WO2018041038A1 - 可移动式物品检查系统及检查方法 - Google Patents

可移动式物品检查系统及检查方法 Download PDF

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Publication number
WO2018041038A1
WO2018041038A1 PCT/CN2017/099067 CN2017099067W WO2018041038A1 WO 2018041038 A1 WO2018041038 A1 WO 2018041038A1 CN 2017099067 W CN2017099067 W CN 2017099067W WO 2018041038 A1 WO2018041038 A1 WO 2018041038A1
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WIPO (PCT)
Prior art keywords
transport vehicle
automatic guided
guided transport
inspection system
scanned
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PCT/CN2017/099067
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English (en)
French (fr)
Inventor
陈志强
李元景
孙尚民
胡煜
杨学敬
王强强
杜龙
李伟
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同方威视技术股份有限公司
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Publication of WO2018041038A1 publication Critical patent/WO2018041038A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
    • G01V5/232—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays having relative motion between the source, detector and object other than by conveyor
    • 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
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays

Definitions

  • the invention relates to safety inspection technology, in particular to a movable article inspection system and an inspection method.
  • a scanning inspection system In all kinds of ports, it is generally necessary to use a scanning inspection system to inspect the contents of the container to ensure the safety of the transported items. In order to be able to check containers in various locations flexibly and conveniently, a portable container inspection system is generally used.
  • the movement of the inspection system is usually implemented in two ways.
  • One way is to use a universal truck chassis to carry the container inspection system on the chassis to achieve mobility of the entire inspection system.
  • Another way is to use a track device to move the track by driving the inspection system to achieve mobility of the entire inspection system.
  • the first mode is limited by the chassis exhaust, left rudder/right rudder and other related road regulations, and requires the operator to perform maneuver control on the vehicle to realize the movement of the entire inspection system.
  • the second way in order to meet the requirements of flexible mobility, it is necessary to lay tracks of various paths, and it is limited because it needs to be used in a fixed place.
  • AGV Automated Guided Vehicles
  • An object of the present invention is to provide a movable article inspection system and an inspection method capable of more accurately and flexibly treating a scanned article for scanning inspection.
  • the present invention provides a movable article inspection system including: a first automatic guided transport vehicle, a radiation source, and a detecting mechanism, wherein the radiation source and the detecting mechanism are both installed in the first automatic And guiding the transport vehicle, the first automatic guided transport vehicle can be scheduled to move to a preset scan check position, and the relative movement of the item to be scanned and the first automatic guided transport vehicle is used to implement the item to be scanned. Scan check check.
  • the item to be scanned is loaded by a second automatic guided transport vehicle, and the second automatic guided transport vehicle can drive the item to be scanned to move relative to the first automatic guided transport vehicle.
  • the bottom of the radiation source is embedded in the first automatic guided transport vehicle.
  • the radiation source and the detecting mechanism are both powered by the power supply unit of the first automatic guided transport vehicle; or by a power supply device independent of the power supply unit of the first automatic guided transport vehicle.
  • the detecting mechanism is rotatably mounted on the first automatic guided transport vehicle, and the detecting mechanism can be switched between an unfolded state and a retracted state.
  • the radiation source is directly mounted on the first automatic guided transport vehicle; or the radiation source is mounted on the first automatic guided transport vehicle through the rotating component.
  • the detecting mechanism includes an L-shaped cantilever and a detector, the detector is disposed on the L-shaped cantilever, and the L-shaped cantilever is mounted on the first automatic guided transport vehicle to form the A portal scan frame through which the item to be scanned passes.
  • the overall occupied width of the movable article inspection system is not greater than a travel passage width of the first automatic guided transport vehicle.
  • two of the radiation sources are capable of emitting rays to the left and right sides of the first automatic guided transport vehicle, respectively, and the two detecting mechanisms are respectively installed a position on the left and right sides of the first automatic guided transport vehicle and corresponding to the radiation source on the corresponding side.
  • the radiation source is capable of emitting rays to the left and right sides of the first automatic guided transport vehicle, respectively, and the two detecting mechanisms are respectively installed in the The first automatic guides the left and right sides of the transport vehicle and the position corresponding to the radiation source.
  • the present invention also provides an inspection method based on the foregoing movable article inspection system, comprising:
  • Scanning inspection of the item to be scanned is achieved by relative movement between the item to be scanned and the first self-guided transport vehicle.
  • the item to be scanned is loaded by a second automatic guided transport vehicle, the item to be scanned and the steps of the relative movement between the first automatic guided transport vehicles specifically include:
  • the first automatic guided transport vehicle When performing scanning inspection on the item to be scanned, the first automatic guided transport vehicle is stationary, and the second automatic guided transport vehicle is moving; or
  • the first automated guided transport vehicle moves and the second automated guided transport vehicle is stationary.
  • the detecting mechanism is rotatably mounted on the first automatic guided transport vehicle, and the mobile vehicle article inspection method further includes:
  • the detecting mechanism switches to a retracted state
  • the detecting mechanism switches to an unfolded state.
  • the movable article inspection system of the present invention installs the radiation source and the detection mechanism on the first automatic guided transport vehicle, and can move to a preset scan inspection position under the scheduling of the control system in the intelligent port. And scanning inspection of the item to be scanned is performed by the relative movement of the item to be scanned and the first automatic guided transport vehicle.
  • the movable inspection system based on the automatic guided transport vehicle can make full use of the structure and control system of the existing automatic guided transport vehicle, so that the movement path of the inspection system is more flexible, and the centralized control and management of the inspection system can be realized. It can improve inspection efficiency and save labor costs; in addition, there is no need to modify the site of the automatic guided transport vehicle without occupying a fixed area.
  • Figure 1 is a front elevational view of one embodiment of a movable article inspection system of the present invention.
  • Figure 2 is a side elevational view of the movable article inspection system of Figure 1.
  • first, second and the like appearing in the present invention are merely for convenience of description to distinguish different components having the same name, and do not indicate sequential or primary or secondary relationships.
  • the automatic guided transport vehicle referred to in the drawing is referred to, the first automatic guided transport vehicle and the second automatic guided transport vehicle are described. If it refers to a general-purpose automatic guided transport vehicle, it is described for convenience of AGV.
  • the inventors have noticed that, on the one hand, for some intelligent ports, especially smart ports that have been implemented and completed planning, the AGV carrying the container needs to be controlled according to the control system. Controls the lane change and steering at any position without a fixed path, thus requiring a flexible motion path for the mobile inspection system.
  • a mobile inspection system that enables centralized automatic control without the need for an operator to maneuver on the vehicle.
  • the equipment magnetic nail guiding the AGV is full of the entire AGV travel site, so the secondary construction based on the container inspection system is very difficult, and it is also difficult to find a fixed area to achieve the passage of all AGV equipment.
  • the inventors thought that if the AGV bearing inspection system can be applied to the inspection system by using the mature AGV structure, motion and control technology, the inspection system can be flexibly moved to the position where the inspection is required, and the container is not required. Renovate the venue of the smart port.
  • the present invention proposes a movable article inspection system, which will be referred to as "inspection system", as shown in FIG. 1 and FIG.
  • the movable article inspection system comprises: a first automatic guided transport vehicle 5, a radiation source 1 and a detection mechanism 3 having a detector 32, the radiation source 1 and the detection mechanism 3 being mounted in the first
  • the first automatic guided transport vehicle 5 as the chassis of the inspection system can be scheduled to move to a preset scanning inspection position, and the relative movement of the item to be scanned and the first automatic guided transport vehicle 5 is realized. Scan check of the item to be scanned.
  • the radiation source 1 can emit radiation for illuminating an object to be scanned, such as an X-ray accelerator or the like.
  • the detector 32 is configured to receive the radiation transmitted by the radiation source 1 when the object to be scanned is irradiated, and then obtain the internal condition of the object to be scanned through image processing.
  • the A plurality of detectors 32 are mounted on the detecting mechanism 3, and the detecting surface of the detector 32 is directed toward the radiation source 1.
  • a collimator 2 may be disposed between the radiation source 1 and the detecting mechanism 3 for forming a collimated beam of rays from the radiation source 1.
  • the preset scan check position is determined according to actual needs, and may be a position that is convenient for all items to be scanned to reach, or a scan position that is flexibly selected according to the transport path of the item to be scanned.
  • the scanning device performs an automatic detection judgment and controls the radiation source 1 to generate and stop the radiation to complete the entire scanning of the article to be scanned.
  • the scanned image is transmitted to the remote image inspection station via the wireless network and analyzed by the inspector.
  • the movable article inspection system of the embodiment of the present invention uses the AGV as a platform for the inspection system to be moved, and only needs to be improved on the basis of the mature AGV technology in combination with actual needs.
  • Applying AGV technology to an inspection system has at least the following advantages:
  • the control system of the whole AGV is integrated into the inspection system, and the optimal control can be used to realize the scanning.
  • the scanning can be moved to other positions, and the traveling channel of the AGV is not occupied for a long time, and the pair can be minimized.
  • the impact of the port process Moreover, it can effectively meet the inspection requirements in intelligent unmanned ports, and lay a foundation for providing solutions for the overall system of the port.
  • the inspection system can be automatically moved to a preset scan inspection position under the scheduling of the control system in the intelligent port to realize the scanning inspection of the article to be scanned by the relative movement of the item to be scanned and the first automatic guided transport vehicle.
  • the inspection system can realize centralized control and management, and does not require the operator to operate on the vehicle, thereby improving inspection efficiency and saving labor costs.
  • the items to be scanned mentioned in this embodiment may be various items that need to be inspected by the port or the customs, such as the container 4, etc., and the items to be scanned may be placed on a fixed platform or may be loaded in the inspection. Moving on the body of the vehicle, for example on an AGV or other type of vehicle.
  • the item to be scanned is loaded by the second automatic guided transport vehicle 6, and the second self-guided transport vehicle 6 is capable of driving the item to be scanned to move, so that the item to be scanned is relative to the first automatic
  • the transport vehicle 5 is guided to move relative to each other to perform a scan check of the item to be scanned.
  • the first automatic guided transport vehicle 5 is stationary, so that the scanning system is kept in a stationary state, and the second automatic guided transport vehicle 6 automatically drives the moving objects to be scanned.
  • the scanning system remains stationary and can be avoided as much as possible.
  • the radiation source 1 and the detecting mechanism 3 are shaken to ensure the accuracy of the inspection.
  • the first automatic guided transport vehicle 5 moves, and the second automatic guided transport vehicle 6 is stationary.
  • the second automated guided transport vehicle 6 has transported the item to be scanned to the target position without further movement, such an embodiment can flexibly meet the scanning inspection requirements by the movement of the inspection system.
  • the first automatic guided transport vehicle 5 and the second automatic guided transport vehicle 6 are both in motion, but the motions of the two are not synchronized.
  • the number of the radiation source 1 and the detector 32 is not particularly limited. Several alternative forms are given below.
  • only one source 1 and one detection mechanism 3 can be provided, and the detection mechanism 3 is located on the left or right side of the first automatic guided transport vehicle 5 to inspect the items to be scanned.
  • This embodiment can save space occupied by the entire inspection system in the width direction.
  • the inspection system comprises two radiation sources 1 and two detection mechanisms 3, each of which is capable of emitting radiation to the left and right sides of the first automatic guided transport vehicle 5, respectively. They are respectively installed on the left and right sides of the first automatic guided transport vehicle 5, and are respectively configured to receive the radiation emitted by the corresponding side radiation source 1.
  • This embodiment can fully utilize the space on the first automatic guided transport vehicle 5 and simultaneously inspect the items to be scanned on the left and right sides of the first automatic guided transport vehicle 5 to improve the inspection efficiency.
  • the inspection system comprises a radiation source 1 and two detection mechanisms 3, the radiation source 1 being mounted on a first automatic guided transport vehicle 5, the radiation source 1 being able to respectively be directed to the first automatic guided transport vehicle 5
  • the left and right sides emit radiation
  • the two detecting mechanisms 3 are respectively mounted on the left and right sides of the first automatic guided transport vehicle 5, and are respectively configured to receive the radiation emitted from the radiation source 1 to both sides.
  • the inspection system is not simply placed on the first self-guided transport vehicle 5, but the AGV needs to be modified, including hardware and control systems.
  • the existing AGV body is large, in order to make the entire inspection system take up less space and have enough space for the object to be scanned to pass, the length and width of the existing AGV can be reduced, and in addition, the AGV is considered.
  • the load inspection system is lighter than the object to be scanned, and can further weaken the carrying capacity of the AGV.
  • the bottom of the scanning device is not the bottom edge of the radiation source 1
  • the bottom of the radiation source 1 is embedded in the first automatic guided transport vehicle 5.
  • the portion of the scanning device located below the bottom edge of the source 1 is embedded in the first automated guided transport vehicle 5.
  • the power supply of the inspection system is also considered.
  • both the source 1 and the detection mechanism 3 are powered by the power supply unit of the first automated guided transport vehicle 5.
  • the existing AGV is generally powered by a lithium battery, and the lithium battery can be charged, so that the radiation source 1 and the detecting mechanism 3 in the scanning device are also powered by the lithium battery.
  • This type of power supply eliminates the need to additionally provide a power supply unit for the scanning device, has small changes to the AGV, is simple in structure, and can prevent the inspection system from being affected by vibration due to the provision of additional power supply equipment.
  • the source 1 and the detection mechanism 3 are powered by a power supply unit that is independent of the power supply unit of the first automated guided transport vehicle 5.
  • a generator is mounted on the first self-guided transport vehicle 5 to independently supply power to the radiation source 1 and the detecting mechanism 3 in the scanning device.
  • the scanning device does not consume the electric energy of the first automatic guided transport vehicle 5, so that the power consumption of the entire inspection system is more sufficient, and the entire inspection system is frequently charged or stopped due to insufficient power supply.
  • the problem is that the first automatic guided transport vehicle 5 can also be used for a longer period of time after completing one charge.
  • the detecting mechanism 3 may include an L-shaped cantilever 31, the detector 32 is disposed on the L-shaped cantilever 31, and the L-shaped cantilever 31 is installed.
  • the structure is disposed on the first automated guided transport vehicle 5 to form a gantry scanning frame through which the items to be scanned pass.
  • the second automated guided transport vehicle 6 carries the articles to be scanned through the portal scanning frame, the angularly emitted rays from the source 1 can be received by the detector 32 through the items to be scanned.
  • the advantage of providing the L-shaped cantilever 31 is that all of the rays passing through the item to be scanned can be received comprehensively in the horizontal and vertical directions.
  • the L-shaped cantilever 31 includes a cross arm 31A and a vertical arm 31B.
  • the first end of the cross arm 31A is disposed on the first automatic guided transport vehicle 5 by a mounting structure, and the first end of the vertical arm 31B is mounted on the cross arm 31A.
  • the second end of the vertical arm 31B is a free end.
  • the detection mechanism 3 is rotatably mounted on the first self-guided transport vehicle 5, enabling the detection mechanism 3 to be switched between an unfolded state and a retracted state.
  • the detection mechanism 3 is rotatable in a horizontal plane.
  • the detecting mechanism 3 In the scanning condition, the detecting mechanism 3 is in an unfolded state to inspect the item to be scanned; in the traveling condition, the detecting mechanism 3 is in a retracted state, so that the width of the entire inspection system is reduced to the first self-guided transport vehicle 5 Width, just occupy a narrower travel path.
  • the inspection system is equivalent to an AGV device and receives the unified scheduling of the AGV control system.
  • retracting the detecting mechanism 3 in the traveling state can also ensure safe driving and avoid damage to the detecting mechanism 3.
  • the inspection system further comprises a rotating member 7 and a support member 8, which is provided on the first automatic guided transport vehicle 5, and the detecting mechanism 3 is mounted on the rotating member 7 via the support member 8.
  • the rotating member 7 can be driven by a driving member such as a motor, and the rotating member 7 can be designed as a turntable or the like.
  • the first end of the cross arm 31A is mounted on the support member 8.
  • the L-shaped cantilever 31 is rotated 90° in the horizontal plane as a whole, so that the cross arm 31A of the L-shaped cantilever 31 is parallel to the longitudinal direction of the vehicle body.
  • the detecting mechanism 3 does not affect the other in the traveling passage after the rotation of the detecting mechanism 3 The normal operation of the AGV.
  • the radiation source 1 and the collimator 2 are directly mounted on the first automatic guided transport vehicle 5 such that the direction in which the radiation source 1 emits radiation is fixed.
  • the detecting mechanism 3 needs to be rotated to be perpendicular to the longitudinal direction of the vehicle body, and the detecting mechanism 3 is adjusted to the position facing the radiation source 1 to ensure the detection effect.
  • the radiation source 1 and the collimator 2 are mounted on the first automatic guided transport vehicle 5 via the rotating member 7, that is, the radiation source 1 and the collimator 2 are mounted on the rotating member 7.
  • the detecting mechanism 3 is rotated perpendicularly to the longitudinal direction of the vehicle body by the rotating member 7, and at this time, the radiation source 1 and the collimator 2 are also rotated to positions opposite to the detecting mechanism 3.
  • the overall occupancy width of the movable article inspection system is no greater than one of the travel path widths of the first automated guided transport vehicle 5.
  • the width mentioned here refers to the width occupied by the entire inspection system after the detecting mechanism 3 is deployed, so the inspection system of this embodiment only occupies one AGV traveling passage regardless of the traveling condition or the scanning working condition, and will not occupy It affects the adjacent AGV travel path and improves the safety of each AGV travel.
  • the scanning channel in accordance with the container 4 having the highest height.
  • the set height of the cross arm 31A in the L-shaped cantilever 31 preferably allows the container 4 having the highest height to pass.
  • the present invention also provides an inspection method for a movable article inspection system based on the above various embodiments.
  • the inspection method includes the following steps:
  • a scan check of the item to be scanned is achieved by the relative movement between the item to be scanned and the first self-guided transport vehicle 5.
  • the embodiment realizes the mobility of the inspection system through the AGV, and can fully utilize the control system of the AGV to centrally control and manage the inspection system, thereby improving inspection efficiency and saving labor cost; and being able to control the first automatic guided transport vehicle 5 according to actual conditions.
  • the required path movements increase the flexibility of the inspection.
  • the item to be scanned is loaded by the second automatic guided transport vehicle 6, and the step of relative movement between the item to be scanned and the first automatic guided transport vehicle 5 specifically includes:
  • the first automatic guided transport vehicle 5 When scanning the article to be scanned, the first automatic guided transport vehicle 5 is stationary, the second automatic guided transport vehicle 6 is moved, or the first automatic guided transport vehicle 5 is moved, and the second automatic guided transport vehicle 6 is stationary.
  • the AGV control system and the scanning system of the scanning device need to be combined. .
  • the detecting mechanism 3 includes an L-shaped cantilever 31, the detector 32 is disposed on the L-shaped cantilever 31, and the L-shaped cantilever 31 is mounted on the first self-guided transport vehicle 5 to form an article for the object to be scanned.
  • the gantry scanning frame; the scanning inspection step of the item to be scanned specifically includes: causing the item to be scanned to be in a channel formed by the gantry scanning frame to perform scanning inspection on the item to be scanned.
  • the mobile vehicle article inspection method further comprises the following steps:
  • the detecting mechanism 3 switches to the retracted state
  • the detecting mechanism 3 is switched to the unfolded state.
  • the embodiment can switch the detecting mechanism 3 to different states according to different working conditions of the inspection system, and can not only meet the functional requirements of the scanning inspection, but also enable the inspection system to occupy a narrow traveling passage under the traveling condition, thereby ensuring driving. It is safe to avoid damage to the detection mechanism 3.

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Abstract

一种可移动式物品检查系统及检查方法，其中，检查系统包括：第一自动引导运输车（5）、射线源（1）和具有探测器（32）的探测机构（3），射线源（1）和探测机构（3）均安装在第一自动引导运输车（5）上，第一自动引导运输车（5）能够被调度运动至预设的扫描检查位置，通过待扫描物品与第一自动引导运输车（5）的相对运动，实现对待扫描物品的扫描检查。基于自动引导运输车的移动式检查系统，能够充分利用现有自动引导运输车及其控制系统，使检查系统的运动路径更灵活，而且能实现检查系统的集中控制和管理，因而能够提高检查效率，并节约人力成本；另外，也无需对自动引导运输车的场地进行改造，且无需占用固定区域。

Description

可移动式物品检查系统及检查方法 技术领域
本发明涉及安全检查技术，尤其涉及一种可移动式物品检查系统及检查方法。
背景技术
在各类港口中，一般需要采用扫描检查系统对集装箱中的物品进行检查，以保证运输物品的安全性。为了能够灵活方便地对各个位置的集装箱进行检查，目前一般采用可移动式的集装箱检查系统。
现有技术中通常采用两种方式实现检查系统的移动。一种方式是采用通用卡车底盘，将集装箱检查系统承载在底盘车上，以实现整个检查系统的可移动性。另一种方式是采用轨道装置，通过驱动检查系统在轨道上运动，以实现整个检查系统的可移动性。
在以上两种移动方式中，第一种方式会受到底盘车的排放、左舵/右舵以及其它相关道路法规的限制，而且需要操作者在车上进行操纵控制才能实现整个检查系统的移动。第二种方式则为了满足灵活移动的需求，需要铺设各种路径的轨道，而且因为需要在固定的场地使用而受到限制。
而对于智能化集成化的港口来说，会大量采用无人驾驶的自动导引运输车(Automated Guided Vehicle，简称AGV)系统实现集装箱的运输，因而可移动的集装箱检查系统作为港口的一个环节需要进行集中管理和控制，并且需要实现检查系统上的无人操作。但是现有的这两种可移动式检查系统灵活性较差，且无法实现集中控制，难以满足当前智能港口的需求。
发明内容
本发明的目的是提出一种可移动式物品检查系统及检查方法，能够更加灵活方便地对待扫描物品进行扫描检查。
为实现上述目的，本发明提供了一种可移动式物品检查系统，包括：第一自动引导运输车、射线源和探测机构，所述射线源和所述探测机构均安装在所述第一自动引导运输车上，所述第一自动引导运输车能够被调度运动至预设的扫描检查位置，通过待扫描物品与所述第一自动引导运输车的相对运动，实现对所述待扫描物品的扫描检 查。
进一步地，所述待扫描物品由第二自动引导运输车装载，所述第二自动引导运输车能够带动所述待扫描物品相对于所述第一自动引导运输车运动。
进一步地，所述射线源的底部嵌入到所述第一自动引导运输车中。
进一步地，所述射线源和所述探测机构均由所述第一自动引导运输车的供电单元供电；或者由独立于所述第一自动引导运输车的供电单元的供电设备供电。
进一步地，所述探测机构可转动地安装在所述第一自动引导运输车上，能够使所述探测机构在展开状态和收回状态之间切换。
进一步地，还包括转动部件和支撑部件，所述转动部件设在所述第一自动引导运输车上，所述探测机构通过所述支撑部件安装在所述转动部件上。
进一步地，所述射线源直接安装在所述第一自动引导运输车上；或者所述射线源通过所述转动部件安装在所述第一自动引导运输车上。
进一步地，所述探测机构包括L形悬臂和探测器，所述探测器设置于所述L形悬臂上，所述L形悬臂安装在所述第一自动引导运输车上，以形成供所述待扫描物品通过的门式扫描框架。
进一步地，所述可移动式物品检查系统的整体占用宽度不大于所述第一自动引导运输车的一个行进通道宽度。
进一步地，包括两个所述射线源和两个所述探测机构，两个所述射线源能够分别向所述第一自动引导运输车的左右两侧发出射线，两个所述探测机构分别安装在所述第一自动引导运输车的左右两侧且与相应侧所述射线源对应的位置。
进一步地，包括一个所述射线源和两个所述探测机构，所述射线源能够分别向所述第一自动引导运输车的左右两侧发出射线，两个所述探测机构分别安装在所述第一自动引导运输车的左右两侧且与所述射线源对应的位置。
为实现上述目的，本发明还提出了一种基于前述可移动式物品检查系统的检查方法，包括：
使所述第一自动引导运输车带动所述射线源和所述探测机构运动至预设的扫描检查位置；
通过所述待扫描物品与所述第一自动引导运输车之间的相对运动，实现对所述待扫描物品的扫描检查。
进一步地，所述待扫描物品由第二自动引导运输车装载，所述待扫描物品与所述 第一自动引导运输车之间相对运动的步骤具体包括：
在对所述待扫描物品进行扫描检查时，所述第一自动引导运输车静止，所述第二自动引导运输车运动；或者
所述第一自动引导运输车运动，所述第二自动引导运输车静止。
进一步地，所述探测机构可转动地安装在所述第一自动引导运输车上，所述移动式车载物品检查方法还包括：
当所述第一自动引导运输车带动所述射线源和所述探测机构移动时，所述探测机构切换为收回状态；
当所述第一自动引导运输车带动所述射线源和所述探测机构运动至预设的扫描检查位置时，所述探测机构切换为展开状态。
基于上述技术方案，本发明的可移动式物品检查系统，将射线源和探测机构安装在第一自动引导运输车上，能够在智能化港口中控制系统的调度下运动至预设的扫描检查位置，并通过待扫描物品与第一自动引导运输车的相对运动，实现对待扫描物品的扫描检查。此种基于自动引导运输车的可移动式检查系统，可以充分利用现有自动引导运输车的结构及控制系统，使检查系统的运动路径更加灵活，而且能实现检查系统的集中控制和管理，因而能够提高检查效率，并节约人力成本；另外，也无需对自动引导运输车的场地进行改造，无需占用固定区域。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明可移动式物品检查系统的一个实施例的主视图。
图2为图1所示可移动式物品检查系统的侧视图。
具体实施方式
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
本发明中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。在描述过程中，如果涉及到附图中所指的自动引导运输车，则用第一自动引导运输车和第二自动引导运输车进行描述， 如果是指通用的自动引导运输车，则为了方便用AGV进行描述。
在本发明的描述中，采用了“上”、“下”、“左”和“右”等指示的方位或位置关系的用语，这都基于车辆前进时所对应的方向，仅是为了便于描述本发明，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制。
针对现有的可移动式检查系统所存在的缺陷，发明人注意到：一方面，对于部分智能港口，尤其是已经实施和完成规划的智能港口，承载集装箱的AGV在运动时需要根据控制系统的控制在任意位置变道和转向，没有固定的路径，因而要求移动式检查系统具备灵活的运动路径。另一方面，需要使移动式检查系统能够实现集中的自动控制，无需操作者在车上进行操纵。
在提出这两方面目标需求的基础上，实际中还存在一些限制因素。例如，引导AGV的设备磁钉布满了整个AGV行进场地，因此基于集装箱检查系统的二次土建非常困难，而且也难以找到一个固定的区域来实现所有AGV设备的通过。
因此，发明人想到如果能利用AGV承载检查系统，将成熟的AGV结构、运动和控制技术应用于检查系统，就可以使检查系统灵活地移动到需要扫描检查的位置对集装箱进行检查，而且不需要对智能港口的场地进行改造。
基于上述构思，本发明提出了一种可移动式物品检查系统，后续简称“检查系统”，如图1和图2所示的结构示意图。在一个示意性的实施例中，该可移动式物品检查系统包括：第一自动引导运输车5、射线源1和具有探测器32的探测机构3，射线源1和探测机构3均安装在第一自动引导运输车5上，第一自动引导运输车5作为检查系统的底盘，能够被调度运动至预设的扫描检查位置，通过待扫描物品与第一自动引导运输车5的相对运动，实现对待扫描物品的扫描检查。
其中，射线源1能够发出用于照射待扫描物品的射线，例如X射线加速器等。探测器32用于接收射线源1照射待扫描物品时透过的射线，进而通过图像处理来获得待扫描物品的内部情况，为了使探测器32能够准确地接收射线源1发出的射线，可以在探测机构3上安装多个探测器32，并使探测器32的检测面朝向射线源1。进一步地，在射线源1与探测机构3之间还可以设置准直器2，用于将射线源1发出的射线形成准直的射线束。
需要说明的是，预设的扫描检查位置是根据实际需求确定的，可以是便于所有待扫描物品共同能够到达的位置，或者根据待扫描物品的运输路径灵活选择的扫描位置。
在扫描检查过程中，扫描设备会进行自动检测判断并控制射线源1产生和停止射线，以完成对待扫描物品的全部扫描。扫描的图像会通过无线网络传输到远端的图像检查站内，由图检员进行检查分析。
本发明该实施例的可移动式物品检查系统，将AGV作为检查系统可移动的平台，只需要在成熟AGV技术的基础上结合实际需求进行改进。将AGV技术应用于检查系统至少具有以下几方面的优势：
(1)在检查系统中融入了整个AGV的控制系统，可以利用最优控制来实现扫描，在不需要扫描的时候还可移动到其它位置，不会长期占用AGV的行进通道，能够尽量减少对港口流程的影响。而且能够有效地满足智能化无人港口内的查验需求，进而为提供港口整体系统的解决方案打下基础。
(2)能够使检查系统在智能化港口中控制系统的调度下自动运动至预设的扫描检查位置，以通过待扫描物品与第一自动引导运输车的相对运动，实现对待扫描物品的扫描检查，检查系统能实现集中控制和管理，不需要操作者在车上操纵，因而能够提高检查效率，并节约人力成本。
(3)能够使检查系统在港口内的运动路径更加灵活，可以灵活选择预设的扫描检查位置。
(4)对于通过AGV实现待扫描物品运输的场合，无需对AGV的场地进行改造，而且检查系统也无需占用固定的区域。
(5)如果检查系统发生故障，可驶到维修区进行设备维修，不会影响其它运输和检查作业。
另外，该实施例中提到的待扫描物品可以是港口或者海关需要检查的各类物品，例如集装箱4等，待扫描物品在检查时既可以放置在某一固定的平台上，也可以装载在移动的车体上，例如装载在AGV或其它类型的车辆上。
在一种实施例中，如图1所示，待扫描物品由第二自动引导运输车6装载，第二自动引导运输车6能够带动待扫描物品运动，从而使待扫描物品相对于第一自动引导运输车5发生相对运动，以实现对待扫描物品的扫描检查。
在对待扫描物品进行扫描检查时，待扫描物品与检查系统之间要发生相对运动，相对运动可从以下几种情形中选择：
其一，第一自动引导运输车5静止，使得扫描系统保持在静止状态，第二自动引导运输车6自动带动待扫描物品运动。该实施例中扫描系统保持静止，能够尽量避免 射线源1和探测机构3发生抖动，从而保证检查的准确性。
其二，第一自动引导运输车5运动，第二自动引导运输车6静止。对于第二自动引导运输车6已将待扫描物品运输至目标位置，无需进一步移动的情况，此种实施例可通过检查系统的运动灵活地满足扫描检查需求。
其三，第一自动引导运输车5和第二自动引导运输车6均处于运动状态，但是两者的运动不同步。
在上述的实施例中，射线源1和探测器32的数量不作具体限制。下面将给出几种可选的形式。
在一种结构形式中，可以只设置一个射线源1和一个探测机构3，探测机构3位于第一自动引导运输车5的左侧或右侧，以对待扫描物品进行检查。该实施例能够节约整个检查系统在宽度方向所占用的空间。
在另一种结构形式中，检查系统包括两个射线源1和两个探测机构3，两个射线源1能够分别向第一自动引导运输车5的左右两侧发出射线，两个探测机构3分别安装在第一自动引导运输车5的左右两侧，且用于分别接收相应侧射线源1发出的射线。该实施例能够充分地利用第一自动引导运输车5上的空间，并对第一自动引导运输车5左右两侧的待扫描物品同时进行检查，以提高检查效率。
在再一种结构形式中，检查系统包括一个射线源1和两个探测机构3，射线源1安装在第一自动引导运输车5上，射线源1能够分别向第一自动引导运输车5的左右两侧发出射线，两个探测机构3分别安装在第一自动引导运输车5的左右两侧，且用于分别接收射线源1向两侧发出的射线。该实施例能够在提高检查效率的同时，减少射线源1所占用的空间，还能节约成本。
为了能够更好地对待扫描物品进行检查，检查系统并不是简单放置在第一自动引导运输车5上，而是需要对AGV进行改造，包括硬件和控制系统等。
考虑到现有的AGV车身较大，为了能够使整个检查系统占用较小的空间并且有足够大的空间供待扫描物体通过，可以减小现有的AGV的长度和宽度，另外，考虑到AGV承载的检查系统与待扫描物体相比重量较轻，还可以进一步减弱AGV的承载能力。这些改进都可以降低检查系统的成本。
进一步地，考虑到因射线源1发出的射线有一定张角，而且扫描设备的底部并不是射线源1的底边，优选地，将射线源1的底部嵌入到第一自动引导运输车5中，最好将扫描设备位于射线源1底边以下的部分都嵌入到第一自动引导运输车5中。该实 施例所作的改进能够实现对待扫描物体的完整扫描。
进一步地，检查系统的供电也是需要考虑的。
在一种供电形式中，射线源1和探测机构3均由第一自动引导运输车5的供电单元供电。现有的AGV一般采用锂电池进行供电，而且锂电池可以进行充电，因而扫描设备中的射线源1和探测机构3等也通过锂电池进行供电。此种供电形式无需为扫描设备额外设置供电单元，对AGV的改动较小，结构简单，而且能够避免由于设置额外供电设备而使检查系统受到振动的影响。
在另一种供电形式中，射线源1和探测机构3由独立于第一自动引导运输车5的供电单元的供电设备供电。例如，在第一自动引导运输车5上安装发电机，以独立地为扫描设备中的射线源1和探测机构3等供电。在此种供电形式中，扫描设备不会消耗第一自动引导运输车5的电能，可使整个检查系统的用电量更充足，减少整个检查系统由于供电量不足而导致频繁充电或停止工作的问题；另外在完成一次充电后也能使第一自动引导运输车5使用更长的时间。
对于上述实施例中的探测机构3，在一种结构形式中，如图1所示，探测机构3可包括L形悬臂31，探测器32设置于L形悬臂31上，L形悬臂31通过安装结构设在第一自动引导运输车5上，以形成供待扫描物品通过的门式扫描框架。当第二自动引导运输车6承载待扫描物品从门式扫描框架中通过时，射线源1发出的带有张角的射线就可以穿过待扫描物品被探测器32接收。设置L形悬臂31的优点在于，可以在水平和竖直方向上全面地接收所有穿过待扫描物品的射线。
具体地，L形悬臂31包括横臂31A和竖臂31B，横臂31A的第一端通过安装结构设在第一自动引导运输车5上，竖臂31B的第一端安装在横臂31A的第二端，竖臂31B的第二端为自由端。
在一个改进的实施例中，探测机构3可转动地安装在第一自动引导运输车5上，能够使探测机构3在展开状态和收回状态之间切换。优选地，探测机构3能够在水平面内转动。
在扫描工况下，探测机构3处于展开状态，以对待扫描物品进行检查；在行进工况下，探测机构3处于收回状态，使整个检查系统的宽度减小为第一自动引导运输车5的宽度，只需占用较窄的行进通道。此时检查系统等同于一台AGV设备，接收AGV控制系统的统一调度。另外，在行进状态下将探测机构3收回还能保证行驶安全，避免探测机构3受到损伤。
在一种具体的结构形式中，检查系统还包括转动部件7和支撑部件8，转动部件7设在第一自动引导运输车5上，探测机构3通过支撑部件8安装在转动部件7上。转动部件7可由电机等驱动部件进行驱动，转动部件7可以设计为转台等。
对于包括L形悬臂31的探测机构3，具体地，横臂31A的第一端安装在支撑部件8上。在行进工况下，L形悬臂31整体在水平面内旋转90°，使L形悬臂31的横臂31A与车身长度方向平行，参见图2，探测机构3旋转后不会影响该行进通道中其它AGV的正常运行。
进一步地，对于射线源1和准直器2的安装，可以采用两种安装形式。
在一种结构形式中，如图1和图2所示，将射线源1和准直器2直接安装在第一自动引导运输车5上，这样射线源1发出射线的方向是固定的，在需要扫描时，需要将探测机构3转动到垂直于车身的长度方向，并将探测机构3调整至正对射线源1的位置，以保证检测效果。此种结构形式的优点在于，能够减小转动部件7的体积。
在另一种结构形式中，将射线源1和准直器2通过转动部件7安装在第一自动引导运输车5上，即将射线源1和准直器2安装在转动部件7上。在需要扫描时，通过转动部件7将探测机构3转动垂直于车身的长度方向，此时，射线源1和准直器2也相应地转动至与探测机构3正对的位置。此种结构形式的优点在于，由于射线源1、准直器2和探测机构3处于同一安装基准上，省去了对扫描设备的各部件进行对准的步骤，能够提高扫描检查效率，而且还能提高扫描精度。
在本发明另一个优选的实施例中，可移动式物品检查系统的整体占用宽度不大于第一自动引导运输车5的一个行进通道宽度。其中，此处提到的宽度是指探测机构3展开后整个检查系统占用的宽度，所以无论是行进工况还是扫描工况，该实施例的检查系统都只会占用一个AGV行进通道，不会对相邻的AGV行进通道产生影响，提高了各个AGV行进的安全性。
在智能港口中，通过AGV进行运输的大多为集装箱4，各类集装箱4的宽度大致相同，高度则有所不同。为了提高本发明检查系统的通用性，优选地，将扫描通道按照高度最大的集装箱4进行设计。具体地，L形悬臂31中横臂31A的设置高度最好允许高度最大的集装箱4通过。
其次，本发明还提供了一种基于上述各个实施例的可移动式物品检查系统的检查方法，在一个实施例中，该检查方法包括如下步骤：
使第一自动引导运输车5带动射线源1和探测机构3运动至预设的扫描检查位置；
通过待扫描物品与第一自动引导运输车5之间的相对运动，实现对待扫描物品的扫描检查。
该实施例通过AGV实现检查系统可移动性，能够充分利用AGV的控制系统对检查系统进行集中控制与管理，从而提高检查效率，并节约人力成本；而且能够控制第一自动引导运输车5按照实际需要的路径运动，从而提高检查的灵活性。
在本发明的另一个实施例中，待扫描物品由第二自动引导运输车6装载，待扫描物品与第一自动引导运输车5之间相对运动的步骤具体包括：
在对待扫描物品进行扫描检查时，第一自动引导运输车5静止，第二自动引导运输车6运动；或者第一自动引导运输车5运动，第二自动引导运输车6静止。
为了使检查系统既能接收AGV控制系统的命令，同时也能对驶入检测通道的第二自动引导运输车6上的待扫描物品进行扫描，需将AGV控制系统以及扫描设备的扫描系统进行结合。
在一个具体的实施例中，探测机构3包括L形悬臂31，探测器32设置于L形悬臂31上，L形悬臂31安装在第一自动引导运输车5上，以形成供待扫描物品通过的门式扫描框架；待扫描物品的扫描检查步骤具体包括：使待扫描物品处于门式扫描框架形成的通道内，以对待扫描物品进行扫描检查。
对于探测机构3可转动地安装在第一自动引导运输车5上的检查系统，移动式车载物品检查方法还包括如下步骤：
当第一自动引导运输车5带动射线源1和探测机构3移动时，探测机构3切换为收回状态；
当第一自动引导运输车5带动射线源1和探测机构3运动至预设的扫描检查位置时，探测机构3切换为展开状态。
该实施例能够根据检查系统的不同工况将探测机构3切换为不同的状态，既能够满足扫描检查的功能需求，又能够在行进工况下使检查系统占用较窄的行进通道，从而保证行驶安全，避免探测机构3受到损伤。
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制；尽管参照较佳实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者对部分技术特征进行等同替换，例如，用不同的射线源以及探测机构进行替换，而不脱离本发明技术方案的精神，其均应涵盖在本发明请求保护的技术方案范围当中。

Claims (14)

  1. 一种可移动式物品检查系统，其特征在于，包括：第一自动引导运输车(5)、射线源(1)和探测机构(3)，所述射线源(1)和所述探测机构(3)均安装在所述第一自动引导运输车(5)上，所述第一自动引导运输车(5)能够被调度运动至预设的扫描检查位置，通过待扫描物品与所述第一自动引导运输车(5)的相对运动，实现对所述待扫描物品的扫描检查。
  2. 根据权利要求1所述的可移动式物品检查系统，所述待扫描物品由第二自动引导运输车(6)装载，所述第二自动引导运输车(6)能够带动所述待扫描物品相对于所述第一自动引导运输车(5)运动。
  3. 根据权利要求1所述的可移动式物品检查系统，其特征在于，所述射线源(1)的底部嵌入到所述第一自动引导运输车(5)中。
  4. 根据权利要求1所述的可移动式物品检查系统，其特征在于，所述射线源(1)和所述探测机构(3)均由所述第一自动引导运输车(5)的供电单元供电；或者由独立于所述第一自动引导运输车(5)的供电单元的供电设备供电。
  5. 根据权利要求1所述的可移动式物品检查系统，其特征在于，所述探测机构(3)可转动地安装在所述第一自动引导运输车(5)上，能够使所述探测机构(3)在展开状态和收回状态之间切换。
  6. 根据权利要求5所述的可移动式物品检查系统，其特征在于，还包括转动部件(7)和支撑部件(8)，所述转动部件(7)设在所述第一自动引导运输车(5)上，所述探测机构(3)通过所述支撑部件(8)安装在所述转动部件(7)上。
  7. 根据权利要求6所述的可移动式物品检查系统，其特征在于，所述射线源(1)直接安装在所述第一自动引导运输车(5)上；或者所述射线源(1)通过所述转动部件(7)安装在所述第一自动引导运输车(5)上。
  8. 根据权利要求1所述的可移动式物品检查系统，其特征在于，所述探测机构(3)包括L形悬臂(31)和探测器(32)，所述探测器(32)设置于所述L形悬臂(31)上，所述L形悬臂(31)安装在所述第一自动引导运输车(5)上，以形成供所述待扫描物品通过的门式扫描框架。
  9. 根据权利要求1所述的可移动式物品检查系统，其特征在于，所述可移动式物品检查系统的整体占用宽度不大于所述第一自动引导运输车(5)的一个行进通道宽 度。
  10. 根据权利要求1所述的可移动式物品检查系统，其特征在于，包括两个所述射线源(1)和两个所述探测机构(3)，两个所述射线源(1)能够分别向所述第一自动引导运输车(5)的左右两侧发出射线，两个所述探测机构(3)分别安装在所述第一自动引导运输车(5)的左右两侧，用于分别接收相应侧所述射线源(1)发出的射线。
  11. 根据权利要求1所述的可移动式物品检查系统，其特征在于，包括一个所述射线源(1)和两个所述探测机构(3)，所述射线源(1)能够向所述第一自动引导运输车(5)的左右两侧发出射线，两个所述探测机构(3)分别安装在所述第一自动引导运输车(5)的左右两侧，且用于分别接收所述射线源(1)向两侧发出的射线。
  12. 一种基于权利要求1所述的可移动式物品检查系统的检查方法，其特征在于，包括：
    使所述第一自动引导运输车(5)带动所述射线源(1)和所述探测机构(3)运动至预设的扫描检查位置；
    通过所述待扫描物品与所述第一自动引导运输车(5)之间的相对运动，实现对所述待扫描物品的扫描检查。
  13. 根据权利要求12所述的可移动式物品检查系统的检查方法，其特征在于，所述待扫描物品由第二自动引导运输车(6)装载，所述待扫描物品与所述第一自动引导运输车(5)之间相对运动的步骤具体包括：
    在对所述待扫描物品进行扫描检查时，所述第一自动引导运输车(5)静止，所述第二自动引导运输车(6)运动；或者
    所述第一自动引导运输车(5)运动，所述第二自动引导运输车(6)静止。
  14. 根据权利要求12所述的可移动式物品检查系统的检查方法，其特征在于，所述探测机构(3)可转动地安装在所述第一自动引导运输车(5)上，所述检查方法还包括：
    当所述第一自动引导运输车(5)带动所述射线源(1)和所述探测机构(3)移动时，所述探测机构(3)切换为收回状态；
    当所述第一自动引导运输车(5)带动所述射线源(1)和所述探测机构(3)运动至预设的扫描检查位置时，所述探测机构(3)切换为展开状态。
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