CN113835131A - Automatic walking type inspection device and automatic vehicle separation method - Google Patents
Automatic walking type inspection device and automatic vehicle separation method Download PDFInfo
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- CN113835131A CN113835131A CN202010579317.0A CN202010579317A CN113835131A CN 113835131 A CN113835131 A CN 113835131A CN 202010579317 A CN202010579317 A CN 202010579317A CN 113835131 A CN113835131 A CN 113835131A
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- 238000007689 inspection Methods 0.000 title claims abstract description 61
- 238000000926 separation method Methods 0.000 title claims abstract description 19
- 230000005855 radiation Effects 0.000 claims abstract description 47
- 238000000034 method Methods 0.000 claims description 26
- 230000003287 optical effect Effects 0.000 description 21
- 239000000523 sample Substances 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 230000000903 blocking effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
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- G01V5/22—
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
Abstract
The invention discloses an automatic walking type inspection device and an automatic vehicle separation method. The self-propelled inspection device includes: an inspection system comprising a radiation device and a detector; a frame on which the radiation device and a detector are disposed, the detector being configured to be able to detect inspection radiation emitted from the radiation device; the frame is provided with a moving device, so that the frame carries the ray device to move under the driving of the moving device and the ray of the ray device moves through at least two detected objects.
Description
Technical Field
The invention relates to the technical field of scanning detection, in particular to an automatic walking type inspection device and an automatic vehicle separation method.
Background
Cargo/vehicle inspection devices based on X-ray radiation source imaging are increasingly widely used in inspection of customs import and export cargo, entry and exit vehicles on land ports, and the like. In consideration of clearance efficiency, users have increasingly demanded inspection efficiency of inspection apparatuses.
Disclosure of Invention
Therefore, the present invention is expected to provide more and more inspection apparatuses with a function of multi-container/vehicle continuous scanning (hereinafter, simply referred to as "multi-vehicle continuous scanning"). The inspection efficiency can be greatly improved by continuously scanning a plurality of vehicles at a time.
However, for subsequent management, the user generally requires one scanned image for each vehicle. Therefore, there is a need for an apparatus and method capable of conveniently providing a scanned image including only one vehicle.
According to an aspect of the present disclosure, there is provided a self-propelled inspection apparatus including: an inspection system comprising a radiation device and a detector; a frame on which the radiation device and a detector are disposed, the detector being configured to be able to detect inspection radiation emitted from the radiation device; the frame is provided with a moving device, so that the frame carries the ray device to move under the driving of the moving device and the ray of the ray device moves through at least two detected objects.
According to an exemplary embodiment of the present disclosure, when the moving device moves the frame to continuously pass through the at least two detected objects, a cart splitting signal is given according to a threshold value of a signal obtained based on the detector, so that each ray scanning image comprises only one detected object of the at least two detected objects.
According to an exemplary embodiment of the present disclosure, the ending of the ray-based scanning procedure is achieved based on a set threshold value between the ray signal data received by the detector and the air data.
According to an exemplary embodiment of the present disclosure, when a difference between the ray signal data obtained by the detector and the air data is within the range of the threshold, it is determined that a fan formed by the beam of rays is passing through an interval between two detected objects of the at least two detected objects, and a state control signal is generated and transmitted to a control system of the inspection apparatus to end the current scanning procedure.
According to an exemplary embodiment of the present disclosure, a timing of restarting a scanning process is determined according to a set stopping distance and a moving speed of the inspection apparatus, thereby generating each of the radiographic images including one detected object.
According to an exemplary embodiment of the present disclosure, the moving device includes a motor and a wheel driven by the motor.
According to an exemplary embodiment of the present disclosure, the at least two detected objects include a container or a van, wherein a spacing between a head and a carriage of the van is smaller than a spacing between the at least two detected objects.
According to another aspect of the present disclosure, there is provided an automatic cart separation method of the self-propelled inspection apparatus as described in any one of the above embodiments, including the steps of: starting a ray device of the inspection system to start ray scanning on one detected object in the at least two detected objects; simultaneously starting a moving device to move the frame, so that the frame moves through each detected object in the at least two detected objects; based on the automatic vehicle separation signal, each ray scanning image including only one of the at least two detected objects is obtained.
According to an exemplary embodiment of the present disclosure, the ending of the ray-based scanning procedure is achieved based on a set threshold value between the ray signal data received by the detector and the air data.
According to an exemplary embodiment of the present disclosure, when the difference between the ray signal data obtained by the detector and the air data is within the range of the threshold, it is determined that the fan formed by the beam of rays is passing through the interval between two detected objects of the at least two detected objects, so as to give a state control signal and transmit it to the control system of the inspection apparatus to end the current scanning procedure.
According to an exemplary embodiment of the present disclosure, a timing of restarting the scanning process is determined according to a set stopping distance and a moving speed of the inspection apparatus, thereby generating each of the radiographic images including one detected object.
Drawings
Other objects and advantages of the present invention will become apparent from the following description of the invention which refers to the accompanying drawings, and may assist in a comprehensive understanding of the invention. In the drawings:
fig. 1 shows a self-propelled inspection apparatus according to a first embodiment of the present invention;
fig. 2 shows a self-propelled inspection apparatus according to a second embodiment of the present invention;
FIG. 3 illustrates an inspected object according to an embodiment of the present invention;
fig. 4 shows a cart separation method of the autonomous walking inspection apparatus according to the first embodiment;
fig. 5 shows a cart separation method of the autonomous walking inspection apparatus according to the second embodiment.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention and should not be construed as limiting the invention.
Furthermore, in the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in schematic form in order to simplify the drawing.
In order to realize that one scanned image only comprises one vehicle, the following two modes can be adopted when multiple vehicles are scanned in succession: the first mode is that in the inspection process, each vehicle is identified and segmented through technical means, so that each time the vehicle is scanned, one X-ray scanning image is generated; the second mode is that in the process of X-ray scanning, all the detected objects generate an X-ray scanning image, and a plurality of scanning image files are generated by processing and splitting files of the X-ray scanning image, so that only one vehicle is included in one scanning image file.
The invention will be explained in more detail below with reference to fig. 1-3.
As shown in fig. 1-2, embodiments of the present application provide a walkie-talkie inspection apparatus 100 that includes an inspection system 10, a frame 20, a movement apparatus 30, and a control system (not shown). The inspection system 10 includes a radiation device 11 and a detector 12. The radiation device 11 provides radiation for inspecting the vehicle, for example, one or more of X-rays, gamma (γ) rays, and neutron rays. The detector 12 is configured to be able to detect radiation emitted from the radiation device 11. The radiation device 11 and the detector 12 are both arranged on the frame 2. The moving device 30 is disposed on the frame 20, such that the lower frame 20 carries the radiation device 11 to move under the driving of the moving device 30 and the radiation of the radiation device 11 moves through at least two detected objects 40. In an embodiment, the moving means 30 comprises a motor 32 and wheels 31 driven by said motor, the wheels 31 being configured to move on a track or a ground surface.
In an embodiment, the radiation device 11 may be an accelerator, an isotope source, an X-ray machine, or the like. The radiation device 11 comprises a radiation source and a collimator, and a beam of radiation emitted from the radiation source after passing through the collimator forms a light emitting surface, such as a sector 111 in fig. 1-2. In an embodiment, the object 40 includes a container, a trunk car, a parcel car, a van, a passenger car with no passenger, or the like.
In the embodiment, the frame 20 includes cross members 21 and longitudinal members 22. As shown in fig. 1-2, the radiation device 11 is arranged near the bottom of the longitudinal beam 22. The detector 12 includes a detector array, which is arranged on the cross beam 21 and/or the longitudinal beam 22 of the frame 20 as required, so as to be able to receive photon signals of the radiation emitted by the radiation device 11 passing through the object 40 to be detected. As shown in fig. 1-2, the detector arrays arranged on the cross beam 21 and the longitudinal beam 22 are arranged in an L shape, the leftmost detector 12 on the cross beam 21 can just directly receive the ray emitted by the ray device 11, the ray passes through the highest point of the detected object 40 and does not penetrate through the detected object 40, and the detected object 40 is entirely located within the range of the sector 111. It will be clear to a person skilled in the art that the position of the radiation device 11 and the detector array, as well as the number of detectors comprised by the detector array, may be adjusted as desired.
In the embodiment shown in fig. 1, the radiation device 11 of the inspection system 100 scans the air and the detector 12 receives and stores data of the radiation beam passing through the air, which data is hereinafter referred to as air data for convenience of description; in inspecting a vehicle, the radiation device 11 scans the vehicle, and the detector 12 receives and stores data of a radiation beam passing through the vehicle, which will be referred to as radiation signal data hereinafter for convenience of description. According to the characteristics of X-ray imaging, the characteristics of photons passing through an object to be detected and directly passing through air are different. Thus, the detector compares the radiation signal data with air data during the scan. When the ray signal data is substantially the same as the air data, the detector 12 determines that the fan 111 of rays is passing the interval between two vehicles, generates a status control signal indicating that the scanning of one vehicle has been completed, and transmits the status control signal to the control system to end the current scanning procedure. In this way, the inspection apparatus 100 can realize that each scanned image includes only one vehicle, thereby facilitating the customer to check his/her vehicle or cargo information and post-query.
In an embodiment, the examination apparatus 100 further sets a suitable threshold value for counteracting fluctuations of the X-ray generation, for example, of the radiation apparatus 11. In the embodiment of fig. 1, when the difference between the radiation signal data obtained by the detector 12 and the air data is outside the range of the threshold, the detector 12 determines that the sector 111 of the radiation is passing a vehicle, and generates a status control signal indicating that a vehicle is being scanned, and transmits the status control signal to the control system of the inspection apparatus 100, which will cause the radiation apparatus 11 to continue scanning. When the difference between the ray signal data obtained by the detector 12 and the air data is within the range of the threshold, the detector 12 determines that the fan 111 of rays is passing through the interval between two vehicles, generates a state control signal indicating that the scanning of one vehicle has been completed, and transmits the state control signal to the control system to end the current scanning procedure. In an embodiment, when detector 12 comprises a detector array, a status control signal indicating that a scan of one vehicle has been completed can only be given when all detectors in the detector array receive radiation signal data that differs from air data by within the threshold value.
In a further embodiment, the control system of the examination apparatus 100 is configured to compare the difference of the radiation signal data and the air data and to control the scanning program of the radiation apparatus 11 in dependence on the comparison result.
In an embodiment, the detector 12 is configured to generate the state control signal in dependence on the intensity of the received probe beam. For example, when a probe beam is received through air, the detector 12 receives a larger number of photons, and the intensity of the probe beam is stronger; and when the probe beam is received through the vehicle, the detector receives a smaller number of photons, and the light intensity of the probe beam is weaker. Accordingly, the inspection apparatus 100 can achieve an effect of automatic separation based on the signal data of the probe beam, thereby avoiding installation of other devices, such as sensors, and thus saving costs.
In an embodiment, the control system is configured to deduce the interval time δ t between two scans from the stopping distance L between two vehicles and the moving speed v (in m/s) of the inspection device. That is, after the control system issues δ t seconds from the previous scanning program end command, the control system starts the next scanning program, and the next scanning program continues the same process as the previous scanning program. For example, the stopping distance is typically greater than 0.5m, which results in an interval δ t of:
δt＝0.5/v。
the above equation is merely exemplary, and those skilled in the art can set the parking distance or the interval time as desired. For example, in the embodiment of an inspection van shown in fig. 3, the stopping distance L needs to be greater than the distance L between the nose and the car of the van in order to avoid generating undesired images.
In embodiments where n vehicles need to be scanned, the same scanning procedure is required n times, so that n scans are completed to generate n scanned images, each including only one vehicle.
In the embodiment shown in fig. 2, the inspection apparatus 100 further comprises an optical sensor 50 disposed on the frame 20. The optical sensor 50 is configured to emit a probe beam to illuminate the vehicle being detected, or to illuminate the air when the detection of one vehicle has been completed and another vehicle has not entered the detection range, thereby providing different feedback signals. As shown in fig. 2, the optical sensor 50 is disposed on the upper portion of the longitudinal beam 22 of the frame and moves together with the radiation device 11 by the driving of the moving device 30. In an embodiment, the detection light surface 511 formed by the light emitted from the optical sensor 50 may be a fan-shaped surface, a rectangular surface, or a three-dimensional light surface. However, in order to ensure that the object is detected without dead angles, the detection plane needs to be larger than the fan-shaped plane emitted by the ray device, as shown in fig. 2.
In the embodiment shown in fig. 2, the optical sensor 50 is configured to: when the probe beam of the optical sensor 50 is irradiated on the space between the two vehicles, a feedback signal indicating that it is in the non-blocking state is issued; when the probe beam of the optical sensor 50 is irradiated on a vehicle, a feedback signal indicating that it is in a blocking state is issued; and transmits the feedback signal to a control system. In an embodiment, the control system is configured to determine that the ray-based scanning procedure is ended when the feedback signal from the optical sensor 50 is changed from being in the occluded state to being in the non-occluded state for the first time. In this way, the inspection apparatus 100 can realize that one scanned image includes only one vehicle.
In an embodiment, the optical sensor 50 may be a sensor dedicated to providing the feedback signal, including for example, but not limited to, a diffuse reflection sensor, a photoelectric switch, a light curtain, a laser sensor, a radar sensor, or a laser scanner.
In an alternative embodiment, the optical sensor 20 may be an optical sensor already included in an existing inspection apparatus, i.e. the function of the optical sensor is provided in an optical sensor already included in an existing inspection apparatus. The optical sensor already included in the existing inspection apparatus includes, for example, a position sensor, a speed sensor, a sensor for extracting a feature of the vehicle, or the like. By means of the arrangement, the scheme disclosed by the invention can avoid the situation that an optical sensor is independently arranged for realizing the automatic car separation effect, saves the space, reduces the complexity of arrangement caused by adding the optical sensor, and reduces the cost.
In the second embodiment, too, the control system is configured to deduce the interval time δ t between two scans from the stopping distance L between two vehicles and the moving speed v (in m/s) of the inspection device, as in the first embodiment. Specific details may be found in relation to the first embodiment.
In an embodiment where n vehicles need to be scanned, the same scanning control program is required n times, so that n scans are completed to generate n scanned images, each including only one vehicle.
An automatic cart separation method of the autonomous walking inspection apparatus of the embodiment of the present application will be described below with reference to fig. 4 and 5. The automatic vehicle separation method comprises the following steps:
(S1) starting the ray device 11 of the inspection system 100 to start the ray scanning of one of the at least two vehicles;
(S2) simultaneously activating a moving device 30 to move the frame 20 such that the frame 20 moves through each of the at least two vehicles;
(S3) obtaining each of the ray-scanned images including only one of the at least two vehicles based on the automatic lane-dividing signal.
For the embodiment shown in fig. 1, the automatic cart splitting method further includes the step before step S1 of: (S0) scanning the air using the ray device, and receiving and storing data of the ray bundle passing through the air using the detector to obtain air data.
For the embodiment shown in fig. 1, the step S3 includes: when the difference between the ray signal data obtained by the detector and the air data is within the range of the threshold value, determining that the fan formed by the beam of rays passes through the interval between two vehicles of the at least two vehicles, and then giving a state control signal and transmitting the state control signal to the control system of the inspection device to finish the current scanning program.
For the embodiment shown in fig. 2, the step S3 includes: when the detection light beam of the optical sensor irradiates on an interval between two vehicles of the at least two vehicles, the feedback of the optical sensor is in a non-blocking state; when the detection light beam of the optical sensor irradiates on one vehicle of the at least two vehicles, the feedback of the optical sensor is in a shielding state, wherein the scanning program of the ray is determined to be ended when the feedback based on the optical sensor is changed from the shielding state to the non-shielding state for the first time.
In an embodiment, the automatic cart distribution method includes, after step S3, the steps of: (S4) the scanning process is started again after an interval time has elapsed. In an embodiment, the moment when the scanning program is restarted is determined based on the set stopping distance L and the moving speed v of the inspection device. As described above, the control system starts the next scanning procedure after δ t seconds from the previous scanning procedure ending command, and the next scanning procedure continues the same procedure as the previous scanning procedure.
In an embodiment, the automatic cart distribution method includes, after step S4, the steps of: (S5) the scanning process is ended until all the vehicles are detected.
Although the above-described embodiments relate to a mobile radiation device, it is clear to the person skilled in the art that an automatic separation can also be carried out in the case of a stationary radiation device by means of modifications or variants to the above-described embodiments.
It will be appreciated by those skilled in the art that the embodiments described above are exemplary and can be modified by those skilled in the art, and that the structures described in the various embodiments can be freely combined without conflict in structure or principle.
Although the present invention has been described in connection with the accompanying drawings, the embodiments disclosed in the drawings are intended to be illustrative of preferred embodiments of the present invention and should not be construed as limiting the invention.
Although a few embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the appended claims and their equivalents.
It should be noted that the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. Furthermore, any reference signs in the claims shall not be construed as limiting the scope of the invention.
Claims (11)
1. A self-propelled inspection device comprising:
an inspection system comprising a radiation device and a detector;
a frame on which the radiation device and a detector are disposed, the detector being configured to be able to detect inspection radiation emitted from the radiation device;
the frame is provided with a moving device, so that the frame carries the ray device to move under the driving of the moving device and the ray of the ray device moves through at least two detected objects.
2. The self-propelled inspection device of claim 1,
when the moving device moves the frame to continuously pass through the at least two detected objects, a cart separation signal is given according to a threshold value of a signal obtained by the detector, so that each ray scanning image comprises only one detected object of the at least two detected objects.
3. The self-propelled inspection device of claim 2,
the end of the ray-based scanning procedure is effected based on a set threshold between the ray signal data received by the detector and the air data.
4. The self-propelled inspection device of claim 3,
and when the difference between the ray signal data obtained by the detector and the air data is within the range of the threshold value, judging that a fan-shaped surface formed by the ray beam passes through the interval between two detected objects in the at least two detected objects, and further generating a state control signal and transmitting the state control signal to a control system of the inspection device to finish the current scanning program.
5. The self-propelled inspection device of claim 4,
and determining the time for restarting the scanning program according to the set stopping distance and the moving speed of the inspection device, thereby generating each ray scanning image comprising one detected object.
6. The autonomous walking inspection apparatus of one of claims 1 to 5,
the moving means includes a motor and a wheel driven by the motor.
7. The self-propelled inspection device of claim 6,
the at least two detected objects comprise containers or vans, wherein the interval between the head and the carriage of the van is smaller than the interval between the at least two detected objects.
8. An automatic cart separation method of the self-propelled inspection apparatus according to any one of claims 1 to 7, comprising the steps of:
starting a ray device of the inspection system to start ray scanning on one detected object in the at least two detected objects;
simultaneously starting a moving device to move the frame, so that the frame moves through each detected object in the at least two detected objects;
based on the automatic vehicle separation signal, each ray scanning image including only one of the at least two detected objects is obtained.
9. The automatic vehicle separation method according to claim 8,
the end of the ray-based scanning procedure is effected based on a set threshold between the ray signal data received by the detector and the air data.
10. The automatic vehicle separation method according to claim 9,
and when the difference between the ray signal data obtained by the detector and the air data is within the range of the threshold value, judging that a fan-shaped surface formed by the ray beam passes through the interval between two detected objects in the at least two detected objects, and giving a state control signal and transmitting the state control signal to a control system of the inspection device to finish the current scanning program.
11. The automated vehicle separation method according to claim 10,
the timing of restarting the scanning program is determined based on the set stopping distance and the moving speed of the inspection apparatus, thereby generating each of the radiographic images including one of the detected objects.
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| CN202010579317.0A CN113835131A (en) | 2020-06-23 | 2020-06-23 | Automatic walking type inspection device and automatic vehicle separation method |
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| CN202010579317.0A CN113835131A (en) | 2020-06-23 | 2020-06-23 | Automatic walking type inspection device and automatic vehicle separation method |
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| CN104374785A (en) * | 2014-11-14 | 2015-02-25 | 北京君和信达科技有限公司 | Continuous pass-type radiation scanning system and method |
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