Inspection robot for container-loaded cargo customs inspection

Abstract

According to an embodiment of the present invention, there is provided an exploration robot for customs inspection of container-loaded cargo, including an attachment-traveling robot configured to travel while attached to the top surface of a container, and a flexible robot system interfaced with the attachment-traveling robot, which houses and extends a flexible robot having multiple degrees of freedom, and performs inspection on baggage.

Description

[Technical Field]

[0001] The present invention relates to a probe robot for customs inspection of container-loaded cargo, and more particularly to a probe robot that can attach to the ceiling of a container, move around, and penetrate baggage to collect samples. [Background technology]

[0002] Containerized cargo transported by large ships or vessels is becoming increasingly commonplace for trade and other purposes. Container terminals at ports provide an interface between ship and land transport of containers, efficiently handling containers entering and leaving the port.

[0003] Meanwhile, inspection of incoming containers is an important process for safety and security purposes, and for the purpose of ensuring compliance with government regulations when goods are shipped.

[0004] Inspecting a large container requires the process of opening the container, scanning and inspecting the baggage, and taking a sample from the baggage, but conventionally these processes are carried out directly by inspectors.

[0005] Specifically, the currently adopted inspection method of full unloading inspection requires the unloading of all cargo loaded in the front using forklifts and manual labor to reach the cargo under inspection. This process limits the number of containers that can be inspected within a limited time due to the manpower, inspection costs, and inspection time required. In addition, there have been cases where cargo has been damaged during the inspection process.

[0006] Meanwhile, scanners that can see inside the baggage are sometimes used during inspections, but even when using a scanner, human intervention is essential, such as identifying the baggage to be scanned, and there are also issues with accurate baggage scanning depending on the scanner's performance.

[0007] Therefore, there is a need for technology that allows for rapid, accurate, and low-cost testing while minimizing human intervention. Summary of the Invention [Problem to be solved by the invention]

[0008] An object of the present invention is to solve the above-mentioned problems of the prior art.

[0009] The object of the present invention is to minimize the inspection cost and time, prevent the distribution of illegal cargo, and contribute to the creation of a healthy social atmosphere by enabling the search and cargo inspection of the inside of a container after unloading or only partially unloading irregular baggage loaded in a 40-foot or larger container.

[0010] The objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood from the following description. [Means for solving the problem]

[0011] According to one embodiment of the present invention for achieving the above-mentioned object, there is provided an exploration robot for customs inspection of container-loaded cargo, which includes an attachment-traveling robot configured to travel while attached to the top surface of a container, and a flexible robot system interfaced with the attachment-traveling robot, which houses and extends a flexible robot with multiple degrees of freedom, and performs inspection on baggage.

[0012] The adhesive traveling robot may include an endless track type chain that allows it to travel on the top surface of the container, a sensor for recognizing obstacles while traveling, and a sliding plate drive unit that allows it to achieve freedom of movement during traveling.

[0013] The endless track chain may include a permanent magnet inside for adhesion to the top surface of the container.

[0014] The flexible robot system may include a spool for housing the flexible robot, and a roller configured to feed the flexible robot from the inside to the outside of the spool.

[0015] An inspection device for visually inspecting and sampling baggage may be formed at the end of the flexible robot.

[0016] The inspection device includes an appearance inspection unit that inspects the appearance of baggage by photographing or scanning the appearance;

[0017] The device may include a perforating unit that perforates the packaging material of the baggage, and a micro-robotic arm that enters the interior of the baggage through the area perforated by the perforating unit to collect a sample. [Effects of the Invention]

[0018] According to one embodiment of the present invention, irregular baggage loaded into a container of 40 feet or larger can be unloaded or only partially unloaded before the container interior and cargo inspection can be carried out, thereby minimizing inspection costs and time, preventing the distribution of illegal cargo, and helping to create a healthy social atmosphere. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram showing the overall configuration of an exploration robot system according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing a detailed configuration of an adhesion-traveling robot according to an embodiment of the present invention; [Figure 3] FIG. 2 is a diagram showing detailed configurations of a supply device and a flexible robot of a flexible robot system according to an embodiment of the present invention. [Figure 4] FIG. 1 is a diagram showing the configuration of an inspection device for a flexible robot system according to an embodiment of the present invention. [Figure 5]10A and 10B are diagrams illustrating a process of performing a customs inspection of container-loaded cargo using a probing robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] The following detailed description of the present invention refers to the accompanying drawings, which show, by way of example, specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention, although different from one another, are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein relate to one embodiment and may be embodied in other embodiments without departing from the spirit and scope of the present invention. It should also be understood that the location or arrangement of individual components within each disclosed embodiment may be modified without departing from the spirit and scope of the present invention. Therefore, the following detailed description is not to be construed in a limiting sense, and the scope of the present invention is limited only by the appended claims, along with the full scope of equivalents to which such claims, if properly interpreted, are entitled. In the drawings, like reference numerals indicate the same or similar functionality in many aspects.

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

[0022] FIG. 1 is a diagram showing the overall configuration of an exploration robot system according to an embodiment of the present invention.

[0023] Referring to FIG. 1, an exploration robot system according to one embodiment may include an adhesive crawling robot 100 and a flexible robot system 200.

[0024] The attachment-traveling robot 100 is configured to be able to attach to the inner upper surface of a container and travel.

[0025] FIG. 2 is a diagram showing a detailed configuration of the adhesion-traveling robot 100 according to one embodiment.

[0026] 2, the adhesion-traveling robot 100 may include an endless track chain 110, a camera 120, an approach sensor 130, and a sliding plate driver 140. The endless track chain 110, the camera 120, the approach sensor 130, and the sliding plate driver 140 may be arranged together on one side of the adhesion-traveling robot 100, or at least some of them may be arranged on one side of the adhesion-traveling robot 100 and the remaining parts may be arranged on the other side.

[0027] The endless track chain 110 can travel by rotating while in contact with the top surface of the container. The endless track chain 110 can also include a permanent magnet, which allows it to travel while adhering to the top surface of the container.

[0028] The camera 120 and the proximity sensor 130 function to detect obstacles while the robot is moving. The proximity sensor 130 may be implemented, for example, by a laser sensor or a lidar sensor. When an obstacle is detected, a control signal for changing the direction of movement may be generated. This control signal may be generated by a control unit located inside or outside the adhesive-traveling robot 100. The sliding plate driver 140 enables the robot to achieve two degrees of freedom of movement while traveling and functions as an interface between a feeding device (described below) and the flexible robot.

[0029] Meanwhile, still referring to FIG. 1, the flexible robot system 200 can comprise a feeding device 210, a flexible robot 220, and an inspection device 230.

[0030] FIG. 3 is a diagram showing a detailed configuration of the supply device 210 and the flexible robot 220 of the flexible robot system 200 according to an embodiment of the present invention.

[0031] 3, the supply device 210 houses a flexible robot 220 of about 3 m and serves to supply the flexible robot 220 via rollers. To this end, the supply device 210 may include a spool 211 housing the flexible robot 220, and rollers 212 for stably supplying the flexible robot 220 from the inside to the outside of the spool 211 without tangling.

[0032] The flexible robot 220 has multiple degrees of freedom and can be accommodated inside the spool 211. For example, the flexible robot 220 can be accommodated in a spiral shape inside the spool 211, and a guide for feeding and retracting the flexible robot 220 can be formed inside the spool 211 so that the flexible robot 220 can be accommodated in a certain shape.

[0033] The spool 211 may be formed in a hollow disk shape so as to accommodate the flexible robot 220 therein. Variables required for designing the spool 211 are the number of times the flexible robot 220 is wound and the overall diameter, and each variable can be specified depending on the overall length of the flexible robot 220.

[0034] Meanwhile, the rollers 212 may be arranged on both sides of a discharge opening formed in at least a portion of the spool 211. The rollers 212 may be embodied as driving rollers that provide a frictional translational force between the flexible robot 220 and the rollers 212 by active rotation, or as pinch rollers that help feed the flexible robot 220 while always being in contact with the flexible robot 220 by passive rotation.

[0035] The required rotational force of the motor required to drive the roller 212 can be calculated based on the bending angle of the flexible robot 220 and the diameter of the roller 212 .

[0036] On the other hand, the flexible robot 220 is based on twisted string actuators. It has multiple twisted string actuator modules built in to move between irregular cargo from the container ceiling to the bottom, and the flexible robot 220 can be divided into multiple segments and controlled to perform multi-degree-of-freedom drive and stiffness adjustment.

[0037] FIG. 4 is a diagram showing the configuration of an inspection device 230 of a flexible robot system 200 according to an embodiment of the present invention.

[0038] Referring to FIG. 4, the inspection device 230 is formed at the end of the flexible robot 220 and is responsible for visually inspecting and sampling baggage.

[0039] The inspection device 230 inspects the appearance of the suspicious cargo and, if necessary, collects a sample using a drilling device and a micro robot arm. To this end, the inspection device 230 may include an appearance inspection unit 231, a drilling unit 232, and a micro robot arm 233.

[0040] The appearance inspection unit 231 is capable of translational movement and can operate with four-axis controlled movement along with the three-axis movement of the flexible robot 220. The punching unit 232 is detachably configured at the end of the flexible robot 220 and performs punching in an appropriate opening method depending on the wrapping material of the baggage. The micro robot arm 233 performs the function of sample collection and is composed of a torsion string actuator and a rolling joint, and can be driven with three degrees of freedom (one translational movement, two rotational movements) control through inverse kinematics interpretation. A spoon-shaped pincer for sample collection is formed at the end of the micro robot arm 233, allowing samples of various shapes to be collected.

[0041] FIG. 5 is a diagram illustrating a process of performing a customs inspection of cargo loaded in a container using a search robot according to an embodiment of the present invention.

[0042] Referring to FIG. 5, first, the attachment-traveling robot 100 of the exploration robot system attaches to the inner upper surface of a container and travels to the position of the cargo to be inspected (S501).

[0043] After the adhesive crawling robot 100 has completely moved, it is fixed to the top surface of the container, and the flexible robot 220 is pulled out from the supply device 210 and moves vertically to approach the object to be inspected (502).

[0044] Thereafter, the visual inspection of the baggage can be carried out based on the information scanned by the visual inspection unit 231 (503), and the perforation unit 232 can perforate the surface of the suspicious baggage (504). For example, a hole of a sufficient size, 12 mm or more in diameter, can be perforated in the packaging containing the cargo to be inspected using an appropriate perforation device.

[0045] Also, the appearance inspection unit 231 is implemented by an imaging device such as a camera, and since the baggage is perforated, it is possible to take an image of the inside of the baggage and inspect it (505).

[0046] Meanwhile, the micro robot arm 233 can also enter the inside of the baggage through the perforated space to collect a sample (506), using a spoon-shaped pliers attached to the end for collecting a sample.

[0047] When the inspection or sampling is completed, the supply device 210 returns the flexible robot 220 to the spool 211 (507), releases the attachment / traveling robot 100, and then returns to the outside of the container.

[0048] The above-mentioned operations of the adhesive crawling robot 100 and the flexible robot system 200 can be performed by a control signal generated by an external terminal (508). In addition, the information scanned or photographed by the appearance inspection unit 231 is transmitted to the external terminal so that the manager can check it.

[0049] According to one embodiment of the present invention, irregular baggage loaded into a container of 40 feet or larger can be unloaded or only partially unloaded, and then the inside of the container can be inspected and the cargo can be inspected, thereby minimizing inspection costs and time, preventing the distribution of illegal cargo, and helping to create a healthy social atmosphere.

[0050] The above description of the present invention is for illustrative purposes only, and it will be understood by those skilled in the art that the present invention can be easily modified into other specific forms without changing the technical spirit and essential features of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and are not limiting. For example, each component described as a single type may be implemented in a distributed form, and similarly, each component described as a distributed type may be implemented in a combined form.

[0051] The scope of the present invention is determined by the claims that follow, and all modifications and variations that come within the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention. [Explanation of symbols]

[0052] 100 Adhesive Running Robot 110 Tracked chain 120 Camera 130 Proximity Sensor 140 Sliding plate drive unit 200 Flexible Robot System 210 Feeding device 211 Spool 212 Roller 220 Flexible Robot 230 Inspection Equipment 231 Visual Inspection Department 232 Perforation part 233 Micro Robot Arm

Claims

1. an attachment-traveling robot configured to travel while attached to the top surface of a container; and a flexible robot system that is interfaced with the adhesive traveling robot, accommodates and extends a flexible robot having multiple degrees of freedom, and performs inspection on baggage.

2. The adhesive crawling robot is a track-type chain that allows it to run on the top surface of the container; Sensors for recognizing obstacles while driving, 2. The container-loaded cargo customs inspection exploration robot according to claim 1, further comprising: a sliding plate drive unit that enables the robot to achieve a degree of freedom of movement of traveling.

3. 2. The container-loaded cargo customs inspection exploration robot according to claim 1, wherein the endless track chain includes a permanent magnet inside for adhering to and running on the top surface of the container.

4. The flexible robot system comprises: a spool for housing the flexible robot; 2. The container-loaded cargo customs inspection exploration robot of claim 1, further comprising: a roller configured to feed the flexible robot from the inside to the outside of the spool.

5. The exploration robot for customs inspection of container-loaded cargo according to claim 1, wherein an inspection device for visually inspecting and sampling baggage is formed at the end of the flexible robot.

6. The inspection device includes: an appearance inspection unit that inspects the appearance of baggage by photographing or scanning the appearance; a punching unit that punches holes in the packaging material of the baggage; 6. The exploration robot for customs inspection of container-loaded cargo according to claim 5, further comprising: a micro robot arm that enters the interior of the baggage through the area perforated by the perforating portion and collects a sample.

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