CN111090124A - Movable safety inspection equipment - Google Patents
Movable safety inspection equipment Download PDFInfo
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- CN111090124A CN111090124A CN201911186062.5A CN201911186062A CN111090124A CN 111090124 A CN111090124 A CN 111090124A CN 201911186062 A CN201911186062 A CN 201911186062A CN 111090124 A CN111090124 A CN 111090124A
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- mobile robot
- rocker arm
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- 238000007689 inspection Methods 0.000 title claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/005—Prospecting or detecting by optical means operating with millimetre waves, e.g. measuring the black losey radiation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
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- High Energy & Nuclear Physics (AREA)
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Abstract
The invention provides a mobile safety inspection device, which comprises a mobile robot, a rocker arm, an imaging module, a data board, a main control board and a tablet personal computer, wherein the rocker arm is arranged on the mobile robot; the mobile safety inspection equipment is based on a mobile robot, and can quickly complete the scanning of an inspected object by utilizing a speed relation formula between the mobile robot and a rocker arm and a special algorithm; the equipment is convenient to move, local imaging can be carried out on a characteristic region and any angle, and the flexibility and the practicability of the security inspection imaging technology are greatly improved.
Description
Technical Field
The invention relates to the technical field of security inspection and protection, in particular to a mobile security inspection device.
Background
The security inspection is an important means for discovering and eliminating accident potential, implementing safety measures and preventing accidents, is an effective form for starting the public to do good with safety production, and is an effective form for conducting intensive investigation and research on factors of objects such as machinery, electricity, instruments and equipment and factors of people to discover unsafe factors and eliminate accident potential, namely, various factors which are possible to cause accidents are eliminated in a bud state to achieve protection in the bud state.
At present, the safety detection means widely used for human bodies in public places such as airports, stations and the like are mainly detection equipment such as metal detectors, ion mobility spectrometers, X-ray detectors and the like. The portable type solar water heater has the defects of large integral occupied area, fixed use method, time and labor waste in installation and poor portability.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a mobile security inspection apparatus.
The invention is realized by the following technical scheme:
a mobile safety inspection device comprises a mobile robot, a rocker arm, an imaging module, a data board, a main control board and a tablet computer; the mobile robot comprises a machine body, a wheel assembly, a driving motor, a steering motor and a sensor, wherein the wheel assembly, the driving motor and the steering motor are all located at the bottom of the machine body, the machine body is cylindrical, the sensor is arranged on the outer wall of the machine body, the sensor comprises an optical sensor and a pressure sensor, the optical sensor and the pressure sensor are all electrically connected with a main control board, and the rocker arm is fixed at the central position right above the mobile robot.
Further, the rocker arm comprises a movable arm, a rotating base, a coupler, a rotating motor and a connecting plate; the movable arm is movably connected with the rotating base, and the rotating base is fixedly connected with the connecting plate; rotating shafts are arranged on the left side and the right side of the movable arm, and rotating shaft holes matched with the rotating shaft bosses are formed in the rotating base; the coupling joint the pivot and the rotating electrical machines of digging arm, the rotating electrical machines is used for the drive the digging arm is rotatory, the digging arm end is equipped with the screw hole group that is used for ann imaging module, the central point that the connecting plate was fixed at mobile robot upper surface puts.
Further, when the speed of the mobile robot is constant, the data acquisition is effective, and V is a fixed value; movement V of the rocker arm1And 3-segment speed matching algorithm is constructed by adopting a segment parabola.
Further, the speed function of the acceleration phase is:
further, the speed function at the uniform speed stage is as follows:
further, the speed function of the deceleration phase is:
further, V1Is the rotational speed of the rocker arm, amaxMaximum acceleration set for the system, tmAcceleration time, t is time.
Further, the acceleration and deceleration algorithm is implemented on the rotating electrical machine by discretizing the angular velocity curve, and discretizing the angular velocity curve at equal intervals of the sampling period T.
The invention has the beneficial effects that:
the mobile safety inspection equipment provided by the invention can quickly complete the scanning of the inspected object by utilizing a speed relation formula between the mobile chassis and the rocker arm and a special algorithm based on the movable chassis. The equipment is convenient to move, local imaging can be carried out on a characteristic area and any angle, the flexibility and the practicability of a security inspection imaging technology are greatly improved, and the equipment can be utilized to carry out key investigation on positions where contraband articles are possibly hidden, so that the security inspection accuracy is improved.
The mobile safety inspection equipment provided by the invention greatly reduces the volume and weight of the safety inspection equipment, is suitable for inspection including but not limited to personnel, luggage, mail packages, carton letters and the like, and can be widely applied to various scenes such as drug detection, smuggling inspection, inspection and quarantine and the like; the equipment has high automation degree, is convenient to carry and operate, and greatly reduces the labor intensity of operators.
Drawings
Fig. 1 is a schematic structural diagram of a mobile security inspection apparatus provided in this embodiment;
wherein: the system comprises a mobile robot 1, a rocker 2, an imaging module 3, a data board 4, a main control board 5, a machine body 11, a wheel assembly 12, a driving motor 13, a steering motor 14, a sensor 15, a movable arm 21, a rotating base 22, a coupling 23, a rotating motor 24 and a connecting board 25.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
a mobile safety inspection device is shown in figure 1 and comprises a mobile robot 1, a rocker arm 2, an imaging module 3, a data board 4, a main control board 5 and a tablet personal computer; the rocker arm is fixed at the center position right above the mobile robot, the imaging module is fixed at the tail end of the rocker arm, the data board is electrically connected with the imaging module and fixed at the tail end of the rocker arm, and the data board is electrically connected with the main control board and used for uploading image data; the main control board is embedded in the mobile robot, and the tablet personal computer is in wireless connection with the main control board and is used for receiving and displaying an image of the inspected object generated by the imaging module after being acquired by the data board through the algorithm processing of the main control board;
the mobile robot comprises a robot body 11, wheel assemblies 12, a driving motor 13, a steering motor 14 and a sensor 15, wherein the wheel assemblies, the driving motor and the steering motor are all positioned at the bottom of the robot body; the fuselage is cylindrical, is provided with on the outer wall the sensor, the sensor includes optical sensor and pressure sensor to detect the fuselage and the distance of barrier on every side and the pressure that produces when colliding, optical sensor and pressure sensor all are connected with the main control board electricity, send the distance value and the pressure value that detect for the main control board.
The rocker arm comprises a movable arm 21, a rotating base 22, a coupler 23, a rotating motor 24 and a connecting plate 25; the movable arm is movably connected with the rotating base, and the rotating base is fixedly connected with the connecting plate; rotating shafts are arranged on the left side and the right side of the movable arm, and rotating shaft holes matched with the rotating shaft bosses are formed in the rotating base; the coupling joint the pivot and the rotating electrical machines of digging arm, the rotating electrical machines is used for the drive the digging arm is rotatory, the digging arm end is equipped with the screw hole group that is used for ann imaging module, the central point that the connecting plate was fixed at mobile robot upper surface puts.
The imaging module comprises but is not limited to a high-definition camera, an X-ray imaging system, a terahertz imaging system, a millimeter wave imaging system, an infrared imaging system and the like.
Example 2:
the rocker arm is not free from vibration and impact in the process of starting, stopping and rotating continuously, so that an image generates an artifact in the shooting process, and the definition of the image is reduced. Therefore, careful research is required to achieve smooth actuation of the rocker arm and reduce vibration. Because the imaging system needs the motor to drive to rotate, in the frequent starting and stopping process of the motor, in order to realize smooth starting and no impact, the acceleration and deceleration algorithm of the motor needs to be researched.
In order to realize the stable speed and no impact of the rocker arm and match the speed V of the mobile robot, the speed of the mobile robot is an effective stage of data acquisition when the speed is constant, and V is a fixed value at the moment; movement V of the rocker arm1And 3-stage speed matching algorithm is constructed by adopting a segmented parabola so as to realize data acquisition in the motion process.
Wherein the speed function during the acceleration phase is:
the speed function at the uniform speed stage is as follows:
the speed function of the deceleration phase is:
in the formula，V1Is the rotational speed of the rocker arm, amaxMaximum acceleration set for the system, tmAcceleration time, t is time.
The acceleration/deceleration algorithm is implemented on the rotating electrical machine by discretizing the angular velocity curve and discretizing the angular velocity curve at equal intervals of the sampling period T. Because the floating point of the algorithm is high, in order to make the operation speed fast, the speed value corresponding to each time discrete point nT needs to be stored in a register to form a speed table, and the speed value can be determined only by looking up the table during operation, so that the operation of the motor according to the set acceleration and deceleration curve can be realized.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (8)
1. The mobile safety inspection equipment is characterized by comprising a mobile robot, a rocker arm, an imaging module, a data board, a main control board and a tablet personal computer; the mobile robot comprises a machine body, a wheel assembly, a driving motor, a steering motor and a sensor, wherein the wheel assembly, the driving motor and the steering motor are all located at the bottom of the machine body, the machine body is cylindrical, the sensor is arranged on the outer wall of the machine body, the sensor comprises an optical sensor and a pressure sensor, the optical sensor and the pressure sensor are all electrically connected with a main control board, and the rocker arm is fixed at the central position right above the mobile robot.
2. The apparatus of claim 1, wherein the rocker arm comprises a moveable arm, a rotating base, a coupling, a rotating motor, and a connecting plate; the movable arm is movably connected with the rotating base, and the rotating base is fixedly connected with the connecting plate; rotating shafts are arranged on the left side and the right side of the movable arm, and rotating shaft holes matched with the rotating shaft bosses are formed in the rotating base; the coupling joint the pivot and the rotating electrical machines of digging arm, the rotating electrical machines is used for the drive the digging arm is rotatory, the digging arm end is equipped with the screw hole group that is used for ann imaging module, the central point that the connecting plate was fixed at mobile robot upper surface puts.
3. The device according to any one of claims 1 or 2, wherein the speed of the mobile robot is a constant speed, which is an effective stage of data acquisition, and V is a fixed value; movement V of the rocker arm1And 3-segment speed matching algorithm is constructed by adopting a segment parabola.
4. The apparatus of claim 3, wherein the speed function of the acceleration phase is:
5. the apparatus of claim 3, wherein the speed function of the uniform speed stage is:
6. the apparatus of claim 4, wherein the speed function of the deceleration phase is:
7. an apparatus according to any of claims 4-6, characterized in that V1Is the rotational speed of the rocker arm, amaxMaximum acceleration set for the system, tmAcceleration time, t is time.
8. The apparatus according to any of claims 3-7, wherein the acceleration and deceleration algorithm is implemented on the rotating machine by discretizing the angular velocity profile, which is discretized at equal intervals of the sampling period T.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911186062.5A CN111090124A (en) | 2019-11-27 | 2019-11-27 | Movable safety inspection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911186062.5A CN111090124A (en) | 2019-11-27 | 2019-11-27 | Movable safety inspection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111090124A true CN111090124A (en) | 2020-05-01 |
Family
ID=70393199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911186062.5A Withdrawn CN111090124A (en) | 2019-11-27 | 2019-11-27 | Movable safety inspection equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111090124A (en) |
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2019
- 2019-11-27 CN CN201911186062.5A patent/CN111090124A/en not_active Withdrawn
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Application publication date: 20200501 |