CN102095421B - Direction deviation correction equipment and method and mobile radiation inspection system - Google Patents
Direction deviation correction equipment and method and mobile radiation inspection system Download PDFInfo
- Publication number
- CN102095421B CN102095421B CN2010106216425A CN201010621642A CN102095421B CN 102095421 B CN102095421 B CN 102095421B CN 2010106216425 A CN2010106216425 A CN 2010106216425A CN 201010621642 A CN201010621642 A CN 201010621642A CN 102095421 B CN102095421 B CN 102095421B
- Authority
- CN
- China
- Prior art keywords
- mobile device
- signal
- distance
- moving direction
- deviation value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention provides direction deviation correction equipment and method for a mobile radiation inspection system. The mobile radiation inspection system comprises a mobile device. The direction deviation correction equipment comprises direction detection devices, a direction control device and a control unit, wherein the direction detection devices are used for detecting the motion direction of the mobile device and generating detection signals indicating the motion direction; the direction control device is used for controlling the motion direction of the mobile device; the control unit is used for computing the value of deviation between the motion direction and the predetermined direction according to the detection signals received from the direction detection devices and driving the direction control device to correct the motion direction to the predetermined direction according to the value of deviation; the direction detection devices comprise at least a photoelectric switch; and the control unit is used for controlling the distance between the mobile device and the inspected target in the range of predetermined distance according to the signals received from the photoelectric switches. The direction deviation correction equipment can automatically control the mobile radiation inspection system to move linearly along the predetermined direction when working, improves the degree of automatic control, has simple structure and low cost and is convenient to mount and dismount.
Description
The application is dividing an application of application number is 200710064027.7, denomination of invention is on February 16th, 2007 patented claim for " direction correcting device and method and mobile radiation checkout system ", the applying date.
Technical field
The present invention relates to a kind of mobile radiation checkout system and be used for its direction correcting device and direction correcting method.Especially, the present invention relates to utilize ray to being examined target imaging so that they are carried out the vehicle-mounted removable radiation checking system of radiation monitoring such as container/goods carrying vehicle etc.; The direction correcting device that is used for said vehicle-mounted removable radiation checking system; Wherein when the moving direction depart of the mobile device of said mobile radiation checkout system, said direction correcting device automatically is corrected to said moving direction on the said predetermined direction; And be used to proofread and correct the direction correcting method of the moving direction of said vehicle-mounted removable radiation checking system.
Background technology
Be used to check that it is the essential checkout facility in customs, Civil Aviation Airport and railway station that container/goods carrying vehicle etc. is examined the vehicle-mounted removable radiation checking system that target checks.Said vehicle-mounted removable radiation checking system utilizes the principle of radiant image; Under the situation of not opening container and goods carrying vehicle; Through container/goods carrying vehicle is scanned; Obtain the fluoroscopy images of the goods in container/goods carrying vehicle,, just can find to be hidden in the suspicious or prohibited items in the goods through to graphical analysis.
Mobile container/goods carrying vehicle check system is integrated on the chassis usually, and thus, said mobile radiation checkout system is also referred to as scanning car or vehicle-mounted removable radiation checking system usually, and said chassis is as the mobile device of check system.When checking work, checked container/goods carrying vehicle is parked in the zone to be checked of appointment, by scanning car it is scanned.Scanning car scanning process in along be parallel to be examined container/goods carrying vehicle predetermined direction along straight reciprocating motion.
Yet; Owing to reasons such as the scanning car weight distribution are uneven, ground is uneven, air pressure is inconsistent; Scanning car scan several times its moving direction of back may parallel deviate in the predetermined direction that is examined container/goods carrying vehicle; Like the deviation in driction of untimely correction scanning car, the accident that bumps against with checked container/goods carrying vehicle may take place.
For departing from of correct scan car moving direction; Traditional mobile container/goods carrying vehicle check system shuttle-scanning several times after; Need stop scanning, by operating personnel the moving direction of scanning car is corrected on the predetermined direction, this has influenced the work efficiency of system greatly.
In addition, for departing from of correct scan car moving direction, special driver is arranged in the pilothouse of scanning car, the driver corrects the moving direction of scanning car in scanning process, yet this has increased human cost.There is the scattering of ray during simultaneously owing to scanning, therefore can injures the healthy of driver.
Summary of the invention
The present invention is intended to solve at least in part the problem that exists in the prior art; According to the automatic direction correcting device and the method for the vehicle-mounted removable radiation checking system of the embodiment of the invention, do not need artificial participation just can control mobile radiation checkout system automatically and when work, keep linear running, the automatic control degree of raising system along predetermined direction; The present invention is simple in structure; Installation, convenient disassembly, cost is low, and does not influence the going on road of mobile radiation checkout system.
Correspondingly; According to a first aspect of the invention; A kind of direction correcting device that is used for mobile radiation checkout system is proposed; Said mobile radiation checkout system comprises mobile device, and said direction correcting device comprises: direction detection device, said direction detection device detect the moving direction of said mobile device and produce the detection signal of the said moving direction of indication; Direction-control apparatus, said direction-control apparatus is used to control the moving direction of said mobile device; And control module; Said control module calculates the deviation value between moving direction and the predetermined direction according to the detection signal that receives from said direction detection device, and according to said deviation value driving direction control device so that said moving direction is corrected on the predetermined direction.
Preferably; Said direction detection device comprises first and second distance detectors; Said first and second distance detectors produce the first and second distance detecting signals respectively, and wherein said control module is according to the said deviation value of the first and second distance detecting calculated signals.
And then said first and second distance detectors detect said mobile device to first and second distances that are examined target.
Preferably, said direction correcting device further comprises reference component, and wherein said first and second distance detectors detect first distance and the second distance of said mobile device to said reference component.
Preferably, said first and second distance detectors comprise laser range sensor.
Preferably, said control module comprises: analog/digital converter, and said analog/digital converter is a digital signal with the said first and second distance detecting signal from analog conversion of signals; Processor, said processor goes out said deviation value so that produce the drive signal corresponding with deviation value according to the first and second distance detecting calculated signals that convert digital signal into; Signal driver, said signal driver reception also increases said drive signal; And driving circuit, said driving circuit is according to the drive direction-control apparatus of the increase that receives from signal driver, so that proofread and correct the moving direction of mobile device.
And then said control module further comprises signal isolator, and said signal isolator is connected between the input of output and processor of analog/digital converter, is used to isolate the input signal that is input to it and from the output signal of its output.
And then said signal isolator comprises photoisolator.
Preferably, said processor comprises single-chip microcomputer.
Preferably, said direction-control apparatus comprises: the bearing circle of the moving direction of control mobile device; And actuator, said actuator engages separably with said bearing circle and is driven by control module, thus so that the driving direction dish rotates the moving direction of control mobile device.
And then said direction-control apparatus further comprises bindiny mechanism, and an end of said bindiny mechanism links to each other with actuator and the other end engages with the bearing circle of mobile device separably.
Particularly, said bindiny mechanism comprises: connecting link, and an end of said connecting link links to each other with actuator; Pillar, the other end of said connecting link links to each other with said pillar through oscillating bearing, and is provided with the nut that is used for positioning link bar on the top of pillar; Installing plate, said pillar is installed on the end face of installing plate, and the side of said installing plate joins on the neighboring of bearing circle so that the driving direction dish rotates separably.
And then said direction-control apparatus further comprises support and cross piece, and wherein said cross piece and support are hinged so that form universal joint, and said actuator is installed on the support through the cross piece.
Particularly, said direction-control apparatus further comprises: back up pad, said support are installed on the said back up pad; Protection switch, said Protection switch are installed on the said back up pad; And pressing plate, said pressing plate is connected on the said universal joint, and when breaking away from bearing circle together with convenient actuator and bindiny mechanism, said pressing plate crash switch is so that make the actuator outage.
Preferably, wherein said actuator comprises: motor, and said motor is driven by said control module; Worm gear, said worm gear links to each other with the output shaft of said motor; And worm screw, said worm screw and the engagement of said worm gear, and the axial end of said worm screw is connected with said bindiny mechanism.
Preferably, said actuator comprises hydraulic cylinder, and said hydraulic cylinder is driven by said control module and its cylinder bar links to each other with said bindiny mechanism.
And then said actuator comprises cylinder, and said cylinder is driven by said control module and its cylinder bar links to each other with said bindiny mechanism.
Alternatively, said direction-control apparatus comprises: gearing, and said gearing is driven by said control module; And flexible traction piece, the two ends of said flexible traction piece are walked around bearing circle and are connected respectively on the gearing.
And then said flexible traction piece is a traction rope.
Preferably, said traction rope is bonded on through clamp and screw in the groove of excircle of bearing circle separably.
Preferably, said gearing comprises: by the motor of control module driving; With by motor-driven double output shaft speed reduction unit, the two ends of said traction rope link to each other with two output shafts of double output shaft speed reduction unit respectively.
Preferably, said gearing further comprises: first and second shaft couplings, the input side of first and second shaft couplings link to each other with two output shafts of said speed reduction unit respectively; The first and second rolling wheel axles, the said first and second rolling wheel axles link to each other with the outgoing side of first and second shaft couplings respectively and are supported by first and second supporting seats respectively; With first and second rolling wheels, said first and second rolling wheels are respectively installed on the first and second rolling wheel axles, and the two ends of wherein said traction rope are wrapped in respectively on first and second rolling wheels.
And then said gearing further comprises first and second regulating devices, and said first and second regulating devices are used to regulate the rate of tension of said traction rope.
And then said gearing further comprises first and second overrunning clutches that are separately positioned in first and second shaft couplings.
Preferably, said overrunning clutch comprises internal tooth ratchet overrunning clutch.
In addition, said reference component comprises the flat part of the one that laterally arranges with said predetermined direction.
Alternatively, said reference component comprises a plurality of flat plate section, and said a plurality of flat plate section are spaced apart from each other on said predetermined direction and arrange with aliging.
Preferably, said direction detection device comprises at least one optoelectronic switch, and wherein said control module is controlled at preset distance according to the signal that receives from said at least one optoelectronic switch with said mobile device and the said distance that is examined between the target.
Preferably, optoelectronic switch is two.
Preferably, said control module comprises: the signal picker transmitter is used to gather the signal of said first and second distance detectors and said optoelectronic switch; And signal receiver, be used for the said signal that wireless receiving sends from said data acquisition unit transmitter.
According to a second aspect of the invention, propose a kind of mobile radiation checkout system, comprise according to the described direction correcting device of first aspect present invention.
According to a third aspect of the invention we; A kind of direction correcting method that is used to proofread and correct the moving direction of mobile radiation checkout system is proposed; Wherein said mobile radiation checkout system has mobile device, and said direction correcting method comprises: detect the moving direction of mobile device and produce the detection signal of indicating said moving direction; Calculate the deviation value between said moving direction and the predetermined direction and moving direction is corrected on the predetermined direction automatically based on said detection signal according to said deviation value.
Automatic direction correcting device and method and use their mobile radiation checkout system according to the present invention; When the moving direction depart of mobile system; Control module calculates the deviation value between moving direction and the predetermined direction according to detected detection signal; And based on the deviation value driving direction control device that calculates, thereby the moving direction of mobile device is corrected on the predetermined direction, makes mobile device move along straight line in a predetermined direction.
Therefore, when orientation departs from, need not stop the operation of check system, and not need personnel's participation, control module is accomplished correction for direction automatically, has improved work efficiency and security performance, and simple in structure, and installation and removal are convenient, and cost is low.
In addition; According to a preferred embodiment of the invention; Through two optoelectronic switches are set, can with mobile device and be examined target such as the container vehicle between distance be controlled to be predetermined distance, thereby prevent mobile device with respect to being examined the target translation and collide to be examined target.
Description of drawings
Fig. 1 is the schematic diagram according to the direction correcting device that is used for mobile radiation checkout system of first embodiment of the invention;
Fig. 2 is the vertical view that illustrates according to the duty of direction correcting device of the present invention, wherein shows first embodiment of reference component;
Fig. 3 is the vertical view that illustrates according to the duty of direction correcting device of the present invention, wherein shows second embodiment of reference component;
Fig. 4 is the synoptic diagram according to the direction correcting device of second embodiment of the invention;
Fig. 5 is the structural representation according to the direction-control apparatus of first embodiment of the invention, and it is in running order wherein to show direction-control apparatus;
Fig. 6 is the schematic top plan view of direction-control apparatus shown in Figure 5;
Fig. 7 is the enlarged diagram of part shown in the mark C among Fig. 5;
Fig. 8 is the structural representation that direction-control apparatus shown in Figure 5 is in off working state, and wherein the actuator of direction-control apparatus separates with bearing circle;
Fig. 9 is the structural representation according to the direction-control apparatus of second embodiment of the invention;
Figure 10 is the schematic top plan view after direction-control apparatus shown in Figure 9 clockwise rotates 90 degree;
Figure 11 is the structural representation of the gearing of direction-control apparatus shown in Figure 9;
Figure 12 is the schematic top plan view of gearing shown in Figure 11;
Figure 13 is the principle schematic according to the signal isolator of the embodiment of the invention;
Figure 14 is the circuit diagram according to the signal driver of the embodiment of the invention;
Figure 15 is the process flow diagram according to the direction correcting method of the embodiment of the invention.
Embodiment
Describe embodiments of the invention below in detail, the example of said embodiment is shown in the drawings, and wherein identical from start to finish label is represented components identical.Below through embodiment is described with reference to the drawings so that explain the present invention, said embodiment is exemplary, and can not be interpreted as limitation of the present invention.
Fig. 1 is for according to the schematic diagram that is used for the direction correcting device 100 of mobile radiation checkout system 7 of the present invention, and Fig. 2 shows the in running order vertical view of direction correcting device 100.
In an embodiment of the present invention, mobile radiation checkout system 7 comprises mobile device 5, and said mobile device 5 drives whole check system 7 and moves.In other words, the ingredient of check system 7, radiation source for example, detector, imaging control system etc. all are arranged on the mobile device 5, and said mobile device 5 for example can adopt the chassis motor vehicle of sole (as have).Therefore, said portable inspection is 7 to be commonly referred to scanning car or vehicle-mounted removable radiation checking system.
Yet, need to prove that the mobile device 5 of mobile radiation checkout system 7 is not limited to chassis, can be any suitable mobile device in this area, for example can be the trailer that drags by motor vehicle or other draw-gears.
Shown in Fig. 1-2, comprise reference component 1 according to the correcting device that is used for mobile radiation checkout system 100 of the embodiment of the invention, as the first distance detector 2a and the second distance detecting device 2b of direction detection device, direction-control apparatus 4 and control module 3.
The first and second distance detector 2a and 2b are arranged on the mobile device 5 of scanning car; And spaced apart preset distance L on the moving direction A of scanning car is used for first distance L 1 and second distance L1 between detection reference parts 1 and the mobile device 5 so that produce the first and second distance detecting signals.The first and second distance detector 2a and 2b include but not limited to laser range sensor, and said laser range sensor sends laser to reference component 1, thereby measure first and second distance L 1 and the L2 between mobile device 5 and the reference component 1.
In the embodiment shown in Fig. 1 and Fig. 2, the first and second range sensor 2a and 2b are the preferred implementations of direction detection device.Yet; Said direction detection device is not limited to above-mentioned first and second range sensor 2a and the 2b; Can comprise the moving direction that can detect mobile device 5 and can produce indication mobile device 5 moving direction detection signal and said detection signal is sent to any suitable device of control module 3; For example, a distance detector can only be set, also can realize correcting the deviation in driction of mobile device.
Direction-control apparatus 4 is used to control the moving direction of mobile device 5.Control module 3 receives the first and second distance detecting signals from the first and second distance detector 2a and 2b; And go out the deviation value between said moving direction A and the predetermined direction B according to the first and second distance detecting calculated signals; And then according to the deviation value driving direction control device 4 that calculates so that said moving direction A is corrected on the predetermined direction B, said predetermined direction for example be with as being examined the direction of the longitudinal center's parallel axes that is examined vehicle 6 of target.
In the embodiment shown in Fig. 2, reference component 1 is the flat type of one, and parallel being arranged on is examined the left side of vehicle 6.To during being examined vehicle 6 inspection; Scanning car 7 is through reference component 1 and be examined between the vehicle 6; Thereby measure first and second distance L 1 and the L2 from the laser real-time ground that the first and second distance detector 2a and 2b send, and the consequent first and second distance detecting signals are sent to control module 3.
In embodiment illustrated in figures 1 and 2, the first and second distance detector 2a and 2b are sent to control module 3 through cable with the first and second distance detecting signals.Alternatively, the said first and second distance detecting signals also can send to control module 3 (below will describe in detail) through Wireless transmission mode.
Alternatively; The reference component 1 of flat type also can be arranged on the right side that is examined vehicle 6; To during being examined vehicle 6 inspection; Scanning car 7 moves in the left side that is examined vehicle 6, and at this moment, the height of reference component 1 should be able to guarantee that can be examined vehicle 6 from the laser that the first and second distance detector 2a and 2b send stops and arrive reference component 1.Certainly, reference component 1 also can be set directly at and is examined on the vehicle 6.
Alternatively; Reference component 1 is not the essential parts of correcting device, for example, and can be through detecting mobile device 5 and being examined the purpose that distance between the vehicle 6 realizes detecting the moving direction of mobile device 5; That is to say, be examined vehicle 6 and can replace the reference component 1 of setting separately.Being appreciated that reference component 1 also can be arranged on is examined on the vehicle 6.
Need to prove that the length of reference component 1 usually should be greater than the moving area of scanning car 7, thereby during whole scanography, can both guarantee to be stopped by reference component 1 from the laser that the first and second distance detector 2a and 2b send.
As shown in Figure 3, wherein show another embodiment of reference component 1, in the embodiment show in figure 3; Reference component 1 is the form of a plurality of flat plate section; 4 flat plate section 1a-1d for example have been shown in Fig. 3, but the present invention is not limited to this, flat plate section can be any suitable quantity.Said four flat plate section 1a-1d are parallel to the isolated arrangement of said predetermined direction B and are in alignment with each other.
As shown in Figure 1, preferred, control module 3 comprises A/D converter (analog/digital converter) 8, processor 9, signal driver 11 and the driving circuit 12 that links to each other with 2b through cable and the first and second distance detector 2a.Preferred, control module 3 also comprises signal isolator 9.
It is digital signal that A/D converter 8 is used for the first and second distance detecting signal from analog conversion of signals that come from the first and second distance detector 2a and 2b, and the first and second distance detecting signals of digital signal form are sent to signal isolator 9.
Shown in figure 13, show an embodiment of signal isolator 9.Among the embodiment shown in Figure 13, signal isolator 9 is a photoisolator, and this photoisolator 9 is with light media transmission electric signal.9 pairs of said photoisolators are input to its input signal and from the output electric signal of its output the good isolation effect are arranged.Photoisolator 9 generally is made up of three parts: the emission of light, the reception of light and signal amplify; And the input and output side at light is respectively arranged with the first power supply VCC1 and second source VCC2, and the first power supply VCC1 links to each other with photoisolator 9 with R2 through first and second resistance R 1 respectively with second source VCC2.Input signal driven for emitting lights diode (LED); Make it to send the light of certain wavelength, said light is received by photo-detector and produces photocurrent, again through further amplifying back output; Thereby the conversion of accomplishing " electricity-light-", the buffer action of play input thus, exporting.Owing to isolate mutually between the input and output of photoisolator 9, its electric signal transmission has characteristics such as one-way, thereby has good electrical isolation capabilities and antijamming capability.
In the present invention, signal isolator 9 can adopt any appropriate signal isolator that can buy from the market, and is not limited to above-mentioned photoisolator.
According to the present invention, processor 10 can be single-chip microcomputer, chip, programmable logic controller (PLC) (PLC), computing machine, or any other suitable treating apparatus.Processor 10 receives the first and second distance detecting signals from photoisolator 9; And go out the moving direction A of mobile device 5 (being scanning car 7) and the deviation value between the predetermined direction B according to the first and second distance detecting calculated signals, produce the drive signal corresponding thus with deviation value.
For example; If deviation value is zero, then processor 10 is confirmed moving direction A consistent with predetermined direction B (parallel), if deviation value is non-vanishing; Then exist between processor 10 definite moving direction A and the predetermined direction B and depart from (that is, having certain included angle between moving direction A and the predetermined direction B).
For example, if deviation value be on the occasion of, then processor 10 confirms that moving direction A depart from Fig. 2 and Fig. 3 with respect to predetermined direction B left, if deviation value is a negative value, then processor 10 definite moving direction A depart to the right in Fig. 2 and Fig. 3 with respect to predetermined direction B.
Need to prove that the above-mentioned determination methods of processor 10 only is a kind of example, the present invention is not limited to this.For example; When the first and second distance detector 2a and 2b are arranged on 5 last times of mobile device; Because alignment error, even longitudinal center's axis of mobile device 5 is parallel with reference component 1, also possibly there are difference in the first and second distance detector 2a and 2b apart from the initial distance between the reference component 1.Yet, can be through returning to zero said difference as the benchmark null value.For those of ordinary skill in the art; Processor 10 can adopt any suitable method in this area based on the said deviation value of the first and second distance detecting calculated signals; Judge whether depart B of moving direction A thus; And the drive signal that generation and said deviation value degree are answered, and then utilize said drive direction-control apparatus.For example, processor 10 can utilize the ratio of first and second distance L 1 and L2 to judge whether depart B of moving direction A.
Shown in figure 14, show the circuit diagram of signal driver.At processor 10 is under the situation of single-chip microcomputer, and the drive current as drive signal of single-chip microcomputer 10 outputs is generally smaller, for example less than 50mA, in order to drive bigger load, adopts signal driver 11 to increase from the drive current of single-chip microcomputer 10 outputs usually.For example, shown in figure 14, behind the signal driver 11 of input signal through Darlington pipe array formation, drive current can increase to 500mA.
The direction correcting device of describing according to second embodiment of the invention with reference to figure 4 below.As shown in Figure 4; The direction correcting device that is used for mobile radiation checkout system according to second embodiment of the invention comprises the first distance detector 2a ' and second distance detecting device 2b '; First optoelectronic switch 45 and second optoelectronic switch 46; Direction-control apparatus 4 (referring to Fig. 1), control module 3 (referring to Fig. 1), and the reference component (not shown) that is arranged on mobile device 5 the place aheads or rear.The first distance detector 2a ' and second distance detecting device 2b ' and first optoelectronic switch 45 and second optoelectronic switch 46 constitute direction detection device.Control module 3 comprises signal picker transmitter 43 and signal receiver 44, and other formations of control module 3 are identical with first embodiment, repeat no more here.
First optoelectronic switch 45 and second optoelectronic switch 46 are used for sending for example conducting and/or cut-off signal to said control module 3; So that control module 3 is controlled at preset distance according to the signal that receives from first optoelectronic switch 45 and second optoelectronic switch 46 with said mobile device 5 and the said distance that is examined between the vehicle 6, thereby prevent mobile device 5 with respect to 6 translations to the left or to the right in Fig. 4 that are examined vehicle.In other words; Control module 3 judges mobile device 5 according to the signal that receives from first optoelectronic switch 45 and second optoelectronic switch 46 and 6 whether translation takes place with respect to being examined vehicle, so as not to execution to be examined vehicle carry out scanning imagery check system portal 48 and be examined collision happens.
As shown in Figure 4; On the mobile device 5 block piece 47 can be set; When mobile device 5 with respect to being examined vehicle 6 translation does not take place; Be that mobile device 5 and the distance that is examined between the vehicle 6 are preset distance, 45 conductings of first optoelectronic switch and second optoelectronic switch 46 part 47 that is blocked blocks (that is, second optoelectronic switch 46 breaks off).
Below the concise and to the point operation of describing according to the direction correcting device of second embodiment of the invention.
For example, will begin to move so that when being examined vehicle 6 and checking at mobile device 5, if mobile device 5 be examined distance between the vehicle 6 greater than preset distance, first and second optoelectronic switches 45 and 46 all break off so at this moment.Control module 3 receives the signal that indication first and second optoelectronic switches 45 and 46 all break off, and confirms mobile device 5 thus with respect to being examined vehicle 6 in Fig. 4 to left.Then; Control module 3 produces the corresponding driving signal; Driving direction control device 4, moving direction and then the adjustment mobile device 5 of adjusting mobile device 5 thus be examined the distance between the vehicle 6, when control module 3 receives indication first optoelectronic switch, 45 conductings and during the signal of second optoelectronic switch 46 disconnections once more; Driving direction control device 4 reset (that is mobile device 5 is moved along the direction straight line that is parallel to predetermined direction).
When control module 3 receives indication first and second optoelectronic switches 45 and 46 all during the signal of conducting; Then confirm mobile device 5 and be examined distance between the vehicle 6 less than preset distance; At this moment; The operation that the moving direction of 4 pairs of mobile devices 5 of control module 3 direction of passage control device is adjusted is opposite with above-mentioned situation, repeats no more here.
Thus; According to a second embodiment of the present invention; Through the first distance detector 2a ' and second distance detecting device 2b ' and first optoelectronic switch 45 and second optoelectronic switch 46 are set; Not only the moving direction of mobile device 5 can be monitored in real time, and mobile device 5 can be controlled to the distance that is examined vehicle 6.
Need to prove, in direction correcting device, also the first distance detector 2a ' and second distance detecting device 2b ' can be set and first optoelectronic switch 45 and second optoelectronic switch 46 only are set according to second embodiment of the invention.In this case; The control module 3 only conducting through first optoelectronic switch 45 and second optoelectronic switch 46 and disconnection is confirmed mobile device 5 and whether the distance that is examined between the vehicle 6 is preset distance; When said distance departs from preset distance; Control module 3 driving direction control device 4 are so that change the moving direction of mobile device 5, thereby said distance is adjusted into preset distance.
In addition, in the direction correcting device according to second embodiment of the invention, first optoelectronic switch 45 and second optoelectronic switch 46 are arranged on a side of mobile device 5 abreast.Yet for those of ordinary skill in the art, first optoelectronic switch 45 and second optoelectronic switch 46 are provided with and are not limited to above-mentioned form, can be located at any suitable position.In addition, the quantity of optoelectronic switch is not limited to two, and any suitable quantity can be set.
Following first preferred embodiment of describing direction-control apparatus 4 with reference to figure 5-8.Like Fig. 5 and shown in Figure 6; Direction-control apparatus 4 comprises the bearing circle 13 and actuator 14 of the moving direction A that controls mobile device 5; For example; Said bearing circle 13 can be the bearing circle of scanning car, and actuator 14 is positioned at the rear side (for example be installed on the sidewall of pilothouse, the back will be described in detail) of pilot set S and extends to bearing circle 13 so that be connected with bearing circle 13 from the side of seat S.
And then direction-control apparatus 4 further comprises bindiny mechanism 18, and an end of said bindiny mechanism 18 links to each other with actuator 14, and the other end is connected with bearing circle 13 separably.
More specifically, bindiny mechanism 18 comprises connecting link 19, installing plate 20, oscillating bearing 21 and pillar 22.
Installing plate 20 is for example fixing separably through the neighboring of bolt and bearing circle 13.As shown in Figure 7, pillar 22 is installed on the upper surface of installing plate 20, and an end of connecting link 19 links to each other with pillar 22 through oscillating bearing 21, so that can rotate with respect to pillar 22.Be provided with nut 23 on the top of pillar 22, nut 23 is positioned at connecting link 19 on the pillar 22.The other end of connecting link 19 is hinged and lock with nut 25 through bearing pin 24 and actuator 14.
Preferably, further comprise back up pad 27 according to the direction correcting device 100 of present embodiment, back up pad 27 for example is installed on the sidewall of scanning car rear cabin.Support 26 is installed on the back up pad 27, actuator 14 (for example, actuator 14 is the Worm and worm-wheel gearing of driven by motor, hydraulic cylinder, or cylinder, this will be discussed in more detail below) be installed on the support 26 through cross piece 28.Said cross piece 28 is hinged so that form universal joint with support 26, thereby actuator 14 can rotate with respect to support 26.
More preferably, on said back up pad 27, Protection switch 29 is installed, and pressing plate 30 is installed in the rear end (left side among Fig. 5 and Fig. 6) of the universal joint that forms by cross piece 28 and support 26.When actuator 14 separates with bearing circle 13 and holds up, pressing plate 30 crash switches 29, thus make actuator 14 outage shut-down operations, as shown in Figure 8.Otherwise when actuator 14 falls down when engaging with bearing circle 13, pressing plate 30 crash switches 29, thereby the power supply of connecting actuator 14 are so that actuator 14 can move, like Fig. 5 and shown in Figure 6.
Preferably; Actuator 14 comprises the motor 15 that is driven by driving circuit 12, turbine 16 that links to each other with the output shaft of motor 15 and the worm screw 17 that engages with worm gear 16; Worm screw 17 can rotatably and separably engage with bearing circle 13, also can connect through aforesaid bindiny mechanism 18.More specifically, worm screw 17 rotatably links to each other with an end of the connecting link 19 of bindiny mechanism 18, yet; In order to practice thrift cost; It is shorter that worm screw 17 can be made, and the telescopic tube (not shown) is set between worm screw 17 and connecting link 19, when worm screw 17 rotations; Telescopic tube extends or shrinks, thereby moves 13 rotations of driving direction dish so that drive connecting link 19.
Driving circuit 12 is according to the drive motor 15 of processor 10, thereby worm gear 16 rotations drive worm screw 17 rotations and mobile, thereby worm drive connecting link 19 are moved steering wheel rotation 13, proofreaies and correct the moving direction A of mobile device 5 thus.
For those having ordinary skill in the art will appreciate that; Motor and worm-and-wheel gear form that actuator 14 according to the present invention is not limited to describe in the foregoing description; Alternatively; Actuator 14 can adopt hydraulic cylinder, said hydraulic cylinder drive by control module and its lever and bindiny mechanism for example connecting link 19 link to each other, thereby according to 13 rotations of the deviation value driving direction dish between moving direction A and the predetermined direction B.And then above-mentioned hydraulic cylinder also can replace with cylinder.
The operation of the actuator of employing hydraulic cylinder and cylinder form and the class of operation of the actuator among above-mentioned first embodiment seemingly therefore for simple purpose, have been omitted their detailed description.
Second embodiment of direction-control apparatus 4 is described below in conjunction with accompanying drawing 9-12.Shown in Fig. 9 and 10, Fig. 9 shows the structural representation according to the direction-control apparatus 4 of second embodiment of the invention, and Figure 10 is the vertical view of Fig. 9.Direction-control apparatus 4 according to second embodiment of the invention comprises bearing circle 13, gearing 31 and flexible traction piece 32.Gearing 31 is driven by control module 3 (driving circuit 12), and flexible traction piece 32 walks around bearing circle 13, and two ends connect respectively and are wound on the gearing 31 then.Preferably, said flexible traction piece 32 is a traction rope.
More specifically; Gearing 31 comprises the motor 33 by driving circuit 12 drivings of control module 3; Double output shaft speed reduction unit 34 by motor 33 drivings; Be connected to first and second shaft coupling 35a and the 35b on two output shafts of double output shaft speed reduction unit 34; The first and second rolling wheel axle 36a that link to each other with the outgoing side of the first and second shaft coupling 35a and 35b respectively and the 36b and first and second rolling wheel 37a and the 37b, the first and second rolling wheel 37a and 37b are respectively installed on the first and second rolling wheel axle 36a and the 36b.
Need to prove that if the sense of rotation of two output shafts of double output shaft speed reduction unit 34 (i.e. the first and second rolling wheel 37a and 37b) is identical, then the two ends of traction rope 32 are wrapped on the first and second rolling wheel 37a and the 37b around opposite direction respectively.Otherwise if the sense of rotation of two output shafts of double output shaft speed reduction unit 34 (i.e. first and second rolling wheel 37a and the 37b) is opposite, then the two ends of traction rope 32 are wrapped on the first and second rolling wheel 37a and the 37b around identical direction respectively.
More preferably; Gearing 31 further comprises first and second supporting seat 38a and the 38b; The first and second supporting seat 38a and 38b support first and second rolling wheel axle 36a and the 36b respectively, and the first and second rolling wheel 37a and 37b lay respectively in the first and second supporting seat 38a and the 38b.The first and second overrunning clutch 39a and 39b are installed in respectively in the first and second shaft coupling 35a and the 35b, and are preferably internal tooth ratchet overrunning clutch.
Further, on the first and second supporting seat 38a and 38b, be separately installed with first and second regulating device 40a and the 40b, be used to regulate the tensioning of traction rope 32.Preferably, the first and second regulating device 40a and 40b are the form of adjuster bar, and first and second adjuster bar 40a and the 40b are passed at the two ends of flexible strand 32 respectively, are wound on the first and second rolling wheel 37a and the 37b around opposite direction then.
Preferably, on the excircle of bearing circle 13, be provided with by the U-shaped groove, traction rope 32 is bonded in the above-mentioned U-shaped groove, and fixing with screw 42 through clamp 41, prevents that traction rope 32 breaks away from the U-shaped grooves and in the U-shaped groove, skids.Under off working state, for example, when needs with portable scanning system when a work place moves to another work place, can traction rope 32 be broken away from the U-shaped groove, drive by the driver.Gearing 31 preferably is arranged on the back (right side among Fig. 9) of the seat S in the pilothouse, therefore, with traction rope 32 with after bearing circle 13 separates, do not influence driver's driving.
When the moving direction A of mobile device 5 depart B; The driving circuit 12 of control module 3 sends drive signal to the motor 33 of drive unit 31; Motor 33 drives 34 rotations of double output shaft speed reduction unit; Thereby drive the first and second rolling wheel 37a and 37b and rotate the amount corresponding with deviation value, traction rope 32 steering wheel rotations 13 thus are corrected to the moving direction A of mobile device 5 on the predetermined direction B.
Describe with reference to Figure 15 below and utilize direction correcting device of the present invention that the deviation in driction of mobile radiation checkout system when carrying out the scanning radiation inspection carried out method of correcting, direction-control apparatus wherein is second embodiment of Fig. 9 to direction-control apparatus shown in Figure 12.Yet, be adapted to wherein to utilize the situation of first embodiment of direction-control apparatus equally for the description that persons of ordinary skill in the art may appreciate that down the faces direction correcting device.
Figure 15 is the schematic flow sheet of the direction correcting method according to the present invention.
Shown in figure 15; The first and second distance detector 2a and 2b detection reference parts 1 are to first and second distance L 1 and the L2 of mobile device 5; And produce the first and second distance detecting signals, simultaneously the first and second distance detecting signals are sent to control module 3 (step S1).
The A/D converter 8 of control module 3 is digital signal (step S2) with the first and second distance detecting signal from analog conversion of signals; Then first of digital signal form with the distance detecting signal through signal isolator 9 conversion by " electricity-light-"; Then, the first and second distance detecting signals are sent to single-chip microcomputer 10 (step S3) from signal isolator 9.Single-chip microcomputer 10 utilizes whether depart B (step S4) of the first and second distance detecting signal determining moving direction A, for example through relatively the difference or the ratio of first and second distances judge whether moving direction A departs from and offset direction.For example, if L1, judges then that moving direction A departs from greater than L2 to the right in Fig. 1-3; Single-chip microcomputer 10 calculates deviation value simultaneously, and produces the drive signal corresponding with this deviation value, and term " deviation value " comprises offset direction here; For example, if deviation value is a negative value, then moving direction A departs from respect to predetermined direction B clockwise; Otherwise, if deviation value be on the occasion of, then moving direction A departs from respect to predetermined direction B counterclockwise.For another example, if deviation value is greater than 1, then moving direction A departs from respect to predetermined direction B clockwise, otherwise, if deviation value less than 1, then moving direction A departs from respect to predetermined direction B counterclockwise.
The drive signal of single-chip microcomputer 10 then is sent to signal driver 11, and signal driver 11 will amplify and is sent to driving circuit 12 (step S5) from the drive signal of single-chip microcomputer 10.
Then; The motor 33 of driving circuit 12 driving direction control device 4 rotates; For example drive motor 33 rotates counterclockwise the angle corresponding with deviation value; Motor 33 drives the first and second rolling wheel 37a and rotates with 37b, thereby traction rope 32 1 ends for example are wrapped on the first rolling wheel 37a, and the unwinding on the 37b from second rolling wheel for example of the other end of traction rope 32; Thereby driving direction dish 13 rotates an angle corresponding with deviation value, and the moving direction A of mobile device 5 is corrected on the predetermined direction B (step S6).
When moving direction A was consistent with predetermined direction B, flow process finished (step S7).Otherwise flow process turns back to step S1.
Equally; If first distance L 1 is less than second distance L2; Moving direction A depart B left in Fig. 1 to 3 then is described, control module 3 drive motor 33 for example clockwise rotate, thereby drive traction rope 32 steering wheel rotations 13; This and the above-mentioned class of operation that departs to the right of correction seemingly are not described in detail here.
Need to prove that consistent with depart B if though moving direction A has been shown among Figure 15, then process finishes.Yet, to moving direction A whether the judgement of depart B can carry out in real time, that is to say that the first and second distance detector 2a and 2b detect first and second distance L 1 and the L2 in real time.Alternatively, for example when the reference component 1 that adopts shown in Fig. 3, the first and second distance detector 2a and 2b detect first and second distance L 1 and the L2 discontinuously, thereby periodically judge whether depart B of moving direction A.
Need to prove that if control module 3 (single-chip microcomputer 10) confirms that according to the first and second distance detecting signals moving direction A does not have depart B, control module can not transmit drive signal to direction-control apparatus 4 so.In other words, also can be described as control module 3 is zero to the drive signal (drive current) of direction-control apparatus 4 transmission, and representative does not depart from.Therefore, for persons of ordinary skill in the art may appreciate that control module 3 is controlled direction-control apparatus 4 in real time and periodically so that proofread and correct moving direction A (when not departing from, the amount that needs to proofread and correct is zero).
In addition; For those having ordinary skill in the art will appreciate that; Can be that the deviation value between moving direction A and the predetermined direction B sets predetermined threshold value, when having only absolute value when deviation value greater than predetermined threshold, control module 3 is just controlled the moving direction of direction-control apparatus 4 correction mobile devices 5.
The mobile radiation checkout system that proposes according to a further aspect in the invention comprises above-mentioned direction correcting device.And other component part of mobile radiation checkout system, radiation source for example, be arranged on can stretch out with retractible arm on detector array; Imaging system; Similar in control system etc. and the prior art, above-mentioned component part can be integrated on the mobile device 5, thereby constitutes scanning car.For simple purpose, here other formation and the operation thereof of mobile radiation checkout system are repeated no more.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can change that scope of the present invention is limited accompanying claims and equivalent thereof to these embodiment.
Claims (27)
1. direction correcting device that is used to have the mobile radiation checkout system of mobile device comprises:
Direction detection device, said direction detection device detect the moving direction of said mobile device and produce the detection signal of the said moving direction of indication;
Direction-control apparatus, said direction-control apparatus is used to control the moving direction of said mobile device; With
Control module; Said control module calculates the deviation value between moving direction and the predetermined direction according to the detection signal that receives from said direction detection device; And according to said deviation value driving direction control device so that said moving direction is corrected on the predetermined direction
Wherein said direction detection device comprises at least one optoelectronic switch, and wherein said control module is controlled at preset distance according to the signal that receives from said at least one optoelectronic switch with said mobile device and the distance that is examined between the target.
2. direction correcting device according to claim 1; Wherein said direction detection device comprises first and second distance detectors; Said first and second distance detectors produce the first and second distance detecting signals respectively, and wherein said control module is according to the said deviation value of the first and second distance detecting calculated signals.
3. direction correcting device according to claim 2, wherein said first and second distance detectors detect said mobile device to first and second distances that are examined target.
4. direction correcting device according to claim 3 further comprises reference component, and wherein said first and second distance detectors detect first distance and the second distance of said mobile device to said reference component respectively.
5. direction correcting device according to claim 1, wherein said direction-control apparatus comprises:
The bearing circle of the moving direction of control mobile device; With
Actuator, said actuator engage separably with said bearing circle and are driven by control module, thereby so that the driving direction dish rotates the moving direction of control mobile device.
6. direction correcting device according to claim 5, wherein said direction-control apparatus further comprises bindiny mechanism, an end of said bindiny mechanism links to each other with actuator and the other end engages with the bearing circle of mobile device separably.
7. direction correcting device according to claim 6, wherein said bindiny mechanism comprises:
Connecting link, an end of said connecting link links to each other with actuator;
Pillar, the other end of said connecting link links to each other with said pillar through oscillating bearing, and is provided with the nut that is used for positioning link bar on the top of pillar;
Installing plate, said pillar is installed on the end face of installing plate, and the side of said installing plate joins on the neighboring of bearing circle so that the driving direction dish rotates separably.
8. direction correcting device according to claim 7, said direction-control apparatus further comprise support and cross piece, and wherein said cross piece and support are hinged so that form universal joint, and said actuator is installed on the support through the cross piece.
9. direction correcting device according to claim 8, said direction-control apparatus further comprises:
Back up pad, said support are installed on the said back up pad;
Protection switch, said Protection switch are installed on the said back up pad; With
Pressing plate, said pressing plate are connected on the said universal joint, and when breaking away from bearing circle together with convenient actuator and bindiny mechanism, said pressing plate crash switch is so that make the actuator outage.
10. direction correcting device according to claim 6, wherein said actuator comprises:
Motor, said motor is driven by said control module;
Worm gear, said worm gear links to each other with the output shaft of said motor; With
Worm screw, said worm screw and the engagement of said worm gear, and the axial end of said worm screw is connected with said bindiny mechanism.
11. direction correcting device according to claim 5, wherein said direction-control apparatus comprises:
Gearing, said gearing is driven by said control module; With
Flexible traction piece, the two ends of said flexible traction piece are walked around bearing circle and are connected respectively on the gearing.
12. according to the direction correcting device described in the claim 11, wherein said flexible traction piece is a traction rope.
13. according to the direction correcting device described in the claim 12, wherein said traction rope is bonded on through clamp and screw in the groove of excircle of bearing circle separably.
14. according to the direction correcting device described in the claim 13, wherein said gearing comprises:
Motor by the control module driving; With
By motor-driven double output shaft speed reduction unit, the two ends of said traction rope link to each other with two output shafts of double output shaft speed reduction unit respectively.
15. according to the direction correcting device described in the claim 14, wherein said gearing further comprises:
First and second shaft couplings, the input side of first and second shaft couplings link to each other with two output shafts of said speed reduction unit respectively;
The first and second rolling wheel axles, the said first and second rolling wheel axles link to each other with the outgoing side of first and second shaft couplings respectively and are supported by first and second supporting seats respectively; With
First and second rolling wheels, said first and second rolling wheels are respectively installed on the first and second rolling wheel axles, and the two ends of wherein said traction rope are wrapped in respectively on first and second rolling wheels.
16. according to the direction correcting device described in the claim 15, wherein said gearing further comprises first and second regulating devices, said first and second regulating devices are used to regulate the rate of tension of said traction rope.
17. according to the direction correcting device described in the claim 16, wherein said gearing further comprises first and second overrunning clutches that are separately positioned in first and second shaft couplings.
18. direction correcting device according to claim 4, wherein said reference component comprises the flat part of the one that laterally arranges with said predetermined direction.
19. direction correcting device according to claim 4, wherein said reference component comprises a plurality of flat plate section, and said a plurality of flat plate section are spaced apart from each other on said predetermined direction and arrange with aliging.
20. a mobile radiation checkout system comprises direction correcting device according to claim 1.
21. a direction correcting method that is used to proofread and correct the moving direction of mobile radiation checkout system, wherein said mobile radiation checkout system has mobile device, and said direction correcting method comprises:
Step 1) detects the moving direction of mobile device and produces the detection signal of the said moving direction of indication;
Step 2) calculate the deviation value between said moving direction and the predetermined direction based on said detection signal and moving direction be corrected on the predetermined direction automatically according to said deviation value,
Step 3) provides at least one optoelectronic switch, and
Step 4) utilizes said at least one optoelectronic switch that said mobile device and the distance that is examined between the target are controlled to be predetermined distance automatically.
22. direction correcting method according to claim 21, wherein:
Said step 1) comprises the said mobile device of detection and is examined first and second distances between the target, so that produce the first and second distance detecting signals; And
Said step 2) goes out moving direction and the deviation value between the predetermined direction of mobile device according to the first and second distance detecting calculated signals and moving direction is corrected on the predetermined direction automatically according to said deviation value.
23. direction correcting method according to claim 21 further comprises: in step 2) afterwards and in step 3) reference component is provided before;
Wherein:
Said step 1) comprises first and second distances that detect between said mobile device and the reference component, so that produce the first and second distance detecting signals; And
Said step 2) goes out moving direction and the deviation value between the predetermined direction of mobile device according to the first and second distance detecting calculated signals and moving direction is corrected on the predetermined direction automatically according to said deviation value.
24. according to claim 22 or 23 described direction correcting methods, wherein said first and second distances utilize laser range sensor to detect.
25. direction correcting method according to claim 22 is wherein calculated said deviation value and is utilized control module and direction-control apparatus completion according to the moving direction that said deviation value is proofreaied and correct mobile radiation checkout system,
Wherein said direction-control apparatus is used to control the moving direction of said mobile radiation checkout system, and
Said control module comprises:
Analog/digital converter, said analog/digital converter is a digital signal with the said first and second distance detecting signal from analog conversion of signals;
Processor, said processor goes out said deviation value so that produce the drive signal corresponding with deviation value according to the first and second distance detecting calculated signals that convert digital signal into;
Signal driver, said signal driver is from said processor reception and increase said drive signal; With
Driving circuit, said driving circuit are according to the drive direction-control apparatus of the increase that receives from signal driver, so that proofread and correct the moving direction of mobile device.
26. direction correcting method according to claim 25; Wherein said control module further comprises signal isolator; Said signal isolator is connected between the input of output and processor of analog/digital converter, is used to isolate the input signal that is input to it and from the output signal of its output.
27. direction correcting method according to claim 26, wherein said signal isolator comprises photoisolator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106216425A CN102095421B (en) | 2007-02-16 | 2007-02-16 | Direction deviation correction equipment and method and mobile radiation inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106216425A CN102095421B (en) | 2007-02-16 | 2007-02-16 | Direction deviation correction equipment and method and mobile radiation inspection system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100640277A Division CN101246133B (en) | 2007-02-16 | 2007-02-16 | Direction correcting device and method, and mobile radiation checkout system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102095421A CN102095421A (en) | 2011-06-15 |
| CN102095421B true CN102095421B (en) | 2012-11-28 |
Family
ID=44128609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010106216425A Active CN102095421B (en) | 2007-02-16 | 2007-02-16 | Direction deviation correction equipment and method and mobile radiation inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102095421B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102028712B1 (en) | 2015-04-10 | 2019-10-04 | 에이에스엠엘 네델란즈 비.브이. | Method and apparatus for inspection and measurement |
| CN106114681B (en) * | 2016-08-30 | 2021-01-29 | 北京华力兴科技发展有限责任公司 | Vehicle parking early warning system and vehicle |
| CN108724916B (en) * | 2018-04-18 | 2020-08-18 | 南通达成包装制品有限公司 | Be applied to corrugated board production line's reminding device that rectifies |
| CN113759305A (en) * | 2020-05-29 | 2021-12-07 | 同方威视技术股份有限公司 | Direction correcting device and method for movable radiation inspection device |
| CN113031601B (en) * | 2021-03-03 | 2023-05-23 | 重庆兰德适普信息科技有限公司 | Traction method and system based on automatic driving |
| CN113042491B (en) * | 2021-04-13 | 2024-01-23 | 内蒙古中航民富科技有限公司 | Deviation correcting device, photovoltaic panel cleaning robot and cleaning method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0835796A2 (en) * | 1996-10-09 | 1998-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for verhicle |
| JP2864295B2 (en) * | 1990-12-25 | 1999-03-03 | 東急建設株式会社 | Automatic direction correction system for self-propelled vehicles |
| CN2775716Y (en) * | 2004-11-01 | 2006-04-26 | 郑葵飞 | Intelligent automobile for high way |
| CN101246133B (en) * | 2007-02-16 | 2011-07-20 | 同方威视技术股份有限公司 | Direction correcting device and method, and mobile radiation checkout system |
-
2007
- 2007-02-16 CN CN2010106216425A patent/CN102095421B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2864295B2 (en) * | 1990-12-25 | 1999-03-03 | 東急建設株式会社 | Automatic direction correction system for self-propelled vehicles |
| EP0835796A2 (en) * | 1996-10-09 | 1998-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for verhicle |
| CN2775716Y (en) * | 2004-11-01 | 2006-04-26 | 郑葵飞 | Intelligent automobile for high way |
| CN101246133B (en) * | 2007-02-16 | 2011-07-20 | 同方威视技术股份有限公司 | Direction correcting device and method, and mobile radiation checkout system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102095421A (en) | 2011-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101246133B (en) | Direction correcting device and method, and mobile radiation checkout system | |
| CN102095421B (en) | Direction deviation correction equipment and method and mobile radiation inspection system | |
| CN110709267B (en) | Vehicle and drive module with interchangeable drive module | |
| CN105584546B (en) | Track assembly with wear monitoring system | |
| TWI526352B (en) | Coupler systems and railway vehicles | |
| CN201016939Y (en) | Direction error-correcting equipment and mobile radiation checking system | |
| CN101571497B (en) | Detecting equipment | |
| CN103003130B (en) | For transmitting the equipment of data between two rail vehicles | |
| KR102282221B1 (en) | Stationary Vehicle Security Inspection System | |
| KR102346978B1 (en) | Vehicle towing device and vehicle towing method | |
| CN106645225A (en) | Movable article check system | |
| CN109797995A (en) | Transportation system for automatic transportation vehicle | |
| CN106904394A (en) | Vehicle transportation device and vehicle radiating scanography system | |
| EP1813513B1 (en) | Apparatus for axle velocity correction | |
| CN102005146B (en) | Portably mobile wireless driver bar-testing system for agricultural vehicle driver | |
| CN111775975A (en) | Mine car positioning control system and method | |
| EP2933139B1 (en) | Heavy-load transportation control system, transportation means, and transportation control method | |
| CN204801439U (en) | Vehicle draw gear | |
| KR20110129562A (en) | Horizontality device of riding-box for working car | |
| KR101586926B1 (en) | Equipped with sensing controls of the power module and the truck width and a driving method thereof | |
| CN110482142A (en) | A kind of rail vehicle truck transhipment conveying device | |
| CN206874024U (en) | A kind of multi-storied garage vehicle centering system | |
| CN115384643A (en) | All-terrain agricultural crop information monitoring mobile platform and monitoring method | |
| CN107035198A (en) | A kind of multi-storied garage vehicle centering system | |
| CN206735154U (en) | Vehicle transportation device and vehicle radiating scanography system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |