Inspection system for transport containers and transport vehicles, and method for inspecting transport containers and transport vehicles

Abstract

The invention relates to a method for inspecting transport containers and transport vehicles and to an inspection system (1) for transport containers (2) and transport vehicles, comprising an electrically operated robot vehicle (3) which has at least an electric motor (4) and a tracked chassis (5) the at least two track running gears (6) of which can be operated by means of the at least one electric motor (4), wherein the robot vehicle (3) and / or the tracked chassis (5) have / has at least one magnet (7, 13) which can be magnetically coupled to a ferromagnetic wall (8) of the transport containers (2) and by means of which the robot vehicle (3) can be secured to the wall (8) and can be moved in a direction of travel (9) along the wall (8), and wherein the robot vehicle (3) has a sensor device (10), wherein characteristic variables of the transport containers (2) and / or of at least one freight item (11) in the transport containers (2) can be detected by means of the sensor device (10).

Description

[0001] Inspection system for transport containers and transport vehicles and method for inspecting transport containers and

[0002] transport vehicles

[0003] The invention relates to an inspection system for inspecting transport containers and / or transport vehicles. The invention also relates to a method for inspecting transport containers and / or transport vehicles.

[0004] In freight transport, freight items are transported by road, rail, water, and air. In order to transport the large number of freight items as efficiently as possible from the point of origin to the destination, as many freight items as possible are picked into the cargo hold of transport containers. The cargo space is determined by the transport container, with containers with standardized dimensions typically used (ISO containers). A container, for example, has an external dimension, an empty weight, a potential payload, and an internal dimension. The internal dimension (length, width, height, area, volume) determines the cargo space in which a piece of freight can be stored during transport.

[0005] After picking, the containers can be transported to their destination using various modes of transport, such as trucks, and via various routes. The use of containers is ideal for this purpose, as they can be distributed, collected, and transported individually or together.

[0006] During transport, incidents (accidents, fires or leaks in the cargo) may occur which, particularly in the case of hazardous goods transport, may lead to complex rescue measures, which may cause damage to the environment, people and materials.

[0007] In the event of a damaged vehicle, emergency personnel from authorities and organizations with security responsibilities (BOS), which include in particular the police and fire departments, must be informed about the physical properties of the cargo in order to act appropriately and safely. This is often made difficult by the fact that emergency personnel do not know the condition of the cargo in the cargo hold after the incident. Assessing the situation on site is particularly difficult if the damaged vehicle is not from the area, the shipping documents cannot be identified due to a language unfamiliar to the emergency personnel, or they are incomplete, etc. Another problem arises in practice when the police or customs authorities inspect the cargo holds.The cargo holds are designed to be filled with as many cargo items as possible, so that the emergency personnel cannot easily inspect the entire cargo hold during the inspection. On the one hand, cargo items that are not listed in the shipping documents or are not intended to be identified are located as far away from the container door as possible in the cargo hold. On the other hand, legal or practical physical reasons may prevent the emergency personnel from personally inspecting the entire cargo hold.

[0008] Cargo holds are often scanned using X-ray equipment at specific screening stations to inspect the entire cargo hold. However, this is costly and takes a relatively long time per cargo hold.

[0009] For the covert transport of goods, particularly illegal goods such as drugs, additional cavities are sometimes added to the frames of trucks, for example made of sheet metal and / or hollow profiles. The goods are therefore located in these cavities during transport and cannot be seen from the outside. The additional cavities can be adapted to the appearance of the frame so that they are practically undetectable by customs or police officers during a visual inspection. Such cavities can, for example, be formed by upwardly open U-profiles which cannot be identified as subsequent installations when inspected from below, for example with the help of mirrors. It is an object of the invention to provide an inspection system of the type mentioned in order to mitigate the above disadvantages and to increase the quality of a cargo hold or vehicle inspection.

[0010] The object is achieved according to the invention by an inspection system according to independent claim 1, which comprises an electrically operated robot vehicle which has at least one electric motor and a tracked chassis, the at least two tracked chassis of which can be operated by means of the at least one electric motor, wherein the robot vehicle and / or the tracked chassis has at least one magnet which can be magnetically coupled to a ferromagnetic wall of the transport container and / or a frame of the transport vehicle and by means of which the robot vehicle can be fixed to the wall and can be moved in a travel direction along the wall, and wherein the robot vehicle has a sensor device, wherein characteristics of the transport container and / or at least one piece of freight in the transport container and / or the frame of the transport vehicle can be detected by means of the sensor device.

[0011] According to the invention, the robotic vehicle can be used to inspect the entire cargo space of the transport containers, since this is not or only slightly obstructed by the cargo items. In order to pass the cargo items, the robotic vehicle is designed to travel along the wall surfaces and / or ceiling surfaces of the interior wall of the cargo space. This allows the robotic vehicle to reach and inspect cargo items deep inside the cargo space and, with its sensor device, to extend the field of vision of the emergency services into the cargo space. The inventive design of the robotic vehicle also enables the

[0012] The robot vehicle can be moved along the frame of the transport vehicle. For example, the robot vehicle can be moved along the top of the frame, in particular between the frame and a transport container, such as a container, held on the vehicle. Moving the robot vehicle along the side or bottom of the frame is also advantageously possible thanks to the at least one magnet. The robot vehicle can use its sensor device to detect parameters of the frame while it is located on it, in particular while moving. The detected parameters can be compared with corresponding target properties.

[0013] The target properties can be determined by a single inspection of an untampered, for example, brand-new, transport vehicle of the respective type. Alternatively or additionally, the target properties can be determined by inspecting several transport vehicles, with matching properties of their respective frames indicating that no tampering has occurred.

[0014] The frame can be a ladder frame and, in particular, have two longitudinal beams. The longitudinal beams can be connected by one or more crossbeams. The longitudinal and / or crossbeams can be formed from steel profiles, in particular rectangular tubes. The transport vehicle can be a truck, in particular a tractor unit, or a semi-trailer or trailer. The robot vehicle can be powered by batteries, although a wired electrical supply to the robot vehicle can also be provided, since the cargo space or frame of the transport vehicle has limited dimensions in the range of a few meters; the cargo space of an ISO container has a length of approximately 5 m to 15 m, depending on the category.

[0015] The crawler tracks of the crawler chassis are preferably located on opposite sides of the robot vehicle and are aligned with their tracks in the direction of travel. The crawler tracks are arranged in pairs, so that two crawler tracks are always located opposite each other on the sides of the track, and the body of the robot vehicle is located between the two opposing crawler tracks. In principle, the inventive solution can also be implemented with wheeled chassis.

[0016] The vast majority of ISO containers with cargo space are made of steel – in any case, at least the load-bearing parts of the container are made of steel profiles, i.e., at least the entire frame, the floor cross members, and possibly additional reinforcement elements such as the floor longitudinal beams in the gooseneck tunnel area. Furthermore, the interior wall of the container itself is usually made of corrugated sheet steel.

[0017] The frames of transport vehicles are also usually made of steel.

[0018] The robot vehicle according to the invention and / or its tracked chassis have at least one magnet; this is intended to secure the robot vehicle to the container or frame, which is predominantly and largely made of steel, by means of a magnetic force. The magnet used for this purpose can be an electromagnet arranged in or on the robot vehicle. The number of magnets used is determined by the weight of the robot vehicle, whereby the weight can be in the range of a few kilograms depending on the materials used. Preferably, it can be provided that the robot vehicle switches to an active operating mode as soon as the at least one magnet is magnetically coupled to the ferromagnetic inner wall of the cargo space.

[0019] The at least one magnet can be embedded in a plastic component of the robotic vehicle, for example, molded or encased by 3D printing. This prevents the magnet from becoming detached during use.

[0020] Optionally, it can be provided that the robot vehicle is placed on the transport containers by means of a drone and begins the inspection of the transport containers independently or by means of commands.

[0021] Suitable transport containers include containers, (railway) wagons, and / or sea containers. For example, after severe storms, the individual container connectors on sea containers may have come loose. Container connectors can include container lashings, bridge fittings, lashing eyes, depot stackers, terminal stackers, intermediate twistings, lashing eyes, or lift hooks. The robotic vehicle can often be manually attached to the frame of a transport vehicle. However, automated attachment of the robotic vehicle to the frame is also conceivable.

[0022] When used on sea containers, it can preferably be provided that the components necessary for the function of the robot vehicle, such as the at least one electric motor or the sensor device, are waterproof, so that the robot vehicle can at least temporarily inspect both the sea containers and the transport medium ship underwater in order to detect prohibited foreign cargo on the sea containers.

[0023] Optionally, the robotic vehicle can be configured to automatically navigate the transport containers and use the sensor device to inspect the container connectors and / or the cargo items within the transport containers, as well as collect information. After the transport containers have been unloaded at the container port, the robotic vehicle can continue to inspect the transport containers, for example, to detect unauthorized opening of the containers and transport containers within the port facility. The robotic vehicle is preferably designed so that it can move from the outer wall into the transport containers to the inner wall and vice versa.

[0024] According to an advantageous embodiment of the invention, the track chain of the crawler unit can be provided with permanent magnets, whereby the track chain can be magnetically coupled to the ferromagnetic wall of the transport container. The permanent magnets can each be embedded in a plastic chain link. The track chains of the crawler units rest directly against the inner wall or frame, which is why it is advantageous to install permanent magnets along the track chain, for example, made of neodymium, which can exert a high magnetic force. The individual magnets are incorporated into elements of the track chain.By optimizing the design of the robot vehicle, which can be constructed from lightweight materials wherever possible, the empty weight of the robot vehicle can be kept to a few kilograms, thereby reducing the number of permanent magnets required - in the best case, an electromagnet can be dispensed with entirely.

[0025] In order to achieve the transition from one surface of the inner wall or the frame to another, it can preferably be provided that at least one of the track drives is pivotably and / or rotatably mounted about a drive axis of the respective track drive, wherein the drive axis is oriented transversely to the direction of travel.

[0026] If the robot vehicle is located near a corner of the inner wall or frame, it must negotiate the transition from a horizontal travel surface relative to the robot vehicle to a vertical travel surface relative to the robot vehicle (and vice versa). For this purpose, the tracked drive can, for example, have multiple rollers to ensure flexibility and deflectability. Alternatively or optionally, a robot vehicle can have several (smaller) tracked drives per track side, each of which can be deflected individually.

[0027] According to an advantageous aspect of the invention, it can be provided that the

[0028] The sensor device has at least one camera unit. In particular, the at least one piece of cargo stored in the transport container can be detected in its location and / or position by means of the camera unit. The configuration of the frame can also be detected by means of the camera unit.

[0029] The camera unit can be designed to visually and / or sensorially inspect the loading area in the cargo hold and / or the frame, particularly simultaneously. 3D camera systems are particularly suitable for this purpose, as they can capture distances to the surroundings in addition to providing visual representations.

[0030] 3D camera systems consist of one or more 3D cameras that can capture objects in a few seconds and create three-dimensional models based on them. It is also conceivable to use infrared depth cameras, which can capture and evaluate movements in front of their lenses in real time. Detected, digitally modulated objects and cargo items or parts of the frame can also be displayed graphically in three dimensions. One possible application is to calculate the dimensions of a captured cargo item or frame part with centimeter precision. 3D camera systems of this type are generally effective at a distance of up to six meters; the application range according to the invention in the cargo hold is usually a maximum of four meters, due to the limited ceiling height.

[0031] Alternatively or optionally, the camera unit can comprise a time-of-flight (ToF) camera system with active depth sensing technology. The ToF camera system can be configured either as a direct time-of-flight (dToF) camera system or as an indirect time-of-flight (iToF) camera system.

[0032] If the location and position of cargo items in the cargo hold are known, the likelihood of damaged cargo items can be better assessed. Furthermore, emergency responders can get a better picture of the conditions in the cargo hold before entering it.

[0033] Preferably, according to the invention, it can be provided that the sensor device has at least one electro-optical sensor, wherein geometric dimensions of the transport container and / or the frame are optically detectable and / or the at least one freight item in the transport container is optically detectable.

[0034] With the electro-optical sensor, the sensor device is suitable for carrying out electro-optical distance measurements (EDM). The distance measurements can be used to determine the geometric dimensions of the cargo space or frame. Once the dimensions have been recorded, it can be determined whether the cargo space or frame complies with the standard or whether the cargo space has been artificially reduced in size, whether additional attachments are present on the frame, i.e. whether concealed gaps have been created, or whether attachments that should be present have been dismantled, for example because their technical properties are no longer met, for example due to corrosion of the component. Cargo items that are not intended to be recognized and are therefore not listed in the shipping documents can be stored in the gaps.Preferably, the at least one electro-optical sensor can be configured as a LIDAR system (light detection and ranging or light imaging, detection and ranging). The LIDAR system can be used to optically scan the surroundings of the robotic vehicle in the cargo hold or on the frame. This allows the position and orientation of the cargo items or frame parts to be determined.

[0035] In order to be able to detect gas mixtures that are potentially harmful to the emergency services, according to a particularly advantageous embodiment of the invention, the sensor device can have at least one electrochemical sensor, wherein the concentration of a gas in the transport container and / or an environment of the frame can be detected by chemosensory means.

[0036] Electrochemical sensors include, for example, metal oxide semiconductor (MOX) gas sensors, semiconductor (HL) gas sensors, Taguchi sensors, pyroelectric or infrared optical gas sensors (NDIR; non-dispersive infrared sensors) and so-called microcantilevers.

[0037] Resistive, capacitive, potentiometric, amperometric, thermal, thermo-chemical, thermal-physical, gravimetric, optical or biochemical resistors can also be used.

[0038] Sensors of the above type can be arranged either on or inside the robot vehicle. To reliably determine the concentration of gases that are easily detectable with these sensors, measurements are preferably taken when the robot vehicle moves along the ceiling surface of the inner wall or when the robot vehicle moves between the frame and a transport container. In this range, the robot vehicle is capable of detecting gases that are lighter than air. These include, for example, hydrogen (H2), helium (He), methane (CH4), ammonia (NH3), hydrogen fluoride (HF), neon (Ne), acetylene (C2H2), diborane (C2H6), carbon monoxide (CO), nitrogen (N2), and ethene (C2H4).

[0039] It is preferably provided that the electrochemical sensor is designed as an olfactory sensor (electronic nose) with which specific odors can be detected.

[0040] In order to be able to reliably detect gases that are heavier than air, according to an advantageous aspect of the invention, the electrochemical sensor can be connected directly or indirectly to the robot vehicle, wherein the electrochemical sensor can be extended and / or retracted relative to the robot vehicle.

[0041] The electrochemical sensor can, for example, be designed to detect drugs, explosives, weapons, ammunition and / or tobacco.

[0042] If the robotic vehicle primarily travels along the ceiling surface of the interior wall of a transport container, the electrochemical sensor can be extended toward the loading area to measure gases that are heavier than air. This generally includes all flammable gas mixtures. The detection of a flammable gas mixture in the area of ​​the loading area may require emergency personnel to use self-contained breathing apparatus (SCBA).

[0043] In addition to or instead of the aforementioned sensors, spectroscopes, in particular Raman spectroscopes, can be used in a further embodiment of the invention. In this case, the robotic vehicle is alternatively or additionally equipped with a spectroscope. This allows a property of a material to be precisely determined based on a spectroscopic in-situ investigation, in particular by means of inelastic scattering of light from molecules and solids ("Raman scattering"). The known method of Raman spectroscopy involves measuring the properties of individual molecules, primarily the valence electron energy levels and the molecular vibrations and rotations. For this purpose, the material to be examined is irradiated with monochromatic light, usually with a laser.

[0044] In addition to Raman spectroscopy, other fluorescence spectroscopy methods can be used alternatively or additionally, such as infrared spectroscopy (IR), ultraviolet spectroscopy (UV) and terahertz spectroscopy.

[0045] Methods of atomic spectroscopy, molecular spectroscopy, solid-state spectroscopy, impedance spectroscopy (dielectric spectroscopy) and laser spectroscopy are also conceivable.

[0046] As an alternative to the sensor device or in addition to the sensor device, the robot vehicle can be equipped with a sampling device, preferably one that is flexibly controllable. The sampling device can be designed in particular for liquid samples and / or for solids. The sampling device can have a cuvette, which is preferably movably mounted on the robot vehicle. The task of the sampling device is to take a suitable sample of a specific material to be examined. In this case, the sample is taken using devices on or in the robot vehicle. The analysis of the sample material, for example by spectroscopy, can then take place outside the robot vehicle (ex situ). It is also conceivable to analyze the sample taken by the sampling device using the sensor unit of the robot vehicle.

[0047] According to a particularly advantageous embodiment of the inspection system according to the invention, the sensor device can have at least one antenna unit, wherein radio waves, in particular in a frequency range of a mobile radio system, can be detected. Optionally, the antenna unit is suitable for detecting radio waves in the GHz frequency range (WLAN) or FM transmitters. Preferably, an inspection system according to the invention with an antenna unit can detect active mobile phones or the like in the cargo hold.

[0048] According to an advantageous embodiment of the invention, it can be provided that the sensor device has a microphone unit, wherein one or more noise sources in the transport container can be acoustically detected and localized. The microphone unit is suitable for detecting conspicuous, unexpected noise sources, such as the noises of people or living beings that should not be in the cargo hold. According to an advantageous embodiment of the invention, it can be provided that the sensor device has a detector for measuring ionizing radiation (Geiger counter), wherein the detector can detect alpha, beta, gamma and / or proton radiation. The detector is intended to detect, among other things, enriched uranium in the transport containers or cavities in the frame.

[0049] It is also conceivable that scrap iron and / or scrap metal contaminated with radioactive (ionizing) substances - for example from the dismantling process of ionizing weapons, radioactive material and the like - is transported in the transport containers and / or cavities, which is to be detected by the detector.

[0050] In order to access the acquired sensor data more quickly, particularly from the cargo hold, the robotic vehicle can preferably be provided with a computing unit connected to the sensor device via signal transmission, with which the acquired sensor data from the sensor device can be processed and transmitted to a data receiver via a communications unit. The computing unit can preferably receive and implement control commands from the emergency services via the communications unit.

[0051] Optionally, the computing unit can securely store the raw sensor data and / or (pre-)processed sensor data from the cargo hold in a central storage (cloud) via the communication unit. According to a particularly advantageous embodiment of the invention, the inspection system according to the invention can have at least one trailer unit that can be magnetically coupled to the ferromagnetic wall of the transport container and / or frame and can be moved along the wall in the direction of travel, wherein the trailer unit can be magnetically and / or mechanically coupled to the robot vehicle.

[0052] The trailer unit can be designed to transport additional sensors as needed and in special cases. The trailer unit can either be electrically powered independently or towed by the robot vehicle.

[0053] Optionally, the robot vehicle and / or the trailer unit could be equipped with at least one fire extinguishing unit. This fire extinguishing unit can extinguish fires, for example, in the transport containers, early on, before they can spread and require emergency services to extinguish them. The fire extinguishing unit could, for example, include several small fire extinguishers.

[0054] Also disclosed is an inspection system for transport containers, comprising an electrically operated robot vehicle having at least one electric motor and a tracked chassis, the at least two tracked drives of which are operable by means of the at least one electric motor. The robot vehicle is movable in a travel direction along a wall of the transport containers. The robot vehicle has a sensor device with which parameters of the transport containers and / or at least one piece of freight in the transport containers can be detected by means of the sensor device. An assistant robot is movable along a counter wall of the transport container opposite the robot vehicle. The robot vehicle and / or the tracked chassis has at least one magnet with which the robot vehicle and the assistant robot can be magnetically coupled to one another. Alternatively, the use of a wheeled chassis is also possible.

[0055] If, for example, the wall of a transport container is not made of magnetic material, which is particularly the case with tarpaulin bodies and aluminum bodies, an assistance robot is used. It is conceivable that the assistance robot is magnetically coupled to the robot vehicle on an outer wall of the cargo space, which faces away from an inner wall of the cargo space. Alternatively, the robot vehicle is located on the outer wall, while the assistance robot is fixed to the inner wall. In this respect, both – the assistance robot and the robot vehicle – can adhere to the wall of the transport container using the mutual magnetic coupling and move in a coordinated manner along the inner or outer wall.

[0056] The inspection system of the type mentioned can be combined with the above embodiments of the invention in terms of features. In addition to the robot vehicle, the inspection system can comprise a transport container and / or a transport vehicle with a frame.

[0057] Also disclosed is a method for inspecting a transport container and / or a transport vehicle by means of a robot vehicle, preferably according to the invention, wherein the method comprises the following steps:

[0058] - Moving the robot vehicle in a direction of travel along a wall of the transport container and / or a frame of the transport vehicle, wherein the robot vehicle is magnetically fixed to the wall of the transport container or frame by means of a magnet unit;

[0059] - Recording sensor data in and / or on the transport container and / or on the frame using a sensor device.

[0060] Preferably, the sensor data are processed by a computing unit of the sensor device. Particularly preferably, the processed sensor data are output via a communication channel using a radio antenna unit of the robot vehicle.

[0061] According to an advantageous embodiment of the method according to the invention, a machine learning algorithm for automatically inspecting the transport container and / or transport vehicle can be executed by the computing unit and applied to the sensor data. Using the machine learning algorithm, the robot vehicle can inspect the transport containers or transport vehicles largely or completely autonomously and make decisions and / or generate outputs based on the sensor data.

[0062] The robotic vehicle can move along an inner wall of the transport container, in particular a side surface and / or a ceiling surface of the inner wall. This allows the interior of the transport container to be inspected, particularly without any loaded goods impeding the movement of the transport robot. The transport container can be attached to the transport vehicle or parked independently of a transport vehicle.

[0063] If the transport container is attached to the transport vehicle, the robot vehicle can (alternatively or in addition to inspecting the interior) move along an outer wall of a floor area of ​​the transport container. The sensor system can be used to inspect the area of ​​the transport vehicle located below the transport container, particularly its frame. The transport container would make it difficult for customs or police personnel to inspect the frame. Furthermore, by processing the sensor data in the computing unit or evaluating it in a separate evaluation computer, anomalies such as additional cavities or missing cross members can be detected, which would be difficult to detect even for trained personnel.

[0064] Alternatively or additionally, the robot vehicle can move along the frame of the transport vehicle, in particular along the top of the frame, preferably between the frame and the transport container held on the transport vehicle. In this way, the frame of the transport vehicle can also be inspected efficiently and thoroughly. The transport container is typically arranged at a certain distance, for example between 10 cm and 30 cm, above the frame. This seriously hinders inspection by personnel. At the same time, this distance is sufficiently large to allow the robot vehicle to move along the top of the frame. Typically, no other components of the transport vehicle are installed on the top of the frame that could hinder the movement of the robot vehicle.At the same time, the magnetic unit prevents the robot vehicle from slipping off (narrow) frame profiles and also enables movement along the side and / or underside walls of the frame if necessary.

[0065] Target properties for parameters of the transport container and / or the transport vehicle can be determined by moving a robot vehicle while recording sensor data from at least one reference transport container and / or at least one reference transport vehicle. The sensor data recorded and possibly processed by the sensor unit can be compared with the target properties. The comparison can take place in the computing unit of the robot vehicle and / or a separate evaluation computer. The target properties can be stored in the computing unit or the evaluation computer or retrieved by them from a central memory. The robot vehicle for recording the target properties can be the same robot vehicle that is also used to inspect an existing transport vehicle. Alternatively or additionally, another robot vehicle can be used to record the target properties.

[0066] The target properties are typically determined in advance, in particular by performing the described inspection method on the reference transport container or reference transport vehicle. The target properties can be determined by a one-time inspection of an untampered, for example, brand-new, transport vehicle of the respective type. Alternatively or additionally, the target properties can be determined by inspecting several transport vehicles, with matching properties of their respective frames indicating that no tampering has occurred. The target properties for several different types of transport containers and / or transport vehicles can be stored in a central memory, which is accessible via the Internet, for example, for comparison with current sensor data.

[0067] The robotic vehicle can be configured to use its sensor device, in particular a camera, to read a vehicle identification number engraved into the frame of the transport vehicle. Particularly if the target characteristics of the transport vehicle are known in advance, the robotic vehicle can specifically locate the position where the vehicle identification number is engraved. By comparing the vehicle identification number found with the relevant documents, tampering with the transport vehicle can be detected. For personnel from regulatory authorities, the vehicle identification number is often difficult to access and, particularly due to contamination, is difficult to read.

[0068] The invention is illustrated below by way of example using schematic representations. They show:

[0069] Fig. 1 an inspection system and an almost fully loaded tractor unit in a side view,

[0070] Fig. 2 shows an inspection system and a partially loaded tractor unit in a rear view, Fig. 3 shows an inspection system and a partially loaded tractor unit in a rear view with a robot vehicle and an assistance robot,

[0071] Fig. 4 a robot vehicle with two tracked drives on one track side of the robot vehicle in a sectional view,

[0072] Fig. 5 shows an alternatively designed robot vehicle with two tracked drives on one track side of the robot vehicle in a plan view,

[0073] Fig. 6 a schematic diagram of an inspection system with a tractor and a trailer, each carrying a transport container, in different application scenarios of a robot vehicle,

[0074] Fig.7 is a schematic plan view of the frame of a transport vehicle, for example the trailer of Fig. 6, wherein an additional cavity is attached to the frame.

[0075] Fig. 1 shows a sectional view of a tractor unit 30 coupled to a semitrailer 31 loaded with an ISO container 2, the cargo space 32 of which contains a plurality of cargo items 11. In addition to the cargo items 11, a robot vehicle 3 of an inspection system 1 according to the invention is located in the cargo space 32, wherein the robot vehicle 3 travels along a ceiling surface of an inner wall 8.1 of the cargo space 32 and is held to the ceiling surface of the inner wall 8.1 by means of magnetic force. The tractor unit 30 and the semitrailer 31 can also be referred to as transport vehicles for transporting the transport container 2. The robot vehicle 3 is designed to optically detect the location and / or position of the cargo items 11 using a camera unit 15, so that emergency personnel outside the cargo space 32 can obtain an overview of the surroundings in the cargo space 32.

[0076] To check the dimensions of the cargo hold 32, a sensor device 10 of the robotic vehicle 3 has electro-optical sensors 16. The sensor device 10 can measure a length 33 of the cargo hold 32 with centimeter precision using electro-optical distance measurement (EDM). If the dimensions of the cargo hold 32 do not match the standardized information readable on the container 2, this likely indicates a gap 34 in the rear area 35 of the cargo hold 32 in which unlisted cargo items 11 can be stored.

[0077] With an antenna unit 18 and a microphone unit 19 attached to the robot vehicle 3, mobile radio signals from mobile phones 36 and noise sources 37 in the cargo space 32 can be detected and localized.

[0078] Fig. 2 shows a cargo compartment 32 of a semitrailer tractor 30 in a rear view, wherein the cargo compartment 32 has a plurality of cargo items 11 and the inspection system 1 according to the invention. A robot vehicle 3 is located on the ceiling surface of an inner wall 8.1 of a cargo compartment 32, wherein the robot vehicle 3 points with its sensor device 10 towards a loading area 25. In order to be able to detect flammable gas mixtures 38 in the region of the loading area 25 of the cargo compartment 32, the sensor device 10 has at least one electrochemical sensor 17, which can be extended and retracted towards the loading area 25, since flammable gas mixtures 38 are heavier than air and accumulate in the region of the loading area 25.

[0079] In order to transmit the information on the concentrations of the gases collected by the sensor device 10 to the emergency services, the robot vehicle 3 can transmit the sensor data to them by means of a communication unit 39 so that the emergency services can plan a course of action.

[0080] Fig. 3 shows a tractor unit 30 in a sectional view from the rear, with a cargo compartment 32 of a transport container 2 partially loaded with cargo items 11. Located in the cargo compartment 32 is an inspection system 1 according to the invention, consisting of a robot vehicle 3 and an assistant robot 40.

[0081] The robot vehicle 3 moves along an inner wall 8.1 of the transport container 2, while the assistant robot 40 moves opposite the robot vehicle 3 along an outer wall 8.2 of the transport container 2. The assistant robot 40 is necessary according to the invention if the wall 8 of the transport container 2 is made of a non-magnetic material and the magnets of the robot vehicle 3 cannot establish a magnetic coupling with the wall 8. Through its use, the assistant robot 40 provides a magnetic coupling for the robot vehicle 3, so that both the robot vehicle 3 and the assistant robot 40 can hold each other against the wall 8 of the transport container 2. Fig. 4 shows a robot vehicle 3 of an inspection system 1 according to the invention.The robot vehicle 3 essentially comprises a tracked chassis 5 and a vehicle body 20, with two tracked drives 6 attached to the vehicle body 20, each on a track side 21. The tracked chassis 20, including its tracks 12, and the vehicle body 20 can be made predominantly of plastic. This can contribute to weight savings.

[0082] The crawler track 6 has one or more, here two, rollers 22, which are enclosed by a track chain 12. One crawler track 6 of each track side 21 is located in a front area 23 of the robot vehicle 3 and one crawler track 6 of each track side 21. The robot vehicle 3 can be moved by means of the crawler tracks 6 in the direction of travel 9 (see Figure 3) along an inner wall 8.1 and / or a loading area 25 of a cargo space 32.

[0083] If the robot vehicle 3 encounters a corner 26 of the inner wall 8.1 (as shown in Fig. 4), the crawler track 6 can extend and / or retract a roller 22 of the crawler track 6 relative to an underside 27 of the robot vehicle 3, so that the crawler track 6 is pivoted about a drive axis 14 of the robot vehicle 3. In Fig. 4, the crawler track 6 comprises the drive axis 14 and a idler axis 28, which can be pivoted about the drive axis 14 and has a stabilizing effect on the orientation of the crawler track 6. The drive axis 14 and the idler axis 28 are oriented transversely to the direction of travel 9. With an extended roller 22 and pivoted crawler tracks 6, the robot vehicle 3 in Fig. 4 can approach a wall surface of the inner wall 8.1 from a loading area 25 and overcome the incline of the corner 26.

[0084] To enable the robotic vehicle 3 to travel beyond the attachment along the wall surface of the inner wall 8.1, the track chains 12 have permanent magnets 13 and / or the vehicle body 20 has an electromagnet 7 (see Figure 5). The permanent magnets 13 can be embedded in chain links of the track chains 12. By means of a magnetic force of the permanent magnets 13 and the electromagnet 7, the robotic vehicle 3 can adhere to the steel inner wall 8.1 in the cargo hold 32 and also travel along the wall surfaces and / or ceiling surface of the inner wall 8.1.

[0085] A sensor device 10 is mounted on an upper side 29 of the robot vehicle 3 facing away from the underside 27, so that parameters of the cargo space 32 and / or at least one piece of cargo 11 in the cargo space 32 can be detected by means of the sensor device 10.

[0086] On a sensor side facing away from the upper side 29 of the robot vehicle 3, the sensor device 10 has at least one electrochemical sensor 17, which can be extended and / or retracted into the cargo space 32 relative to the robot vehicle 3.

[0087] The robotic vehicle 3 further comprises a sampling device 48. The sampling device 48 can comprise a cuvette 50 held on a movable arm 49. The sampling device 48 can be used to collect a sample of a material located in a transport container 2 or on the frame 44 for subsequent analysis. The analysis can be performed by the sensor device 10 of the robotic vehicle 3. Alternatively or additionally, the sample can be submitted for external analysis.

[0088] Fig. 5 shows a top view of an alternatively designed robot vehicle 3 of an inspection system 1. The robot vehicle 3 has two track sides 21, each of which houses two tracked units 6. One large tracked unit 6.1 is used to drive the robot vehicle 3, while the other, smaller tracked unit 6.2 is used to move from one surface of the inner wall 8.1 of the cargo compartment 32 to the next.

[0089] The large and small tracked drives 6.1, 6.2 are connected to one another at a drive axle 14 on the vehicle body 20 of the robot vehicle 3 and are driven by at least one electric motor 4, which is located in the vehicle body 20 and supplies the tracked drives 6 with torque.

[0090] To transfer from the loading surface 25 in Fig. 5 to the wall surface of the inner wall 8.1, the robot vehicle 3 can pivot the small tracked units 6.2 about the drive axis 14 (as shown in Fig. 5) and lift the front section 23 of the robot vehicle 3 from the loading surface 25 with a lever force until the large tracked units 6 in the front section 23 rest against the wall surface of the inner wall 8.1. Permanent magnets 13 and an electromagnet 7 provide the magnetic force to hold the robot vehicle 3 to the wall surface (or ceiling surface) of the inner wall 8.1.

[0091] Figure 6 shows an inspection system 1 with a tractor-trailer combination comprising a first transport vehicle, here a truck 41, and a second transport vehicle, here a trailer 42. The truck 41 and the trailer 42 are each loaded with a transport container 2 in the form of a container. The transport containers 2 are supported and secured via supports 43 on a respective frame 44 of the two transport vehicles.

[0092] To inspect the interior of the transport container 2, a robot vehicle can move along an inner wall 8.1, in particular the upper inner wall, of the respective transport container 2, as described above.

[0093] To inspect the frames 44, the robot vehicle 3 can move between the respective frame 3 and the transport container 2 mounted on it. The supports 3 used to secure the transport containers 2 establish a certain distance from the frame 44; a correspondingly flat design of the robot vehicle 3 allows it to be inserted into this space so that it can move there.

[0094] While Figure 6 shows three robot vehicles 3 to illustrate the various possible applications, it is understood that in practice, a single robot vehicle 3 is usually used to inspect the transport containers 2 and the transport vehicles 41, 42 one after the other (in any order). Figure 7 illustrates the structure of the frame 44 for the trailer 42 as an example. The frame 44 of a transport vehicle is often designed as a ladder frame with two longitudinal beams 45 and several cross beams 46. The beams 45, 46 can be, for example, rectangular tubes, U- or I-profiles and are usually made of steel.

[0095] An additional cavity 47 has been attached to the trailer's frame 44. The cavity 47 can be formed by subsequently attaching sheet metal, for example, by welding. It has been shown that such subsequently attached cavities 47 are used by criminals to conceal the transport of illegal goods. Upon visual inspection by law enforcement personnel, cavities 47 that are cleverly aligned with the frame 45 are not detectable even with the greatest care, since it is not obvious whether they are part of the supporting structure of the frame 45 or not.

[0096] To locate the cavity 47, the robot vehicle 3 can move along the frame 44. In Figure 6, this is shown as an example for the trailer 42. The magnets of the robot vehicle 3 couple it to the ferromagnetic wall 8 of the frame 44. The robot vehicle 3 uses its sensor unit explained above to record parameters of the frame 44, for example the position and dimensions of the supports 45, 46 and other parts arranged on the frame, such as in particular the shell of the cavity 47. In particular, a movement along the longitudinal supports 45 is often possible without any problems. Traveling along both longitudinal supports 45 can be sufficient to record parameters of the entire frame 44. These parameters of the frame 45 can be

[0097] Target properties can be compared. The target properties can be determined by a

[0098] Reference inspection of a demonstrably non-manipulated transport vehicle 41, 42 using the robot vehicle 3 (or a similar robot vehicle) and kept in a database for different types of transport vehicles.

[0099] Figure 6 shows, as an example for the truck 41, how the robot vehicle 3 can move along the underside outer wall 8.2 of the transport container 2 due to its magnets in order to inspect its frame 44. Here, too, the sensor system records parameters of the frame 44, which are then compared with target properties. Since the underside of the transport container 2 is usually essentially flat, this procedure can simplify the two-dimensional movement of the robot vehicle 3 over the frame 44, especially if the frame 44 is irregularly shaped or carries numerous protruding components.

[0100] In summary, the invention relates to the use of a robotic vehicle for inspecting transport containers and / or transport vehicles. The robotic vehicle has a sensor system for determining properties of the transport container, in particular of its interior or objects located therein, or properties of the transport vehicle, in particular geometric data of its frame. These parameters can be compared with corresponding target values ​​in order to detect tampering or undesired conditions. In particular, additionally attached (hidden) cavities can be detected by comparison with known reference dimensions. The robotic vehicle has at least one magnet for coupling it to ferromagnetic structures of the transport container or transport vehicle. This enables movement of the robotic vehicle even on vertical or downward-facing surfaces.This means the robot vehicle can also inspect areas that would otherwise be difficult to access.

[0101] iste

[0102] 1. Inspection system

[0103] 2. Transport container / (ISO) container

[0104] 3. Robot vehicle

[0105] 4. Electric motor

[0106] 5. Tracked chassis

[0107] 6. Track drive

[0108] 6.1. Large crawler track

[0109] 6.2. Small chain drive

[0110] 7. Electromagnet

[0111] 8. Wall

[0112] 8.1. Inner wall

[0113] 8.2. Outer wall / counter wall

[0114] 9. Direction of travel

[0115] 10. Sensor device

[0116] 11 . Freight item

[0117] 12. Track

[0118] 13. Permanent magnet

[0119] 14. Drive axle

[0120] 15. Camera unit

[0121] 16. Electro-optical sensor

[0122] 17. Electrochemical sensor

[0123] 18. Antenna unit

[0124] 19. Microphone unit

[0125] 20. Vehicle hull

[0126] 21. Chain side

[0127] 22. Roller 23. Front area of ​​the robot vehicle

[0128] 24. Rear area of ​​the robot vehicle

[0129] 25. Loading area

[0130] 26th corner

[0131] 27. Underside of the robot vehicle

[0132] 28. Follower axle

[0133] 29. Top of the robot vehicle

[0134] 30. Tractor unit

[0135] 31. Semi-trailer

[0136] 32. Cargo compartment

[0137] 33. Length of the cargo hold

[0138] 34. Intermediate space

[0139] 35. Rear area of ​​the cargo hold

[0140] 36. Mobile phone

[0141] 37. Noise source

[0142] 38. Flammable gas mixture

[0143] 39. Communication unit

[0144] 40. Assistive robots

[0145] 41 . Trucks

[0146] 42. Trailer

[0147] 43. Support

[0148] 44. Frame

[0149] 45. Longitudinal member

[0150] 46. ​​Cross member

[0151] 47. Cavity

[0152] 48. Sampling device

[0153] 49. Arm

[0154] 50. Cuvette

Claims

Patent claims 1. Inspection system (1) for transport containers (2) and / or transport vehicles (30, 31; 41, 42), with an electrically operated robot vehicle (3) which has at least one electric motor (4) and a tracked chassis (5), the at least two tracked chassis (6) of which can be operated by means of the at least one electric motor (4), wherein the robot vehicle (3) and / or the tracked chassis (5) has at least one magnet (7, 13) which can be magnetically coupled to a ferromagnetic wall (8) of the transport containers (2) and / or a frame (44) of the transport vehicle (30, 31; 41, 42) and by means of which the robot vehicle (3) can be fixed to the wall (8) and can be moved in a travel direction (9) along the wall (8), and wherein the robot vehicle (3) has a sensor device (10), wherein characteristics of the transport containers (2) and / or at least one freight item (11) in the transport containers (2) and / or the frame (44) of the transport vehicle (30, 31;41, 42) can be detected by means of the sensor device (10); 2. Inspection system (1) according to claim 1, characterized in that at least one track chain (12) of the track drive (6) has permanent magnets (13), wherein the track chain (12) can be magnetically coupled to the ferromagnetic wall (8) of the transport container (2).

3. Inspection system (1) according to claim 1 or 2, characterized in that at least one of the tracked units (6) is pivotally and / or rotatably mounted about a drive axis (14) of the respective tracked unit (6), wherein the drive axis (14) is oriented transversely to the direction of travel (9).

4. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has at least one camera unit (15), in particular wherein the at least one freight item (11) stored in the transport container (2) can be detected in its location and / or position by means of the camera unit (15) and / or wherein the configuration of the frame (44) can be detected by means of the camera unit (15).

5. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has at least one electro-optical sensor (16), wherein geometric dimensions of the transport container (2) and / or of the frame (44) are optically detectable and / or the at least one freight item (11) in the transport container (2) is optically detectable.

6. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has at least one electrochemical sensor (17), wherein the concentration of a gas in the transport container (2) and / or in an environment of the frame (44) can be detected by chemosensory means.

7. Inspection system (1) according to claim 6, characterized in that the electrochemical sensor (17) is connected directly or indirectly to the robot vehicle (3), wherein the electrochemical sensor (17) is extendable and / or retractable relative to the robot vehicle (3).

8. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) comprises a spectroscope.

9. Inspection system (1) according to one of the preceding claims, characterized in that the robot vehicle (3) has a sampling device (48), in particular with a cuvette (50).

10. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has at least one antenna unit (18), wherein radio waves, in particular in a frequency range of a mobile radio system, can be detected.

11. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has a microphone unit (19), wherein one or more noise sources (37) in the transport container (2) can be acoustically detected and localized.

12. Inspection system (1) according to one of the preceding claims, characterized in that the sensor device (10) has a detector for measuring ionizing radiation (Geiger counter), wherein alpha, beta, gamma and / or proton radiation can be detected with the detector.

13. Inspection system (1) according to one of the preceding claims, characterized in that the robot vehicle (3) has a computing unit which is connected to the sensor device (10) by means of signals, with which the acquired sensor data of the sensor device (10) can be processed and transmitted to a data receiver by means of a communication unit (39).

14. Inspection system (1) according to one of the preceding claims, characterized in that the inspection system (1) has at least one trailer unit which can be magnetically coupled to the ferromagnetic wall (8) of the transport container (2) and / or frame (44) and can be moved in the direction of travel (9) along the wall (8), wherein the trailer unit can be magnetically and / or mechanically coupled to the robot vehicle (3).

15. Inspection system (1) according to one of the preceding claims, characterized in that the robot vehicle (3) and / or the trailer unit has at least one fire extinguishing unit.

16. Inspection system (1) for transport containers (2), comprising an electrically operated robot vehicle (3) having at least one electric motor (4) and a tracked chassis (5), the at least two tracked chassis (6) of which are operable by means of the at least one electric motor (4), wherein the robot vehicle is movable in a direction of travel (9) along a wall (8) of the transport containers (2), wherein the robot vehicle (3) has a sensor device (10) with which parameters of the transport containers (2) and / or at least one freight item (11) in the transport containers (2) can be detected by means of the sensor device (10), wherein an assistant robot (40) is movable on a counter wall (8.2) of the transport container (2) opposite the robot vehicle (3), wherein the robot vehicle (3) and / or the tracked chassis (5) has at least one magnet (7, 13) with which the robot vehicle (3) and the assistant robot (40) can be magnetically connected to one another can be coupled.

17. A method for inspecting transport containers (2) and / or transport vehicles (30, 31; 41, 42) by means of a robot vehicle (3), in particular a robot vehicle (3) according to one of the preceding claims, the method comprising the following steps: Moving the robot vehicle (3) in a direction of travel (9) along a wall (8) of the transport container (2) or a frame (44) of the transport vehicle (30, 31; 41, 42), wherein the robot vehicle (3) is magnetically fixed to the wall (8) of the transport container (2) or frame (44) by means of a magnet unit (7, 13); Acquiring sensor data in and / or on the transport container (2) and / or on the frame (44) by means of a sensor device (10); and preferably comprises the further steps: Processing the sensor data by means of a computing unit of the sensor device (10); Outputting the processed sensor data by means of a radio antenna unit (18) of the robot vehicle (3) via a communication channel.

18. The method according to claim 17, wherein the robot vehicle (3) moves along an inner wall (8.1) of the transport container (2), in particular a side surface and / or a ceiling surface of the inner wall (8.1).

19. The method according to claim 17 or 18, wherein the transport container (2) is held on the transport vehicle (30, 31; 41, 42) and the robot vehicle (3) moves on an outer wall (8.2) of a bottom surface of the transport container (2).

20. Method according to one of claims 17 to 19, wherein the robot vehicle (3) moves on the frame (44) of the transport vehicle (30, 31; 41, 42), in particular on the top side of the frame (44), preferably between the frame (44) and the transport container (2) held on the transport vehicle (30, 31; 41, 42).

21. Method according to one of claims 17 to 20, wherein target properties for parameters of the transport container (2) and / or the transport vehicle (30, 31; 41, 42) are determined by moving a robot vehicle (3) while recording sensor data at at least one reference transport container and / or at least one reference transport vehicle.

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