GB2610515A - Directional-deviation correction device and method for mobile-type radiation inspection apparatus - Google Patents

Directional-deviation correction device and method for mobile-type radiation inspection apparatus Download PDF

Info

Publication number
GB2610515A
GB2610515A GB2217586.3A GB202217586A GB2610515A GB 2610515 A GB2610515 A GB 2610515A GB 202217586 A GB202217586 A GB 202217586A GB 2610515 A GB2610515 A GB 2610515A
Authority
GB
United Kingdom
Prior art keywords
driving wheel
inspection apparatus
radiation inspection
mobile radiation
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.)
Pending
Application number
GB2217586.3A
Other versions
GB202217586D0 (en
Inventor
Jiang Ruixin
Wang Yongming
Meng Defang
Gao Yuxia
Yu Yanwei
Ran Zhansen
Sun Shangmin
Zong Chunguang
Hu Yu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nuctech Co Ltd
Original Assignee
Nuctech Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nuctech Co Ltd filed Critical Nuctech Co Ltd
Publication of GB202217586D0 publication Critical patent/GB202217586D0/en
Publication of GB2610515A publication Critical patent/GB2610515A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/33—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
    • G01N2223/3303—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts object fixed; source and detector move
    • 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
    • G01N23/02—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 by transmitting the radiation through the material
    • G01N23/04—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 by transmitting the radiation through the material and forming images of the material

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Immunology (AREA)
  • Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A directional-deviation correction device and method for a mobile-type radiation inspection apparatus (20), the directional-deviation correction device comprising: direction measurement apparatuses (1,2), the direction measurement apparatuses (1,2) being used for measuring a direction of travel of the mobile-type radiation inspection apparatus (20) and generating a signal indicating the direction of travel; a direction control apparatus (3), the direction control apparatus (3) being used for controlling the direction of travel of the mobile-type radiation inspection apparatus (20), and which comprises a left drive wheel (3A) and a right drive wheel (3B) located at two opposite sides of the mobile-type radiation inspection apparatus (20); and a control unit, the control unit calculating a deviation value between the direction of travel and a preset direction on the basis of the signal received from the direction measurement apparatuses (1, 2), and adjusting a speed difference between the left drive wheel (3A) and the right drive wheel (3B) of the direction control apparatus (3) on the basis of the deviation value, so as to correct the direction of travel to the preset direction.

Description

DIRECTIONAL-DEVIATION CORRECTION DEVICE AND METHOD FOR MOBILE-TYPE RADIATION INSPECTION APPARATUS
CROSS REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to Chinese patent Application No. 202010481930.9, filed on May 29, 2020 to the China National Intellectual Property Administration, the content of which are incorporated herein by reference in their entirety.
1ECHNICAL FIELD
100021 The present disclosure relates to a field of security inspection, and in particular,to a device and a method for correcting a direction for a mobile radiation inspection apparatus.
BACKGROUND
100031 A mobile radiation inspection apparatus used to inspect an inspected object such as a container/cargo vehicle is necessary inspection equipment for customs, a civil aviation 00, airport and a railway station. A mobile radiation inspection apparatus uses the principle of C\J radiation imaging to scan a container/cargo vehicle without the container and cargo vehicle being opened to obtain a perspective image of the cargo in the container/cargo vehicle. A suspicious or prohibited item hidden in the cargo may be found after analysis of the image [0004] During an inspection work, the inspected container/cargo vehicle is parked in a designated region to be inspected, and is scanned by the mobile radiation inspection apparatus. The mobile radiation inspection apparatus reciprocates linearly along a predetermined direction parallel to the inspected container/cargo vehicle during the scanning process.
[0005] However, due to an uneven weight distribution of the mobile radiation inspection apparatus and an uneven ground, a traveling direction of the mobile radiation inspection apparatus may deviate from the predetermined direction parallel to the inspected container/cargo vehicle after several scans. If a direction deviation of the mobile radiation inspection apparatus is not corrected timely, an accident of collision with the inspected container/cargo vehicle may occur.
[0006] In order to correct a deviation of a traveling direction of a mobile radiation inspection apparatus, a traditional mobile radiation inspection apparatus needs to stop scanning after several reciprocating scans, and then an operator corrects the traveling direction of the mobile radiation inspection apparatus to a predetermined direction. This greatly affects the efficiency of the system.
SUMMARY
[0007] An objective of the present disclosure is to solve at least one aspect of the above
problems and defects in the prior art.
[0008] According to the embodiments of one aspect of the present disclosure, there is provided a device for correcting a direction for a mobile radiation inspection apparatus, including: a direction detection apparatus configured to detecting a travel direction of the mobile radiation inspection apparatus and generate a signal indicating the travel direction; a direction control apparatus configured to control the travel direction of the mobile radiation inspection apparatus and including a left driving wheel and a right driving wheel on opposite sides of the mobile radiation inspection apparatus; and a control unit configured to calculate a deviation value between the travel direction and a predetermined direction based on a signal received from the direction detection apparatus, and adjust a speed difference between the left driving wheel and the right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction.
[0009] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the direction detection apparatus includes a laser region sensor configured to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
[0010] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the direction detection apparatus further includes a first reference plate arranged at a first end portion of a scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction, wherein the laser region sensor includes a first laser region sensor arranged at a front portion of the mobile radiation inspection apparatus and used to detect a positional relationship between the travel direction of the mobile radiation inspection apparatus and the first reference plate, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
[0011] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the direction detection apparatus further includes a second reference plate arranged at a second end portion opposite to the first end portion of the scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction, wherein the laser region sensor includes a second laser region sensor arranged at a rear portion of the mobile radiation inspection apparatus and used to detect a positional relationship between the travel direction of the mobile radiation inspection apparatus and the second reference plate, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
[0012] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the first reference plate and/or the second reference plate may be moved in the predetermined direction.
[0013] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the control unit is configured to calculate the deviation value based on the deviation value signal from the laser region sensor, and adjust the speed difference between the left driving wheel and the right driving wheel based on the deviation value, so as to correct the travel direction to the predetermined direction.
[0014] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the deviation value includes a deviation angle and a deviation displacement.
[0015] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the adjusting the speed difference between the left driving wheel and the right driving wheel includes adjusting at least one of the left driving wheel and the right driving wheel.
[0016] In the device for correcting a direction according to an exemplary embodiment of the present disclosure, the adjusting the speed difference between the left driving wheel and the right driving wheel includes adjusting one having a larger load bearing of the left driving wheel and the right driving wheel.
[0017] According to another aspect of the present disclosure, there is further provided a mobile radiation inspection system, including a mobile radiation inspection apparatus and a device for correcting a direction according to the above embodiments.
[0018] According to yet another aspect of the present disclosure, there is further provided a direction correction method for correcting a travel direction for a mobile radiation inspection apparatus, the direction correction method including: step 1: the travel direction of the mobile radiation inspection apparatus is detected and a signal indicating the travel direction is generated; and step 2: a deviation value between the travel direction and a predetermined direction is calculated based on the signal, and a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus is adjusted based on the deviation value, so as to correct the travel direction to the predetermined direction.
[0019] In the direction correction method according to an exemplary embodiment of the present disclosure, the detecting the travel direction of the mobile radiation inspection apparatus includes detecting a positional relationship between the travel direction of the mobile radiation inspection apparatus and a reference plate, and calculating a deviation value between the travel direction of the mobile radiation inspection apparatus and the predetermined direction based on a signal indicating the positional relationship, wherein the reference plate is arranged on at least one end of a scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction.
[0020] In the direction correction method according to an exemplary embodiment of the present disclosure, the deviation value includes a deviation angle and a deviation displacement.
[0021] In the direction correction method according to an exemplary embodiment of the present disclosure, the adjusting a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus includes adjusting at least one of the left driving wheel and the right driving wheel.
[0022] In the direction correction method according to an exemplary embodiment of the present disclosure, the adjusting a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus includes adjusting one having a larger load bearing of the left driving wheel and the right driving wheel.
[0023] In the device and the method for correcting a direction for a mobile radiation inspection apparatus according to the above various embodiments, the direction detection apparatus detects the travel direction of the mobile radiation inspection apparatus, and compares the travel direction with the predetermined direction, and once the mobile radiation inspection apparatus deviates from the predetermined direction, the control unit calculates the deviation value between the current travel direction and the predetermined direction, and adjusts the speed difference between the left driving wheel and the right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction. In this way, the mobile radiation inspection apparatus may perform a reciprocating operation on a correct operation track.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The above and/or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of embodiments in combination with the accompanying drawings. In the drawings: [0025] FIG. 1 is a schematic structural diagram of a mobile radiation inspection system according to an exemplary embodiment of the present disclosure; [0026] FIG. 2 is a schematic working diagram of a mobile radiation inspection system according to an exemplary embodiment of the present disclosure; [0027] FIG. 3 is a positional relationship diagram among a reference plate of a direction detection apparatus of a device for correcting a direction, a mobile radiation inspection system and a predetermined direction according to an exemplary embodiment of the present disclosure; and [0028] FIG. 4 is a flowchart of a method for correcting a direction for a mobile radiation inspection apparatus according to an exemplary embodiment of the present disclosure.
DETAILED DESCRIPTION OF EMBODIMENTS
[0029] The present disclosure is described in detail below. Exemplary embodiments and alternative embodiments of the present disclosure are illustrated in the accompanying drawings. Throughout the description, a same or similar reference sign refers to a same or similar component or a component having a same or similar function. Additionally detailed descriptions of known technologies are omitted if they are not necessary to illustrate features of the present disclosure. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, but should not be construed as limiting the present disclosure.
[0030] It may be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meanings as commonly understood by those of ordinary skill in the art of the present disclosure. It should also be understood that terms, such as those defined in a general dictionary, should be understood to have meanings consistent with meanings thereof in the context of the prior art and, unless specifically defined as herein, should not be interpreted using an idealistic or overly formal meaning.
[0031] It will be understood by those skilled in the art that singular forms "a", "an", "the" and "this" used herein may include plural forms as well, unless expressly stated otherwise. It should be further understood that the expression "include" used in the description of the present disclosure refers to a presence of the stated feature, integer, step, operation, element and/or component, but does not exclude a presence or an addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof [0032] According to the inventive concepts of the present disclosure, there is provided a device for correcting a direction for a mobile radiation inspection apparatus, including: a direction detection apparatus detecting a travel direction of the mobile radiation inspection apparatus and generate a signal indicating the travel direction; a direction control apparatus used to control the travel direction of the mobile radiation inspection apparatus and including a left driving wheel and a right driving wheel on opposite sides of the mobile radiation inspection apparatus: and a control unit calculating a deviation value between the travel direction and a predetermined direction based on a signal received from the direction detection apparatus, and adjusting a speed difference between the left driving wheel and the right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction.
[0033] FIG. I is a schematic structural diagram of a mobile radiation inspection system according to an exemplary embodiment of the present disclosure; and FIG. 2 is a schematic working diagram of a mobile radiation inspection system according to an exemplary embodiment of the present disclosure.
[0034] As shown in FIG. I and FIG. 2, a device for correcting a direction for a mobile radiation inspection apparatus 20 according to the exemplary embodiments of the present disclosure includes: a direction detection apparatus I, 2, a direction control apparatus 3, and a control unit (not shown). The direction detection apparatus 1, 2 is used to detect a travel direction of the mobile radiation inspection apparatus 20 and generate a signal indicating the travel direction. The direction control apparatus 3 is used to control the travel direction of the mobile radiation inspection apparatus 20 and includes a left driving wheel 3A and a right driving wheel 3B on opposite sides of the mobile radiation inspection apparatus 20. The control unit is used to calculate a deviation value between the travel direction and a predetermined direction based on a signal received from the direction detection apparatus 1, 2, and adjust a speed difference between the left driving wheel 3A and the right driving wheel 3B of the direction control apparatus 3 based on the deviation value, so as to correct the travel direction to the predetermined direction.
[0035] In the device for correcting a direction for a mobile radiation inspection apparatus according to the exemplary embodiments of the present disclosure, the direction detection apparatus detects the travel direction of the mobile radiation inspection apparatus 20, and compares the travel direction with the predetermined direction. Once the mobile radiation inspection apparatus 20 deviates from the predetermined direction, the deviation value between the current travel direction and the predetermined direction is calculated by the control unit, and the speed difference between the left driving wheel 3A and the right driving wheel 3B of the direction control apparatus 3 is adjusted based on the deviation value, so as to correct the travel direction to the predetermined direction. In this way, the mobile radiation inspection apparatus 20 may perform a reciprocating operation on a correct operation track.
[0036] In an exemplary embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2, the direction detection apparatus includes laser region sensors 1A, 1B, and the laser region sensors IA, I B generate a deviation value signal indicating a deviation value between the current travel direction and the predetermined direction. Specifically, the laser region sensors IA, IB include a first laser region sensor I A arranged at a front portion of the mobile radiation inspection apparatus 20. The direction detection apparatus further includes a first reference plate 2A arranged at a first end portion of a scanning stroke of the mobile radiation inspection apparatus 20 and perpendicular to the predetermined direction. The first laser region sensor 1A is used to detect a positional relationship between the travel direction of the mobile radiation inspection apparatus 20 and the first reference plate 2A, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction. For example, the first laser region sensor IA may include a transmitter arranged on the mobile radiation inspection apparatus 20, and a receiver located on the first reference plate 2A. The transmitter may emit a horizontal fan-shaped beam 4A forward along the travel direction of the mobile radiation inspection apparatus 20. The receiver is used to receive the fan-shaped beam 4A emitted by the transmitter, and detect a positional relationship between the fan-shaped beam 4A and the first reference plate 2A, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction 00', such as an angle a between a midplane of the fan-shaped beam in the travel direction and the first reference plate 2A, a distance Li between the mobile radiation inspection apparatus 20 and the first reference plate 2A in the travel direction, and a distance L2 between the midplane of the fan-shaped beam within a plane where the first reference plate 2A is located and the predetermined direction 00' (as shown in FIG. 3) are indicated.
[0037] In an exemplary embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2, the laser region sensors may further include a second laser region sensor 1B arranged at a rear portion of the mobile radiation inspection apparatus 20. The direction detecting apparatus further includes a second reference plate 2B arranged at a second end opposite to the first end of the scanning stroke of the mobile radiation inspection apparatus 20 and perpendicular to the predetermined direction. The second laser region sensor 1B is used to detect the positional relationship between the travel direction of the mobile radiation inspection apparatus 20 and the second reference plate 2B, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction. For example, the second laser region sensor 1B may include a transmitter arranged on the mobile radiation inspection apparatus 20, and a receiver located on the second reference plate 2B. The transmitter may emit a fan-shaped beam 4B backward along the travel direction of the mobile radiation inspection apparatus 20. The receiver is used to receive the fan-shaped beam 4B emitted by the transmitter, and detect a positional relationship between the fan-shaped beam 4B and the second reference plate 2B, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction, such as an angle a between a midplane of the fan-shaped beam in the travel direction and the second reference plate 2B, a distance L I between the mobile radiation inspection apparatus 20 and the second reference plate 2B in the travel direction, and a distance L2 between the midplane of the fan-shaped beam within a plane where the second reference plate 2B is located and the predetermined direction 00' (as shown in FIG. 3) are indicated.
[0038] The device for correcting a direction provided according to the exemplary embodiments of the present disclosure may greatly reduce the floor area by arranging the reference plate on at least one end of the scanning stroke of the mobile radiation inspection apparatus 20. Additionally, the laser region sensors are arranged at the front portion and the rear portion of the mobile radiation inspection apparatus 20, and in some situations, the laser region sensors may also be configured to detect obstacles or human body information, so as to achieve functions of anti-collision and region protection. Therefore, an anti-collision sensor and a human body detection sensor do not need to be additionally mounted, thereby saving costs.
[0039] It should be noted that those skilled in the art should understand that in the present disclosure the laser region sensor may also be replaced by any alternative apparatus known or applicable in the art.
[0040] In an exemplary embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2, the first reference plate 2A and the second reference plate 2B may both move in the predetermined direction 00', and in this way, the scanning stroke of the mobile radiation inspection apparatus 20 may be adjusted according to, for example, the quantity of the currently inspected vehicles in the passage, thereby improving the working efficiency Those skilled in the art should understand that, in some other embodiments of the present disclosure, only the first reference plate 2A or the second reference plate 2B may be moved in the predetermined direction 00'.
[0041] In an exemplary embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2, the control unit calculates a deviation value based on a deviation value signal from the laser region sensors 1A, IB. Here, the deviation value includes a deviation angle 90°-a and a deviation distance L3 (as shown in FIG. 3), and the speed difference between the left driving wheel 3A and the right driving wheel 3B is adjusted based on the deviation value, so as to correct the travel direction to the predetermined direction 00'. The deviation value signal may include deviation value signals from both of the first laser region sensor 1A and the second laser region sensor 1B, so as to improve accuracy It should be noted that in some other embodiments of the present disclosure, only the deviation value signal from the first laser region sensor IA or the second laser region sensor I B may be used.
[0042] In an exemplary embodiment of the present disclosure, as shown in FIG. I and FIG. 2, when the control unit adjusts the speed difference between the left driving wheel 3A and the right driving wheel 3B based on the deviation value signals from the sensors 1A, 1B, it may adjust the left driving wheel 3A and the right driving wheel 3B at the same time. This situation is especially suitable for a case of a large deviation. Those skilled in the art may also understand that in some other embodiments of the present disclosure, only one of the left driving wheel 3A and the right driving wheel 3B may be adjusted, for example, the one having a larger load bearing of the left driving wheel 3A and the right driving wheel 3B (usually, the one having a larger load bearing is a main driving wheel, while the one having a smaller load bearing is a slave driving wheel). Due to the stress of the device itself, the accelerator cabin and two sides of the detector protective wall of the mobile radiation inspection apparatus 20 are not coplanar, and therefore, this will affect the image data. The stress may be effectively reduced by adjusting one of the left driving wheel 3A and the right driving wheel 3B, thereby improving the image quality.
[0043] In an exemplary embodiment of the present disclosure, the mobile radiation inspection apparatus 20 may switch the main driving wheel and the slave driving wheel according to a change of the travel direction.
[0044] According to another aspect of the present disclosure, there is further provided a mobile radiation inspection system 100. The mobile radiation inspection system 100 includes the mobile radiation inspection apparatus 20 and the device for correcting a direction described above.
[0045] According to yet another aspect of the present disclosure, as shown in FIG. 4, there is further provided a direction correction method for correcting a travel direction of the mobile radiation inspection apparatus 20. The direction correction method includes: [0046] S I: the travel direction of the mobile radiation inspection apparatus 20 is detected and a signal indicating the travel direction is generated; and [0047] S2: a deviation value between the travel direction and a predetermined direction is calculated based on the signal, and a speed difference between a left driving wheel 3A and a right driving wheel 3B of the direction control apparatus 3 is adjusted based on the deviation value, so as to correct the travel direction to the predetermined direction 00'.
[0048] Tn an exemplary embodiment of the present disclosure, in S I, the detecting the traveling direction of the mobile radiation inspection apparatus 20 includes detecting a positional relationship between the travel direction of the mobile radiation inspection apparatus 20 and the reference plates 2A, 2B, and calculating a deviation value between the travel direction of the mobile radiation inspection apparatus 20 and the predetermined direction 00' based on a signal indicating the positional relationship. The reference plates 2A, 2B are arranged on at least one end of the scanning stroke of the mobile radiation inspection apparatus 20 and perpendicular to the predetermined direction 00'. Here, the deviation value includes a deviation angle and a deviation displacement.
[0049] In an exemplary embodiment of the present disclosure, in S2, when the speed difference between the left driving wheel 3A and the right driving wheel 3B is adjusted, the left driving wheel 3A and the right driving wheel 3B may be adjusted at the same time. This situation is especially suitable for a case of a severe deviation. Those skilled in the art may also understand that in some other embodiments of the present disclosure, only one of the left driving wheel 3A and the right driving wheel 3B may be adjusted, for example, the one having a larger load bearing of the left driving wheel 3A and the right driving wheel 3B. Due to the stress of the device itself, the accelerator cabin and two sides of the detector protective wall of the radiation inspection system are not coplanar, and therefore, this will affect the image data. The stress may be effectively reduced by adjusting one having a larger load bearing of the left driving wheel 3A and the right driving wheel 3B, thereby improving the image quality.
[0050] In an exemplary embodiment of the present disclosure, the speed may also be adjusted in stages according to the deviation situation of the mobile radiation inspection apparatus 20. For example, when the deviation angle and/or the deviation displacement are/is relatively large, the speed may be adjusted by a large margin, while when the deviation angle and/or the deviation displacement are/is relatively small, the speed may be adjusted by a small margin. This may improve the accuracy and working efficiency of a direction correction.
[0051] Those skilled in the art should conceive that various technical features of the exemplary embodiments and alternative embodiments provided according to the present disclosure may be arbitrarily combined with one another or with other additional technical features without conflicting with one another.
[0052] In the device and the method for correcting a direction for a mobile radiation inspection apparatus according to the above various embodiments, the direction detection apparatus detects the travel direction of the mobile radiation inspection apparatus, and compares the travel direction with the predetermined direction, and once the mobile radiation inspection apparatus deviates from the predetermined direction, the control unit calculates the deviation value between the current travel direction and the predetermined direction, and adjusts the speed difference between the left driving wheel and the right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction. In this way, the mobile radiation inspection apparatus may perform a reciprocating operation on a correct operation track. Additionally, the floor area may be reduced by arranging the reference plate on at least one end of the predetermined direction of the mobile radiation inspection apparatus. Further, as tracks and steel wheels are omitted for this device for correcting a direction, construction is not required. This reduces the construction costs, and achieves a quick deployment. The costs and time of a device transfer are greatly reduced.
[0053] In the description of the present disclosure, it should be understood that an orientation or positional relationship indicated by the term such as "center", "upper", "lower", "front", -rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" is based on the orientation or positional relationship shown in the drawings, is only to facilitate description of the present disclosure and simplify the description, and is not to indicate or imply that an indicated apparatus or element is necessary to have a particular orientation or to be constructed and operated in a particular orientation. Therefore, it should not be construed as limiting the present disclosure.
[0054] The term "First" or second' is only used for descriptive purposes, and should not be construed as indicating or implying a relative importance or implicitly indicating a quantity of an indicated technical feature. Therefore, a feature defined with "first" or "second" may expressly or implicitly include one or more of this feature. In the description of the present disclosure, unless stated otherwise, "plurality" means two or more.
[0055] The above exemplary embodiments and alternative embodiments of the present disclosure only exemplarily illustrate the solutions and effects of the present disclosure, but are not intended to limit the present disclosure. Those skilled in the art should understand that without departing from the spirit and scope of the present disclosure, any modification and improvement made to the present disclosure within the scope of the present disclosure. The protection scope of the present disclosure should be defined by the scope of the patent application of the present disclosure.

Claims (15)

  1. What is claimed is: I. A device for correcting a direction for a mobile radiation inspection apparatus, comprising: a direction detection apparatus configured to detect a travel direction of the mobile radiation inspection apparatus and generate a signal indicating the travel direction; a direction control apparatus configured to control the travel direction of the mobile radiation inspection apparatus and comprising a left driving wheel and a right driving wheel on opposite sides of the mobile radiation inspection apparatus; and a control unit configured to calculate a deviation value between the travel direction and a predetermined direction based on a signal received from the direction detection apparatus, and adjust a speed difference between the left driving wheel and the right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction.
  2. 2. The device for correcting a direction according to claim 1, wherein the direction detection apparatus comprises a laser region sensor configured to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
  3. 3. The device for correcting a direction according to claim 2, wherein the direction detection apparatus further comprises a first reference plate arranged at a first end portion of a scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction, wherein the laser region sensor comprises a first laser region sensor arranged at a front portion of the mobile radiation inspection apparatus and configured to detect a positional relationship between the travel direction of the mobile radiation inspection apparatus and the first reference plate, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
  4. 4. The device for correcting a direction according to claim 3, wherein the direction detection apparatus further comprises a second reference plate arranged at a second end portion opposite to the first end portion of the scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction, wherein the laser region sensor comprises a second laser region sensor arranged at a rear portion of the mobile radiation inspection apparatus and configured to detect a positional relationship between the travel direction of the mobile radiation inspection apparatus and the second reference plate, so as to generate a deviation value signal indicating a deviation value between the travel direction and the predetermined direction.
  5. 5. The device for correcting a direction according to claim 4, wherein the first reference plate and/or the second reference plate are movable to adjust a length of the scanning stroke of the mobile radiation inspection apparatus.
  6. 6. The device for correcting a direction according to claim 2, wherein the control unit is configured to calculate the deviation value based on the deviation value signal from the laser region sensor, and adjust the speed difference between the left driving wheel and the right driving wheel based on the deviation value so as to correct the travel direction to the predetermined direction.
  7. 7. The device for correcting a direction according to claim 2, wherein the deviation value comprises a deviation angle and a deviation displacement.
  8. 8. The device for correcting a direction according to any one of claims 1-7, wherein the adjusting the speed difference between the left driving wheel and the right driving wheel comprises adjusting at least one of the left driving wheel and the right driving wheel.
  9. 9. The device for correcting a direction according to claim 8, wherein the adjusting the speed difference between the left driving wheel and the right driving wheel comprises adjusting one having a larger load bearing of the left driving wheel and the right driving wheel.
  10. 10. A mobile radiation inspection system, comprising a mobile radiation inspection apparatus and a device for correcting a direction according to any one of claims 1-9.
  11. 11. A direction correction method for correcting a travel direction for a mobile radiation inspection apparatus, the direction correction method comprising: step I: detecting the travel direction of the mobile radiation inspection apparatus and generating a signal indicating the travel direction; and step 2: calculating a deviation value between the travel direction and a predetermined direction based on the signal, and adjusting a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus based on the deviation value, so as to correct the travel direction to the predetermined direction.
  12. 12. The direction correction method according to claim 11, wherein the detecting the travel direction of the mobile radiation inspection apparatus comprises detecting a positional relationship between the travel direction of the mobile radiation inspection apparatus and a reference plate, and calculating a deviation value between the travel direction of the mobile radiation inspection apparatus and the predetermined direction based on a signal indicating the positional relationship, wherein the reference plate is arranged on at least one end of a scanning stroke of the mobile radiation inspection apparatus and perpendicular to the predetermined direction.
  13. 13. The direction correction method according to claim 12, wherein the deviation value comprises a deviation angle and a deviation displacement.
  14. 14. The direction correction method according to any one of claims 11-13, wherein the adjusting a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus comprises adjusting at least one of the left driving wheel and the right driving wheel.
  15. 15. The direction correction method according to any one of claims I I -13, wherein the adjusting a speed difference between a left driving wheel and a right driving wheel of the direction control apparatus comprises adjusting one having a larger load bearing of the left driving wheel and the right driving wheel.
GB2217586.3A 2020-05-29 2021-05-25 Directional-deviation correction device and method for mobile-type radiation inspection apparatus Pending GB2610515A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010481930.9A CN113759305A (en) 2020-05-29 2020-05-29 Direction correcting device and method for movable radiation inspection device
PCT/CN2021/095809 WO2021238918A1 (en) 2020-05-29 2021-05-25 Directional-deviation correction device and method for mobile-type radiation inspection apparatus

Publications (2)

Publication Number Publication Date
GB202217586D0 GB202217586D0 (en) 2023-01-11
GB2610515A true GB2610515A (en) 2023-03-08

Family

ID=78745617

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2217586.3A Pending GB2610515A (en) 2020-05-29 2021-05-25 Directional-deviation correction device and method for mobile-type radiation inspection apparatus

Country Status (4)

Country Link
CN (1) CN113759305A (en)
GB (1) GB2610515A (en)
PL (1) PL442983A1 (en)
WO (1) WO2021238918A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114797192B (en) * 2022-05-23 2024-02-06 宝武集团鄂城钢铁有限公司 Oblique running early warning and correcting method and system for dual-motor traveling mud scraper

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201016939Y (en) * 2007-02-16 2008-02-06 清华同方威视技术股份有限公司 Direction error-correcting equipment and mobile radiation checking system
CN101246133A (en) * 2007-02-16 2008-08-20 同方威视技术股份有限公司 Direction correcting device and method and mobile radiation checkout system
CN101885350A (en) * 2010-07-15 2010-11-17 南京航空航天大学 Adaptive tracking control method of paths of comprehensive automatic guided vehicle
CN102095421A (en) * 2007-02-16 2011-06-15 同方威视技术股份有限公司 Direction deviation correction equipment and method and mobile radiation inspection system
US20120195403A1 (en) * 2011-01-31 2012-08-02 University Of Massachusetts Tomosynthesis imaging
CN109394095A (en) * 2018-10-23 2019-03-01 珠海市微半导体有限公司 A kind of control method, chip and the clean robot of the offset of robot motion's carpet

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4760207B2 (en) * 2005-08-09 2011-08-31 日産自動車株式会社 Travel control device
CN106200647A (en) * 2016-08-30 2016-12-07 北京华力兴科技发展有限责任公司 Automated navigation system and automatic navigation method
CN106970629B (en) * 2017-05-22 2020-03-03 北京京东尚科信息技术有限公司 Control method and device for automated guided vehicle
CN107943020B (en) * 2017-10-17 2021-07-23 上海辛格林纳新时达电机有限公司 Automatic deviation rectifying method for tire crane cart
CN108344986B (en) * 2018-01-23 2024-07-26 天津市计量监督检测科学研究院 Automatic verification system and verification method for handheld laser range finder
CN109857103B (en) * 2019-01-22 2023-04-07 秦皇岛天业通联重工科技有限公司 Control method, device and system for automatically driving vehicle
CN110006404A (en) * 2019-04-15 2019-07-12 深圳市卫飞科技有限公司 A kind of las er-guidance robot system and its guidance method
CN110509781A (en) * 2019-08-13 2019-11-29 深兰科技（上海）有限公司 A kind of method and device that control mobile device is advanced

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201016939Y (en) * 2007-02-16 2008-02-06 清华同方威视技术股份有限公司 Direction error-correcting equipment and mobile radiation checking system
CN101246133A (en) * 2007-02-16 2008-08-20 同方威视技术股份有限公司 Direction correcting device and method and mobile radiation checkout system
CN102095421A (en) * 2007-02-16 2011-06-15 同方威视技术股份有限公司 Direction deviation correction equipment and method and mobile radiation inspection system
CN101885350A (en) * 2010-07-15 2010-11-17 南京航空航天大学 Adaptive tracking control method of paths of comprehensive automatic guided vehicle
US20120195403A1 (en) * 2011-01-31 2012-08-02 University Of Massachusetts Tomosynthesis imaging
CN109394095A (en) * 2018-10-23 2019-03-01 珠海市微半导体有限公司 A kind of control method, chip and the clean robot of the offset of robot motion's carpet

Also Published As

Publication number Publication date
GB202217586D0 (en) 2023-01-11
PL442983A1 (en) 2023-08-28
CN113759305A (en) 2021-12-07
WO2021238918A1 (en) 2021-12-02

Similar Documents

Publication Publication Date Title
US10315697B2 (en) Vehicle comprising a manoeuvring system
US11836947B2 (en) System for calibrating a vehicle camera
US9817149B2 (en) Vehicle inspection system
CN108592797B (en) Dynamic measurement method and system for vehicle overall dimension and wheel base
WO2019214324A1 (en) Safety inspection system
EP3290963B1 (en) Movable divided inspection system and method
US20180322358A1 (en) Vehicle type recognition method and fast vehicle checking system using the same method
CN109682842B (en) Train checking system and checking method
EP2988151B1 (en) Vehicle inspection system
US9158027B2 (en) Mobile scanning systems
KR101970747B1 (en) A crane coil loading and unloading control system
NL2024027B1 (en) Security inspection apparatus and security inspection method
US20130030685A1 (en) Method for detecting and evaluating a plane
CN108614302A (en) Radiation checking system
MX2013011762A (en) Container handler alignment system and method.
JP2013213830A (en) Alignment method and system for radar of vehicle
US9783366B2 (en) Vehicle dragging system and vehicle inspection system
GB2610515A (en) Directional-deviation correction device and method for mobile-type radiation inspection apparatus
AU2015215846A1 (en) Automotive milling machine, as well as method for discharging milled material
CN104777520A (en) Automatic moving target checking system based on laser scanner
GB2593087A (en) Train identification system and method thereof, train safety inspection system and method thereof
CN112834239B (en) AEBS offline detection method and system
US20230243763A1 (en) Movable detection device and detection method
CN108317997A (en) Vibration detecting system based on the rail vehicle of video analysis in tunnel
US11822040B2 (en) Security scanning inspection system and method

Legal Events

Date Code Title Description
789A Request for publication of translation (sect. 89(a)/1977)

Ref document number: 2021238918

Country of ref document: WO