WO2004036201A1 - Systeme de controle d'un contenant mobile - Google Patents

Systeme de controle d'un contenant mobile Download PDF

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Publication number
WO2004036201A1
WO2004036201A1 PCT/CN2003/000863 CN0300863W WO2004036201A1 WO 2004036201 A1 WO2004036201 A1 WO 2004036201A1 CN 0300863 W CN0300863 W CN 0300863W WO 2004036201 A1 WO2004036201 A1 WO 2004036201A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
cantilever
box
chassis
scanning
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.)
Ceased
Application number
PCT/CN2003/000863
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English (en)
French (fr)
Inventor
Kejun Kang
Wenhuan Gao
Yinong Liu
Yuanjing Li
Jianmin Li
Chuanxiang Tang
Junli Li
Hua Peng
Quanwei Song
Shuxiong Cao
Liwei Song
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.)
Tsinghua University
Nuctech Co Ltd
Original Assignee
Tsinghua University
Nuctech Co Ltd
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Publication date
Application filed by Tsinghua University, Nuctech Co Ltd filed Critical Tsinghua University
Priority to AU2003275515A priority Critical patent/AU2003275515A1/en
Publication of WO2004036201A1 publication Critical patent/WO2004036201A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G01N23/06—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 measuring the absorption
    • G01N23/083—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 measuring the absorption the radiation being X-rays
    • 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
    • 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

Definitions

  • drag container inspection systems have been available since the early 1990s, such as the large container inspection systems produced by German Hyman and British Aerospace. They are in an inspection channel capable of shielding radiation. They are equipped with a stationary radiation source capable of generating high-energy X-rays and an array detector capable of receiving X-rays passing through the container. Container vehicles are towed across the inspection aisle. When the container passes in the X-ray beam, the X-rays transmitted through the container are transmitted to the detector, and the density distribution of the objects in the box is reflected according to its intensity change, and the intensity of the ray is converted into the image gray level to obtain the box. A perspective image of the contents inside.
  • Chinese patent ZL99253458.5 patent technology discloses a "two-car mobile container detection device using an accelerator as a radiation source", which is to arrange the whole set of equipment on two chassis vehicles, and the staff works on one vehicle
  • the main inspection equipment is in another In a car, you can achieve a comfortable working environment for personnel.
  • the technology cannot inspect the chassis of the vehicle, and the inspection range is narrow.
  • the scan vehicle does not have a generator, which limits the use of the device.
  • two vehicles When used in any environment, two vehicles must be put into use at the same time. Difficulty in layout when used.
  • the object of the present invention is to provide a vehicle-mounted mobile container inspection system that can inspect the vehicle chassis and expand the inspection scope.
  • the system is composed of two vehicles, which can be used in normal circumstances, and can be used in an emergency.
  • a vehicle-mounted mobile container inspection system is provided.
  • a rotatable platform is provided at the rear of the chassis of the scanning vehicle, and a parallelogram bracket composed of a four-link mechanism is provided on the rotary platform.
  • the horizontal link of the quadrangular bracket extends to the side as a first cantilever with a detector, the first cantilever is connected to the top of the second cantilever at an end remote from the parallelogram bracket, and the container inspection system further includes: :
  • the second box-shaped cabin is set in the upper part of the third box-shaped cabin
  • the control device for the radiation source is set in the second box-shaped cabin
  • the third box-shaped cabin is set under the slewing platform
  • the radiation source is set in this section
  • the slewing platform When the container is inspected, the slewing platform is rotated 90 degrees by its slewing drive device, and the second cantilever is rotated to a vertical position.
  • the parallelogram bracket, the first cantilever and the second cantilever form a gantry
  • the X-ray formed fan surface is behind the chassis and is coplanar with the first and second cantilevers.
  • the first box-shaped cabin is further provided with a generator and its control device.
  • it further includes a control vehicle, which includes an image acquisition module, an operation inspection module, a generator and a control device thereof.
  • the chassis is the chassis of a general purpose truck.
  • the container inspection system of the present invention includes a control vehicle for installing system operation control and image inspection equipment, and a scanning vehicle for installing all inspection equipment.
  • the scanning vehicle further includes three box-shaped cabins, and a generator is installed in the first box-shaped cabin. It can guarantee continuous work, thereby ensuring that the scanning vehicle can work normally alone under the condition of commercial power interruption or where there is no commercial power supply, providing the ability to work around the clock.
  • a working room is installed in the first box gun of the control car and the scanning car, so the operator can operate in a sufficiently ideal working environment regardless of the inspection work in any place.
  • the radiation source is installed below the slewing platform, the height of the radiation source is reduced.
  • the angle of the radiation source the radiation can be ensured to pass through the chassis and part of the tire of the container truck, and the scanning range is increased.
  • system of the present invention is simple in arrangement and has no special requirements on the vehicle chassis. Therefore, a general-purpose commercial chassis can be adopted, which fundamentally guarantees that the characteristics of the vehicle can reach the characteristics of the general-purpose truck and improves the versatility of the product.
  • FIG. 1A is a structural installation diagram of the scanning vehicle 1;
  • FIG. 1B is a structural installation diagram of the control car 11
  • FIG. 2 is a rear view of the working state of the scanning vehicle in FIG. 1;
  • FIG. 3 is a top view of the working state of the scanning cart in FIG. 1.
  • the second box gun 7 is placed on the upper part of the third box gun 6.
  • a control device for the radiation source is installed in the second box gun 7.
  • a radiation source is installed in the third box-shaped cabin 6 and placed under the slewing platform 5, so that the X-ray source point of the radiation source is lower than the general chassis 2 and is arranged in an offset position and always faces the vertical second cantilever 10 and the first ⁇ Cantilever 9.
  • a driving device 4 is provided near the rear wheel of the scanning car 1 so that the scanning car 1 can move forward and backward.
  • the driving device 4 is composed of a motor reducer, an oil cylinder, a friction wheel, and a frame plate.
  • the motor reducer is connected to the friction wheel and fixed at the lower part of the universal chassis 2.
  • the control vehicle 11 is provided with a radio communication machine, an image acquisition module, a running inspection module, a generator and a control device thereof.
  • the slewing platform 5 on the scanning car 1 rotates 90 degrees.
  • a gantry frame is formed by a parallelogram support 8, a horizontal cantilever 9, and a vertical cantilever 10.
  • the wireless communication device on the control vehicle 11 sends out control signals, and the wireless communication device on the scanning vehicle 1 connects to it.
  • Receive control signals, or the scanning control module on the scanning vehicle 1 directly causes the gantry formed on the scanning vehicle 1 to move in parallel across the inspected container.
  • the radiation source is located behind the rear end of the universal chassis 2 and the lowest X-ray in the fan surface 12 formed by the emitted X-rays can pass through the bearing vehicle of the inspected container at a low level.
  • the image acquisition module transmits the image signals to the operation inspection module on the control car 11 or the scanning car 1 and is displayed by the computer display. result.
  • all operations of the scanning vehicle 1 can be controlled by a remote control device installed on the control vehicle 11, and the remote control module controls each traveling wheel to drive the scanning vehicle 1 to travel.
  • the radiation source sends X-rays to automatically scan the inspected container parked in the scanning channel, outputs the obtained electric signals, and the remote control device obtains image data.
  • the hydraulic device supporting the action of each cylinder is activated to change the scanning vehicle 1 from the scanning state to the transport state, and then it can be driven on standard roads.
  • it is not suitable to control with two vehicles, and the inspection of the inspected container can be completed by using only the scanning vehicle 1.
  • the other procedures involved in the inspection process are the same as those used in the prior art, and are not repeated here.
  • the radiation source in the above technical solution can be an electron linear accelerator, an X-ray machine, or a radioisotope such as a gamma source.
  • the power form converted from the transport state to the scanning state can also be replaced equivalently in other ways, such as changing hydraulic pressure to pneumatic or electric.
  • Technical solutions such as these also belong to the protection scope of the present invention.

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Toxicology (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Description

一种车载移动式集装箱检查系统
技术领域
本发明涉及一种集装箱检查系统， 特别是， 涉及车载移动式 集装箱检查系统。
背景技术
现有技术中， 自 90 年代初开始有拖动式集装箱检查系统问 世，如德国海曼公司和英国宇航公司生产的大型集装箱检查系统。 它们是在一幢能屏蔽射线的检查通道内， 装有固定不动的、 能产 生高能 X射线的辐射源和能接收穿过集装箱 X射线的阵列探测 器， 用专用的拖动设备将装有集装箱的车辆拖过检查通道。 集装 箱在 X射线束中通过时， 透过集装箱的 X射线传到探测器中， 根 据其强度变化， 反映箱中所装物体的密度分布， 并将射线强度变 换成图像灰度， 即可获得箱内所装物体的透视图像。 这种检查系 统， 其检查通道长度至少需要 60 米， 外部两端占地长度至少各 40米，是一个十分庞大的拖动系统， 占地面积相当于一个足球场。 存在着土建工程占地面积大、 系统工程造价高、 不易维修、 不能 实现异地随机检查的缺点。 为此， 目前国内外有的生产厂家开发 出了各种形式的车载移动式集装箱检查设备。 德国海曼公司开发 的车载移动式集装箱检查设备将整套设备安装在一台车辆上， 该 设备采用拖车底盘， 将操作室布置在车尾。 由于这种布置方式， 导致车辆制造复杂， 整车庞大， 重量超过 40吨， 同时由于人员长 期在该车上， 工作环境恶劣、 狭小。 检查时具有一定的风险性。
中国专利 ZL99253458.5号专利技术，公开了一种 "以加速器 为辐射源的双车移动式集装箱检测装置" ， 它是将整套设备安排 在两辆底盘车上， 工作人员工作在一辆车上， 主要检查设备在另 一辆车上， 可以达到人员工作环境舒适。 但是该技术不能检查至 车辆底盘， 检查范围窄； 同时， 扫描车上不带发电机， 限制了该 装置的使用范围； 不论在任何环境使用时， 必须要双车同时投入 使用， 增加了在紧急使用时的布置难度。
发明内容
本发明的目的是提供一种可以检查至车辆底盘， 扩大检查范 围的车载移动式集装箱检查系统， 该系统由双车组成， 在正常情 况下双车使用， 在紧急情况下可以单车使用。
根据本发明的一个方面， 提供了一种车载移动式集装箱检查 系统， 其扫描车的底盘后部设有可回转平台， 该回转平台上设有 由四连杆机构组成的平行四边形支架， 该平行四边形支架的横连 杆向一侧延伸为装有探测器的第一悬臂， 该第一悬臂在远离平行 四边形支架的一端与第二悬臂的顶端相联接， 其特征在于， 该集 装箱检查系统还包括： 第一箱形舱， 其设置在底盘的前部， 包括 具有扫描控制模块、 图像获取模块和运行检查模块的工作室； 和 第二箱形舱和第三箱形舱， 其设置在回转平台的尾部， 第二箱形 舱设置在第三箱形舱的上部， 辐射源的控制装置设置在第二箱形 舱内， 第三箱形舱设置在回转平台的下面， 辐射源设置在该第三 箱形枪内， 该辐射源的 X射线源点低于底盘， 所述扫描车设有使 其平稳前进的驱动装置； 所述回转平台设有回转驱动装置， 当检 查集装箱时， 回转平台在其回转驱动装置的作用下回转 90度， 并 且第二悬臂转动至垂直位置， 这样， 平行四边形支架、 第一悬臂 和第二悬臂形成龙门架， X射线形成的扇面位于底盘之后， 并且 与第一悬臂和第二悬臂共面。
特别是， 第一箱形舱进一步设有发电机及其控制装置。 特别是， 进一步包括控制车， 该控制车包括图像获取模块、 运行检查模块、 发电机及其控制装置。 特别是， 底盘是通用卡车的底盘。
本发明的集装箱检查系统， 由于包括安装系统运行控制和图 像检查设备的控制车， 安装全部检查设备的扫描车， 扫描车又包 括三个箱形舱， 在第一箱形舱内安装有发电机， 能够保障连续工 作， 从而保证扫描车在商用电力中断的条件下或者在没有商用电 力供应的地方单独正常工作， 提供全天候工作的能力。
另外， 在控制车和扫描车的第一箱形枪内设置工作室， 因此， 无论在任何场所进行检查工作时， 操作人 都可在足够理想的工 作环境下进行操作。
又由于辐射源安装在回转平台下面， 降低了辐射源的高度， 通过适当调整辐射源的角度， 从而能够保证射线穿过集装箱车的 底盘和部分轮胎， 提高了扫描范围。
还有本发明系统布置简单， 对车辆底盘没有特殊的要求， 所 以可以采用通用的商用底盘， 从根本上保证车辆的特性能够达到 通用卡车的特性， 提高了产品的通用性。
再有本发明系统中， 采用了很好的辐射防护机构， 提供很好 的辐射防护性能。
本发明同现有技术相比， 具有占地面积小、辐射防护性能好、 使用方便机动灵活、 检查范围和检查能力大、 在恶劣条件下能够 根据需要正常工作的特点。
对附图的简要说明
图 1A是扫描车 1的结构安装示意图；
图 1B是控制车 11的结构安装示意图；
图 2是图 1中扫描车的工作状态后视图；
图 3是图 1中扫描车的工作状态俯视图。
实施本发明的最佳方式
下面结合附图及具体的实施方式对本发明做进一步的说明。 参看图 1〜图 3， 一种车载移动式集装箱检查系统， 包括两辆 运载车， 一辆车为扫描车 1 , 另一辆车为控制车 11及两辆车的远 程控制装置。 所述扫描车 1 的车身托架采用通用底盘 2， 通用底 盘 2的前部为第一箱形枪 3。 第一箱形枪 3内配置无线电通讯机、 发动机及其控制装置和带扫描控制模块、 运行检查模块的由起 X 射线防护作用材料构成的工作室。 通用底盘 2的后部安装可以相 对运动的回转平台 5。 回转平台 5上安装以四连杆机构铰接组成 的平行四边形支架 8。 平行四边形支架 8上横连杆延伸为装有探 测器的水平悬臂即第一悬臂 9。 该第一悬臂 9另一端通过拉伸油 缸将装有探测器的第二悬臂 10与第一悬臂 9连接， 当第二悬臂 10处于工作状态时， 处于垂直位置， 而当扫描车处于或将处于运 行状态时， 第二悬臂收回至水平姿势。 在第一、 第二悬臂 9、 10 之间设置的拉伸油缸使得第二悬臂 10 可垂直或平行于水平悬臂 或称第一悬臂 9。 回转平台 5的尾端安装第二箱形舱 7和第三箱 形抢 6。 第二箱形枪 7置于第三箱形抢 6的上部。 第二箱形枪 7 内安装辐射源的控制装置。 第三箱形舱 6内安装辐射源并置于回 转平台 5的下面， 使辐射源的 X射线源点低于通用底盘 2以下并 偏位布置且始终正对垂直后的第二悬臂 10和第一悬臂 9。 靠近扫 描车 1的后轮设有可使扫描车 1平移前后行进的驱动装置 4。 驱 动装置 4是由电机减速器、 油缸、 摩擦轮、 架板组成。 电机减速 器与摩擦轮连接并固定在通用底盘 2的下部， 油缸一端与架板中 部铰接，油缸另一端与架板上端分别固定在通用底盘 2的车架上。 所述控制车 11上设有无线电通讯机、 图像获取模块、运行检查模 块、 发电机及其控制装置。
当检查集装箱时， 扫描车 1上的回转平台 5转动 90度。 由平 行四边形支架 8、 水平悬臂 9、 垂直悬臂 10形成龙门架。 由控制 车 11上的无线通讯机发出控制信号、扫描车 1上的无线通讯机接 收控制信号， 或者直接由扫描车 1上的扫描控制模块使扫描车 1 上形成的龙门架跨过被检集装箱作平行移动。 辐射源位于通用底 盘 2的尾部之后， 放出的 X射线所形成的扇面 12中的最低 X光 线可低位穿过被检集装箱的承载车辆。 由水平悬臂 9和垂直悬臂 10中的探测器接收后， 转换成电信号输入图像获取模块， 图像获 取模块将图像信号输送到控制车 11或者扫描车 1上的运行检查模 块并由计算机显示所检结果。
本发明在使用过程中，可以由安装在控制车 11上的远程控制 装置来控制扫描车 1的全部运行， 远程控制模块控制各行走车轮 驱动扫描车 1行走。 辐射源发送 X射线对停在扫描通道中的被检 集装箱进行自动扫描， 输出所获电信号， 再由远程控制装置获取 图像资料。 如果需要更换场地时， 启动支持各油缸动作的液压装 置， 将扫描车 1 由扫描状态转换为运输状态， 然后可在标准的公 路上行驶。 当然在有些紧急情况不适于用两辆车控制时， 仅用扫 描车 1也可以完成对被检集装箱的检查。 在检查过程所涉及的其 它程序均与现有技术的使用方法相同， 在此不一一赘述。
另外说明，上述技术方案中的辐射源可以用电子直线加速器、 X光机， 也可以用放射性同位素如 γ源。 上述技术方案中由运输状 态转换为扫描状态的动力形式也可以用其它方式等同替换， 如将 液压改用气动， 或者电动等形式。 诸如此类的技术方案也属于本 发明的保护范围。

Claims

1. 一种车载移动式集装箱检查系统， 其扫描车 （1) 的底盘 (2)后部设有可回转平台 （5) ， 该回转平台 （5)上设有由四连 杆机构组成的平行四边形支架 （8) , 该平行四边形支架 （8) 的 横连杆向一侧延伸为装有探测器的第一悬臂（ 9 )，该第一悬臂（ 9 ) 在远离平行四边形支架（8)的一端与第二悬臂（10)的顶端相联 接， 其特征在于，
该集装箱检查系统还包括：
第一箱形舱（3) ， 其设置在底盘 （2) 的前部， 包括具有扫 描控制模块、 图像获取模块和运行检查模块的工作室； 和
第二箱形舱（7)和第三箱形舱（6)， 其设置在回转平台（5) 的尾部， 第二箱形舱 (7)设置在第三箱形舱（6) 的上部， 辐射 源的控制装置设置在第二箱形舱（7) 内， 第三箱形舱（6)设置 在回转平台 （5) 的下面， 辐射源设置在该第三箱形舱（6) 内， 该辐射源的 X射线源点低于底盘 （2) ,
所述扫描车 （1)设有使其平稳前进的驱动装置 （4) ； 所述回转平台 （5)设有回转驱动装置， 当检查集装箱时， 回 转平台 （5)在其回转驱动装置的作用下回转 90度， 并且第二悬 臂（10)转动至垂直位置， 这样， 平行四边形支架（8) 、 第一悬 臂 （9) 和第二悬臂 （10) 形成龙门架， X射线形成的扇面 （12) 位于底盘 （2)之后， 并且与第一悬臂 （9) 和第二悬臂 （10) 共 面。
2. 如权利要求 1所述的车载移动式集装箱检查系统，其特征 在于， 第一箱形舱（3) 进一步设有发电机及其控制装置。
3. 如权利要求 1或 2所述的车载移动式集装箱检查系统， 其 特征在于， 进一步包括控制车 （11) ， 该控制车 （11) 包括图像 获取模块、 运行检查模块、 发电机及其控制装置。
4. 如权利要求 1或 2所述的车栽移动式集装箱检查系统， 其 特征在于， 底盘 （2 )是通用卡车的底盘。
PCT/CN2003/000863 2002-10-16 2003-10-16 Systeme de controle d'un contenant mobile Ceased WO2004036201A1 (fr)

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AU2003275515A1 (en) 2004-05-04
RU2003130475A (ru) 2005-04-10
DE10347495A1 (de) 2004-04-29
CN1490616A (zh) 2004-04-21
RU2314942C2 (ru) 2008-01-20
US6920197B2 (en) 2005-07-19
KR20040034481A (ko) 2004-04-28
KR100904804B1 (ko) 2009-06-25
DE10347495B4 (de) 2015-03-26
CN1181336C (zh) 2004-12-22

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