CN108761555A - Container vehicle checks system and container vehicle inspection method - Google Patents
Container vehicle checks system and container vehicle inspection method Download PDFInfo
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- CN108761555A CN108761555A CN201810560645.9A CN201810560645A CN108761555A CN 108761555 A CN108761555 A CN 108761555A CN 201810560645 A CN201810560645 A CN 201810560645A CN 108761555 A CN108761555 A CN 108761555A
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- 238000007689 inspection Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005855 radiation Effects 0.000 claims abstract description 117
- 230000006698 induction Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of container vehicles to check system and container vehicle inspection method.Container vehicle check system have for container vehicle by the scan channel extended in a first direction, including：Scanning device includes for output radiation beam to check the radiation source of container vehicle；Multiple regions laser sensor arrangements, along the first direction arranged for interval, each region laser sensor arrangements, which have the sensing region for sensing container vehicle and detect container vehicle, to be entered its sensing region and/or leaves the sensitive information of its sensing region；And control device, it is connect with the scanning device and the multiple region laser sensor arrangements signal, and the scanning device is manipulated according to the sensitive information of the multiple region laser sensor arrangements and checks container vehicle.System and container vehicle inspection method are checked based on container vehicle provided by the invention, is conducive to accurate judgement vehicle location, and can reduce malfunction, are promoted and are checked success rate.
Description
Technical field
The present invention relates to radiation monitoring technical field, more particularly to a kind of container vehicle checks system and container vehicle
Inspection method.
Background technology
Container vehicle checks that system has active scan mode and drive sweep pattern.Active scan mode refers to detected
Container vehicle is parked in container vehicle and checks in the scan channel of system, and container vehicle is swept while checking system movement
It retouches equipment and sends out the beams such as x-ray, imaging is scanned to container vehicle.Drive sweep pattern refers to container vehicle inspection
System quiescence is motionless, is detected container vehicle and normally drives into the scan channel of container vehicle inspection system and pass through scanning area
Domain, while passing through scanning area, scanning device sends out the beams such as x-ray, and imaging is scanned to container vehicle.
Due to the requirement of radiation protection safety, in drive sweep pattern, do not allow the driver's cabin for scanning container vehicle.
For this purpose, it is known for inventor in the related technology, using a series of side for arranging diffusing reflection switch and light curtain in scanning device
Formula carries out position detection to container vehicle, when the driver's cabin safety scanning device output for detecting container vehicle
Radiation beam position when, then start to scan, to only scan a con-tainer part for container vehicle.
Above in the related technology, diffusing reflection sensor is easy to be interfered by ambient light, especially in an outdoor environment, holds
It is also easy to produce malfunction, causes container vehicle to check the control device judgement diffusing reflection switch trigger sequence mistake of system, stops
Scanning process.This in the related technology, only light curtain can detect a plane, remaining diffusing reflection sensor all can only be to independent position
It sets and is a little detected.In this way for the detected container vehicle of different chassis heights, it is possible to which there is a situation where leak detections.And
And in scanning process, if someone possibly can not detected from scan channel is entered between two diffusing reflection switch, to
Cause prodigious security risk.
Invention content
The purpose of the present invention is to provide a kind of container vehicles to check system and container vehicle inspection method to be promoted
Check success rate.
First aspect present invention provides a kind of container vehicle and checks system, have for container vehicle by along first
The scan channel that direction extends, including：
Scanning device includes for output radiation beam to check the radiation source of the container vehicle；
Multiple regions laser sensor arrangements, along the first direction arranged for interval, each region laser sensor arrangements
With the sensing region for sensing the container vehicle and detect the container vehicle into its sensing region and/or from
Open the sensitive information of its sensing region；With
Control device is connect with the scanning device and the multiple region laser sensor arrangements signal, and according to described
The sensitive information of multiple regions laser sensor arrangements manipulates the scanning device and checks the container vehicle.
In some embodiments, the multiple region laser sensor arrangements are filled including at least two horizontal sweep laser sensings
It sets, the sensing region of the horizontal sweep laser sensor arrangements is substantially parallel with ground.
In some embodiments, the multiple region laser sensor arrangements include at least one vertical scanning laser sensing dress
It sets, the sensing region and the first direction and ground of the vertical scanning laser sensor arrangements are substantially vertical.
In some embodiments, the height of the sensing region of at least two horizontal sweeps laser sensor arrangements is different.
In some embodiments, at least two horizontal sweeps laser sensor arrangements include：
First area laser sensor arrangements are arranged with the radiation source interval, firstth area in said first direction
The sensing region of domain laser sensor arrangements is covered in said first direction from the split of the radiation beam to firstth area
The region of domain laser sensor arrangements；
Second area laser sensor arrangements are set to the first area laser sensor arrangements in said first direction
Close to the side of the radiation source, the sensing regions of the second area laser sensor arrangements cover in said first direction from
The second area laser sensor arrangements are towards the radiation source side and cross the first distance of the radiation source.
In some embodiments, in said first direction, the second area laser sensor arrangements are set to described
Between one region laser sensor arrangements and the radiation source.
In some embodiments, in said first direction, first distance is less than the second area laser sensing
The distance between device and the fourth region laser sensor arrangements.
In some embodiments, in said first direction, the second area laser sensor arrangements also at least cover from
Second distance of the second area laser sensor arrangements initially towards first area laser sensor arrangements side.
In some embodiments, the multiple region laser sensor arrangements include at least one vertical scanning laser sensing dress
It sets, the sensing region and the first direction and ground of the vertical scanning laser sensor arrangements are substantially vertical, and described at least one
A vertical scanning laser sensor arrangements include：
Third region laser sensor arrangements, be set in said first direction the first area laser sensor arrangements and
Between the second area laser sensor arrangements；And/or
The fourth region laser sensor arrangements being set to the radiation source with the first area in said first direction
The opposite side of laser sensor arrangements, the second area laser sensor arrangements be located at the first area laser sensor arrangements and
Between the fourth region laser sensor arrangements.
In some embodiments, in said first direction, the second distance is less than the second area laser sensing
The distance between device and third region laser sensor arrangements.
In some embodiments, the container vehicle checks that system is vehicle-mounted container vehicle inspection system, including
Carry the vehicle of the scanning device, the first area laser sensor arrangements, the second area laser sensor arrangements,
Third region laser sensor arrangements and/or the fourth region laser sensor arrangements are set in the vehicle.
In some embodiments, the vehicle includes headstock, chassis, vehicle body and turntable, the vehicle body and described turn
Platform is set on the chassis, and the turntable is located at the rear of the vehicle body, and it is described that the container vehicle checks that system passes through
Turntable is carried on the vehicle body, wherein
The first area laser sensor arrangements are arranged in the headstock rear portion of the vehicle；And/or
The second area laser sensor arrangements arrangement is on the turntable or on the chassis near the turntable；And/or
Third region laser sensor arrangements are arranged on the vehicle body.
In some embodiments, the container vehicle checks that system further includes holder, the fourth region laser sensing
Device is arranged on the holder.
In some embodiments, at least two region laser sensors in the multiple region laser sensor arrangements
Mounting height is different；And/or
The sensing region of at least two region laser sensors is at angle in the multiple region laser sensor arrangements
Setting；And/or
The sensing region of at least one region laser sensor is substantially flat in the multiple region laser sensor arrangements
For row in ground, the sensing region of at least one region laser sensor is approximately perpendicular to ground；And/or
One in the sensing region of the multiple each two adjacent region laser sensor of region laser sensor arrangements
The sensing region of a region laser sensor is roughly parallel to the sensing of ground and another region laser sensor
Region is approximately perpendicular to ground.
Second aspect of the present invention provides a kind of first aspect present invention any one of them container vehicle inspection system pair
Container vehicle carries out the container vehicle inspection method of radiation monitoring, including：
Each region laser sensor arrangements detect the container vehicle and enter its sensing region and/or leave its sensing
The sensitive information in region；With
Control device manipulates the scanning device according to the sensitive information of the multiple region laser sensor arrangements and examines
Look into the container vehicle.
In some embodiments, control device is manipulated according to the sensitive information of the multiple region laser sensor arrangements
The scanning device checks that the container vehicle includes executing following operation according to the variation of the sensitive information：
It manipulates the radiation scanning apparatus and switches to drive sweep pattern；
The radiation source is manipulated to be preheated；
Manipulate the radiation source output radiation beam；
It manipulates the radiation source and stops output radiation beam.
In some embodiments,
In said first direction, the container vehicle is filled from the radiation source and the first area laser sensing
When setting opposite side and driving into the scan channel, the container vehicle inspection method includes：The second area laser
When the sensing region of induction device senses the container vehicle, the radiation scanning apparatus switches to drive sweep pattern；Institute
When stating the sensing regions of first area laser sensor arrangements and sensing the container vehicle, control device manipulates the radiation source
It is preheated；The sensing region of the first area laser sensor arrangements and third region laser sensor arrangements senses simultaneously
When to the container vehicle, the radiation source output radiation beam；The sensing region sense of the second area laser sensor arrangements
When measuring the container vehicle and sailing out of, the radiation source stops output radiation beam；Or,
In said first direction, the first area laser sensor arrangements of the container vehicle from the radiation source
Side when driving into the scan channel, the container vehicle inspection method includes：The first area laser sensor arrangements
Sensing region when sensing the container vehicle, the radiation scanning apparatus switches to drive sweep pattern；Described first
The sensing region of region laser sensor arrangements and the second area laser sensor arrangements senses the container vehicle simultaneously
When or the sensing region of the first area laser sensor arrangements and third region laser sensor arrangements simultaneously sense institute
When stating container vehicle, control device manipulates the radiation source and is preheated；The fourth region laser sensor arrangements sense
When the container vehicle, the radiation source output radiation beam；The sensing region of the second area laser sensor arrangements senses
When being sailed out of to the container vehicle, the radiation source stops output radiation beam.
System and container vehicle inspection method are checked based on container vehicle provided by the invention, are swashed by using region
Optical sensing means substitutes diffusing reflection sensor and picking sensor, realizes that container vehicle checks the drive sweep pattern of system,
It can be conducive to standard by the setting quantity of reasonable disposition region laser sensor arrangements, the size and Orientation of position and sensing region
Really judge vehicle location, and malfunction can be reduced, to promote inspection success rate.Further, additionally it is possible to effectively reduce inspection
The number of sensors of container vehicle position is surveyed, the cost of purchase sensor is reduced.Further, it can also effectively prevent because of people
Error detection situation caused by member or foreign matter are swarmed into improves the safety that container vehicle checks system.In addition, being additionally favorable for reducing
Installation difficulty shortens installation work-hour.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is that the container vehicle of the embodiment of the present invention checks the structural schematic diagram of system.
Fig. 2 is the sensing region signal of first area laser sensor arrangements in container vehicle inspection system shown in FIG. 1
Figure.
Fig. 3 is the sensing region signal of second area laser sensor arrangements in container vehicle inspection system shown in FIG. 1
Figure.
Fig. 4 is the sensing region signal of third region laser sensor arrangements in container vehicle inspection system shown in FIG. 1
Figure.
Fig. 5 is the sensing region signal of the fourth region laser sensor arrangements in container vehicle inspection system shown in FIG. 1
Figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, attached each portion shown in the drawings
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
In the description of the present invention, it is to be understood that, parts are limited using the words such as " first ", " second ", only
It is merely for convenience of distinguishing corresponding parts, there is no Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore not
It can be interpreted as limiting the scope of the invention.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, the orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
Signified device or element must have a particular orientation or with specific azimuth configuration and operations with hint, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
As shown in Figures 1 to 5, the container vehicle of invention the present embodiment checks system 1, has and passes through for container vehicle
The scan channel extended in a first direction, including scanning device, multiple regions laser sensor arrangements and control device.Scanning is set
Standby includes for output radiation beam to check the radiation source of container vehicle.Multiple regions laser sensor arrangements are between first direction
Every arrangement, each region laser sensor arrangements have the sensing region for sensing container vehicle and detect the container car
Its sensing region of entrance and/or the sensitive information for leaving its sensing region.Control device swashs with scanning device and multiple regions
Optical sensing means signal connects, and manipulating scanning device according to the sensitive information of multiple regions laser sensor arrangements checks container car
?.
The container vehicle checks that system substitutes diffusing reflection sensor by using region laser sensor arrangements and passed with light curtain
Sensor realizes that container vehicle checks the drive sweep pattern of system, can pass through reasonable disposition region laser sensor arrangements
Size and the direction of quantity, position and sensing region are set, are conducive to accurate judgement vehicle location, and malfunction can be reduced,
To promote inspection success rate.Further, which checks that system can also effectively reduce detection container vehicle
The number of sensors of position reduces the cost of purchase sensor.Further, it can also effectively prevent because personnel or foreign matter are swarmed into
Caused by error detection situation, improve container vehicle check system safety.In addition, being additionally favorable for reducing installation difficulty, contracting
Short installation work-hour.
In some embodiments, multiple regions laser sensor arrangements include at least two horizontal sweep laser sensor arrangements,
The sensing region of horizontal sweep laser sensor arrangements is substantially parallel with ground.By the way that at least two horizontal sweep laser sensings are arranged
Device can sense container vehicle according to each horizontal sweep laser sensor arrangements and enter or leave respective sensing region
The control to scanning device is realized in the combination of the sensitive information of sensitive information or different level scanning laser sensing device.By this
The location information of more container vehicles can be obtained by less region laser sensor arrangements are arranged by being arranged, to letter
Change container vehicle and checks system and control process, it is cost-effective.
Wherein, the sensing of the sensing region of each horizontal sweep laser sensor arrangements and other horizontal sweep laser sensor arrangements
Can be non-overlapping or partly overlap in region.
For example, the sensing of two horizontal sweep laser sensor arrangements and two horizontal sweep laser sensor arrangements ought only be arranged
When region is non-overlapping in a first direction, the sensitive information that can be obtained includes that container vehicle enters and leaves first level
Two sensitive informations of sensing region and container vehicle of scanning laser sensing device enter and leave second horizontal sweep
Two sensitive informations of laser sensor arrangements etc..To which control device can be sent out according to two horizontal sweep laser sensor arrangements
The sensitive information gone out sends out different control commands.
For another example the sense of two horizontal sweep laser sensor arrangements and two horizontal sweep laser sensor arrangements ought only be arranged
When survey region has overlapping in a first direction, the combination of sensitive information can be obtained, including container vehicle enters first water
The sensing region of simple scan laser sensor arrangements and when not entering the sensing region of second horizontal sweep laser sensor arrangements
Sensitive information combines, and the sensing region that container vehicle enters first horizontal sweep laser sensor arrangements enters second simultaneously
Sensitive information combination when the sensing region of horizontal sweep laser sensor arrangements, container vehicle leave first horizontal sweep and swash
The sensing region of optical sensing means and sensitive information when not leaving the sensing region of second horizontal sweep laser sensor arrangements
Combination, container vehicle, which leaves the sensing region of first horizontal sweep laser sensor arrangements and leaves second horizontal sweep, to swash
Sensitive information combination when the sensing region of optical sensing means etc..To which control device can be according to two horizontal sweep laser
The combination for the sensitive information that sensing device is sent out sends out different control commands.
With more horizontal sweep laser sensor arrangements, can there are more sensitive informations or sensitive information
Combination, it is thus possible to execute more complicated control.
In some embodiments, multiple regions laser sensor arrangements include at least one vertical scanning laser sensor arrangements,
The sensing region of vertical scanning laser sensor arrangements and first direction and ground are substantially vertical.Vertical scanning laser sensor arrangements can
To provide more sensitive informations for control device, so as to execute more complicated control, or can swash with horizontal sweep
Optical sensing means cooperation keeps the location information of container vehicle more accurate, in favor of reducing operation error rate.
The embodiment of the present invention is described in detail below in conjunction with Fig. 1 to Fig. 5.
In the present embodiment, container vehicle checks that system 1 is vehicle-mounted container vehicle inspection system 1, including carries and sweep
Retouch the vehicle of equipment.As shown in Figure 1, first direction is left and right directions shown in FIG. 1 in the present embodiment, i.e., along vehicle
Front-rear direction setting.
As shown in Figure 1, in the present embodiment, multiple regions laser sensor arrangements include：First area laser sensor arrangements Q1,
Second area laser sensor arrangements Q2, third region laser sensor arrangements Q3 and the fourth region laser sensor arrangements Q4.
Region laser sensor arrangements can with certain scan frequency emission pulse laser beam within the scope of scanning angle into
Row laser scanning can limit the scanning area of region laser sensor arrangements, to restricted area laser sensor arrangements
Sensing region.
As depicted in figs. 1 and 2, laser sensor arrangements Q1 in first area is arranged with radiation source interval in a first direction, the
The sensing region of one region laser sensor arrangements Q1 is substantially parallel with ground, and is covered in a first direction from the vertical of radiation beam
Split R is to the region of first area laser sensor arrangements Q1.
As shown in Fig. 2, the sensing region of first area laser sensor arrangements Q1 includes two parts, a part is proximate to spoke
Penetrate the vertical split R of the radiation beam in source and the sensing subregion S3 of separate first area laser sensor arrangements Q1, a part is to lean on
The sensing subregion S4 of nearly first area laser sensor arrangements Q1.
As shown in figures 1 and 3, second area laser sensor arrangements Q2 is set to first area laser in a first direction
The sensing region of the side of the close radiation source of induction device Q1, second area laser sensor arrangements Q2 is substantially parallel with ground, and
The first distance of radiation source is covered from second area laser sensor arrangements Q2 towards radiation source side and crossed in a first direction.
As shown in figures 1 and 3, in some embodiments, in a first direction, second area laser sensor arrangements Q2 is arranged
Between first area laser sensor arrangements Q1 and radiation source.
As shown in figures 1 and 3, in a first direction, second area laser sensor arrangements Q2 is also at least covered from the secondth area
Second distances of the domain laser sensor arrangements Q2 initially towards the first area sides laser sensor arrangements Q1.Wherein, in some implementations
In example, in a first direction, which is less than second area laser sensor arrangements Q2 and third region laser sensor arrangements
The distance between Q3.
As shown in figure 3, in the present embodiment, the sensing region of second area laser sensor arrangements Q2 includes defeated positioned at radiation source
The sensing subregion S1 and sensing subregion S2 of the both sides vertical split R of the radiation beam gone out.Wherein, subregion S1 is sensed in Fig. 3 scheming
The upper distance of middle left and right directions is the first distance, and the upper distance of sensing subregion S2 left and right directions in figure is second distance.
As shown in Figure 1 and Figure 4, laser sensor arrangements Q3 in third region is set to first area laser in a first direction
Between induction device Q1 and second area laser sensor arrangements Q2, sensing region and the ground base of third region laser sensor arrangements Q3
This is vertical.
As shown in figure 4, in the present embodiment, the induction region S5 of third region laser sensor arrangements Q3 is square on the whole,
Only side is sent out into wide-angle divergent shape in laser.
As shown in Figure 1 and Figure 4, the fourth region laser sensor arrangements Q4 be set to radiation source in a first direction and third
Side opposite region laser sensor arrangements Q3, the sensing region of the fourth region laser sensor arrangements Q4 and ground are substantially vertical.
As shown in figure 5, in the present embodiment, shape and the third area of the induction region S6 of the fourth region laser sensor arrangements Q4
The shape of the induction region S5 of domain laser sensor arrangements Q3 is similar.
The induction region or induction subregion of each region laser sensor arrangements can be preset by control device, can also
It is adjusted by control device.
Wherein, control device can be that computer or PCL controllers etc. are able to carry out appointing for the control function to suit the requirements
What device.
As shown in Figure 1, in some embodiments, first area laser sensor arrangements Q1, second area laser sensor arrangements
Q2, third region laser sensor arrangements Q3 and/or the fourth region laser sensor arrangements Q4 are set in vehicle.
As shown in Figure 1, in the present embodiment, vehicle includes headstock 11, chassis, vehicle body 12 and turntable 14,12 He of vehicle body
Turntable 14 is set on chassis, and turntable 14 is located at the rear of vehicle body 12, and container vehicle checks that system 1 is carried on by turntable 14
On vehicle body 12.First area laser sensor arrangements Q1 is arranged in 11 rear portion of headstock of vehicle.Second area laser sensing fills
Q2 is set to be arranged on the chassis on turntable 14 or near turntable 14.Third region laser sensor arrangements Q3 is arranged on vehicle body 12.
Container vehicle checks that system 1 further includes holder 15, and the fourth region laser sensor arrangements Q4 is arranged on holder 15.The present embodiment
In, holder 15 is a upright bar.
As shown in Figure 1, scanning device includes the scanning frame 13 being set on turntable 14.Frame 13 is scanned in container car
Inspection system 1, which is rotated when working to vehicle, penetrates outside and forms portal frame with vehicle body.The not work of system 1 is checked in container vehicle
When making or scanning frame 13 when driving can rotate and be folded on vehicle body 12.Radiation source is set on scanning frame 13.
It should be noted that above example is merely exemplary, can make a variety of can realize its function deformation side
Case.For example, the quantity of multiple regions laser sensor arrangements, the size of position or sensing region or angle etc. can be according to detections
It needs to make appropriate variation.
For example, in previous embodiment, third region laser sensor arrangements Q3 and the fourth region laser sensor arrangements Q4 are not
It is necessary, it can also only be arranged one.When third region optical sensing means Q3 is only arranged in the two, to container vehicle into
When row drive sweep pattern examination, it can indicate that tested vehicle can only be from radiation source side towards first area laser sensor arrangements
The sides Q1 travel.When the fourth region optical sensing means Q4 is only arranged in the two, passive type inspection is being carried out to container vehicle
When, it can indicate that tested vehicle can only be travelled from the first area sides laser sensor arrangements Q1 towards radiation source side.
For another example multiple regions laser sensor arrangements can be arranged as follows：At least two in multiple regions laser sensor arrangements
The mounting height of a region laser sensor is different；And/or at least two region laser in multiple regions laser sensor arrangements
The sensing region of sensor is arranged at angle；And/or at least one region laser sensor in multiple regions laser sensor arrangements
Sensing region is roughly parallel to ground, and the sensing region of at least one region laser sensor is approximately perpendicular to ground；And/or
A region laser sensor in the sensing region of each two adjacent region laser sensor of multiple regions laser sensor arrangements
Sensing region be roughly parallel to ground and the sensing region of another region laser sensor is approximately perpendicular to ground.
The present embodiment also provide it is a kind of according to container vehicle above-mentioned check system 1 radiation inspection is carried out to container vehicle
The container vehicle inspection method looked into, including：Each region laser sensor arrangements detect the container vehicle and enter its sensing area
Domain and/or the sensitive information for leaving its sensing region；With control device according to the sensitive information of multiple regions laser sensor arrangements
It manipulates scanning device and checks the container vehicle.
Control device manipulates scanning device according to the sensitive information of multiple regions laser sensor arrangements and checks container vehicle
Include that following operation is executed according to the variation of the sensitive information：It manipulates the radiation scanning apparatus and switches to drive sweep mould
Formula；The radiation source is manipulated to be preheated；Manipulate the radiation source output radiation beam；It manipulates the radiation source and stops output radiation
Beam.
In some embodiments, the system multiple regions laser sensor arrangements of container vehicle inspection include above-mentioned first
Region laser sensor arrangements Q1, second area laser sensor arrangements Q2, and further include third region above-mentioned laser sensing dress
Set Q3 and/or the fourth region laser sensor arrangements Q.
At this point, in a first direction, container vehicle is opposite with first area laser sensor arrangements Q1 from radiation source
When scan channel is driven into side, container vehicle inspection method includes：The sensing region sense of second area laser sensor arrangements Q2
When measuring container vehicle, radiation scanning apparatus switches to drive sweep pattern；The sensing of first area laser sensor arrangements Q1
When region senses container vehicle, control device manipulates radiation source and is preheated；First area laser sensor arrangements Q1 and
When the sensing region of three region laser sensor arrangements Q3 senses container vehicle simultaneously, radiation source output radiation beam；Secondth area
When the sensing region of domain laser sensor arrangements Q2 senses container vehicle and sails out of, radiation source stops output radiation beam.
In a first direction, container vehicle drives into scanning from the side of the first area laser sensor arrangements Q1 of radiation source
When channel, container vehicle inspection method includes：The sensing region of first area laser sensor arrangements Q1 senses container car
When, radiation scanning apparatus switches to drive sweep pattern；First area laser sensor arrangements Q1 and second area laser sensing
When the sensing region of device Q2 senses container vehicle simultaneously or first area laser sensor arrangements Q1 and third region laser
When the sensing region of sensing device Q3 senses container vehicle simultaneously, control device manipulates radiation source and is preheated；4th area
When domain laser sensor arrangements Q4 senses container vehicle, radiation source output radiation beam；Second area laser sensor arrangements Q2's
When sensing region senses container vehicle and sails out of, radiation source stops output radiation beam.
Below with reference to Fig. 1 to Fig. 5, illustrate that a kind of of the container vehicle inspection method of the present embodiment specifically operable shows
Example, the operable example can make respective change according to demand for control.
When (left and right directions shown in Fig. 1) drives into container vehicle inspection system to detected container vehicle from left to right
It in 1 scan channel, is sensed first by the sensing subregion S1 of second area laser sensor arrangements Q2, control device controls packaging
Case vehicle inspection system 1 initially enters drive sweep pattern.When container vehicle is by the sense of first area laser sensor arrangements Q1
When survey subregion S3 is sensed, control device judges that the headstock 11 for being detected container vehicle arrives at the position that radiation source sends out radiation beam
It sets, radiation source is preheated, and prepares to start scanning.When container vehicle is by the sensing subregion of first area laser sensor arrangements Q1
When the sensing region S5 of S4 and third region laser sensor arrangements Q3 are sensed, control device judges that headstock 11 has avoided overshoot
Source sends out the position of radiation beam, arrives at home, and the radiation source of scanning device starts output radiation beam scanning.Work as second area
When the tailstock that the sensing subregion S2 of laser sensor arrangements Q2 senses detected container vehicle sails out of sensing subregion S2, it is believed that
Entire container vehicle all sends out the position of radiation beam by the radiation source of scanning device, can stop scanning, scanning process
Terminate.
When (left and right directions shown in Fig. 1) drives into scan channel to detected container vehicle from right to left, first by
The sensing subregion S4 of first area laser sensor arrangements Q1 is sensed, and control device controls container vehicle inspection system 1 and starts
Into drive sweep pattern.When container vehicle is swashed by the sensing subregion S3 of first area laser sensor arrangements Q1 and second area
When the sensing subregion S2 of optical sensing means Q2 is sensed simultaneously, or by the sensing subregion S3 of first area laser sensor arrangements Q1 and
When the sensing region S5 of third region laser sensor arrangements Q3 is sensed simultaneously, control device judges to be detected container vehicle
Headstock 11 arrives at the position that radiation source sends out radiation beam, and radiation source is preheated, and prepares to start scanning.When container vehicle is by
When the sensing subregion S6 of four region laser sensor arrangements Q4 is sensed, control device judges that headstock 11 has avoided overshoot source and sent out
The position of radiation beam, arrives at home, and the radiation source of scanning device starts output radiation beam scanning.When second area laser
When the tailstock that the sensing subregion S1 of induction device Q2 senses detected container vehicle sails out of sensing subregion S1, it is believed that entire collection
Vanning vehicle all sends out the position of radiation beam by the radiation source of scanning device, can stop scanning, scanning process terminates.
There is the container vehicle inspection method of the embodiment of the present invention container vehicle inspection with the embodiment of the present invention to fill
Set identical advantage.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (17)
1. a kind of container vehicle checks system (1), have for container vehicle by the scanning extended in a first direction it is logical
Road, which is characterized in that including：
Scanning device includes for output radiation beam to check the radiation source of the container vehicle；
Multiple regions laser sensor arrangements, along the first direction arranged for interval, each region laser sensor arrangements have
Sensing region for sensing the container vehicle simultaneously detects the container vehicle into its sensing region and/or leaves it
The sensitive information of sensing region；With
Control device is connect with the scanning device and the multiple region laser sensor arrangements signal, and according to the multiple
The sensitive information of region laser sensor arrangements manipulates the scanning device and checks the container vehicle.
2. container vehicle according to claim 1 checks system (1), which is characterized in that the multiple region laser
Induction device includes at least two horizontal sweep laser sensor arrangements, sensing region and the ground of the horizontal sweep laser sensor arrangements
Face is substantially parallel.
3. container vehicle according to claim 2 checks system (1), which is characterized in that the multiple region laser
Induction device includes at least one vertical scanning laser sensor arrangements, the sensing region of the vertical scanning laser sensor arrangements and institute
It states first direction and ground is substantially vertical.
4. container vehicle according to claim 2 checks system (1), which is characterized in that at least two level is swept
The height for retouching the sensing region of laser sensor arrangements is different.
5. container vehicle according to claim 2 checks system (1), which is characterized in that at least two level is swept
Retouching laser sensor arrangements includes：
First area laser sensor arrangements (Q1) are arranged with the radiation source interval, firstth area in said first direction
The sensing region of domain laser sensor arrangements (Q1) covers the split (R) from the radiation beam described in said first direction
The region of first area laser sensor arrangements (Q1)；
Second area laser sensor arrangements (Q2) are set to the first area laser sensor arrangements in said first direction
(Q1) side of the close radiation source, the sensing region of the second area laser sensor arrangements (Q2) is in the first party
Covering towards the radiation source side and crosses the of the radiation source from the second area laser sensor arrangements (Q2) upwards
One distance.
6. container vehicle according to claim 5 checks system (1), which is characterized in that in said first direction, institute
Second area laser sensor arrangements (Q2) are stated to be set between the first area laser sensor arrangements (Q1) and the radiation source.
7. container vehicle according to claim 5 checks system (1), which is characterized in that in said first direction, institute
The first distance is stated to be less than between the second area laser sensor arrangements (Q2) and the fourth region laser sensor arrangements (Q4)
Distance.
8. container vehicle according to claim 5 checks system (1), which is characterized in that in said first direction, institute
Second area laser sensor arrangements (Q2) are stated also at least to cover from the second area laser sensor arrangements (Q2) initially towards institute
State the second distance of the side first area laser sensor arrangements (Q1).
9. container vehicle according to claim 5 checks system (1), which is characterized in that the multiple region laser
Induction device includes at least one vertical scanning laser sensor arrangements, the sensing region of the vertical scanning laser sensor arrangements and institute
It states first direction and ground is substantially vertical, at least one vertical scanning laser sensor arrangements include：
Third region laser sensor arrangements (Q3) are set to the first area laser sensor arrangements in said first direction
(Q1) between the second area laser sensor arrangements (Q2)；And/or
The fourth region laser sensor arrangements (Q4) being set to the radiation source with the first area in said first direction
The opposite side of laser sensor arrangements (Q1), the second area laser sensor arrangements (Q2) are located at the first area laser
Between induction device (Q1) and the fourth region laser sensor arrangements (Q4).
10. container vehicle according to claim 9 checks system (1), which is characterized in that in said first direction,
The second distance be less than the second area laser sensor arrangements (Q2) and third region laser sensor arrangements (Q3) it
Between distance.
11. container vehicle according to claim 9 checks system (1), which is characterized in that the container vehicle inspection
System (1) is vehicle-mounted container vehicle inspection system (1), includes the vehicle of the carrying scanning device, described first
Region laser sensor arrangements (Q1), the second area laser sensor arrangements (Q2), third region laser sensor arrangements
(Q3) and/or the fourth region laser sensor arrangements (Q4) are set in the vehicle.
12. container vehicle according to claim 9 checks system (1), which is characterized in that the vehicle includes vehicle
Head (11), chassis, vehicle body (12) and turntable (14), the vehicle body (12) and the turntable (14) are set on the chassis, institute
The rear that turntable (14) is located at the vehicle body (12) is stated, the container vehicle checks that system (1) is held by the turntable (14)
It is loaded on the vehicle body (12), wherein
The first area laser sensor arrangements (Q1) are arranged in headstock (11) rear portion of the vehicle；And/or
The second area laser sensor arrangements (Q2) are arranged on the turntable (14) or the neighbouring chassis of the turntable (14)
On；And/or
Third region laser sensor arrangements (Q3) is arranged on the vehicle body (12).
13. container vehicle according to claim 9 checks system (1), which is characterized in that the container vehicle inspection
System (1) further includes holder (15), and the fourth region laser sensor arrangements (Q4) are arranged on the holder (15).
14. container vehicle according to claim 1 checks system (1), which is characterized in that
The mounting height of at least two region laser sensors is different in the multiple region laser sensor arrangements；And/or
The sensing region of at least two region laser sensors is arranged at angle in the multiple region laser sensor arrangements；
And/or
The sensing region of at least one region laser sensor is roughly parallel in the multiple region laser sensor arrangements
The sensing region on ground, at least one region laser sensor is approximately perpendicular to ground；And/or
An institute in the sensing region of the multiple each two adjacent region laser sensor of region laser sensor arrangements
The sensing region for stating region laser sensor is roughly parallel to the sensing region of ground and another region laser sensor
It is approximately perpendicular to ground.
15. a kind of container vehicle using described in any one of claim 1 to 14 check system (1) to container vehicle into
The container vehicle inspection method of row radiation monitoring, which is characterized in that including：
Each region laser sensor arrangements detect the container vehicle and enter its sensing region and/or leave its sensing region
Sensitive information；With
Control device manipulates the scanning device according to the sensitive information of the multiple region laser sensor arrangements and checks institute
State container vehicle.
16. container vehicle inspection method according to claim 15, which is characterized in that control device is according to the multiple
The sensitive information of region laser sensor arrangements manipulates the scanning device and checks that the container vehicle includes according to
The variation of sensitive information executes following operation：
It manipulates the radiation scanning apparatus and switches to drive sweep pattern；
The radiation source is manipulated to be preheated；
Manipulate the radiation source output radiation beam；
It manipulates the radiation source and stops output radiation beam.
17. container vehicle inspection method according to claim 16, which is characterized in that container vehicle inspection system
(1) is united as the container vehicle inspection system (1) described in any one of claim 9 to 13, wherein
In said first direction, the container vehicle is from the radiation source and the first area laser sensor arrangements
(Q1) when the scan channel is driven into opposite side, the container vehicle inspection method includes：The second area laser
When the sensing region of sensing device (Q2) senses the container vehicle, the radiation scanning apparatus switches to drive sweep mould
Formula；When the sensing region of the first area laser sensor arrangements (Q1) senses the container vehicle, control device manipulates
The radiation source is preheated；The first area laser sensor arrangements (Q1) and third region laser sensor arrangements (Q3)
Sensing region simultaneously when sensing the container vehicle, the radiation source output radiation beam；The second area laser
When the sensing region of induction device (Q2) senses the container vehicle and sails out of, the radiation source stops output radiation beam；Or,
In said first direction, the first area laser sensor arrangements (Q1) of the container vehicle from the radiation source
Side when driving into the scan channel, the container vehicle inspection method includes：The first area laser sensor arrangements
(Q1) when sensing region senses the container vehicle, the radiation scanning apparatus switches to drive sweep pattern；It is described
The sensing region of first area laser sensor arrangements (Q1) and the second area laser sensor arrangements (Q2) senses institute simultaneously
When stating container vehicle or the first area laser sensor arrangements (Q1) and third region laser sensor arrangements (Q3)
When sensing region senses the container vehicle simultaneously, control device manipulates the radiation source and is preheated；4th area
When domain laser sensor arrangements (Q) sense the container vehicle, the radiation source output radiation beam；The second area laser
When the sensing region of sensing device (Q2) senses the container vehicle and sails out of, the radiation source stops output radiation beam.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560645.9A CN108761555B (en) | 2018-05-25 | 2018-05-25 | Container vehicle inspection system and container vehicle inspection method |
| PL437171A PL242103B1 (en) | 2018-05-25 | 2019-05-20 | Vehicle inspection system and container vehicle inspection method |
| PCT/CN2019/087594 WO2019223643A1 (en) | 2018-05-25 | 2019-05-20 | Container vehicle inspection system and container vehicle inspection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560645.9A CN108761555B (en) | 2018-05-25 | 2018-05-25 | Container vehicle inspection system and container vehicle inspection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108761555A true CN108761555A (en) | 2018-11-06 |
| CN108761555B CN108761555B (en) | 2024-06-21 |
Family
ID=64002130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810560645.9A Active CN108761555B (en) | 2018-05-25 | 2018-05-25 | Container vehicle inspection system and container vehicle inspection method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN108761555B (en) |
| PL (1) | PL242103B1 (en) |
| WO (1) | WO2019223643A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223643A1 (en) * | 2018-05-25 | 2019-11-28 | 清华大学 | Container vehicle inspection system and container vehicle inspection method |
| CN114690259A (en) * | 2020-12-31 | 2022-07-01 | 同方威视技术股份有限公司 | Vehicle safety inspection system and safety inspection method |
| CN114764072A (en) * | 2020-12-31 | 2022-07-19 | 同方威视科技（北京）有限公司 | Vehicle inspection system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114383593B (en) * | 2020-10-22 | 2024-05-31 | 同方威视技术股份有限公司 | Vehicle inspection guiding method and system |
| CN113917480A (en) * | 2021-10-20 | 2022-01-11 | 中广核贝谷科技有限公司 | Vehicle head avoiding system based on laser radar and vehicle head identification method |
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Also Published As
| Publication number | Publication date |
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| PL437171A1 (en) | 2021-09-06 |
| WO2019223643A1 (en) | 2019-11-28 |
| CN108761555B (en) | 2024-06-21 |
| PL242103B1 (en) | 2023-01-16 |
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