CN109521482B - Mobile inspection system and inspection method - Google Patents
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- CN109521482B CN109521482B CN201910009505.7A CN201910009505A CN109521482B CN 109521482 B CN109521482 B CN 109521482B CN 201910009505 A CN201910009505 A CN 201910009505A CN 109521482 B CN109521482 B CN 109521482B
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- 238000007689 inspection Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005070 sampling Methods 0.000 claims abstract description 111
- 238000001514 detection method Methods 0.000 claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000005855 radiation Effects 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 2
- 239000007789 gas Substances 0.000 description 57
- 238000004458 analytical method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 238000001069 Raman spectroscopy Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004817 gas chromatography Methods 0.000 description 2
- 238000001871 ion mobility spectroscopy Methods 0.000 description 2
- 239000012855 volatile organic compound Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
- G01V5/222—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays measuring scattered radiation
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- General Life Sciences & Earth Sciences (AREA)
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- Sampling And Sample Adjustment (AREA)
Abstract
The present disclosure provides a mobile inspection system and inspection method. The mobile inspection system includes a mobile device, a radiation inspection device, a gas detection device, and a control device. The gas detection device comprises sampling detection equipment and a position adjustment mechanism, the sampling detection equipment comprises a first sampler and a sample detection part, the first sampler is arranged on the position adjustment mechanism, the gas in the box body is sampled at a sampling position to obtain a sampling sample, the sample detection part detects the sampling sample obtained by the first sampler, and the position adjustment mechanism is arranged on the movable device and is used for adjusting the position of the first sampler relative to the movable device; the control device is in signal connection with the movable device and the gas detection device and controls the movable device to move and/or the position adjusting mechanism to act so as to move the first sampler to the sampling position. The inspection system can be used for carrying out radiation inspection on the box body and carrying out auxiliary judgment of gas sampling detection.
Description
Technical Field
The present disclosure relates to the field of cargo inspection, and in particular, to a mobile inspection system and an inspection method using the same.
Background
Conventional radiation inspection systems, such as container/vehicle inspection systems, typically use either fluoroscopic imaging or backscatter imaging, relying on X-rays to penetrate the subject or backscatter X-rays to obtain subject interior and surface information. However, in on-site inspection, for some specific types of cargoes, accurate substance attribute determination cannot be performed only by means of an X-ray perspective image or a back-scattering image, and at this time, substance attribute information of the cargoes needs to be further obtained by collecting trace samples of the detected object for analysis, for example, detection and analysis are performed on the collected samples by technologies such as ion mobility spectrometry, gas chromatography, raman spectroscopy, and the like to assist in determination.
Disclosure of Invention
The purpose of this disclosure is to provide a portable inspection system with which the radiation inspection can be performed on the loaded box while the gas sampling detection auxiliary judgment is performed. The present disclosure also provides an inspection method using the mobile inspection system.
A first aspect of the present disclosure discloses a mobile inspection system comprising:
a movable device;
the radiation inspection device is arranged on the movable device and is used for radiation inspection of the box body loaded with the goods;
the gas detection device comprises sampling detection equipment and a position adjustment mechanism, wherein the sampling detection equipment comprises a first sampler and a sample detection part, the first sampler is arranged on the position adjustment mechanism and is used for sampling gas in the box body at a sampling position to obtain a sampling sample, the sample detection part is communicated with the first sampler to detect the sampling sample obtained by the first sampler, and the position adjustment mechanism is arranged on the movable device and is used for adjusting the position of the first sampler relative to the movable device;
control means, in signal connection with said movable means and said gas detection means, configured to: the movable device is controlled to move and/or the position adjustment mechanism acts to move the first sampler to the sampling position.
In some embodiments, the mobile inspection system further comprises a first measurement device for detecting the position of the tank and/or the contour of the tank to form a first detection result, the first measurement device being in signal connection with the control device, the control device being configured to: and controlling the movable device to move and/or the position adjusting mechanism to act at least according to the first detection result so as to move the first sampler to the sampling position.
In some embodiments, the first measurement device comprises a laser ranging sensor, an area laser scanner, and/or a camera in signal connection with the control device.
In some embodiments, the mobile inspection system further comprises a second measurement device for detecting the sampling location to form a second detection result, the second measurement device being in signal connection with the control device, the control device being configured to: and controlling the movable device to move and/or the position adjusting mechanism to act according to the first detection result and the second detection result so as to move the first sampler to the sampling position.
In some embodiments, the control device is configured to: and controlling the movable device to move according to the first detection result so that the sampling position enters the detection range of the second measuring device, and controlling the position adjusting mechanism to act according to the second detection result so as to move the first sampler to the sampling position.
In some embodiments, the second measurement device comprises a monocular camera, a laser ranging sensor, a binocular camera, and/or a laser radar.
In some embodiments, the second measurement device is disposed on the first sampler or position adjustment mechanism.
In some embodiments, the sampling detection apparatus further comprises a second sampler provided on the movable device, the second sampler being configured to manually sample the gas in the tank at a sampling position to obtain a sampled sample, the sample detection section being communicable with the second sampler to detect the sampled sample obtained by the second sampler, the control device being configured to control on-off of the first and second samplers with the sample detection section.
In some embodiments, the first sampler is a suction cup sampler.
In some embodiments, the mobile device is a vehicle.
In some embodiments, the position adjustment mechanism includes a manipulator in signal connection with the control device, and the first sampler is disposed at an end of the manipulator.
A second aspect of the present disclosure discloses an inspection method using the mobile inspection system, including:
performing radiation inspection on the box body;
and controlling the movable device to move and/or the position adjusting mechanism to act so as to move the first sampler to a sampling position to sample the gas in the box body and obtain a sampling sample, and detecting the sampling sample obtained by the first sampler by the sample detecting part.
In some embodiments, controlling the movable device to move and/or the position adjustment mechanism to act to move the first sampler to a sampling position comprises: detecting the position of the box body and/or the outline of the box body to form a first detection result, and controlling the movable device to move and/or the position adjusting mechanism to act at least according to the first detection result so as to move the first sampler to a sampling position.
In some embodiments, controlling the movable device to move and/or the position adjustment mechanism to act to move the first sampler to a sampling position based at least on the first detection result comprises: and calculating a position closest to the box body, which can be moved to by controlling the action of the position adjusting mechanism, according to the first detection result, determining the position as a sampling position, and controlling the action of the position adjusting mechanism to move the first sampler to the sampling position.
In some embodiments, including detecting the sampling location to form a second detection result, controlling the movable device to move and/or the position adjustment mechanism to move the first sampler to the sampling location based at least on the first detection result includes: and controlling the movable device to move and/or the position adjusting mechanism to act according to the first detection result and the second detection result so as to move the first sampler to a sampling position.
In some embodiments, controlling the movable device to move and/or the position adjustment mechanism to act to move the first sampler to a sampling position based on the first detection result and the second detection result comprises: and controlling the movable device to move according to a first detection result so that the sampling position enters a detection range of a second measuring device for acquiring the second detection result, and controlling the position adjusting mechanism to act according to the second detection result so as to move the first sampler to the sampling position.
In some embodiments, the container body is a closed container, a gas exchange window is arranged on the container, the first sampler is a suction cup type sampler, and the gas sampling comprises the gas sampling adsorbed on the gas exchange window by the suction cup type sampler.
Based on the portable inspection system that this disclosure provided, except can carry out the radiation inspection to the box of dress, can also carry out the gas sampling to it simultaneously and detect and be used for supplementary judgement to can obtain the more accurate information of dress box body. The movable inspection system of the present disclosure integrates the radiation inspection device and the first sampler arranged on the position adjusting structure on the movable device, so that the radiation inspection and the gas detection of the cargo box body are more flexible and convenient, and meanwhile, the flexibility of the position of the first sampler can enable the gas sampling of the cargo box body to be more adaptive and accurate when the gas detection is carried out on the cargo box body with different specifications and the box body loaded with different cargoes, thereby being helpful for improving the judgment accuracy of the movable inspection system.
The inspection method based on the mobile inspection system provided by the disclosure has corresponding beneficial effects.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and do not constitute an undue limitation on the disclosure. In the drawings:
fig. 1 is a schematic structural diagram of a mobile inspection system according to an embodiment of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the mobile inspection system of the embodiment of the present disclosure includes a movable device 2, a radiation inspection device 1, a gas detection device, and a control device.
The movable device 2 is used for carrying some devices of the inspection system and can carry objects above it for movement, and the movable device 2 can be a vehicle as shown, in some not shown illustrations also a track device or a crawler device or the like running on a track.
The radiation inspection device 1 is provided on the movable device 2, and is used for radiation inspection of a box body loaded with goods, and the radiation inspection device 1 can inspect the box body loaded with goods by utilizing radiation technologies such as a perspective imaging technology or a back scattering imaging technology, and can inspect the box body by utilizing radiation rays such as X rays and gamma rays.
The gas detection device includes a sampling detection apparatus and a position adjustment mechanism 4.
When the radiation inspection device 1 performs radiation inspection on the box body loaded with cargoes to obtain insufficient cargo information and further inspection is needed, the gas detection device of the inspection system can sample gas of the box body loaded with cargoes, and according to the gas emitted by the cargoes in the acquired box body and the detection and analysis of the gas, the relevant information of the cargoes in the box body can be further obtained, so that auxiliary judgment can be performed on the cargo information in the box body outside the cargo information judged by the radiation inspection.
The gas detection device is arranged, and can quickly and accurately sniff substances such as Volatile Organic Compounds (VOCs) or trace particulate matters and the like emitted by cargoes in the box body, so that auxiliary detection of the cargoes in the box body such as toxic and harmful gases, volatile dangerous chemicals and movable plant food products is realized.
The gas detection device may use a single technique or a combination of techniques such as ion mobility spectrometry, gas chromatography, and raman spectroscopy.
As shown in fig. 1, the sampling detection apparatus includes a first sampler 5 and a sample detection section 3. The first sampler 5 is provided on the position adjustment mechanism 4. The first sampler 5 samples the gas in the tank at a sampling position to obtain a sampled sample. The sample detection unit 3 is communicable with the first sampler 5 to detect a sample taken by the first sampler 5.
The first sampler 5 may be located inside the tank at a sampling position where the gas in the tank is sampled, or may be located outside the tank, for example, the first sampler 5 samples the gas emitted from the tank in the vicinity of the tank. For some closed containers with gas exchange windows, such as closed containers, the sampling position of the first sampler 5 may be near the gas exchange window of the closed container, to sample the gas emitted from the gas exchange window, or may be directly moved onto the gas exchange window or through the gas exchange window deep into the interior of the container to sample the gas emitted from the cargo in the container.
A position adjustment mechanism 4 is provided on the movable device 2 for adjusting the position of the first sampler 5 relative to the movable device 2. The movable device 2 can bear the position adjusting mechanism 4 to move, the position adjusting mechanism 4 can adjust the first sampler 5 to move relative to the movable device, so that the position of the first sampler 5 can be moved flexibly and conveniently under the movement of the movable device 2 and the position adjusting mechanism 4, and when the gas detection is carried out on the cargos of different specifications and the cargos of different types, the first sampler 5 can be moved flexibly to a proper sampling position to carry out gas sampling, thereby being beneficial to improving the adaptation degree and the precision of the gas sampling.
The sample detection unit 3 may be provided on the position adjustment mechanism 4 together with the first sampler 5, may be provided directly on the movable device 2 without being provided on the position adjustment mechanism 4, or may be provided at a position on the ground without being provided on the movable device 2. The first sampler 5 samples gas and then transfers the gas sample to the sample detection unit 3 for detection analysis.
The control means is in signal connection with the movable means 2 and the gas detection means, the control means being configured to: the movable device 2 is controlled to move and/or the position adjustment mechanism 4 acts to move the first sampler 5 to the sampling position. The control device may be provided on the movable device 2 or may be located at a position on the ground, only by the control device being able to control the movement of the movable device 2 and the position adjustment mechanism 4.
In some embodiments, the mobile inspection system further comprises a first measuring device for detecting the position of the tank and/or the contour of the tank to form a first detection result, the first measuring device being in signal connection with the control device. The control device is configured to: the movable device 2 is controlled to move and/or the position adjusting mechanism 4 is controlled to act to move the first sampler 5 to the sampling position at least according to the first detection result.
By arranging the first measuring device, the first measuring device can be used for detecting the box body to determine the position of the box body or the contour and other information of the box body, so that the control device can calculate and obtain a proper sampling position. A suitable sampling location may be the nearest and safe location to the tank opening, e.g. the nearest and obstacle-free location. The suitable sampling position may also be a position closest to the tank to which the movable device 2 and the position adjustment mechanism 4 can move the first sampler 5 when the stroke of the position movement of the first sampler 5 is limited. The suitable sampling position may be a position closest to the housing to which the position adjusting mechanism 4 can move the first sampler 5 when the movable device 2 is held by hand, which is calculated by measuring information such as the position and the contour of the housing, in order to improve the sampling efficiency. The position adjusting time can be saved by moving the first sampler 5 only by the position adjusting mechanism 4, thereby improving the sampling efficiency.
The first measuring device may comprise a laser ranging sensor, an area laser scanner or a camera, etc. which are in signal connection with the control device.
In some embodiments, the mobile inspection system further comprises a second measurement device for detecting the sampling location to form a second detection result. The second measuring device is in signal connection with the control device. The control device is configured to: the movable apparatus 2 is controlled to move and/or the position adjusting mechanism 4 is controlled to act to move the first sampler 5 to the sampling position according to the first detection result and the second detection result.
The second measuring device can detect the sampling position by measuring information such as the position and/or the outline of the box body accessories such as the gas exchange window and the like on the box body, and the sampling position more suitable for sampling can be found by arranging the second measuring device.
In some embodiments, the control device is configured to: the movable device 2 is controlled to move according to the first detection result so that the sampling position enters the detection range of the second measuring device, and the position adjusting mechanism 4 is controlled to act according to the second detection result so as to move the first sampler 5 to the sampling position. The device can exert the characteristics of different measuring devices and reasonably configure the measuring devices.
For example, the measurement accuracy of the first measuring device may be set to be low, the detection range of the first measuring device may be set to be large, the measurement accuracy of the second measuring device may be set to be high, the detection range of the second measuring device may be set to be small, the second measuring device may be disposed closer to the first sampler 5, for example, the second measuring device may be disposed on the position adjusting mechanism 4, or the second measuring device may be disposed on the first sampler 5. After the arrangement, the control device firstly controls the movable device 2 to move and/or the position adjusting mechanism 4 to act under the measurement of the first measuring device with lower measuring precision so that the sampling position enters the detection range of the second measuring device, and then controls the position adjusting mechanism 4 to act under the measurement of the second measuring device with higher measuring precision so as to move the first sampler 5 to the sampling position. The device can reasonably configure the precision and the detection range of the measuring device, and improves the utilization efficiency of the measuring device.
In some embodiments, the second measurement device comprises a camera, a laser ranging sensor, and/or a laser radar in signal communication with the control device. The camera can be a monocular camera or a binocular camera.
In some embodiments, the second measuring device is provided on the first sampler 5 or the position adjustment mechanism 4.
In some embodiments, the sample detection apparatus further comprises a second sampler provided on the movable device 2. The second sampler is used for manually sampling the gas in the box body at a sampling position to obtain a sampling sample, the sample detection part 3 and the second sampler can be communicated to detect the sampling sample obtained by the second sampler, and the control device is configured to control the first sampler 5 and the second sampler to be connected and disconnected with the sample detection part 3. The second sampler is arranged to facilitate artificial gas sampling.
The first sampler 5 and the second sampler are two paths of sampling gas paths, and the control device is used for switching the first sampler 5 and the second sampler to sample gas in the box body, namely, the control device can be used for switching which path of sampling gas path to sample the gas.
As shown in fig. 1, in some embodiments, the placement port 6 of the second sampler may be provided at the bottom of the outer wall of the movable device 2, which may facilitate manual access to the second sampler.
In some embodiments, the first sampler 5 is a suction cup sampler. The arrangement can be adsorbed on the gas exchange window by means of a suction cup structure when sampling the closed box body with the gas exchange window, so that the first sampler 5 can have larger adsorption force and larger gas sampling area for the gas exchange window.
In some embodiments, the mobile device 2 is a vehicle.
In some embodiments, the position adjustment mechanism 4 comprises a manipulator in signal connection with a control device, and the first sampler 5 is provided at an end of the manipulator. The arrangement can flexibly move the first sampler 5, so that the gas sampling is more efficient and flexible, and the automation degree of the air suction sampling is improved.
The embodiment of the disclosure also discloses an inspection method using the above-mentioned mobile inspection system, which includes performing radiation inspection on the box body, controlling the movable device 2 to move and/or controlling the position adjusting mechanism 4 to act so as to move the first sampler 5 to the sampling position to sample the gas in the box body and obtain a sample, and detecting the sample obtained by the first sampler 5 by the sample detecting part 3.
In some embodiments, controlling the movement of the movable apparatus 2 and/or the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position comprises: the position of the casing and/or the contour of the casing is detected to form a first detection result, and the movable device 2 is controlled to move and/or the position adjusting mechanism 4 is operated to move the first sampler 5 to the sampling position at least according to the first detection result.
In some embodiments, controlling the movement of the movable apparatus 2 and/or the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position at least according to the first detection result comprises: the position closest to the box to which the first sampler 5 can be moved is calculated from the first detection result by controlling the operation of the position adjustment mechanism 4, the position is determined as the sampling position, and the first sampler 5 is moved to the sampling position by controlling the operation of the position adjustment mechanism 4.
In some embodiments, the inspection method further comprises detecting the sampling position to form a second detection result, controlling the movement of the movable device 2 and/or the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position at least in accordance with the first detection result comprises: the movable apparatus 2 is controlled to move and/or the position adjusting mechanism 4 is controlled to act to move the first sampler 5 to the sampling position according to the first detection result and the second detection result.
In some embodiments, controlling the movement of the movable device 2 and/or the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position based on the first detection result and the second detection result comprises: the movable device 2 is controlled to move according to the first detection result so that the sampling position enters the detection range of the second measuring device for acquiring the second detection result, and the position adjusting mechanism 4 is controlled to act according to the second detection result so as to move the first sampler 5 to the sampling position.
In some embodiments, the container body is a closed container, the container is provided with a gas exchange window, the first sampler 5 is a suction cup type sampler, and the gas sampling includes using the suction cup type sampler to adsorb the gas at the gas exchange window for gas sampling.
The mobile inspection device of the present disclosure is applicable to containers, cargo boxes for vehicles, and other various types of enclosed or non-enclosed boxes.
In some embodiments, the control device described above may be a general purpose processor, a programmable logic controller (Programmable Logic Controller, abbreviated as PLC), a digital signal processor (Digital Signal Processor, abbreviated as DSP), an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), a Field-programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA) or other programmable logic device, a discrete gate or transistor logic device, discrete hardware components, or any suitable combination thereof for performing the functions described herein.
Finally, it should be noted that: the above embodiments are merely for illustrating the technical solution of the present disclosure and are not limiting thereof; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will appreciate that: modifications may be made to the specific embodiments of the disclosure or equivalents may be substituted for part of the technical features that are intended to be included within the scope of the claims of the disclosure.
Claims (10)
1. A mobile inspection system, comprising:
a movable device (2);
a radiation inspection device (1) arranged on the movable device (2) and used for radiation inspection of the box body loaded with goods;
the gas detection device comprises sampling detection equipment and a position adjustment mechanism (4), wherein the sampling detection equipment comprises a first sampler (5) and a sample detection part (3), the first sampler (5) is arranged on the position adjustment mechanism (4) and is used for sampling gas in the box body at a sampling position to obtain a sampling sample, the sample detection part (3) is communicated with the first sampler (5) and can be used for detecting the sampling sample obtained by the first sampler (5), and the position adjustment mechanism (4) is arranged on the movable device (2) and is used for adjusting the position of the first sampler (5) relative to the movable device (2);
control means, in signal connection with said movable means (2) and with said gas detection means, configured to: -controlling the movement of the movable device (2) and/or the action of the position adjustment mechanism (4) to move the first sampler (5) to the sampling position;
wherein the mobile inspection system further comprises a first measuring device for detecting the position of the tank and/or the contour of the tank to form a first detection result, the first measuring device being in signal connection with the control device, the mobile inspection system further comprises a second measuring device for detecting the sampling position to form a second detection result, the second measuring device being in signal connection with the control device, the measuring accuracy of the first measuring device being lower than the measuring accuracy of the second measuring device, the control device being configured to: and controlling the movable device (2) to move according to the first detection result so that the sampling position enters the detection range of the second measuring device, and controlling the position adjusting mechanism (4) to act according to the second detection result so as to move the first sampler (5) to the sampling position.
2. The mobile inspection system of claim 1, wherein the first measurement device comprises a laser ranging sensor, a regional laser scanner, and/or a camera in signal communication with the control device.
3. The mobile inspection system of claim 1, wherein the second measurement device comprises a monocular camera, a laser ranging sensor, a binocular camera, and/or a lidar.
4. Mobile inspection system according to claim 1, characterized in that the second measuring device is arranged on the first sampler (5) or on a position adjustment mechanism (4).
5. The mobile inspection system of claim 1, wherein the sample detection apparatus further comprises a second sampler provided on the movable device (2) for manually sampling the gas in the tank at a sampling position to obtain a sampled sample, the sample detection section (3) being communicable with the second sampler to detect the sampled sample obtained by the second sampler, the control device being configured to control on-off of the first sampler (5) and the second sampler with the sample detection section (3).
6. A mobile inspection system according to claim 1, characterized in that the first sampler (5) is a suction cup type sampler.
7. A mobile inspection system according to any one of claims 1 to 6, characterized in that the mobile device (2) is a vehicle.
8. A mobile inspection system according to any one of claims 1 to 6, characterized in that the position adjustment mechanism (4) comprises a manipulator in signal connection with the control device, the first sampler (5) being provided at an end of the manipulator.
9. An inspection method using the mobile inspection system according to any one of claims 1 to 8, comprising:
performing radiation inspection on the box body;
controlling the movable device (2) to move and/or the position adjusting mechanism (4) to act so as to move the first sampler (5) to a sampling position to sample the gas in the box and obtain a sampling sample, wherein the sample detecting part (3) detects the sampling sample obtained by the first sampler (5);
wherein controlling the movement of the movable device (2) and/or the action of the position adjustment mechanism (4) to move the first sampler (5) to a sampling position comprises: detecting the position of the box body and/or the outline of the box body to form a first detection result, detecting the sampling position to form a second detection result, controlling the movable device (2) to move according to the first detection result so that the sampling position enters the detection range of a second measuring device for acquiring the second detection result, and controlling the position adjusting mechanism (4) to act according to the second detection result so as to move the first sampler (5) to the sampling position.
10. The inspection method according to claim 9, wherein the container body is a closed container, a gas exchange window is provided on the container, and the first sampler (5) is a suction cup type sampler, and the gas sampling includes using the suction cup type sampler to adsorb the gas at the gas exchange window for gas sampling.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009505.7A CN109521482B (en) | 2019-01-04 | 2019-01-04 | Mobile inspection system and inspection method |
| PCT/CN2020/070309 WO2020140979A1 (en) | 2019-01-04 | 2020-01-03 | Mobile inspection system and inspection method |
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| CN109521482B (en) * | 2019-01-04 | 2024-03-01 | 同方威视技术股份有限公司 | Mobile inspection system and inspection method |
| CN112433259B (en) * | 2019-08-09 | 2022-09-13 | 同方威视技术股份有限公司 | Movable inspection device |
| CN112444555B (en) * | 2019-08-12 | 2022-05-27 | 同方威视技术股份有限公司 | Sampling probe, automatic sampling device and container detection system |
| CN113776900B (en) * | 2020-06-08 | 2022-08-30 | 同方威视技术股份有限公司 | Smell sniffing device and vehicle-mounted security inspection equipment for container |
| CN114689385A (en) * | 2020-12-31 | 2022-07-01 | 同方威视技术股份有限公司 | Movable detection device, system and detection method |
| CN114689390A (en) * | 2020-12-31 | 2022-07-01 | 同方威视技术股份有限公司 | Gas sampling device and sampling method |
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| CN109521482B (en) * | 2019-01-04 | 2024-03-01 | 同方威视技术股份有限公司 | Mobile inspection system and inspection method |
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| CN209342938U (en) * | 2019-01-04 | 2019-09-03 | 同方威视技术股份有限公司 | Mobile inspection system |
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