JP2018124270A - Contamination inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle contamination inspection technique capable of shortening an inspection time and improving inspection accuracy as compared with the prior art. SOLUTION: This is a pollution inspection system for inspecting a vehicle for contamination, which has a detector for detecting a radiation amount and a three-dimensionally movable arm, and the detector is detachably fixed to the tip of the arm. The robot and the motion information defined so that the detector moves following the shape of the vehicle, according to the attribute information of the vehicle including at least the identification information of the vehicle and the shape information regarding the shape. The robot is provided with a control device for controlling the robot based on the operation information set in the above. [Selection diagram] Fig. 1

Description

  The present invention relates to a contamination inspection system.

  When a vehicle such as a large truck goes out of the management area from the (radiation) management area, an inspection (hereinafter also referred to as a vehicle contamination inspection) is performed to check whether the vehicle is contaminated with radioactive substances. Vehicle contamination inspection is mainly performed manually using a handy type radiation detector. On the other hand, there is a demand for shortening the inspection time of vehicle contamination inspection and improving inspection accuracy.

  In view of the above problems, an apparatus for measuring the radiation dose of a vehicle has been developed. For example, Patent Document 1 discloses a vehicle gate monitor that measures the radiation dose of a vehicle. This vehicle gate monitor is arranged so that it can be moved up and down and left and right according to the relative position with respect to the vehicle, and the first detector that measures the radiation dose on both sides of the vehicle and the vertical and It is arranged to be able to rotate and move left and right, and is arranged to be able to move up and down and left and right according to the relative position between the second detector for measuring the radiation dose of the front, rear, top and cargo bed surfaces of the vehicle and the vehicle, The detection result obtained from the detector group was moved while moving the portal type to which the detector group composed of the third detector for measuring the radiation dose on the inner side surface of the cargo bed was moved with respect to the stopped vehicle. Based on this, a control unit is provided that identifies the presence or absence of a contaminated portion.

JP, 2006-191623, A

  As a conventional technique for inspecting a vehicle for contamination, a gate-type inspection device for measuring the radiation dose of the vehicle is known (see, for example, Patent Document 1). According to this prior art, it is possible to reduce the inspection time of the vehicle contamination inspection and improve the inspection accuracy, compared with the case where the vehicle contamination inspection is performed manually.

  Here, various irregularities exist on the surface of the vehicle. In addition, in order to carry out the vehicle contamination inspection with high accuracy, the distance between the inspection device for detecting the radiation dose and the surface of the vehicle should be as constant as possible, in other words, the inspection device should be adapted to the shape of the surface of the vehicle. It is desirable to make it follow. However, with the conventional gate type inspection apparatus, it is difficult to inspect the detector following the shape of the surface of the vehicle. In addition, it is difficult for conventional gate-type inspection devices to inspect the bottom surface of a vehicle and details of the vehicle (for example, the vicinity of a tire or a tire house). Therefore, in the conventional gate type inspection apparatus, it is necessary to manually inspect the vehicle for contamination of the bottom surface of the vehicle and the details of the vehicle.

  In view of the above-described problems, an object of the present invention is to provide a vehicle contamination inspection technique that can reduce the inspection time and improve the inspection accuracy as compared with the prior art.

  In order to solve the above problems, in the present invention, a detector for detecting a radiation dose is detachably fixed to the tip of a three-dimensional movable robot arm, information on the shape of the vehicle is acquired in advance, and the detector The movement of the robot arm is controlled so as to move following the shape of the vehicle.

  Specifically, the present invention is a pollution inspection system for performing a contamination inspection of a vehicle, and includes a detector for detecting a radiation dose and a three-dimensionally movable arm, and the detector is provided at the tip of the arm. A vehicle that includes a detachably fixed robot and motion information that is set so that the detector moves following the shape of the vehicle, and includes at least identification information of the vehicle and shape information related to the shape. A contamination inspection system comprising: a control device that controls the robot based on operation information set according to attribute information.

  In the contamination inspection system according to the present invention, since the detector moves following the shape of the vehicle, the inspection accuracy can be improved as compared with, for example, a conventional gate type inspection apparatus. Further, since the robot is controlled in accordance with the vehicle attribute information acquired in advance, it can move (operate) efficiently, and the inspection time can be shortened. Further, in the conventional gate-type inspection apparatus, the contamination inspection system according to the present invention can also perform the contamination inspection on the bottom surface of the vehicle and the details of the vehicle that have been performed manually, thereby shortening the inspection time. be able to. Furthermore, since manual inspection for contamination inspection can be omitted or greatly reduced, the safety of workers can be improved.

  The vehicle is a vehicle that requires a contamination inspection of the vehicle. Examples of the vehicle include a truck that goes back and forth between the (radiation) management area and the outside of the management area, and a truck that goes back and forth near the (radiation) management area. The vehicle contamination inspection is a test for confirming whether the vehicle is contaminated with contaminants such as radioactive materials. The detector only needs to detect the radiation dose, and the measurement line type (α ray, β ray, γ ray, etc.), measurement energy range, shape, etc. are not particularly limited. The detector can be changed according to the purpose of the vehicle contamination inspection and the type and size of the vehicle to be inspected. As the detector, for example, a large detector can be used on the surface of the vehicle, and a small detector can be used for details of the vehicle (in the vicinity of a tire or a tire house of the vehicle). The robot can be composed of an articulated robot whose arm is movable in three dimensions. The multi-joint robot is exemplified by a six-axis robot, but may be seven axes, five axes, and the number of axes is not particularly limited. The robot may be installed for each detector, or the detector may be changed during the vehicle contamination inspection. Unused detectors can be accommodated in a rack near the robot. The operation information is information for operating the robot, and includes, for example, the coordinates of each joint and the rotation angle of each joint around the rotation axis. The shape information included in the attribute information is information necessary for specifying the movement path of the detector. The shape information may be specified from the vehicle type or the like, or may be acquired by actually measuring the vehicle.

  Here, the pollution inspection system of the present invention further includes a stop position detection device that detects stop position information related to a stop position of the vehicle when performing a pollution inspection of the vehicle, and the operation information is corrected based on the stop position information. The control device may control the robot based on the corrected operation information. Thereby, according to the stop position of a vehicle, a robot can be accurately moved. The control device only needs to be electrically connected to the robot, and may be a computer connected via a network.

  In addition, the pollution inspection system of the present invention further includes a stop position detection device that detects stop position information related to a stop position of the vehicle when performing a pollution inspection of the vehicle, and the operation information is corrected based on the stop position information. The control device controls the robot based on the corrected motion information, and the detector detects an external surface detector for detecting the external radiation amount of the vehicle, and a detailed radiation dose of the vehicle. The robot has at least one of a detail detector to detect and a bottom detector to detect a radiation dose on the bottom surface of the vehicle, and the robot is for an outer surface on which the outer surface detector is fixed. A robot, a detail robot to which the detail detector is fixed, a dual-purpose robot that can replace the outer surface detector and the detail detector, and a bottom robot to which the bottom detector is fixed Among them, it may have an at least any one.

  Thereby, according to the stop position of a vehicle, a robot can be accurately moved. In addition, by arranging detectors and robots according to applications, inspection accuracy can be improved and inspection time can be shortened.

  The contamination inspection system of the present invention further includes a transport device that transports the robot in the front-rear direction of the vehicle, and the control device controls the transport device and the robot based on the operation information. Also good. By providing the transfer device, the robot can be moved in the front-rear direction of the vehicle. As a result, the movement range of the robot can be expanded, and the contamination inspection can be performed more efficiently by appropriately controlling the robot and the transfer device.

  In addition, the contamination inspection system of the present invention further includes a transport device that transports the robot in the front-rear direction of the vehicle, and the control device controls the transport device and the robot based on the operation information, and the transport device. The apparatus may be provided on the side of the vehicle so as to extend in the front-rear direction of the vehicle, and may include a first transfer device that transfers any of the outer surface robot, the detail robot, and the dual-purpose robot. . Moreover, the said conveying apparatus may further have the 2nd conveying apparatus provided in the recessed part extended in the front-back direction of the vehicle provided in the downward direction of the bottom face of the said vehicle. By arranging the transport device for each application, the inspection accuracy can be improved and the inspection time can be shortened.

  Here, the pollution inspection system of the present invention further includes a management server for managing the vehicle, and the management server acquires the position information of the vehicle, and sets the inspection order of the vehicle that performs the contamination inspection based on the position information. It may have an inspection order management unit to be determined.

  For example, the inspection order management unit receives position information of each vehicle via a GPS (Global Positioning System) mounted on each vehicle, and a detector and a robot are installed based on the position information and predetermined map information. Calculate the distance and arrival time to the inspection facility. The inspection order management unit calculates the inspection order of the vehicle based on the distance to the inspection facility and the arrival time. Next, the inspection order management unit specifies the first vehicle, calculates the inspection start time of the first vehicle, and adds the moving time and the inspection time of the first vehicle to add the first vehicle. The inspection end time is calculated. Next, the inspection order management unit calculates the inspection start time of the second vehicle from the end of the contamination inspection of the first vehicle, adds the moving time and the inspection time of the second vehicle (next vehicle), 2 The inspection end time of the th vehicle (next vehicle) is calculated. Thereafter, the above process is repeated for the number of vehicles. Further, the inspection order management unit notifies each vehicle of the inspection order, the inspection start time, the inspection end time, and the like. In addition, the inspection order management unit checks the movement status of each vehicle at an arbitrary time. If a delay occurs, it again calculates the inspection order, inspection start time, and inspection end time, and notifies the calculation result. You may make it do. The inspection order management unit can record the calculation result in the management database of the management server. Thereby, each vehicle can be efficiently inspected for contamination.

  The contamination inspection system of the present invention further includes an identification information acquisition device that acquires vehicle identification information in the vicinity of the inspection facility, and the management server includes the vehicle identification information acquired by the identification information acquisition device. It may further include a vehicle confirmation unit that compares the vehicle identification information corresponding to the inspection order determined by the inspection order management unit and notifies the execution permission of the contamination inspection when they match. Thereby, management of vehicles can be performed reliably. In addition, the vehicle determination part can record a collation result in the management database of a management server. Further, the vehicle identification information can include a vehicle registration number (for example, a number) and a display number (a specific number set separately from the number). Thereby, the management accuracy can be improved.

  The contamination inspection system of the present invention may further include a cleaning device for cleaning the vehicle before the contamination inspection. As a result, if the contaminant is attached to the vehicle, the attached contaminant can be removed.

  In addition, you may comprise this invention by each apparatus which comprises the contamination inspection system mentioned above. For example, the present invention can be specified as a detector, a robot, a control device, a management server, or the like.

  Further, the present invention may be specified as a contamination inspection method. For example, the present invention is a contamination inspection method using the above-described contamination inspection system, and obtains vehicle position information, and determines an inspection order management step for determining the vehicle performing the contamination inspection based on the position information. The vehicle identification information acquired by the vehicle identification information acquisition device is compared with the vehicle identification information corresponding to the inspection order determined in the inspection order management process. A vehicle determination step for notifying the vehicle and a contamination inspection step for performing a contamination inspection of a vehicle that has been permitted to perform the contamination inspection. Moreover, the contamination inspection method may further include a cleaning step of cleaning the vehicle before the contamination inspection.

  Further, in addition to the above, the present invention may be specified as a method or program executed in the contamination inspection system. Further, the present invention may be specified as a recording medium on which such a program is recorded.

  According to the present invention, it is possible to provide a vehicle contamination inspection technique capable of reducing the inspection time and improving the inspection accuracy as compared with the conventional art.

FIG. 1 shows an outline of a contamination inspection system according to the first embodiment. FIG. 2 shows a system block diagram of the contamination inspection system according to the first embodiment and a schematic plan view of each facility. FIG. 3A shows a state before the vehicle enters the contamination inspection facility in the contamination inspection system according to the first embodiment. FIG. 3B shows a state in which the vehicle is in a contamination inspection in the contamination inspection system according to the first embodiment. FIG. 4A is a perspective view seen from above in which the radiation dose around the tire is detected by a small detector. FIG. 4B shows a perspective view seen from below, detecting the radiation dose around the tire with a small detector. FIG. 5 shows a flow of the contamination inspection method according to the first embodiment. FIG. 6 shows an example of an inspection order determination flow. FIG. 7 shows an example of the inspection order determination table. FIG. 8 shows an example of a vehicle determination flow. FIG. 9 shows an example of a vehicle determination table. FIG. 10 shows an example of the cleaning management table. FIG. 11 shows an example of the operation information correction processing flow. FIG. 12 shows an example of the contamination inspection management table. FIG. 13 shows a system block diagram of a contamination inspection system according to the second embodiment and a schematic plan view of each facility. FIG. 14 is a perspective view showing the arrangement of detectors in the contamination inspection system according to the third embodiment. FIG. 15 is a diagram for explaining an inspection area of each inspection device in the contamination inspection system according to the third embodiment. FIG. 16 is a side view illustrating the detection status of each detector that detects the radiation dose of the tire in the contamination inspection system according to the third embodiment. FIG. 17 is a bottom side perspective view for explaining the detection status of each detector for detecting the radiation dose of the tire in the contamination inspection system according to the third embodiment. FIG. 18A is a side view of a vehicle determination unit in the contamination inspection system according to the fourth embodiment. FIG. 18B is a plan view of the vehicle determination unit in the contamination inspection system according to the fourth embodiment. FIG. 19A is a side view of the vehicle determination unit in the contamination inspection system according to the fifth embodiment. FIG. 19B is a plan view of the vehicle determination unit in the contamination inspection system according to the fifth embodiment. FIG. 20 is a perspective view showing a situation in which a radiation dose is detected by an L-shaped detector in the contamination inspection system according to the sixth embodiment.

  Next, embodiments of the present invention will be described with reference to the drawings. The following description is an example, and the present invention is not limited to the following contents.

<First Embodiment>
<Configuration of contamination inspection system>
FIG. 1 shows an outline of a contamination inspection system according to the first embodiment. FIG. 2 shows a system block diagram of the contamination inspection system according to the first embodiment and a schematic plan view of each facility. FIG. 3A shows a state before the vehicle enters the contamination inspection facility in the contamination inspection system according to the first embodiment. FIG. 3B shows a state in which the vehicle is in a contamination inspection in the contamination inspection system according to the first embodiment. The contamination inspection system 100 according to the embodiment includes a management server 1, an inspection order management unit 2 (an inspection order management terminal 21, an in-vehicle device 22), a vehicle confirmation unit 3 (a vehicle confirmation control terminal 31, a vehicle confirmation image sensor 32), a cleaning A unit 4 (cleaning control terminal 41, air compressor 42, discharge nozzle 43) and a contamination inspection unit 5 (contamination inspection control terminal 51, stop position measurement image sensor 52, detector 53, robot 54, transport device 55) are provided.

<< Management server >>
The management server 1 is connected to each unit of the contamination inspection system 100 via a network and controls each unit. The network is exemplified by the Internet using a telephone line network, but the network is not particularly limited as long as the management server 1 and each unit can be electrically connected to enable communication. The management server 1 is installed in a management facility (not shown), and has a hardware configuration such as a CPU (Central Processing Unit), a memory (RAM (Random Access Memory), a ROM (Read only memory)), a recording device (HDD (HDD)). hard disk drive) / SSD (Solid State Drive)), display device, input device, output device, network I / O as a communication device, and management database. The CPU of the management server 1 realizes a predetermined function of each unit of the contamination inspection system 100 according to a control program registered in the memory. In addition, the CPU of the management server 1 performs inspection order management, vehicle determination management, cleaning management, contamination inspection management, and the like. The predetermined function of each unit can be configured as a computer program executed on the CPU of the management server 1. Further, these predetermined functions may be executed by a dedicated processor. Further, these predetermined functions may be configured as a computer program executed by the control device of the terminal of each unit, in other words, executed on the CPU of the terminal of each unit.

  The display device of the management server 1 includes, for example, a liquid crystal display device, a plasma display panel, a CRT (Cathode Ray Tube), an electroluminescence panel, and the like. The input device of the management server 1 includes, for example, a keyboard, a pointing device, a touch panel, operation buttons, and the like. The output device of the management server 1 includes a speaker. The display device also functions as an output device. Examples of the communication device of the management server 1 include a communication module (for example, a network card) that realizes connection to a network. The function of the management server 1 is from terminals (inspection order management terminal 21, vehicle confirmation control terminal 31, washing control terminal 41, contamination inspection control terminal 51) that are connected via a network and are composed of general-purpose computers. It can also be realized by operation.

  The management database stored in the recording device of the management server 1 manages the inspection order management table for determining and managing the inspection order of the contamination inspection, the vehicle determination management table for determining and managing the vehicle for performing the contamination inspection, and the vehicle to be cleaned. And a contamination inspection management table for managing attribute information, history, etc. of the vehicle performing the contamination inspection. Each table is configured to be synchronized. The number of tables is not limited to the above. Further, the table may be configured by collecting a plurality of tables.

<< Inspection Order Management Unit >>
The inspection order management unit 2 includes an inspection order management terminal 21 and an in-vehicle device 22. The inspection order management terminal 21 can be configured by a general-purpose computer. The inspection order management terminal 21 includes a control device, a display device, an input device, and a communication device as a hardware configuration. The control device of the inspection order management terminal includes a CPU and a memory.

  The in-vehicle device 22 is mounted on each vehicle (DUNP), acquires position information and transmits it to the management server 1, acquires various information from the management server 1, and receives the vehicle via a display and a speaker of the in-vehicle device 22. Output to the driver. The in-vehicle device 22 can be configured by a tablet that can be connected to a network. The in-vehicle device 22 may be configured with a smartphone, a notebook PC, or a mobile phone. The in-vehicle device 22 includes a control device, a recording device, a display device, an input device, an output device, a communication device, and a position information acquisition device (GPS). The control device of the in-vehicle device 22 has a CPU and a memory, and the CPU executes a program stored in the memory to realize the functions of the in-vehicle device 22 (acquisition of position information and acquisition and output of various information). The display device of the in-vehicle device 22 displays various information transmitted from the management server 1.

<< Vehicle determination unit >>
The vehicle determination unit 3 captures an image of the vehicle, recognizes and acquires a vehicle registration number (number) and a display number (a specific number set separately from the number) as vehicle identification information from the image. The vehicle determination unit 3 may acquire only one of the vehicle registration number and the display number.

  The vehicle confirmation unit 3 includes a vehicle confirmation image sensor 32 and a vehicle confirmation control terminal 31. The vehicle fixed image sensor 32 is installed in the vicinity of the inspection facility (for example, the gate of the inspection facility) and images the vehicle.

  The vehicle confirmation control terminal 31 analyzes an image captured by the vehicle confirmation image sensor 32 and acquires a registration number and a display number of the vehicle. In addition, the vehicle confirmation control terminal 31 transmits the acquired registration number and display number of the vehicle to the management server 1. The vehicle confirmation control terminal 31 includes a control device, a display device, an input device, and a communication device as a hardware configuration. The control device of the vehicle confirmation control device includes a CPU and a memory. The vehicle confirmation control terminal 31 can be configured by a general-purpose computer.

  The vehicle fixed image sensor 32 images a vehicle including a vehicle registration number and a display number. The vehicle fixed image sensor 32 can be configured by a general-purpose camera having the number of pixels that can identify the registration number and the display number. The vehicle determination unit 3 may be configured by a so-called multi-image camera sensor in which the vehicle determination image sensor 32 and the vehicle determination control terminal 31 are integrally configured.

<< Cleaning unit >>
The cleaning unit 4 cleans the vehicle before the contamination inspection. The cleaning unit 4 includes an air compressor 42, a discharge nozzle 43, and a cleaning control terminal 41. The cleaning unit 4 blows out high-pressure air supplied from the air compressor 42 from the discharge nozzle 43 and removes soil and the like attached to the vehicle. In the first embodiment, a total of six discharge nozzles 43 are provided on both sides of the front of the vehicle, both sides of the center of the vehicle, and both sides of the rear of the vehicle. The number and positions of the discharge nozzles 43 can be changed according to the size and type of the vehicle.

  The cleaning control terminal 41 controls the supply amount of air supplied from the air compressor 42, the discharge amount of air discharged from the discharge nozzle 43, and the like. Moreover, the washing | cleaning control terminal 41 will transmit the registration number and display number of a vehicle to the management server 1, if washing | cleaning is completed. The cleaning control terminal 41 includes a control device, a display device, an input device, and a communication device as a hardware configuration. The control device of the cleaning control terminal 41 includes a CPU and a memory. The cleaning control terminal 41 can be configured by a general-purpose computer.

<< Contamination Inspection Unit >>
The contamination inspection unit 5 detects the radiation dose of the vehicle with a detector 53 fixed to the tip of the arm of a robot 54 having a three-dimensionally movable arm. The contamination inspection unit 5 includes a stop position measurement image sensor 52, a detector 53, a robot 54, a transport device 55, a tire guide 56, and a contamination inspection control terminal 51.

  The stop position measurement image sensor 52 detects the stop position of the vehicle when undergoing the contamination inspection. Since the stop position measurement image sensor 52 according to the first embodiment images four corners of the vehicle, the left front stop position measurement image sensor 52a, the right front stop position measurement image sensor 52b, the left rear stop position measurement image sensor 52c, the right A rear stop position measurement image sensor 52d is included. The front left stop position measurement image sensor 52a images the vicinity of the front left corner of the vehicle. The right front stop position measurement image sensor 52b captures the vicinity of the right front corner of the vehicle. The left rear stop position measurement image sensor 52c captures the vicinity of the left rear corner of the vehicle. The right rear stop position measurement image sensor 52d images the vicinity of the right rear corner of the vehicle. The stop position measurement image sensor 52 acquires the coordinates of the front end, the rear end, the left and right side surfaces, and the four corners of the vehicle as stop position information by the above four sensors.

  The detector 53 detects the radiation dose. The detector 53 according to the first embodiment is configured by a so-called scintillation survey meter for surface contamination inspection that inspects surface contamination by β rays. The detector 53 according to the first embodiment is a large detector 53 for detecting the surface of the vehicle (front surface, rear surface, side surface, ceiling surface, cargo bed surface, bottom surface of the vehicle). An example of a detector) and a small detector 53 (an example of the small detector of the present invention, an example of a detail detector) that detects details of the vehicle (in the vicinity of a tire or a tire house of the vehicle). Here, FIG. 3 shows a perspective view seen from above in which the radiation dose around the tire is detected by a small detector. FIG. 4 is a perspective view seen from below in which the radiation dose around the tire is detected by a small detector. The detector 53 only needs to detect the radiation dose, and the measurement line type (α ray, β ray, γ ray, etc.), measurement energy range, shape, etc. are not particularly limited. The unused detector 53 is accommodated in the rack 7 installed within the operation range of the robot 54.

  The robot 54 has a three-dimensionally movable arm in which the detector 53 is detachably fixed to the attachment at the tip. The robot 54 according to the first embodiment is a so-called six-axis articulated robot. Further, two robots 54 according to the first embodiment are provided in total, one on each of the left and right sides of the vehicle, and each of them can be moved in the front-rear direction by the transfer device 55. The robot 54 may have 7 axes, 5 axes, etc., and the number of axes is not particularly limited. The number of robots 54 may be one, three, etc., and the number of installed robots is not particularly limited. The robot 54 according to the first embodiment is an example of a dual-purpose robot of the present invention. An outer surface robot to which the large detector 53 is fixed or a detail robot to which the small detector 53 is fixed may be installed.

  The transport device 55 transports the robot 54 in the front-rear direction of the vehicle. The transport device 55 according to the first embodiment is configured by a horizontal movement mechanism having a so-called LM guide (Linear Motion Guide) and an actuator. Further, the transport device 55 according to the first embodiment may be configured by a horizontal movement mechanism having a linear rack extending in the front-rear direction of the vehicle, a motor as a drive source, and a linear head that transmits the torque of the motor to the rack. Good.

  The contamination inspection control terminal 51 corrects the operation information (information for operating the robot 54, for example, information including the coordinates of each joint and the rotation angle around the rotation axis of each joint) based on the stop position information. The robot 54 and the transfer device 55 are controlled so that the detector 53 moves following the shape of the vehicle. Further, when the contamination inspection is completed, the contamination inspection control terminal 51 transmits vehicle identification information (vehicle registration number and display number) to the management server 1. The contamination inspection control terminal 51 includes a control device, a display device, an input device, and a communication device as a hardware configuration. The control device of the vehicle confirmation control device includes a CPU and a memory. The contamination inspection control terminal 51 can be configured by a general-purpose computer.

<Contamination inspection method>
Next, the contamination inspection method will be described together with the operation of the contamination inspection system. FIG. 5 shows a flow of the contamination inspection method according to the first embodiment. The contamination inspection method according to the first embodiment includes an inspection order management process (step 01), a vehicle determination process (step 02), a cleaning process (step 03), and a contamination inspection process (step 04).

<< Inspection order management process >>
In the inspection order management step (step 01), the vehicle position information is acquired, and the order of the vehicles to be subjected to the contamination inspection is determined based on the position information. More specifically, the position information (latitude, longitude) of the vehicle is acquired by the position information acquisition device of the in-vehicle device 22, and the position information is transmitted to the management server 1 via the inspection order management terminal 21.

  Next, the management server 1 determines the order of the vehicles that perform the contamination inspection. Here, FIG. 6 shows an example of an inspection order determination flow. The following processing is executed by the CPU of the management server 1 reading the program recorded in the memory and accessing the inspection order determination table stored in the inspection order management unit of the management database. Here, FIG. 7 shows an example of the inspection order determination table. The inspection order determination table includes the vehicle registration number, display number, driver, vehicle type, position information (longitude, latitude), time when the position information was acquired, distance to the inspection facility, travel time, arrival time, inspection order, Items of contamination inspection start time and contamination inspection end time are provided, and data is recorded in each item.

  In step 101, position information of each vehicle is received. Next, in step 102, the distance to the inspection facility and the arrival time are calculated based on the position information and the map information stored in the memory of the management server 1. Next, in step 103, the inspection rank of the vehicle is calculated based on the distance to the inspection facility and the arrival time. Next, in step 104, the first vehicle is specified, the contamination inspection start time of the first vehicle is calculated, and the movement time and contamination inspection time of the first vehicle are added, and the first vehicle The end time of contamination inspection is calculated. Next, in step 105, the contamination inspection start time of the second vehicle is calculated from the contamination inspection end time of the first vehicle, and the movement time and contamination inspection time of the second vehicle (next vehicle) are added. The contamination inspection end time of the second vehicle (next vehicle) is calculated. The second vehicle contamination inspection start time may be the first vehicle contamination inspection end time, or the preparation time may be taken into account. Thereafter, step 105 is repeated by the number of vehicles. The contamination inspection order, the contamination inspection start time, the contamination inspection end time, and the like are transmitted to the in-vehicle device 22. In addition, the CPU of the management server 1 executes the confirmation of the movement status of each vehicle at an arbitrary time, and in the case where a delay occurs, recalculates the contamination inspection order, the contamination inspection start time, and the contamination inspection end time, The calculation result may be transmitted to the in-vehicle device 22. The inspection order determination table is updated as appropriate. The above-described processing is executed by the inspection order management terminal 21, that is, the CPU of the inspection order management terminal 21 reads the program recorded in the memory and executes it by accessing the inspection order determination table stored in the memory. Also good.

<< Vehicle determination process >>
In the vehicle determination step (step 02), the vehicle is imaged, vehicle identification information (vehicle registration number, display number) is acquired from the image, collated with the contamination inspection rank, and the contamination inspection is permitted. More specifically, first, a vehicle image is acquired by the vehicle fixed image sensor 32. Next, the vehicle confirmation control terminal 31 analyzes the image captured by the vehicle confirmation image sensor 32 and acquires vehicle identification information (vehicle registration number and display number). The acquired vehicle identification information is transmitted to the management server 1 via the vehicle confirmation control terminal 31.

  Next, the management server 1 collates the vehicle identification information with the contamination inspection order, and permits the execution of the contamination inspection. Here, FIG. 8 shows an example of a vehicle determination flow. The following processing is executed by the CPU of the management server 1 reading the program recorded in the memory and accessing the vehicle determination table stored in the vehicle management unit of the management database. Here, FIG. 9 shows an example of a vehicle determination table. The vehicle determination table includes items of vehicle registration number, display number, driver, vehicle type, inspection order, verification result, and verification time, and data is recorded in each item. The data in the vehicle determination table is configured to be synchronized with the data in the inspection order determination table.

  In step 201, vehicle identification information is received. Next, in step 202, it is determined whether the received vehicle identification information matches the vehicle identification information in the inspection order. In other words, it is determined whether or not the vehicle is operating according to the inspection order. If it is determined that they match, the process proceeds to step 203, where the contamination inspection is permitted. Specifically, the permission for execution of the contamination result is transmitted to the in-vehicle device 22. In addition, as a verification result, the fact that the execution permission has been issued is recorded in the vehicle determination table, and the verification time is recorded in the vehicle determination table. The in-vehicle device 22 that has received the permission to perform the contamination result displays the fact on the display device or outputs it by voice. On the other hand, if it is determined in step 202 that they do not match, the process proceeds to step 204 and the contamination inspection cannot be performed. Specifically, since it does not match the inspection order, the fact that the contamination inspection cannot be permitted is transmitted to the in-vehicle device 22. In addition, as a result of the collation, the fact that it is not permitted is recorded in the vehicle confirmation table, and the collation time is recorded in the vehicle confirmation table. The vehicle determination table is updated as appropriate. The above-described processing is executed by the vehicle determination control terminal 31, that is, the CPU of the vehicle determination control terminal 31 reads the program recorded in the memory and accesses the vehicle determination table stored in the memory.

<< Cleaning process >>
In the cleaning process (step 03), the vehicle before the contamination inspection is cleaned. The cleaning control terminal 41 controls the supply amount of air supplied from the air compressor 42, the discharge amount of air discharged from the discharge nozzle 43, and the like. High-pressure air supplied from the air compressor 42 blows out from the discharge nozzle 43, and the soil and the like attached to the vehicle is removed. When the cleaning is completed, information indicating that the cleaning is completed (cleaning completion information) is transmitted to the management server 1.

  The management server 1 records cleaning management information. The cleaning management information is recorded by the CPU of the management server 1 reading the program recorded in the memory and accessing the cleaning management table stored in the cleaning management unit of the management database. Here, FIG. 10 shows an example of the cleaning management table. The cleaning management table includes items of vehicle registration number, display number, driver, vehicle type, inspection order, cleaning completion, and completion time, and data is recorded in each item. The data of the cleaning management table is configured to be synchronized with the data of the inspection order determination table and the vehicle determination table.

<< Contamination inspection process >>
In the contamination inspection process (step 04), operation information (information for operating the robot 54, for example, information including coordinates of each joint and a rotation angle around the rotation axis of each joint) based on the stop position information. The robot 54 and the transfer device 55 operate so that the detector 53 is corrected and moves following the shape of the vehicle. More specifically, first, a stop position measurement image sensor 52 (a left front stop position measurement image sensor 52a, a right front stop position measurement image sensor 52b, a left rear stop position measurement image sensor 52c, a right rear stop position measurement image sensor). 52d), the coordinates of the four corners that are the intersections of the front end, the rear end, and the left and right side surfaces of the vehicle are acquired as stop position information. The acquired stop information is transmitted to the management server 1 via the contamination inspection control terminal 51.

  Next, the management server 1 corrects the operation information based on the stop position information. Here, FIG. 11 shows an example of the operation information correction processing flow. The following processing is executed by the CPU of the management server 1 reading the program recorded in the memory and accessing the contamination inspection management table stored in the contamination inspection management unit of the management database. Here, FIG. 12 shows an example of the contamination inspection management table. The contamination inspection management table includes items of vehicle registration number, display number, driver, vehicle type, reference stop position information, stop position information, operation information, and correction operation information, and data is recorded in each item. . The data in the contamination inspection management table is configured to be synchronized with the data in the inspection order determination table, the data in the vehicle determination table, and the data in the cleaning management table.

  In step 401, the coordinates of the four corners of the vehicle are acquired as stop information. Next, in step 402, a correction value is calculated based on the stop information and the reference stop position information. The reference stop position information is position information when the vehicle stops at a specified position, and is information serving as a reference for operation information. The correction value is a value for correcting the operation information set based on the reference stop information when there is a difference between the stop information and the reference stop information. The correction value includes, for example, a difference between coordinates, a vehicle angle α with respect to a virtual axis (vertical axis) extending in the vehicle front-rear direction, and a vehicle angle β with respect to a virtual axis (horizontal axis) extending in the left-right direction of the vehicle. .

  Next, in step 403, the operation information is corrected based on the correction value, and corrected operation information is calculated. The operation information is information for operating the robot 54, and is information including, for example, the coordinates of each joint and the rotation angle of each joint around the rotation axis. The operation information is set according to vehicle attribute information including vehicle identification information and shape information related to the shape of the vehicle. The shape information includes front, rear, side, ceiling, cargo bed, and bottom boundary coordinates of the vehicle, coordinates of irregularities on each surface, and coordinates of details (near the tire and tire house). The operation information is obtained in advance so that the detector 53 moves while the distance between the detector 53 and the surface of the vehicle (including the surface of the details of the vehicle) is constant, that is, the detector 53 follows the surface of the vehicle. Is set. The operation information also includes information related to switching of the detector 53, in other words, information related to a region detected by the large detector 53, a region detected by the small detector 53, and timing for switching the detector 53. Further, the operation information includes information on the number of rotations of the motor and the direction of rotation of the motor as information for operating the conveyance device 55. The correction operation information is information obtained by correcting the coordinates of each joint and the rotation angle of each joint around the rotation axis with a correction value. Next, in step 404, corrective action information is transmitted to the contamination inspection control terminal 51. The above-described processing is executed by the contamination inspection control terminal 51, that is, the CPU of the contamination inspection control terminal 51 reads the program recorded in the memory and accesses the contamination inspection management table stored in the memory. Also good.

  When the contamination inspection control terminal 51 receives the correction operation information, the contamination inspection control terminal 51 controls the robot 54 and the transfer device 55 based on the correction operation information, and executes the contamination inspection. When the contamination inspection is completed, the inspection result (detection, non-detection) is transmitted to the management server 1 and the in-vehicle device 22. When the inspection result is “detection”, that is, when a radiation dose greater than or equal to a predetermined amount is detected, detection location information regarding the detected location (coordinates) is also transmitted to the in-vehicle device 22. The management server 1 records the inspection result (including detection location information) in the contamination inspection management table (step 405).

<Effect>
According to the contamination inspection system 100 according to the first embodiment, since the detector 53 moves following the shape of the vehicle, the inspection accuracy can be improved as compared with, for example, a conventional gate type inspection apparatus. it can. Moreover, since the robot 54 is controlled based on the corrected operation information obtained by correcting the operation information set according to the vehicle attribute information, the robot 54 can move (operate) efficiently and accurately. As a result, the inspection time can be shortened. Further, in the conventional gate-type inspection apparatus, it is possible to perform a contamination inspection on the bottom surface and details of the vehicle, which have been performed manually, with the detector 53 fixed to the robot 54, thereby reducing the inspection time. Can do. Furthermore, since manual inspection for contamination inspection can be omitted or greatly reduced, the safety of workers can be improved.

Second Embodiment
The contamination inspection system 100 according to the second embodiment includes a robot 54 (an example of an outer surface robot of the present invention) to which a large detector 53 (an example of a large detector of the present invention, an example of an outer surface detector) is fixed. A small robot in which a robot 54 (an example of a detail robot of the present invention) in which a large robot area A to be operated and a small detector 53 (an example of a small detector of the present invention, an example of a detail detector) are fixed operates It differs from the contamination inspection system 100 of the first embodiment in that it has a region B. About the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is omitted.

  FIG. 13 shows a system block diagram of a contamination inspection system according to the second embodiment and a schematic plan view of each facility. In the contamination inspection system 100 according to the second embodiment, a small robot region B that operates with a small detector 53 is provided on the upstream side in the traveling direction of the vehicle, and a large size that operates with the large detector 53 on the downstream side. A robot area A is provided.

  In addition to the effects of the contamination inspection system 100 according to the first embodiment, the contamination inspection system 100 according to the second embodiment includes the large robot area A and the small robot area B, so that the waiting time of the following vehicle is utilized. Contamination inspection can be performed. As a result, the inspection time can be further shortened.

<Third Embodiment>
The contamination inspection system 100 according to the third embodiment includes a bottom robot 54a (an example of a bottom robot according to the present invention) provided below a vehicle, and a tire inner detector 53a that detects a radiation dose on the inner surface of the tire. The tire further includes a tire outer detector 53b for detecting the radiation dose on the outer surface of the tire, and a tire peripheral detector 53c for detecting the radiation dose on the tire peripheral surface. About the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is omitted.

  FIG. 14 is a perspective view showing the arrangement of detectors in the contamination inspection system according to the third embodiment. FIG. 15 is a diagram for explaining an inspection area of each inspection device in the contamination inspection system according to the third embodiment. FIG. 16 is a side view illustrating the detection status of each detector that detects the radiation dose of the tire in the contamination inspection system according to the third embodiment. FIG. 17 is a bottom side perspective view for explaining the detection status of each detector for detecting the radiation dose of the tire in the contamination inspection system according to the third embodiment.

  Similar to the robot 54 according to the first embodiment, the bottom surface robot 54a is a so-called 6-axis multi-joint robot. However, the bottom surface robot 54a is smaller than the robot 54 according to the first embodiment. In addition, a detector 53 (an example of a bottom detector according to the present invention) that detects the amount of radiation attached to the bottom surface of the vehicle is detachably fixed to the attachment at the tip. The contamination inspection system 100 according to the third embodiment further includes a concave portion that is provided below the bottom surface of the vehicle and extends in the front-rear direction of the vehicle, and a second transfer device 55a that is provided in the concave portion. The bottom robot 54a moves on the second transfer device 55a.

  The tire inner detector 53a detects the radiation dose on the inner surface of the tire. The tire inner detector 53a is a vertical plate-like survey meter extending in the front-rear direction on the upstream side (front side) of the transport device 55 and the second transport device 55a. The tire outer detector 53b detects the radiation dose on the outer surface of the tire. The tire outer detector 53b is formed of a vertical plate-shaped lee meter extending in the front-rear direction on the upstream side (front side) of the transport device 55 and the second transport device 55a. The tire circumferential surface detector 53c detects the radiation dose on the circumferential surface of the tire. The tire circumferential surface detector 53c includes a horizontal plate-like survey meter extending in the front-rear direction on the upstream side (front side) of the transport device 55 and the second transport device 55a. A transparent tempered glass 6 is installed on the vehicle travel path upstream (front side) of the transport device 55 and the second transport device 55a, and a tire circumferential surface detector 53c is provided below the tempered glass 6. ing. The tire inner detector 53a, the tire outer detector 53b, and the tire circumferential surface detector 53c have a length, height, and width that can detect the radiation dose on all surfaces when the tire is rotated once. doing.

  The contamination inspection control terminal 51 further corrects the operation information of the bottom robot 54a and the second transfer device 55a based on the stop position information, and the bottom robot so that the detector 53 moves following the shape of the vehicle. 54a and the transfer device 55 are controlled.

  Further, when the contamination inspection is completed, the contamination inspection control terminal 51 transmits the vehicle identification information (vehicle registration number and display number) and the inspection results of all the detectors 53 and the detectors 53a to the management server 1.

  In addition to the effects of the contamination inspection system 100 according to the first embodiment, the contamination inspection system 100 according to the third embodiment includes a bottom robot 54a, a tire inner detector 53a, a tire outer detector 53b, and a tire peripheral surface. By providing the detector 53c, the radiation dose can be detected for each part of the vehicle. As a result, the inspection accuracy can be further improved. The robot 54 and the bottom robot 54a can be operated simultaneously, and the tire inner detector 53a, the tire outer detector 53b, and the tire circumferential surface detector 53c use the waiting time to contaminate the following vehicle. Inspection can be performed. As a result, the inspection time can be further shortened.

<Fourth embodiment>
In the contamination inspection system 100 according to the fourth embodiment, the configuration of the vehicle determination unit 3 is different from the vehicle determination unit 3 according to the first embodiment. In addition, about the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is omitted.

  FIG. 18A shows a side view of the vehicle determination unit 3 in the contamination inspection system according to the fourth embodiment. FIG. 18B is a plan view of the vehicle determination unit 3 in the contamination inspection system according to the fourth embodiment. The vehicle determination unit 3 according to the fourth embodiment includes only one vehicle determination image sensor 32 that is provided above the ceiling of the vehicle and captures the ceiling shape of the vehicle. The vehicle fixed image sensor 32 according to the fourth embodiment acquires the coordinates of the four corners of the vehicle ceiling. In the fourth embodiment, the vehicle fixed image sensor 32 images the shape of the ceiling and acquires the coordinates of the four corners of the ceiling. However, the imaging target may be another part of the vehicle, for example, a loading platform.

  In the fourth embodiment, the coordinates of the four corners of the ceiling of the vehicle are acquired as stop position information, and the acquired stop information is transmitted to the management server 1 via the contamination inspection control terminal 51. In the management server 1, the correction value is calculated based on the stop information and the reference stop position information regarding the four corners of the ceiling.

  In the contamination inspection system 100 according to the fourth embodiment, in addition to the effects of the contamination inspection system 100 according to the first embodiment, the vehicle determination unit 3 includes only one vehicle determination image sensor 32 that images the ceiling shape of the vehicle. Composed. Therefore, the number of parts can be reduced.

  In addition, as the vehicle fixed image sensor 32, an image sensor having a wider angle, that is, a wider imaging range is used. The vehicle fixed image sensor 32 is provided near the upper center of the vehicle, and one vehicle fixed image sensor 32 is provided at four corners of the vehicle. You may make it acquire a coordinate.

<Fifth Embodiment>
In the contamination inspection system 100 according to the fifth embodiment, the configuration of the vehicle determination unit 3 is different from that of the vehicle determination unit 3 according to the first embodiment. In addition, about the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is omitted.

  FIG. 19A shows a side view of the vehicle determination unit 3 in the contamination inspection system according to the fifth embodiment. FIG. 19B is a plan view of the vehicle determination unit 3 in the contamination inspection system according to the fifth embodiment. The vehicle determination unit 3 according to the fifth embodiment includes a plurality of CMOS laser displacement sensors 520 (hereinafter also simply referred to as laser displacement sensors 520) that measure the distance from the vehicle. The laser displacement sensor 520 includes a side laser displacement sensor 521 and a front and rear laser displacement sensor 522. The side laser displacement sensor 521 is spaced at the same height as the left and right sides of the vehicle. The distance between the vehicle and the side of the vehicle is assumed. The front and rear surface laser displacement sensors 522 are provided in the lifting mechanism 8 provided so as to straddle the vehicle, and measure the distance from the front and rear surfaces of the vehicle. The laser displacement sensor 520 measures the distance between the side surface and the front and rear surfaces of the vehicle, whereby the coordinates of the vehicle (for example, the coordinates of the four corners in plan view) are acquired.

  In the fifth embodiment, for example, coordinates of the four corners of the vehicle are acquired as stop position information, and the acquired stop information is transmitted to the management server 1 via the contamination inspection control terminal 51. In the management server 1, the correction value is calculated based on the stop information and the reference stop position information regarding the four corners of the vehicle.

  In the contamination inspection system 100 according to the fifth embodiment, in addition to the effects of the contamination inspection system 100 according to the first embodiment, the vehicle determination unit 3 includes a laser displacement sensor 520. Therefore, stop position information can be acquired more accurately.

<Sixth Embodiment>
The contamination inspection system 100 according to the sixth embodiment is different from the conveyance device 55 according to the first embodiment in that the conveyance device 55 is first installed on the gantry 60. By installing the transfer device 55 on the gantry 60, the tip of the arm of the robot 54 can easily reach a wide range (particularly a high position). The gantry 60 is not particularly limited as long as it can support the transfer device 55 and the robot 54. Further, the gantry 60 may include a lifting mechanism. It is possible to adjust the height of the gantry 60 according to the vehicle, and it is possible to inspect a portion where the arm cannot reach with the robot 54 alone.

  The contamination inspection system 100 according to the sixth embodiment is different from the detector 53 according to the first embodiment in that the detectors are a long detector 531 and an L-shaped detector 541. The long detector 531 is rectangular like the detector 53 according to the first embodiment, but the distal end side is formed longer than the proximal end side with reference to the attachment position of the attachment at the distal end of the arm of the robot 54. Thereby, a wider range of radiation dose can be detected. Further, it is possible to detect the radiation dose in a narrow place where the arm of the robot 54 does not enter. The L-shaped detector 541 is L-shaped in cross section. Therefore, for example, the radiation dose can be detected simultaneously on the side surface and the bottom surface of the loading platform of the vehicle. Further, the attachment of the robot 54 to which the L-shaped detector 541 is connected is formed longer than the attachment of the robot 54 according to the first embodiment. Thereby, a wider range of radiation dose can be detected. The shape of the detector 54 is not limited to the above. A detector 53 that matches the shape of the vehicle may be prepared, and the robot 54 may change the detector 53.

  In addition to the effects of the contamination inspection system 100 according to the first embodiment, the contamination inspection system 100 according to the sixth embodiment can efficiently detect the radiation dose of various vehicles. In particular, the radiation dose of a large vehicle can be detected efficiently without increasing the size of the robot 54.

  As mentioned above, although embodiment of this invention was described, the contamination inspection system and the contamination inspection method which concern on this invention are not restricted to these, These can be combined as much as possible.

  The shape of the detector 53 is not limited to the above, and the detector 53 may be, for example, a box-type survey meter. Further, a laser displacement sensor for measuring the distance from the vehicle may be provided in the box-type survey meter. The stop position information of the vehicle may be corrected according to the distance between the vehicle acquired by the laser displacement sensor provided in the box-type survey meter and the detector 53. By correcting the stop position information of the vehicle, the accuracy of the stop position information of the vehicle can be improved, and the detector 53 can be made to follow more accurately according to the shape of the vehicle. Moreover, you may correct | amend operation information according to the distance of the vehicle and the detector 53 which were acquired with the laser displacement sensor provided in the box-type survey meter. By correcting the operation information, the detector 53 can be made to follow more accurately according to the shape of the vehicle. Further, the vehicle stop position information may be directly acquired based on the distance between the vehicle and the detector 53 acquired by the laser displacement sensor provided in the box-type survey meter.

DESCRIPTION OF SYMBOLS 1 ... Management server 1, 2 ... Inspection order management unit (21 ... Inspection order management terminal, 22 ... In-vehicle device), 3 ... Vehicle confirmation unit (31 ... Vehicle confirmation control terminal) , 32 ... vehicle fixed image sensor), 4 ... cleaning unit (41 ... cleaning control terminal, 42 ... air compressor 2, 43 ... discharge nozzle), 5 ... contamination inspection unit ( 51 ... Contamination inspection control terminal, 52 ... Stop position measurement image sensor, 53 ... Detector, 54 ... Robot, 55 ... Conveying device)

Claims (6)

A contamination inspection system for inspecting vehicle contamination,
A detector for detecting radiation dose;
A robot having a three-dimensionally movable arm, and the detector being detachably fixed to the tip of the arm;
Operation information set so that the detector follows the shape of the vehicle and is set according to vehicle attribute information including at least the vehicle identification information and shape information related to the shape And a control device for controlling the robot based on the information. A stop position detection device for detecting stop position information related to the stop position of the vehicle when performing a vehicle contamination inspection;
The contamination inspection system according to claim 1, wherein the operation information is corrected based on the stop position information, and the control device controls the robot based on the corrected operation information. A stop position detection device for detecting stop position information related to the stop position of the vehicle when performing a vehicle contamination inspection;
The motion information is corrected based on the stop position information, and the control device controls the robot based on the motion information after correction,
The detector includes an outer surface detector that detects a radiation dose on an outer surface of the vehicle, a detail detector that detects a radiation dose of a detail of the vehicle, and a bottom detection that detects a radiation dose of the bottom surface of the vehicle. Having at least one of the vessel,
The robot includes an outer surface robot to which the outer surface detector is fixed, a detail robot to which the detail detector is fixed, and a dual-purpose robot in which the outer surface detector and the detail detector are interchangeable. The contamination inspection system according to claim 1, further comprising at least one of a bottom surface robot to which the bottom surface detector is fixed. Further comprising a transport device for transporting the robot in the longitudinal direction of the vehicle;
The contamination control system according to any one of claims 1 to 3, wherein the control device controls the transport device and the robot based on the operation information. Further comprising a transport device for transporting the robot in the longitudinal direction of the vehicle;
The control device controls the transfer device and the robot based on the operation information,
The said conveying apparatus is provided so that it may extend in the front-back direction of a vehicle at the side of the said vehicle, It has a 1st conveying apparatus which conveys either the said outer surface robot, the said detail robot, or the said dual purpose robot. 3. The contamination inspection system according to 3.   The contamination inspection system according to claim 5, wherein the transfer device further includes a second transfer device provided in a recess provided in a front-rear direction of the vehicle provided below the bottom surface of the vehicle.