment of the invention, the loading, unloading and checking efficiency of goods can be improved, and the occupation of the internal space of the frame of the quay crane can be reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of radiation scanning, and in particular, to a radiation scanning inspection system and a control method. BACKGROUND

[0002] A gantry crane used for loading and unloading operations on a container ship at a container terminal is referred to as a shore crane. In order to prevent dangerous contraband or smuggled goods from entering the station, it is usually necessary to equip a scanning inspection system at the container terminal to realize scanning inspection of the containers.

[0003] In some related technologies, a scanning device is installed on the platform of the shore crane, and the container is lifted to the platform by the lifting tool for scanning, and after the inspection is completed, the container is transferred to the ground transfer vehicle by the lifting tool. In another related technology, the scanning device is installed inside the gantry of the shore crane, and the lifting tool scans the container during lifting by the scanning device in the process of lifting the container to the transfer vehicle under the gantry. SUMMARY

[0004] It is found through research that the scanning device installed on the platform of the shore crane in the related technology needs to be matched with the lifting tool for platform unloading, and the container is lifted after scanning, and the scanning process has a greater impact on the efficiency of container lifting operations. For the related technology of installing a scanning device inside the gantry of the shore crane, the scanning device needs to occupy a part of the internal space of the gantry, increasing the internal structural complexity of the shore crane.

[0005] Therefore, the embodiments of the present disclosure provide a radiation scanning inspection system, which can improve the loading and unloading and inspection efficiency of goods and is beneficial to reduce the occupation of the internal space of the gantry of the shore crane.

[0006] In one aspect of the present disclosure, a radiation scanning inspection system is provided, comprising:

[0007] a shore crane, comprising a gantry structure and a cargo handling mechanism arranged on the gantry structure, wherein the gantry structure comprises a sea side gantry and a land side gantry, and the cargo handling mechanism is configured to handle cargo between a first position on the sea side and a second position on the land side; and

[0008] a first radiation scanning inspection device arranged on the sea side gantry and configured to perform radiation scanning inspection on the cargo during cargo handling of the cargo handling mechanism from the first position to the second position;

[0009] wherein the cargo handling mechanism is further configured to adjust the length direction of the cargo before the first radiation scanning inspection device performs radiation scanning inspection on the cargo.

[0010] In some embodiments, the sea side gantry comprises a first column and a second column arranged along a running direction of the gantry structure, and the first radiation scanning inspection device comprises:

[0011] a first radiation source configured to emit radiation rays toward a subject; and

[0012] a first detector assembly configured to receive the radiation rays after interacting with the subject;

[0013] wherein the first radiation source is arranged on the first column, and the first detector assembly is arranged on the second column.

[0014] In some embodiments, the first radiation source is mounted on or integrated with the first column, and the first detector assembly is mounted on or integrated with the second column.

[0015] In some embodiments, the first detector assembly comprises:

[0016] a vertical arm arranged vertically on the second column; and

[0017] a first detector module arranged on the vertical arm and along a length direction of the vertical arm;

[0018] wherein the first radiation source and the first detector module on the vertical arm form at least part of a scanning region.

[0019] In some embodiments, the first detector assembly further comprises:

[0020] a horizontal arm arranged horizontally on the second column or the vertical arm; and

[0021] a second detector module arranged on the horizontal arm and along a length direction of the horizontal arm;

[0022] wherein the first radiation source, the first detector module on the vertical arm, and the second detector module on the horizontal arm collectively form the scanning region.

[0023] In some embodiments, the horizontal arm is connected to a top end or a bottom end of the vertical arm.

[0024] In some embodiments, the cargo carrying mechanism is configured to adjust a length direction of the cargo to be perpendicular to a radiation scanning surface of the first radiation scanning inspection device, or to be at a preset inclination angle with respect to a normal line of the radiation scanning surface of the first radiation scanning inspection device, before the first radiation scanning inspection device performs radiation scanning inspection on the cargo.

[0025] In some embodiments, the gantry structure is configured to run on a track assembly, and the cargo handling mechanism is configured to adjust the length direction of the cargo to be parallel to the extension direction of the track assembly after the first radiation scanning inspection device completes the radiation scanning inspection of the cargo.

[0026] In some embodiments, the second position is located between the sea side gantry and the land side gantry, so that the shore crane performs cargo loading and unloading on the transfer vehicle arriving at the second position.

[0027] In some embodiments, the cargo handling mechanism is further configured to perform cargo handling between a third position and the first position or between the third position and the second position, the third position being located on the side of the land side gantry away from the sea side gantry.

[0028] The radiation scanning inspection system further comprises:

[0029] A second radiation scanning inspection device is arranged on the land side gantry and is configured to perform radiation scanning inspection on the cargo during the cargo handling of the cargo handling mechanism between the first position and the third position or between the second position and the third position.

[0030] In some embodiments, the radiation scanning inspection system further comprises:

[0031] A third radiation scanning inspection device is arranged between the sea side gantry and the land side gantry and is configured to perform radiation scanning inspection on the cargo loaded on the transfer vehicle leaving the second position after the shore crane completes cargo loading and unloading on the transfer vehicle arriving at the second position.

[0032] In some embodiments, the sea side gantry comprises a first column and a second column arranged at intervals along the running direction of the gantry structure, and the land side gantry comprises a third column and a fourth column arranged at intervals along the running direction of the gantry structure.

[0033] The third radiation scanning inspection device comprises:

[0034] A second radiation source configured to emit radiation rays to the object under inspection; and

[0035] A second detector assembly configured to receive the radiation rays after interacting with the object under inspection.

[0036] The second radiation source and the second detector assembly are arranged on the same side column of the sea side gantry and the land side gantry along the running direction of the gantry structure.

[0037] In one aspect of the present disclosure, a control method of the aforementioned radiation scanning inspection system is provided, comprising:

[0038] The cargo handling mechanism of the shore-to-ship crane performs cargo handling between a first position on the sea side and a second position on the land side;

[0039] During the cargo handling of the cargo handling mechanism from the first position to the second position, the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device arranged on the sea side gantry;

[0040] Wherein, before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device, the length direction of the cargo is adjusted by the cargo handling mechanism.

[0041] In some embodiments, the control method further comprises:

[0042] Before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device, the length direction of the cargo is adjusted by the cargo handling mechanism to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device, or the length direction of the cargo is adjusted by the cargo handling mechanism to be at a preset inclination angle with the normal line of the radiation scanning surface of the first radiation scanning inspection device.

[0043] In some embodiments, the gantry structure is configured to run on a track assembly;

[0044] Wherein, the control method further comprises:

[0045] After the first radiation scanning inspection device completes the radiation scanning inspection of the cargo, the length direction of the cargo is adjusted by the cargo handling mechanism to be parallel to the extension direction of the track assembly.

[0046] In some embodiments, the second position is located between the sea side gantry and the land side gantry, so that the shore-to-ship crane performs cargo loading and unloading on the transfer vehicle arriving at the second position; the radiation scanning inspection system further comprises a second radiation scanning inspection device arranged on the land side gantry;

[0047] Wherein, the control method further comprises:

[0048] The cargo handling mechanism performs cargo handling between a third position and the first position or the second position, the third position being located on the side of the land side gantry away from the sea side gantry;

[0049] During the process that the cargo handling mechanism performs cargo handling between the first position and the third position or between the second position and the third position, the cargo is subjected to radiation scanning inspection by the second radiation scanning inspection device.

[0050] In some embodiments, the second position is located between the sea side gantry and the land side gantry, so that the shore crane performs cargo handling on the transfer vehicle arriving at the second position; the radiation scanning inspection system further comprises a third radiation scanning inspection device arranged between the sea side gantry and the land side gantry;

[0051] The control method further comprises:

[0052] After the cargo handling of the transfer vehicle arriving at the second position by the shore crane is completed, the cargo loaded on the transfer vehicle leaving the second position is subjected to radiation scanning inspection by the third radiation scanning inspection device.

[0053] According to the embodiments of the present disclosure, during the process that the cargo handling mechanism performs cargo handling from the first position on the sea side to the second position on the land side, the cargo passes through the space of the sea side gantry, and the first radiation scanning inspection device arranged on the sea side gantry can perform radiation scanning inspection on the cargo passing through the sea side gantry, so that radiation detection is performed during the cargo handling process of the cargo handling mechanism, and the cargo does not need to be unloaded for special inspection, thereby effectively improving the cargo handling and inspection efficiency. Moreover, compared with the related technical structure in which the scanning device is arranged in the internal space of the gantry of the shore crane, the first radiation scanning inspection device is arranged on the sea side gantry, which can be installed in the space formed by the sea side gantry, reduces the occupation of the internal space of the gantry, and is conducive to reducing the complexity of the internal structure of the shore crane. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0055] The present disclosure can be understood moreappreciably by referring to the following detailed description in conjunction with the accompanying drawings, in which:

[0056] Figure 1 is a schematic diagram of an application scene according to some embodiments of the radiation scanning inspection system of the present disclosure;

[0057] Figure 2 is a structural schematic diagram of some embodiments of the radiation scanning inspection system of the present disclosure from another perspective;

[0058] Figure 3is a schematic view of the radiation scanning inspection region of the sea side gantry when the cargo handling mechanism does not adjust the length direction of the container when handling the container from the first position to the second position;

[0059] Figure 4 is a schematic view of several variations of the first radiation scanning inspection device in the embodiment of the radiation scanning inspection system of the present disclosure;

[0060] Figure 5 is a schematic view of the workflow of some embodiments of the radiation scanning inspection system of the present disclosure; Figure 6 is a schematic view of the structure of another embodiment of the radiation scanning inspection system according to the present disclosure;

[0061] Figure 7 is a schematic view of the work of yet another embodiment of the radiation scanning inspection system of the present disclosure after the cargo is loaded into the transfer vehicle;

[0062] Figure 8 is a schematic view of the flow of some embodiments of the control method of the radiation scanning inspection system according to the present disclosure;

[0063] Figure 9 is a schematic view of the flow of another embodiment of the control method of the radiation scanning inspection system according to the present disclosure.

[0064] It should be understood that the dimensions of the various parts shown in the drawings are not drawn to actual scale. In addition, the same or similar reference numerals are used to represent the same or similar components.

[0065] Explanation of Reference Signs:

[0066] 10, shore crane; 11, gantry structure; 111, sea side gantry; 111a, first upright column; 111b, second upright column; 112, land side gantry; 112a, third upright column; 112b, fourth upright column; 113, trolley; 12, cargo handling mechanism; 13, main girder;

[0067] 20, first radiation scanning inspection device; 21, first radiation source; 21', reference radiation source; 22, first detector assembly; 22', reference detector assembly; 221, vertical arm; 222, first detector module; 223, horizontal arm; 224, second detector module;

[0068] 30, second radiation scanning inspection device;

[0069] 40, third radiation scanning inspection device; 41, second radiation source; 42, second detector assembly;

[0070] P1, first position; P2, second position; P3, third position; RA, rail assembly; TV, transfer vehicle; CS, ship; a, trajectory; b, container. DETAILED DESCRIPTION

[0071] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses. The disclosure can be implemented in numerous different forms, not just the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the disclosure to those skilled in the art. It should be noted that the relative arrangement of components and steps set forth in these embodiments, the components of the materials, numerical expressions, and numerical values are to be interpreted as merely exemplary, unless otherwise specifically stated.

[0072] The "first", "second", and similar words used in the present disclosure do not indicate any order, number, or importance, but are only used to distinguish different parts. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "down", "left", "right", and the like are only used to indicate relative positional relationships, which may also change accordingly when the absolute position of the described object changes.

[0073] In the present disclosure, when it is described that a particular device is located between a first device and a second device, there can be an intervening device between the particular device and the first device or the second device, or there can be no intervening device. When it is described that a particular device is connected to other devices, the particular device can be directly connected to the other devices without an intervening device, or it can not be directly connected to the other devices with an intervening device.

[0074] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by a person of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or extremely formalized sense, unless otherwise specifically defined herein.

[0075] Techniques, methods, and equipment known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0076] Figure 1 is a schematic diagram of an application scenario according to some embodiments of the radiation scanning inspection system of the present disclosure. Figure 2is a structural schematic diagram of some embodiments of the radiation scanning inspection system according to the present disclosure at another viewing angle.

[0077] With reference to Figure 1 and Figure 2 The embodiments of the present disclosure provide a radiation scanning inspection system, comprising: a shore crane 10 and a first radiation scanning inspection device 20. The shore crane 10 comprises a gantry structure 11 and a cargo handling mechanism 12 arranged on the gantry structure 11, wherein the gantry structure 11 comprises a sea side gantry 111 and a land side gantry 112, and the cargo handling mechanism 12 is configured to perform cargo handling between a first position P1 on the sea side and a second position P2 on the land side.

[0078] The first radiation scanning inspection device 20 is arranged on the sea side gantry 111 and is configured to perform radiation scanning inspection on the cargo during the cargo handling of the cargo handling mechanism 12 from the first position P1 to the second position P2.

[0079] The cargo handling mechanism 12 is further configured to adjust the length direction of the cargo before the first radiation scanning inspection device 20 performs radiation scanning inspection on the cargo.

[0080] The shore crane 10 can be installed at a port wharf to perform loading and unloading operations on cargos such as containers. The shore crane 10 can adopt a gantry bridge structure, which comprises a gantry structure 11 and a cargo handling mechanism 12 arranged on the gantry structure 11.

[0081] The gantry structure 11 comprises a sea side gantry 111 and a land side gantry 112. The sea side gantry 111 refers to the gantry adjacent to the water side within the wharf, and the space formed thereby can be passed through by the cargo handling mechanism 12 and cargos such as containers. The land side gantry 112 refers to the gantry located away from the water side within the wharf, and together with the sea side gantry 111, it can form an overall frame of the gantry structure 11 through components such as cross beams.

[0082] In Figure 1 , the shore crane 10 can further comprise a main beam 13 connected with the gantry structure 11, and a pulling assembly for pulling the main beam 13, etc. Here, the shore crane 10 can adopt an existing structure form, which will not be described here.

[0083] The gantry structure 11 can be fixed at the wharf site or can move at the wharf site, for example, the gantry structure 11 can be arranged on a rail assembly RA through a plurality of trolleys 113 and run on the rail assembly RA under the driving of a driving mechanism. The sea side gantry 111 and the land side gantry 112 can run on two rails of the rail assembly RA, respectively.

[0084] The cargo handling mechanism 12 can include a spreader, a spreader lifting driving component and a spreader horizontal driving component. The spreader can grab or release the cargo such as containers. The spreader lifting driving component can use a winch to wind or unwind a rope to drive the spreader to lift or lower the cargo. The spreader horizontal driving component can use a trolley running on the track of the main beam to drive the spreader to move along the length direction of the main beam.

[0085] As shown in FIG. 1, the cargo handling mechanism 12 can handle the containers b in the ship CS along the trajectory a from the first position P1 to the second position P2. For the convenience of understanding, the states of the cargo handling mechanism 12 at multiple positions are shown in FIG. 2. Figure 1 Figure 1 As shown in FIG. 2, the cargo handling mechanism 12 can lift the containers b on the ship CS by the spreader and handle them to the left along the main beam 13. During the handling process, the cargo handling mechanism 12 can adjust the direction of the containers b, and make the spreader and the containers b pass through the sea side gantry 111, and then reach the area between the sea side gantry 111 and the land side gantry 112, and then load the containers b onto the transfer vehicle TV.

[0086] The first position P1 on the sea side can be the ship CS, or other areas located on the side of the sea side gantry 111 away from the land side gantry 112.

[0087] The second position P2 on the land side can be located between the sea side gantry 111 and the land side gantry 112, so that the shore crane 10 can handle the cargo of the transfer vehicle TV reaching the second position P2. The second position P2 can also be located on the side of the land side gantry 112 away from the sea side gantry 111.

[0088] The transfer vehicle TV can be an unmanned transfer vehicle such as an automatic guided vehicle (AGV), or a manned vehicle. The transfer vehicle TV can drive to the second position P2, and after the cargo handling mechanism 12 loads the containers b onto the transfer vehicle TV, the transfer vehicle TV drives from the position to the unloading area or other operation area.

[0089] The first radiation scanning inspection device 20 is arranged on the sea side gantry 111, and can be mounted with the sea side gantry 111. When replacement or maintenance is needed, the first radiation scanning inspection device 20 can be dismounted from the sea side gantry 111, so as to meet the replacement or maintenance needs of the components. The first radiation scanning inspection device 20 can also be integrated with the sea side gantry 111 when leaving the factory, which is beneficial to omit or reduce the installation and debugging links of the first radiation scanning inspection device 20.

[0090] ​The first radiation scanning inspection device 20 can perform radiation scanning inspection on the cargo. It can emit radiation rays such as X-rays or gamma rays according to a predetermined time sequence through a radiation source, and receive the radiation rays after acting on the cargo through a detector, and then obtain a scanning image, so as to determine whether the cargo contains objects such as dangerous contraband or smuggled goods.

[0091] The first radiation scanning inspection device 20 performs radiation scanning inspection on the cargo during the cargo carrying process of the cargo carrying mechanism 12 from the first position P1 to the second position P2. That is, the first radiation scanning inspection device 20 performs radiation scanning inspection on the cargo in the continuous process of the cargo carrying mechanism 12 carrying the cargo. Relative motion is formed between the cargo and the first radiation scanning inspection device 20, so as to realize radiation scanning inspection on multiple sections of the cargo.

[0092] In this embodiment, during the cargo carrying process of the cargo carrying mechanism 12 from the first position P1 on the sea side to the second position P2 on the land side, the cargo passes through the space surrounded by the sea side gantry 111, and the first radiation scanning inspection device 20 arranged on the sea side gantry 111 can perform radiation scanning inspection on the cargo passing through the sea side gantry 111. In this way, radiation detection is performed during the carrying process of the cargo carrying mechanism 12, without the need to unload the cargo for special inspection, thereby effectively improving the loading and unloading and inspection efficiency of the cargo. Moreover, compared with the related technical structure in which the scanning device is arranged inside the gantry of the shore crane, arranging the first radiation scanning inspection device 20 on the sea side gantry 111 can make full use of the space formed by the sea side gantry 111 for installation, reduce the occupation of the internal space of the gantry, and be conducive to reducing the complexity of the internal structure of the shore crane.

[0093] In addition, for the related technical solution in which the transfer trolley carrying large-weight cargo such as containers received by the shore crane is scanned by the inspection device, the carrying process from the first position P1 on the sea side to the second position P2 on the land side is usually slow, and the transfer trolley also needs to slow down when passing through the scanning area to adapt to the scanning frequency of the radiation source, so there are two relatively slow stages. In contrast, in this embodiment, the first radiation scanning inspection device 20 arranged on the sea side gantry 111 on the carrying path performs radiation scanning inspection during the carrying process of the cargo carrying mechanism from the first position P1 to the second position P2, so as to make full use of the carrying time from the first position P1 to the second position P2, without the need for the transfer trolley to slow down for inspection, thereby effectively improving the work efficiency.

[0094] Before the cargo handling mechanism 12 moves the cargo to the seaside gantry 111 so that the first radiation scanning inspection device 20 can perform radiation scanning inspection on the cargo, the cargo handling mechanism 12 can adjust the length direction of the cargo to adapt to the scanning angle, source distance and detector arrangement that the first radiation scanning inspection device 20 can achieve, and / or adapt to the space size enclosed by the seaside gantry 111.

[0095] Figure 3 This is a schematic diagram of the radiation scanning inspection area located on the sea-side gantry when a cargo handling mechanism moves a container from the first position to the second position without adjusting the length of the container.

[0096] refer to Figure 1 The container shown is oriented on the ship's CS. Figure 2 The diagram shows that before the container reaches the inspection position of the first radiation scanning inspection device 20, the length direction of the cargo is adjusted by the cargo handling mechanism 12. Figure 3 This shows the state where the cargo is scanned and inspected by a radiation scanning inspection device without adjusting its length.

[0097] Compare Figure 2 and Figure 3 The orientation of the goods in the middle shows that if a full scan of the goods is required, then... Figure 3 The radiation emitted by the reference radiation source 21' requires a large amount of radiation energy to penetrate a long cargo, and the angular size of the radiation rays needs to be relatively large compared to... Figure 2 The radiation rays from the first radiation source 21 have a larger angular amplitude, correspondingly requiring a larger-area reference detector assembly 22'. Furthermore, the longer cargo occupies a larger lateral space, necessitating a larger space enclosed by the seaside gantry 111 for cargo passage and radiation scanning. In this embodiment, by adjusting the length direction of the cargo, it is easier for the cargo to pass through the inherent space enclosed by the seaside gantry 111, which helps reduce the space and cost required for the first radiation source 21 and the first detector assembly 22, and lowers the size requirements for the seaside gantry 111, thereby reducing the size and weight of the quay crane.

[0098] refer to Figure 2 In some embodiments, the seaside gantry 111 includes first columns 111a and second columns 111b spaced apart along the running direction of the gantry structure 11. A space for cargo passage is formed between the first columns 111a and the second columns 111b. The first radiation scanning inspection device 20 includes a first radiation source 21 and a first detector assembly 22.

[0099] The first column 111a and the second column 111b can extend along a vertical direction or can be inclined at an angle relative to the vertical direction. A top beam, a bottom beam or other cross beams can be connected between the first column 111a and the second column 111b.

[0100] The first radiation source 21 is configured to emit radiation rays toward the object under inspection. The first detector assembly 22 is configured to receive the radiation rays after interacting with the object under inspection. The first radiation source 21 is arranged on the first column 111a, and the first detector assembly 22 is arranged on the second column 111b.

[0101] The object under inspection in the present embodiment is a cargo carried by the cargo handling mechanism 12, such as a container b. Along the running direction of the portal structure 11, the first column 111a where the first radiation source 21 is arranged can be located on the left side of the second column 111b where the first detector assembly 22 is arranged, or can be located on the right side of the second column 111b where the first detector assembly 22 is arranged.

[0102] In the present embodiment, the first radiation source 21 and the first detector assembly 22 are arranged on the first column 111a and the second column 111b respectively, so that the first radiation scanning inspection device 20 can move synchronously with the seaside portal 111, thereby enabling the scanning area formed by the first radiation scanning inspection device 20 to always face the path a of the cargo carried by the cargo handling mechanism 12, and saving the process of adjusting the position of the first radiation scanning inspection device 20 or the cargo.

[0103] In addition, the first radiation source 21 and the first detector assembly 22 can be stably arranged on the first column 111a and the second column 111b respectively, which is conducive to obtaining accurate and reliable inspection results, and can save or reduce the debugging operation of the first radiation source 21 and the first detector assembly 22.

[0104] Alternatively, the first radiation source 21 can be mounted on or integrated with the first column 111a, and the first detector assembly 22 can be mounted on or integrated with the second column 111b. In the mounting mode, the first radiation source 21 and the first detector assembly 22 can be designed independently, and it is convenient to adjust, replace and maintain according to requirements. In the integrated arrangement mode, it is beneficial to save or reduce the installation and debugging links.

[0105] Figure 4 is a schematic view of several variants of the first radiation scanning inspection device in the embodiment of the radiation scanning inspection system of the present disclosure.

[0106] Reference Figure 4In some embodiments, the first detector assembly 22 comprises a vertical arm 221 and a first detector module 222. The vertical arm 221 is vertically arranged on the second column 111b, for example, the vertical arm 221 can be fixed on the surface of the second column 111b as a whole, and the length direction of the vertical arm 221 is parallel to the length direction of the second column 111b.

[0107] The first detector module 222 is arranged on the vertical arm 221 and arranged along the length direction of the vertical arm 221. The first detector assembly 22 can comprise one or more first detector modules 222. A plurality of first detector modules 222 can be arranged along the length direction of the vertical arm 221.

[0108] The first radiation source 21 and the first detector module 222 on the vertical arm 221 form at least part of the scanning area. In Figure 4 In (a) of FIG. 2, the first radiation source 21 and the first detector module 222 on the vertical arm 221 form a scanning area capable of covering the entire cross section of the cargo. In Figure 4 In (b) and (c) of FIG. 2, the first radiation source 21 and the first detector module 222 on the vertical arm 221 form a partial scanning area capable of covering part of the cross section of the cargo.

[0109] Referring to Figure 4 In (b) and (c) of FIG. 2, in some embodiments, the first detector assembly 22 further comprises a horizontal arm 223 and a second detector module 224. The horizontal arm 223 is horizontally arranged on the second column 111b or the vertical arm 221, for example, the horizontal arm 223 can be fixed on the surface of the second column 111b or fixed on the end of the vertical arm 221, and the length direction of the horizontal arm 223 is parallel to the horizontal plane.

[0110] According to the height position of the cargo passing through the sea side gantry 111 during the cargo handling process, the horizontal arm 223 can be arranged to be connected to the top end or the bottom end of the vertical arm 221.

[0111] The second detector module 224 is arranged on the horizontal arm 223 and arranged along the length direction of the horizontal arm 223. The first detector assembly 22 can comprise one or more second detector modules 224. A plurality of second detector modules 224 can be arranged along the length direction of the horizontal arm 223.

[0112] The first radiation source 21 and the first detector module 222 on the vertical arm 221 and the second detector module 224 on the horizontal arm 223 jointly form the scanning area. In Figure 4 In (b) and (c) of FIG. 2, the first radiation source 21 and the first detector module 222 on the vertical arm 221 form a part of the scanning area, and the second detector module 224 on the horizontal arm 223 forms another part of the scanning area.

[0113] In the present embodiment, the first probe assembly 22 can enable the cargo to be scanned more completely by the scanning region, and does not interfere with the cargo handling mechanism 12 and the cargo, by means of a vertical arm or a combination of a vertical arm and a horizontal arm.

[0114] Figure 5 is a schematic diagram of a workflow of some embodiments of the disclosed radiation scanning inspection system. Figure 5 (a)-(e) of is a schematic diagram of a radiation scanning surface of the first radiation scanning inspection device 20 by a filled scatter plot.

[0115] Referring to Figure 2 , Figure 4-5 In some embodiments, the cargo handling mechanism 12 is configured to adjust the length direction of the cargo to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20 or to be at a preset oblique angle to the normal line of the radiation scanning surface of the first radiation scanning inspection device 20 before the first radiation scanning inspection device 20 performs radiation scanning inspection on the cargo. After the length direction of the cargo is adjusted to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20, the first radiation scanning inspection device 20 can perform continuous scanning on the cargo along the length direction of the cargo. After the length direction of the cargo is adjusted to be at a preset oblique angle (e.g., 5°-10°) to the normal line of the radiation scanning surface of the first radiation scanning inspection device 20, small-angle scanning of the cargo can be performed.

[0116] Taking a container b transported by a ship CS in Figure 1 as an example, the container b has two end faces, and the length direction of the container b is perpendicular to the two end faces. When the cargo handling mechanism 12 lifts the container b from the ship CS, the length direction of the container b is parallel to the radiation scanning surface of the first radiation scanning inspection device 20.

[0117] Before the container b is lifted to the sea-side gantry 111, i.e., before the container b is subjected to radiation scanning inspection, as shown in (a) of Figure 5 , the spreader is driven to rotate, e.g., 90° clockwise, so that the length direction of the container b is perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20, i.e., in the state shown in (b) of Figure 5 .

[0118] As shown in (b) and (c) of Figure 5 , the container b is lifted through the radiation scanning surface according to the direction indicated by the black straight arrow. In this process, the first radiation scanning inspection device 20 can perform radiation scanning on multiple cross sections of the container b along the length direction to form a scanning image of the whole container b.

[0119] In the present embodiment, the length direction of the cargo is adjusted to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20 before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20, which makes it easier for the radiation scanning surface to cover the cross section of the cargo, and is conducive to reducing the size of the first detector assembly 22, reducing the space occupied thereby, and also conducive to reducing the size of the shielding member for shielding radiation, thereby reducing the cost and weight of the equipment.

[0120] In the present embodiment, the length direction of the cargo is adjusted to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20 before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20, which makes it easier for the radiation scanning surface to cover the cross section of the cargo, and is conducive to reducing the size of the first detector assembly 22, reducing the space occupied thereby, and also conducive to reducing the size of the shielding member for shielding radiation, thereby reducing the cost and weight of the equipment.

[0121] Reference Figure 5 (d), in some embodiments, the portal structure 11 is configured to run on the track assembly RA; the cargo handling mechanism 12 is configured to adjust the length direction of the cargo to be parallel to the extension direction of the track assembly RA after the first radiation scanning inspection device 20 completes the radiation scanning inspection of the cargo.

[0122] In Figure 5 (d) of the present embodiment, the cargo handling mechanism 12 drives the spreader to rotate, for example, 90° clockwise or 90° counterclockwise, so that the length direction of the container b is adjusted to be parallel to the extension direction of the track assembly RA, thereby facilitating the unloading of the container b to the transfer vehicle TV between the sea-side portal 111 and the land-side portal 112. Figure 5

[0123] In the present embodiment, the length direction of the cargo is adjusted to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20 before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20, which makes it easier for the radiation scanning surface to cover the cross section of the cargo, and is conducive to reducing the size of the first detector assembly 22, reducing the space occupied thereby, and also conducive to reducing the size of the shielding member for shielding radiation, thereby reducing the cost and weight of the equipment.

[0124] Figure 6 is a structural schematic diagram of another embodiment of the radiation scanning inspection system according to the present disclosure. As Figure 6 shown, the second position P2 is located between the sea-side portal 111 and the land-side portal 112, so that the shore-to-ship crane 10 performs cargo loading and unloading on the transfer vehicle TV arriving at the second position P2.

[0125] Reference Figure 6 ​In some embodiments, the cargo handling mechanism 12 is further configured to carry the cargo between the third position P3 and the first position PI or the second position P2, the third position P3 being located on the land side gantry 112 away from the sea side gantry 111. The radiation scanning inspection system further comprises a second radiation scanning inspection device 30. The second radiation scanning inspection device 30 is disposed on the land side gantry 112 and configured to perform radiation scanning inspection on the cargo during the cargo handling by the cargo handling mechanism 12 between the first position PI and the third position P3 or between the second position P2 and the third position P3.

[0126] The second radiation scanning inspection device 30 can have the same structure as the first radiation scanning inspection device 20, including a radiation source and a detector assembly. Details of the components and their functions are not repeated here.

[0127] The third position P3 can be a location inside the terminal. When the cargo handling mechanism 12 carries the cargo between the third position P3 and the second position P2 or between the third position P3 and PI, the second radiation scanning inspection device 30 disposed on the land side gantry 112 can perform radiation scanning inspection on the cargo to meet the scanning inspection requirements during the loading process, or the requirement for re-inspection of the cargo, etc. For example, in the case where the cargo is suspected to contain dangerous contraband after being inspected by the first radiation scanning inspection device 20, the cargo handling mechanism 12 carries the cargo between the second position P2 and the third position P3 so that the cargo is subjected to a second inspection by the radiation scanning face of the second radiation scanning inspection device 30. The result of the second inspection can be used to determine whether the cargo is to be carried to the third position P3 or returned to the transfer vehicle TV at the second position P2.

[0128] Figure 7 is a schematic view of the operation of further embodiments of the radiation scanning inspection system of the present disclosure after the cargo is loaded into the transfer vehicle. Referring to Figure 7 In some embodiments, the radiation scanning inspection system further comprises a third radiation scanning inspection device 40 disposed between the sea side gantry 111 and the land side gantry 112 and configured to perform radiation scanning inspection on the cargo loaded on the transfer vehicle TV leaving the second position P2 after the cargo handling by the shore crane 10 is completed.

[0129] The cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20 during the process of being carried from the first position PI to the transfer vehicle TV at the second position P2, and subjected to radiation scanning inspection again by the third radiation scanning inspection device 40 during the process of the transfer vehicle TV leaving the second position P2. The results of the two scans can be compared to improve the accuracy of identification.

[0130] The scanning surfaces in the two scanning processes can both be perpendicular to the length direction of the cargo, or one scanning surface in the two scanning processes can be perpendicular to the length direction of the cargo, and the other scanning surface can be inclined to the length direction of the cargo to perform a small-angle scanning, so as to realize multi-view scanning of the cargo. The sides of the cargo adjacent to the radiation sources in the two scanning processes can be the same side, so as to compare the scanning results. The sides of the cargo adjacent to the radiation sources in the two scanning processes can also be opposite sides, so as to reduce the scanning blind area.

[0131] Reference Figure 7 In some embodiments, the sea side gantry 111 includes first and second upright columns 111a and 111b arranged at intervals along the running direction of the gantry structure 11, and the land side gantry 112 includes third and fourth upright columns 112a and 112b arranged at intervals along the running direction of the gantry structure 11. The third radiation scanning inspection device 40 includes a second radiation source 41 and a second detector assembly 42. The second radiation source 41 is configured to emit radiation rays to the object under inspection. The second detector assembly 42 is configured to receive the radiation rays after interacting with the object under inspection.

[0132] The second radiation source 41 and the second detector assembly 42 included in the third radiation scanning inspection device 40 can be arranged on the same side upright column of the sea side gantry 111 and the land side gantry 112 along the running direction of the gantry structure 11. The second radiation source 41 can be arranged on the first upright column 111a or the second upright column 111b of the sea side gantry 111, or can be arranged on the third upright column 112a or the fourth upright column 112b of the land side gantry 112. Correspondingly, the second detector assembly 42 can be arranged on the third upright column 112a and the fourth upright column 112b of the land side gantry 112, or can be arranged on the first upright column 111a or the second upright column 111b of the sea side gantry 111. For example, in the second radiation scanning inspection device 40 shown in FIG. 2, the second radiation source 41 is arranged on the third upright column 112a, and the second detector assembly 42 is arranged on the first upright column 111a. Figure 7

[0133] The arrangement positions of the second radiation source 41 and the second detector assembly 42 can also be associated with the adjustment direction of the cargo handling mechanism 12 to the length direction of the cargo, so that the sides of the cargo adjacent to the second radiation source 41 in the two scanning processes are the same side, or the sides of the cargo adjacent to the second radiation source 41 in the two scanning processes are opposite sides.

[0134] Figure 8 is a flowchart of some embodiments of a control method of a radiation scanning inspection system according to the present disclosure.

[0135] Reference Figure 8 ​In the embodiments of the present disclosure, the control method of the radiation scanning inspection system according to any of the above embodiments comprises steps S11 and S12. Each step in the control method can be executed by a local controller of the radiation scanning inspection system or a control platform in communication with the local controller.

[0136] In step S11, the cargo handling mechanism 12 of the shore crane 10 performs cargo handling between the first position P1 on the sea side and the second position P2 on the land side.

[0137] In step S12, the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20 arranged on the sea side gantry 111 during the cargo handling of the cargo handling mechanism 12 from the first position P1 to the second position P2; wherein the length direction of the cargo is adjusted by the cargo handling mechanism 12 before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20.

[0138] In some embodiments, the control method further comprises: adjusting the length direction of the cargo to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device 20 or adjusting the length direction of the cargo to be at a preset inclination angle with respect to the normal line of the radiation scanning surface of the first radiation scanning inspection device 20 by the cargo handling mechanism 12 before the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device 20.

[0139] In some embodiments, the gantry structure 11 is configured to run on the rail assembly RA. Accordingly, the control method further comprises: adjusting the length direction of the cargo to be parallel to the extension direction of the rail assembly RA by the cargo handling mechanism 12 after the first radiation scanning inspection device 20 completes the radiation scanning inspection of the cargo.

[0140] Figure 9 is a flowchart of another embodiment of the control method of the radiation scanning inspection system according to the present disclosure.

[0141] Reference Figure 6 and Figure 9 In some embodiments, the second position P2 is located between the sea side gantry 111 and the land side gantry 112 so that the shore crane 10 performs cargo loading and unloading on the transfer vehicle TV arriving at the second position P2; the radiation scanning inspection system further comprises a second radiation scanning inspection device 30 arranged on the land side gantry 112. Accordingly, the control method further comprises steps S21 and S22.

[0142] In step S21, the cargo handling mechanism performs cargo handling between the third position P3 and the first position P1 or the second position P2, the third position P3 being located on the side of the land side gantry 112 away from the sea side gantry 111.

[0143] In step S22, the goods are radiographically inspected by the second radiographic inspection device 30 during the goods carrying process of the goods carrying mechanism 12 between the first position P1 and the third position P3 or between the second position P2 and the third position P3.

[0144] Reference Figure 7 In some embodiments, the second position P2 is located between the sea side gantry 111 and the land side gantry 112, so that the shore crane 10 carries out goods handling on the transfer vehicle TV arriving at the second position P2; the radiographic inspection system further comprises a third radiographic inspection device 40 arranged between the sea side gantry 111 and the land side gantry 112. Correspondingly, the control method further comprises: after the shore crane 10 completes the goods handling on the transfer vehicle TV arriving at the second position P2, radiographically inspecting the goods loaded on the transfer vehicle TV leaving the second position P2 by the third radiographic inspection device 40.

[0145] The embodiments in the specification are described in a progressive manner, and the focus of each embodiment is different, and the same or similar parts between each embodiment can be referred to. For the method embodiments, since the whole and the steps involved have a corresponding relationship with the content in the system embodiments, the description is relatively simple, and the related parts can be referred to the part of the system embodiments.

[0146] So far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0147] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced equivalently without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A radiation scanning inspection system, comprising: A quay crane (10) includes a gantry structure (11) and a cargo handling mechanism (12) disposed on the gantry structure (11), wherein the gantry structure (11) includes a sea-side gantry (111) and a land-side gantry (112), and the cargo handling mechanism (12) is configured to handle cargo between a first position (P1) on the sea side and a second position (P2) on the land side; and A first radiation scanning inspection device (20) is installed on the seaside gantry (111) and is configured to perform radiation scanning inspection on the cargo during the cargo handling mechanism (12) when the cargo is being handled from the first position (P1) to the second position (P2); The cargo handling mechanism (12) is also configured to adjust the length direction of the cargo before the first radiation scanning inspection device (20) performs a radiation scanning inspection on the cargo.

2. The radiation scanning inspection system according to claim 1, wherein, The seaside gantry (111) includes a first column (111a) and a second column (111b) arranged at intervals along the running direction of the gantry structure (11), and the first radiation scanning inspection device (20) includes: The first radiation source (21) is configured to emit radiation rays toward the object under inspection; and The first detector assembly (22) is configured to receive radiation rays after interacting with the object being inspected; The first radiation source (21) is located on the first column (111a), and the first detector assembly (22) is located on the second column (111b).

3. The radiation scanning inspection system according to claim 2, wherein, The first radiation source (21) is installed on the first column (111a) or integrated with the first column (111a), and the first detector assembly (22) is installed on the second column (111b) or integrated with the second column (111b).

4. The radiation scanning inspection system according to claim 2, wherein, The first detector assembly (22) includes: A vertical arm (221) is vertically mounted on the second column (111b); and The first detector module (222) is disposed on the vertical arm (221) and arranged along the length direction of the vertical arm (221); The first radiation source (21) and the first detector module (222) on the vertical arm (221) form at least part of the scanning area.

5. The radiation scanning inspection system according to claim 4, wherein, The first detector assembly (22) further includes: A horizontal arm (223) is horizontally arranged on the second column (111b) or the vertical arm (221); and The second detector module (224) is disposed on the horizontal arm (223) and arranged along the length direction of the horizontal arm (223); The first radiation source (21), together with the first detector module (222) on the vertical arm (221) and the second detector module (224) on the horizontal arm (223), forms a scanning area.

6. The radiation scanning inspection system according to claim 5, wherein, The horizontal arm (223) is connected to the top or bottom of the vertical arm (221).

7. The radiation scanning inspection system according to claim 1, wherein, The cargo handling mechanism (12) is configured to adjust the length direction of the cargo to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device (20) or to adjust the length direction of the cargo to be at a preset tilt angle to the normal of the radiation scanning surface of the first radiation scanning inspection device (20) before the first radiation scanning inspection device (20) performs radiation scanning inspection on the cargo.

8. The radiation scanning inspection system according to claim 7, wherein, The gantry structure (11) is configured to run on the track assembly (RA), and the cargo handling mechanism (12) is configured to adjust the length direction of the cargo to be parallel to the extension direction of the track assembly (RA) after the first radiation scanning inspection device (20) has completed the radiation scanning inspection of the cargo.

9. The radiation scanning inspection system according to claim 1, wherein, The second position (P2) is located between the sea-side gantry (111) and the land-side gantry (112) so that the quay crane (10) can load and unload cargo from the transfer vehicle (TV) that arrives at the second position (P2).

10. The radiation scanning inspection system according to claim 9, wherein, The cargo handling mechanism (12) is also configured to handle cargo between a third position (P3) and the first position (P1) or between the third position (P2) and the second position (P2), wherein the third position (P3) is located on the side of the landside gantry (112) away from the seaside gantry (111); The radiation scanning inspection system further includes: The second radiation scanning inspection device (30), mounted on the landside gantry (112), is configured to perform radiation scanning inspection on the cargo during the cargo handling mechanism (12) when the cargo is handled between the first position (P1) and the third position (P3) or between the second position (P2) and the third position (P3).

11. The radiation scanning inspection system according to claim 9, further comprising: The third radiation scanning inspection device (40) is located between the sea-side gantry (111) and the land-side gantry (112), and is configured to perform radiation scanning inspection on the cargo loaded on the transfer vehicle (TV) that has left the second position (P2) after the quay crane (10) has completed loading and unloading of cargo on the transfer vehicle (TV) that has arrived at the second position (P2).

12. The radiation scanning inspection system according to claim 11, wherein, The seaside gantry (111) includes a first column (111a) and a second column (111b) arranged at intervals along the running direction of the gantry structure (11), and the landside gantry (112) includes a third column (112a) and a fourth column (112b) arranged at intervals along the running direction of the gantry structure (11). The third radiation scanning inspection device (40) includes: The second radiation source (41) is configured to emit radiation rays toward the object under inspection; and The second detector assembly (42) is configured to receive radiation rays after interacting with the object under inspection; The second radiation source (41) and the second detector assembly (42) are located on the same side column of the sea-side gantry (111) and the land-side gantry along the running direction of the gantry structure (11).

13. A control method for a radiation scanning inspection system according to any one of claims 1-12, comprising: Cargo is moved between a first position (P1) on the sea side and a second position (P2) on the land side by means of the cargo handling mechanism (12) of the quay crane (10); During the process of the cargo handling mechanism (12) moving the cargo from the first position (P1) to the second position (P2), the cargo is subjected to radiation scanning inspection by the first radiation scanning inspection device (20) installed on the seaside gantry (111); Before the first radiation scanning inspection device (20) performs radiation scanning inspection on the goods, the length direction of the goods is adjusted by the goods handling mechanism (12).

14. The control method according to claim 13, further comprising: Before the first radiation scanning inspection device (20) performs radiation scanning inspection on the goods, the length direction of the goods is adjusted to be perpendicular to the radiation scanning surface of the first radiation scanning inspection device (20) by the goods handling mechanism (12), or the length direction of the goods is adjusted to be at a preset tilt angle to the normal of the radiation scanning surface of the first radiation scanning inspection device (20) by the goods handling mechanism (12).

15. The control method according to claim 14, wherein, The gantry structure (11) is configured to run on the track assembly (RA); The control method further includes: After the first radiation scanning inspection device (20) completes the radiation scanning inspection of the cargo, the cargo handling mechanism (12) adjusts the length direction of the cargo to be parallel to the extension direction of the track assembly (RA).

16. The control method according to claim 13, wherein, The second position (P2) is located between the seaside gantry (111) and the landside gantry (112) so that the quay crane (10) can load and unload cargo from the transfer vehicle (TV) arriving at the second position (P2); the radiation scanning inspection system also includes a second radiation scanning inspection device (30) installed on the landside gantry (112). The control method further includes: Cargo is transported between the third position (P3) and the first position (P1) or between the third position (P2) and the second position (P2) by the cargo handling mechanism (12), wherein the third position (P3) is located on the side of the landside gantry away from the seaside gantry; During the process of the cargo handling mechanism (12) handling cargo between the first position (P1) and the third position (P3) or between the second position (P2) and the third position (P3), the cargo is subjected to radiation scanning inspection by the second radiation scanning inspection device (30).

17. The control method according to claim 13, wherein, The second position (P2) is located between the sea-side gantry (111) and the land-side gantry (112) so that the quay crane (10) can load and unload cargo from the transfer vehicle (TV) arriving at the second position (P2); the radiation scanning inspection system also includes a third radiation scanning inspection device (40) disposed between the sea-side gantry (111) and the land-side gantry (112). The control method further includes: After the quay crane (10) completes the loading and unloading of goods on the transfer vehicle (TV) that has arrived at the second position (P2), the third radiation scanning inspection device (40) performs radiation scanning inspection on the goods loaded on the transfer vehicle (TV) that has left the second position (P2).

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