WO2019223643A1 - 集装箱车辆检查系统和集装箱车辆检查方法 - Google Patents

集装箱车辆检查系统和集装箱车辆检查方法 Download PDF

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Publication number
WO2019223643A1
WO2019223643A1 PCT/CN2019/087594 CN2019087594W WO2019223643A1 WO 2019223643 A1 WO2019223643 A1 WO 2019223643A1 CN 2019087594 W CN2019087594 W CN 2019087594W WO 2019223643 A1 WO2019223643 A1 WO 2019223643A1
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WIPO (PCT)
Prior art keywords
area
container vehicle
laser sensing
area laser
sensing device
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PCT/CN2019/087594
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English (en)
French (fr)
Inventor
李柯
李荐民
江涛
俞友爱
李玉兰
喻卫丰
许艳伟
李元景
杨学敬
宗春光
陈志强
张丽
Original Assignee
清华大学
同方威视技术股份有限公司
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Application filed by 清华大学, 同方威视技术股份有限公司 filed Critical 清华大学
Priority to PL437171A priority Critical patent/PL242103B1/pl
Publication of WO2019223643A1 publication Critical patent/WO2019223643A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target

Definitions

  • the present disclosure relates to the technical field of radiation inspection, and particularly to a container vehicle inspection system and a container vehicle inspection method.
  • the container vehicle inspection system has an active scanning mode and a passive scanning mode.
  • Active scanning mode refers to the container vehicle being inspected parked in the scanning channel of the container vehicle inspection system.
  • the scanning equipment emits X-ray beams while the container vehicle inspection system is moving to scan and image the container vehicle.
  • Passive scanning mode means that the container vehicle inspection system is stationary, the detected container vehicle normally enters the scanning channel of the container vehicle inspection system and passes through the scanning area. While passing through the scanning area, the scanning equipment emits x-ray beams such as container Scan for imaging.
  • the diffuse reflection sensor is susceptible to ambient light interference, especially in outdoor environments, and it is prone to malfunction, which causes the control device of the container vehicle inspection system to determine that the trigger sequence of the diffuse reflection switch is incorrect and terminates the scanning process.
  • the light curtain can detect a plane, and the remaining diffuse reflection sensors can only detect individual position points. In this way, for container vehicles being inspected with different chassis heights, leakage detection may occur. And during the scanning process, if someone enters the scanning channel from between the two diffuse reflection switches, it may not be detected.
  • An object of the present disclosure is to provide a container vehicle inspection system and a container vehicle inspection method to improve inspection success rates.
  • a first aspect of the present disclosure provides a container vehicle inspection system having a scanning channel extending in a first direction for a container vehicle to pass through, including:
  • a scanning device including a radiation source for outputting a radiation beam to inspect the container vehicle;
  • a plurality of area laser sensing devices arranged at intervals along the first direction, each of the area laser sensing devices having a sensing area for sensing the container vehicle and detecting the container vehicle entering its sensing area And / or sensing information leaving its sensing area;
  • a control device which is in signal connection with the scanning device and the plurality of area laser sensing devices, and is configured to operate the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices .
  • the plurality of area laser sensing devices include at least two horizontal scanning laser sensing devices, and the sensing areas of the horizontal scanning laser sensing devices are substantially parallel to the ground.
  • the plurality of area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground.
  • the heights of the sensing areas of the at least two horizontal scanning laser sensing devices are different.
  • the at least two horizontal scanning laser sensing devices include:
  • a first area laser sensing device is disposed at a distance from the radiation source in the first direction, and a sensing area of the first area laser sensing device covers the radiation beam from the radiation beam in the first direction.
  • the second area laser sensing device is disposed on the side of the first area laser sensing device near the radiation source in the first direction.
  • the sensing area of the second area laser sensing device is The first direction covers a first distance from the second area laser sensing device toward the radiation source side and across the radiation source.
  • the second area laser sensing device in the first direction, is disposed between the first area laser sensing device and the radiation source.
  • the second area laser sensing device in the first direction, further covers at least the area from the second area laser sensing device toward the side of the first area laser sensing device. The second distance.
  • the plurality of area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground, and At least one vertical scanning laser sensing device includes:
  • a third area laser sensing device disposed between the first area laser sensing device and the second area laser sensing device in the first direction; and / or,
  • a fourth area laser sensing device is disposed on the side of the radiation source opposite to the first area laser sensing device in the first direction, and the second area laser sensing device is located in the first direction. Between an area laser sensing device and the fourth area laser sensing device.
  • the first distance is smaller than a distance between the second area laser sensing device and the fourth area laser sensing device.
  • the second distance is smaller than a distance between the second area laser sensing device and the third area laser sensing device.
  • the container vehicle inspection system is a vehicle-mounted container vehicle inspection system including a carrier vehicle carrying the scanning device, the first area laser sensing device, the second area laser sensing device, The third area laser sensing device and / or the fourth area laser sensing device are disposed on the carrying vehicle.
  • the carrying vehicle includes a front, a chassis, a body, and a turntable, the body and the turntable are disposed on the chassis, the turntable is located behind the body, and the container vehicle inspection system
  • the scanning device is carried on the vehicle body through the turntable, wherein:
  • the first area laser sensing device is arranged at the rear of the front of the carrying vehicle; and / or,
  • the second area laser sensing device is arranged on the turntable or on a chassis near the turntable; and / or,
  • the third area laser sensing device is arranged on the vehicle body.
  • the container vehicle inspection system further includes a bracket, and the fourth area laser sensing device is disposed on the bracket.
  • At least two of the plurality of area laser sensing devices have different installation heights of the area laser sensors; and / or,
  • the sensing areas of at least two of the area laser sensors in the plurality of area laser sensing devices are arranged at an included angle; and / or,
  • the sensing area of at least one of the plurality of area laser sensing devices is substantially parallel to the ground, and the sensing area of at least one of the area laser sensors is substantially perpendicular to the ground; and / or,
  • the sensing area of one of the area laser sensors is substantially parallel to the ground and the sensing of the other area laser sensor.
  • the area is approximately perpendicular to the ground.
  • a second aspect of the present disclosure provides a container vehicle inspection method for performing a radiation inspection on a container vehicle by the container vehicle inspection system according to the first aspect of the present disclosure, including:
  • Each of the area laser sensing devices detects sensing information that the container vehicle enters its sensing area and / or leaves its sensing area;
  • the control device operates the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices.
  • the controlling device manipulating the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices includes performing the following operations according to a change in the sensing information:
  • the radiation source is manipulated to stop outputting a radiation beam.
  • the method for inspecting a container vehicle includes: When the sensing area of the second area laser sensing device senses the container vehicle, the radiation scanning device switches to a passive scanning mode; the sensing area of the first area laser sensing device senses the container When the vehicle is in control, the control device manipulates the radiation source to preheat; when the sensing areas of the first area laser sensing device and the third area laser sensing device simultaneously sense the container vehicle, the radiation The source emits a radiation beam; when the sensing area of the second area laser sensing device senses that the container vehicle is leaving, the radiation source stops outputting the radiation beam; or,
  • the container vehicle inspection method includes: the first When the sensing area of the area laser sensing device senses the container vehicle, the radiation scanning device switches to the passive scanning mode; the sensing of the first area laser sensing device and the second area laser sensing device When the container vehicle is sensed in the detection area at the same time, or when the container vehicle is sensed in the sensing areas of the first area laser sensing device and the third area laser sensing device at the same time, the control device controls the container vehicle.
  • the radiation source is preheated; when the fourth area laser sensing device senses the container vehicle, the radiation source outputs a radiation beam; the sensing area of the second area laser sensing device senses all When the container vehicle leaves, the radiation source stops outputting a radiation beam.
  • the passive scanning mode of the container vehicle inspection system is realized by using the area laser sensing device instead of the diffuse reflection sensor and the light curtain sensor. Setting the number, position, and size and direction of the sensing area helps to accurately determine the position of the vehicle, and can reduce misoperations, thereby improving the inspection success rate. Further, it can also effectively reduce the number of sensors that detect the position of the container vehicle, and reduce the cost of purchasing sensors. Further, it can also effectively prevent misdetection caused by the intrusion of people or foreign objects, which is conducive to improving the security of the container vehicle inspection system. In addition, it is also helpful to reduce the installation difficulty and shorten the installation man-hours.
  • FIG. 1 is a schematic structural diagram of a container vehicle inspection system according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic diagram of a sensing area of a first area laser sensing device in the container vehicle inspection system shown in FIG. 1.
  • FIG. 3 is a schematic diagram of a sensing area of a second area laser sensing device in the container vehicle inspection system shown in FIG. 1.
  • FIG. 4 is a schematic diagram of a sensing area of a third area laser sensing device in the container vehicle inspection system shown in FIG. 1.
  • FIG. 5 is a schematic diagram of a sensing area of a fourth area laser sensing device in the container vehicle inspection system shown in FIG. 1.
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal”, “top, bottom” and the like indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present disclosure and simplifying the description. These directions do not indicate and imply the device or element referred to unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the scope of protection of this disclosure; the orientation words “inside and outside” refer to the inside and outside relative to the outline of each component itself.
  • the container vehicle inspection system 1 of this embodiment has a scanning channel extending in a first direction for a container vehicle to pass, and includes a scanning device, a plurality of area laser sensing devices, and a control device.
  • the scanning device includes a radiation source for outputting a radiation beam to inspect a container vehicle.
  • a plurality of area laser sensing devices are arranged at intervals along the first direction, and each area laser sensing device has a sensing area for sensing a container vehicle and detects that the container vehicle enters and / or leaves its sensing area Sensing information for the area.
  • the control device is signal-connected with the scanning device and the plurality of area laser sensing devices, and operates the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices.
  • the container vehicle inspection system realizes the passive scanning mode of the container vehicle inspection system by using the area laser sensing device instead of the diffuse reflection sensor and the light curtain sensor.
  • the number, position and sensing area of the area laser sensing device can be configured reasonably.
  • the size and direction are conducive to accurately determining the position of the vehicle, and can reduce misoperations, thereby improving the success rate of inspections.
  • the container vehicle inspection system can also effectively reduce the number of sensors that detect the position of the container vehicle, and reduce the cost of purchasing sensors. Further, it can also effectively prevent false detection caused by the intrusion of people or foreign objects, and improve the security of the container vehicle inspection system. In addition, it is also helpful to reduce the installation difficulty and shorten the installation man-hours.
  • the plurality of area laser sensing devices include at least two horizontal scanning laser sensing devices, and the sensing areas of the horizontal scanning laser sensing devices are substantially parallel to the ground.
  • each horizontal scanning laser sensing device and the sensing area of other horizontal scanning laser sensing devices may not overlap or partially overlap.
  • the sensing information that can be obtained includes the container vehicle entering and leaving the first Two sensing information of the sensing area of the horizontal scanning laser sensing device, and two sensing information of the container vehicle entering and leaving the second horizontal scanning laser sensing device. Therefore, the control device can issue different manipulation instructions according to the sensing information sent by the two horizontal scanning laser sensing devices.
  • a combination of sensing information can be obtained, including a container vehicle entering the first The combination of sensing information when two horizontal scanning laser sensing devices sense the sensing area without entering the second horizontal scanning laser sensing device's sensing area, the container vehicle enters the first horizontal scanning laser sensing device's sensing area The combination of sensing information when entering the sensing area of the second horizontal scanning laser sensing device at the same time, the container vehicle leaves the sensing area of the first horizontal scanning laser sensing device without leaving the second horizontal scanning laser sensing device The combination of the sensing information when the sensing area of the sensing area is the combination of the sensing information when the container vehicle leaves the sensing area of the first horizontal scanning laser sensing device and the sensing area of the second horizontal scanning laser sensing device. Therefore, the control device can issue different manipulation instructions according to the combination of the sensing information sent by the two horizontal scanning laser sensing devices.
  • the plurality of area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground.
  • the vertical scanning laser sensing device can provide more sensing information to the control device, so that more complex control can be performed, or it can cooperate with the horizontal scanning laser sensing device to make the position information of the container vehicle more accurate, which is beneficial to reduce operating errors. rate.
  • the container vehicle inspection system 1 is a vehicle-mounted container vehicle inspection system, and includes a carrier vehicle carrying a scanning device.
  • the first direction in this embodiment is the left-right direction shown in FIG. 1, that is, it is disposed along the front-rear direction of the carrying vehicle.
  • a plurality of area laser sensing devices include a first area laser sensing device Q1, a second area laser sensing device Q2, a third area laser sensing device Q3, and a fourth area.
  • Laser sensing device Q4 As shown in FIG. 1, in this embodiment, a plurality of area laser sensing devices include a first area laser sensing device Q1, a second area laser sensing device Q2, a third area laser sensing device Q3, and a fourth area.
  • Laser sensing device Q4 As shown in FIG. 1, in this embodiment, a plurality of area laser sensing devices include a first area laser sensing device Q1, a second area laser sensing device Q2, a third area laser sensing device Q3, and a fourth area.
  • Laser sensing device Q4 As shown in FIG. 1, in this embodiment, a plurality of area laser sensing devices include a first area laser sensing device Q1, a second area laser sensing device Q2, a third area laser sensing device Q3, and a fourth area.
  • Laser sensing device Q4 As shown in FIG
  • the area laser sensing device can emit a pulsed laser beam at a certain scanning frequency to perform laser scanning within a scanning angle range, and can limit the scanning area of the area laser sensing device, thereby limiting the sensing area of the area laser sensing device.
  • the first area laser sensing device Q1 is spaced from the radiation source in the first direction, and the sensing area of the first area laser sensing device Q1 is substantially parallel to the ground and is located on the first side.
  • the area from the vertical midplane R of the radiation beam to the first area laser sensing device Q1 is covered upward.
  • the sensing area of the first area laser sensing device Q1 includes two parts, one of which is close to the vertical mid-plane R of the radiation beam of the radiation source and away from the sensing of the first area laser sensing device Q1.
  • the measuring section S3 is partially a sensing section S4 near the first area laser sensing device Q1.
  • the second area laser sensing device Q2 is disposed in the first direction on the side of the first area laser sensing device Q1 near the radiation source, and the second area laser sensing device Q2 has a sensing effect.
  • the measurement area is substantially parallel to the ground and covers the first distance from the second area laser sensing device Q2 toward the radiation source side in the first direction.
  • the second area laser sensing device Q2 is disposed between the first area laser sensing device Q1 and a radiation source.
  • the second area laser sensing device Q2 also covers at least the second area laser sensing device Q2 from the second area laser sensing device Q2 side. distance.
  • the second distance is smaller than the distance between the second area laser sensing device Q2 and the third area laser sensing device Q3.
  • the sensing area of the second area laser sensing device Q2 includes a sensing area S1 and a sensing area S2 located on both sides of the vertical mid-plane R of the radiation beam output by the radiation source. .
  • the distance in the left-right direction of the sensing partition S1 in FIG. 3 is the first distance, and the distance in the left-right direction of the sensing partition S2 in the FIG.
  • the third area laser sensing device Q3 is disposed between the first area laser sensing device Q1 and the second area laser sensing device Q2 in a first direction, and the third area laser sensing device Q3
  • the sensing area of the device Q3 is substantially perpendicular to the ground.
  • the sensing area S5 of the third area laser sensing device Q3 has a square shape as a whole, but it is divergent at a large angle on the laser emitting side.
  • the fourth area laser sensing device Q4 is disposed on the side of the radiation source opposite to the third area laser sensing device Q3 in the first direction.
  • the sensing area is substantially perpendicular to the ground.
  • the shape of the sensing area S6 of the fourth area laser sensing device Q4 is similar to the shape of the sensing area S5 of the third area laser sensing device Q3.
  • the sensing area or sensing zone of the laser sensing device in each area can be set in advance by the control device, or adjusted by the control device.
  • the control device may be any device such as a computer or a PCL controller that can perform a control function that meets the requirements.
  • the first area laser sensing device Q1, the second area laser sensing device Q2, the third area laser sensing device Q3, and / or the fourth area laser sensing device Q4 are provided. On a carrying vehicle.
  • the carrying vehicle includes a front head 11, a chassis, a vehicle body 12, and a turntable 14.
  • the vehicle body 12 and the turntable 14 are disposed on the chassis.
  • the turntable 14 is located behind the vehicle body 12.
  • the equipment is carried on the vehicle body 12 via a turntable 14.
  • the first area laser sensing device Q1 is arranged at the rear of the head 11 of the carrying vehicle.
  • the second area laser sensing device Q2 is arranged on the turntable 14 or on a chassis near the turntable 14.
  • the third area laser sensing device Q3 is arranged on the vehicle body 12.
  • the container vehicle inspection system 1 further includes a bracket 15 on which the fourth area laser sensing device Q4 is arranged. In this embodiment, the bracket 15 is a vertical pole.
  • the scanning device includes a scanning frame 13 provided on a turntable 14.
  • the scanning frame 13 is rotated to the outside of the vehicle and forms a portal frame with the vehicle body.
  • the scanning frame 13 can be rotated and folded on the vehicle body 12 when the container vehicle inspection system 1 is not operating or running.
  • the radiation source is disposed on the scanning frame 13.
  • the third area laser sensing device Q3 and the fourth area laser sensing device Q4 are not necessary, and only one may be provided.
  • the vehicle under inspection can be instructed to only go from the radiation source side to the first area laser sensing device Q1 side travel.
  • the fourth area light sensing device Q4 is provided in the two, when the container vehicle is passively inspected, the vehicle under inspection can be instructed to drive only from the first area laser sensing device Q1 side toward the radiation source side.
  • a plurality of area laser sensing devices may be set as follows: at least two area laser sensors of the plurality of area laser sensing devices are installed at different heights; and / or, at least two area laser sensors of the plurality of area laser sensing devices The sensing areas of the sensors are arranged at an angle; and / or, the sensing area of at least one of the plurality of area laser sensing devices is substantially parallel to the ground, and the sensing area of the at least one area laser sensor is substantially perpendicular to the ground; And / or, the sensing area of each of the two adjacent area laser sensors of each of the plurality of area laser sensing devices is substantially parallel to the ground and the sensing area of the other area laser sensor is substantially perpendicular to ground.
  • This embodiment also provides a container vehicle inspection method for performing a radiation inspection of a container vehicle according to the foregoing container vehicle inspection system 1, including: a laser sensing device in each area detects that the container vehicle enters its sensing area and / or leaves it The sensing information of the sensing area; and the control device operates the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices.
  • the control device controls the scanning device to inspect the container vehicle based on the sensing information of the plurality of area laser sensing devices, and includes performing the following operations according to changes in the sensing information: manipulating the radiation scanning device to switch to a passive scanning mode; manipulating the radiation source Preheating; operating the radiation source to output a radiation beam; operating the radiation source to stop outputting a radiation beam.
  • the system for inspecting a container vehicle includes a plurality of area laser sensing devices including the aforementioned first area laser sensing device Q1 and a second area laser sensing device Q2, and further includes the aforementioned third area laser sensing device.
  • the device Q3 and / or the fourth area laser sensing device Q includes the aforementioned first area laser sensing device Q1 and a second area laser sensing device Q2, and further includes the aforementioned third area laser sensing device.
  • the container vehicle inspection method includes the following: When a container vehicle is sensed in the measurement area, the radiation scanning device is switched to the passive scanning mode; when the container area of the first area laser sensing device Q1 is sensed, the control device manipulates the radiation source to preheat; the first area laser When the sensing area of the sensing device Q1 and the third area laser sensing device Q3 simultaneously senses the container vehicle, the radiation source outputs a radiation beam; the sensing area of the second area laser sensing device Q2 senses that the container vehicle is leaving When the radiation source stops outputting the radiation beam.
  • the inspection method of the container vehicle includes: the sensing area of the first area laser sensing device Q1 detects When the container vehicle, the radiation scanning device is switched to the passive scanning mode; when the sensing area of the first area laser sensing device Q1 and the second area laser sensing device Q2 simultaneously senses the container vehicle or the first area laser sensing device Q1 When a container vehicle is sensed simultaneously with the sensing area of the third area laser sensing device Q3, the control device manipulates the radiation source to preheat; when the fourth area laser sensing device Q4 senses the container vehicle, the radiation source outputs a radiation beam ; When the sensing area of the second area laser sensing device Q2 senses that the container vehicle is leaving, the radiation source stops outputting a radiation beam.
  • FIGS. 1 to 5 A specific operational example of the container vehicle inspection method of this embodiment is described below with reference to FIGS. 1 to 5.
  • the operational example can be changed correspondingly according to control requirements.
  • the control device controls the container vehicle inspection system 1 to start entering the passive scanning mode.
  • the control device judges that the head 11 of the detected container vehicle arrives at the position where the radiation source emits a radiation beam, the radiation source is preheated, and is ready to start scanning .
  • the control device determines that the vehicle head 11 has avoided the radiation beam from the radiation source.
  • the radiation source of the scanning device starts to output the radiation beam to scan.
  • the sensing zone S2 of the second area laser sensing device Q2 senses that the tail of the container vehicle being detected leaves the sensing zone S2, it is considered that the entire container vehicle has emitted the position of the radiation beam through the radiation source of the scanning device , You can stop scanning and the scanning process ends.
  • the detected container vehicle When the detected container vehicle enters the scanning channel from right to left (left-right direction shown in FIG. 1), it is first sensed by the sensing zone S4 of the first area laser sensing device Q1, and the control device controls the inspection of the container vehicle System 1 begins to enter passive scan mode.
  • the control device judges that the head 11 of the container vehicle being inspected has reached the position where the radiation source emits the radiation beam, the radiation source is preheated, and is ready to start scanning .
  • the control device judges that the front head 11 has avoided the position where the radiation source emits the radiation beam and reached a safe position, and the radiation source of the scanning device starts to output radiation Beam scan.
  • the sensing zone S1 of the second area laser sensing device Q2 senses that the tail of the container vehicle being detected leaves the sensing zone S1, it is considered that the entire container vehicle has emitted the position of the radiation beam through the radiation source of the scanning device , You can stop scanning and the scanning process ends.
  • the container vehicle inspection method of the embodiment of the present disclosure has the same advantages as the container vehicle inspection device of the embodiment of the present disclosure.

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Abstract

一种集装箱车辆检查系统（1）和集装箱车辆检查方法。集装箱车辆检查系统（1）具有供集装箱车辆通过的沿第一方向延伸的扫描通道，包括：扫描设备，包括用于输出辐射束以检查集装箱车辆的辐射源；多个区域激光传感装置（Q1、Q2、Q3、Q4），沿第一方向间隔布置，每个区域激光传感装置（Q1、Q2、Q3、Q4）具有用于感测集装箱车辆的感测区域并检测集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和控制装置，与扫描设备和多个区域激光传感装置（Q1、Q2、Q3、Q4）信号连接，并根据多个区域激光传感装置（Q1、Q2、Q3、Q4）的感测信息操纵扫描设备检查集装箱车辆。集装箱车辆检查系统（1）和集装箱车辆检查方法利于准确判断车辆位置，并能够减少误动作，提升检查成功率。

Description

集装箱车辆检查系统和集装箱车辆检查方法
相关申请
本申请是以申请号为201810560645.9，申请日为2018年5月25日，发明名称为“集装箱车辆检查系统和集装箱车辆检查方法”的中国专利申请为基础，并主张其优先权，该中国专利申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及辐射检查技术领域，特别涉及一种集装箱车辆检查系统和集装箱车辆检查方法。
背景技术
集装箱车辆检查系统具有主动扫描模式和被动扫描模式。主动扫描模式指被检测集装箱车辆停放在集装箱车辆检查系统的扫描通道内，集装箱车辆检查系统移动的同时扫描设备发出x射线等射线束，对集装箱车辆进行扫描成像。被动扫描模式指集装箱车辆检查系统静止不动，被检测集装箱车辆正常驶入集装箱车辆检查系统的扫描通道并通过扫描区域，在通过扫描区域的同时，扫描设备发出x射线等射线束，对集装箱车辆进行扫描成像。
由于辐射防护安全的要求，在被动扫描模式中，不允许扫描集装箱车辆的驾驶室。为此，在发明人已知的相关技术中，采用在扫描设备上布置一系列漫反射开关及光幕的方式，对集装箱车辆进行位置检测，当检测到集装箱车辆的驾驶室已安全通过扫描设备输出的辐射束的位置时，再开始扫描，从而只扫描集装箱车辆的集装箱部分。
以上相关技术中，漫反射传感器容易受到环境光线干扰，特别是在室外环境下，容易产生误动作，导致集装箱车辆检查系统的控制装置判定漫反射开关触发顺序错误，中止扫描流程。该相关技术中，只有光幕能够检测一个平面，其余漫反射传感器都只能对单独位置点进行检测。这样对于不同底盘高度的被检测集装箱车辆，有可能发生漏检测的情况。并且在扫描过程中，如果有人从两个漫反射开关之间进入扫描通道，可能无法检测出来。
发明内容
本公开的目的在于提供一种集装箱车辆检查系统和集装箱车辆检查方法以提升检查成功率。
本公开第一方面提供一种集装箱车辆检查系统，具有供集装箱车辆通过的沿第一方向延伸的扫描通道，包括：
扫描设备，包括用于输出辐射束以检查所述集装箱车辆的辐射源；
多个区域激光传感装置，沿所述第一方向间隔布置，每个所述区域激光传感装置具有用于感测所述集装箱车辆的感测区域并检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和
控制装置，与所述扫描设备和所述多个区域激光传感装置信号连接，被设置为根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆。
在一些实施例中，所述多个区域激光传感装置包括至少两个水平扫描激光传感装置，所述水平扫描激光传感装置的感测区域与地面基本平行。
在一些实施例中，所述多个区域激光传感装置包括至少一个垂直扫描激光传感装置，所述垂直扫描激光传感装置的感测区域与所述第一方向和地面基本垂直。
在一些实施例中，所述至少两个水平扫描激光传感装置的感测区域的高度不同。
在一些实施例中，所述至少两个水平扫描激光传感装置包括：
第一区域激光传感装置，在所述第一方向上与所述辐射源间隔设置，所述第一区域激光传感装置的感测区域在所述第一方向上覆盖从所述辐射束的中分面到所述第一区域激光传感装置的区域；
第二区域激光传感装置，在所述第一方向上设置于所述第一区域激光传感装置的靠近所述辐射源的一侧，所述第二区域激光传感装置的感测区域在所述第一方向上覆盖从所述第二区域激光传感装置朝向所述辐射源一侧并越过所述辐射源的第一距离。
在一些实施例中，在所述第一方向上，所述第二区域激光传感装置设置于所述第一区域激光传感装置与所述辐射源之间。
在一些实施例中，在所述第一方向上，所述第二区域激光传感装置还至少覆盖从所述第二区域激光传感装置开始朝向所述第一区域激光传感装置一侧的第二距离。
在一些实施例中，所述多个区域激光传感装置包括至少一个垂直扫描激光传感装置，所述垂直扫描激光传感装置的感测区域与所述第一方向和地面基本垂直，所述至少一个垂直扫描激光传感装置包括：
第三区域激光传感装置，在所述第一方向上设置于所述第一区域激光传感装置和所述第二区域激光传感装置之间；和/或，
第四区域激光传感装置，在所述第一方向上设置于所述辐射源的与所述第一区域激光传感装置相对的一侧，所述第二区域激光传感装置位于所述第一区域激光传感装置和所述第四区域激光传感装置之间。
在一些实施例中，在所述第一方向上，所述第一距离小于所述第二区域激光传感装置与所述第四区域激光传感装置之间的距离。
在一些实施例中，在所述第一方向上，所述第二距离小于所述第二区域激光传感装置与所述第三区域激光传感装置之间的距离。
在一些实施例中，所述集装箱车辆检查系统为车载式集装箱车辆检查系统，包括承载所述扫描设备的承载车辆，所述第一区域激光传感装置、所述第二区域激光传感装置、所述第三区域激光传感装置和/或所述第四区域激光传感装置设置于所述承载车辆上。
在一些实施例中，所述承载车辆包括车头、底盘、车身和转台，所述车身和所述转台设置于所述底盘上，所述转台位于所述车身的后方，所述集装箱车辆检查系统的扫描设备通过所述转台承载于所述车身上，其中，
所述第一区域激光传感装置布置在所述承载车辆的车头后部；和/或，
所述第二区域激光传感装置布置在所述转台上或所述转台附近的底盘上；和/或，
所述第三区域激光传感装置布置在所述车身上。
在一些实施例中，所述集装箱车辆检查系统还包括支架，所述第四区域激光传感装置布置于所述支架上。
在一些实施例中，所述多个区域激光传感装置中至少两个所述区域激光传感器的安装高度不同；和/或，
所述多个区域激光传感装置中至少两个所述区域激光传感器的感测区域成夹角设置；和/或，
所述多个区域激光传感装置中至少一个所述区域激光传感器的感测区域大致平行于地面，至少一个所述区域激光传感器的感测区域大致垂直于地面；和/或，
所述多个区域激光传感装置每两个相邻的所述区域激光传感器的感测区域中一个所述区域激光传感器的感测区域大致平行于地面而另一个所述区域激光传感器的感测区域大致垂直于地面。
本公开第二方面提供一种本公开第一方面所述的集装箱车辆检查系统对集装箱车辆进行辐射检查的集装箱车辆检查方法，包括：
各所述区域激光传感装置检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和
控制装置根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆。
在一些实施例中，控制装置根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆包括根据所述感测信息的变化执行如下操作：
操纵所述辐射扫描装置切换至被动扫描模式；
操纵所述辐射源进行预热；
操纵所述辐射源输出辐射束；
操纵所述辐射源停止输出辐射束。
在一些实施例中，
在所述第一方向上，所述集装箱车辆从所述辐射源的与所述第一区域激光传感装置相对的一侧驶入所述扫描通道时，所述集装箱车辆检查方法包括：所述第二区域激光传感装置的感测区域感测到所述集装箱车辆时，所述辐射扫描装置切换至被动扫描模式；所述第一区域激光传感装置的感测区域感测到所述集装箱车辆时，控制装置操纵所述辐射源进行预热；所述第一区域激光传感装置和所述第三区域激光传感装置的感测区域同时感测到所述集装箱车辆时，所述辐射源输出辐射束；所述第二区域激光传感装置的感测区域感测到所述集装箱车辆驶离时，所述辐射源停止输出辐射束；或，
在所述第一方向上，所述集装箱车辆从所述辐射源的所述第一区域激光传感装置的一侧驶入所述扫描通道时，所述集装箱车辆检查方法包括：所述第一区域激光传感装置的感测区域感测到所述集装箱车辆时，所述辐射扫描装置切换至被动扫描模式；所述第一区域激光传感装置和所述第二区域激光传感装置的感测区域同时感测到所述集装箱车辆时，或所述第一区域激光传感装置和所述第三区域激光传感装置的感测区域同时感测到所述集装箱车辆时，控制装置操纵所述辐射源进行预热；所述第四区域激光传感装置感测到所述集装箱车辆时，所述辐射源输出辐射束；所述第二区域激光传感装置的感测区域感测到所述集装箱车辆驶离时，所述辐射源停止输出辐射束。
基于本公开提供的集装箱车辆检查系统和集装箱车辆检查方法，通过使用区域激光传感装置替代漫反射传感器与光幕传感器，实现集装箱车辆检查系统的被动扫描模 式，通过合理配置区域激光传感装置的设置数量、位置和感测区域的大小和方向，利于准确判断车辆位置，并能够减少误动作，从而提升检查成功率。进一步地，还能够有效减少检测集装箱车辆位置的传感器数量，降低购买传感器的成本。进一步地，还可有效防止因为人员或异物闯入而导致的误检测情况，利于提高集装箱车辆检查系统的安全性。此外，还利于降低安装难度，缩短安装工时。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施例的集装箱车辆检查系统的结构示意图。
图2为图1所示的集装箱车辆检查系统中第一区域激光传感装置的感测区域示意图。
图3为图1所示的集装箱车辆检查系统中第二区域激光传感装置的感测区域示意图。
图4为图1所示的集装箱车辆检查系统中第三区域激光传感装置的感测区域示意图。
图5为图1所示的集装箱车辆检查系统中第四区域激光传感装置的感测区域示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的 各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
如图1至图5所示，本实施例的集装箱车辆检查系统1具有供集装箱车辆通过的沿第一方向延伸的扫描通道，包括扫描设备、多个区域激光传感装置和控制装置。扫描设备包括用于输出辐射束以检查集装箱车辆的辐射源。多个区域激光传感装置沿第一方向间隔布置，每个区域激光传感装置具有用于感测集装箱车辆的感测区域并检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息。控制装置与扫描设备和多个区域激光传感装置信号连接，根据多个区域激光传感装置的感测信息操纵扫描设备检查集装箱车辆。
该集装箱车辆检查系统通过使用区域激光传感装置替代漫反射传感器与光幕传感器，实现集装箱车辆检查系统的被动扫描模式，可以通过合理配置区域激光传感装置的设置数量、位置和感测区域的大小以及方向，利于准确判断车辆位置，并能够减少误动作，从而提升检查成功率。进一步地，该集装箱车辆检查系统还能够有效减少检测集装箱车辆位置的传感器数量，降低购买传感器的成本。进一步地，还可有效防止因为人员或异物闯入而导致的误检测情况，提高集装箱车辆检查系统的安全性。此外，还利于降低安装难度，缩短安装工时。
在一些实施例中，多个区域激光传感装置包括至少两个水平扫描激光传感装置， 水平扫描激光传感装置的感测区域与地面基本平行。通过设置至少两个水平扫描激光传感装置，可以根据各水平扫描激光传感装置感测到集装箱车辆进入或离开各自的感测区域的感测信息或不同水平扫描激光传感装置的感测信息的组合实现对扫描设备的控制。通过该设置可以通过设置较少的区域激光传感装置而获得更多的集装箱车辆的位置信息，从而简化集装箱车辆检查系统和控制过程，节约成本。
其中，各水平扫描激光传感装置的感测区域与其它水平扫描激光传感装置的感测区域可以无重叠或部分重叠。
例如，当仅设置两个水平扫描激光传感装置且两个水平扫描激光传感装置的感测区域在第一方向上无重叠时，可以获得的感测信息包括集装箱车辆进入和离开第一个水平扫描激光传感装置的感测区域两个感测信息以及集装箱车辆进入和离开第二个水平扫描激光传感装置的两个感测信息等。从而，控制装置可以根据两个水平扫描激光传感装置发出的感测信息发出不同的操纵指令。
再例如，当仅设置两个水平扫描激光传感装置且两个水平扫描激光传感装置的感测区域在第一方向上有重叠时，可以获得感测信息的组合，包括集装箱车辆进入第一个水平扫描激光传感装置的感测区域而未进入第二个水平扫描激光传感装置的感测区域时的感测信息组合，集装箱车辆进入第一个水平扫描激光传感装置的感测区域同时进入第二个水平扫描激光传感装置的感测区域时的感测信息组合，集装箱车辆离开第一个水平扫描激光传感装置的感测区域而未离开第二个水平扫描激光传感装置的感测区域时的感测信息组合，集装箱车辆离开第一个水平扫描激光传感装置的感测区域和离开第二个水平扫描激光传感装置的感测区域时的感测信息组合等。从而，控制装置可以根据两个水平扫描激光传感装置发出的感测信息的组合发出不同的操纵指令。
在具有更多水平扫描激光传感装置的情况下，可以有更多的感测信息或感测信息组合，从而，可以执行更复杂的控制。
在一些实施例中，多个区域激光传感装置包括至少一个垂直扫描激光传感装置，垂直扫描激光传感装置的感测区域与第一方向和地面基本垂直。垂直扫描激光传感装置可以为控制装置提供更多的感测信息，从而可以执行更复杂的控制，或者可以与水平扫描激光传感装置配合使集装箱车辆的位置信息更加准确，以利于减少操作失误率。
以下结合图1至图5对本公开实施例进行详细说明。
本实施例中，集装箱车辆检查系统1为车载式集装箱车辆检查系统，包括承载扫描设备的承载车辆。如图1所示，本实施例中第一方向为图1所示的左右方向，即沿承载车辆的前后方向设置。
如图1所示，本实施例中，多个区域激光传感装置包括：第一区域激光传感装置Q1、第二区域激光传感装置Q2、第三区域激光传感装置Q3和第四区域激光传感装置Q4。
区域激光传感装置可以以一定的扫描频率发射脉冲激光束在扫描角度范围内进行激光扫描，可以对区域激光传感装置的扫描区域进行限制，从而限制区域激光传感装置的感测区域。
如图1和图2所示，第一区域激光传感装置Q1在第一方向上与辐射源间隔设置，第一区域激光传感装置Q1的感测区域与地面基本平行，且在第一方向上覆盖从辐射束的竖直中分面R到第一区域激光传感装置Q1的区域。
如图2所示，第一区域激光传感装置Q1的感测区域包括两个部分，一部分是靠近辐射源的辐射束的竖直中分面R而远离第一区域激光传感装置Q1的感测分区S3，一部分是靠近第一区域激光传感装置Q1的感测分区S4。
如图1和图3所示，第二区域激光传感装置Q2在第一方向上设置于第一区域激光传感装置Q1的靠近辐射源的一侧，第二区域激光传感装置Q2的感测区域与地面基本平行，且在第一方向上覆盖从第二区域激光传感装置Q2朝向辐射源一侧并越过辐射源的第一距离。
如图1和图3所示，在一些实施例中，在第一方向上，第二区域激光传感装置Q2设置于第一区域激光传感装置Q1与辐射源之间。
如图1和图3所示，在第一方向上，第二区域激光传感装置Q2还至少覆盖从第二区域激光传感装置Q2开始朝向第一区域激光传感装置Q1一侧的第二距离。其中，在一些实施例中，在第一方向上，该第二距离小于第二区域激光传感装置Q2与第三区域激光传感装置Q3之间的距离。
如图3所示，本实施例中，第二区域激光传感装置Q2的感测区域包括位于辐射源输出的辐射束的竖直中分面R两侧的感测分区S1和感测分区S2。其中，图3中感测分区S1在图中左右方向上的距离为第一距离，感测分区S2在图中左右方向的上的距离为第二距离。
如图1和图4所示，第三区域激光传感装置Q3在第一方向上设置于第一区域激 光传感装置Q1和第二区域激光传感装置Q2之间，第三区域激光传感装置Q3的感测区域与地面基本垂直。
如图4所示，本实施例中，第三区域激光传感装置Q3的感应区域S5整体上呈方形，只是在激光发出侧成大角度发散状。
如图1和图4所示，第四区域激光传感装置Q4在第一方向上设置于辐射源的与第三区域激光传感装置Q3相对的一侧，第四区域激光传感装置Q4的感测区域与地面基本垂直。
如图5所示，本实施例中，第四区域激光传感装置Q4的感应区域S6的形状与第三区域激光传感装置Q3的感应区域S5的形状类似。
各区域激光传感装置的感应区域或感应分区可以通过控制装置预先设定，也可以通过控制装置进行调整。
其中，控制装置可以是计算机或PCL控制器等能够执行符合需要的控制功能的任何装置。
如图1所示，在一些实施例中，第一区域激光传感装置Q1、第二区域激光传感装置Q2、第三区域激光传感装置Q3和/或第四区域激光传感装置Q4设置于承载车辆上。
如图1所示，本实施例中，承载车辆包括车头11、底盘、车身12和转台14，车身12和转台14设置于底盘上，转台14位于车身12的后方，集装箱车辆检查系统1的扫描设备通过转台14承载于车身12上。第一区域激光传感装置Q1布置在承载车辆的车头11后部。第二区域激光传感装置Q2布置在转台14上或转台14附近的底盘上。第三区域激光传感装置Q3布置在车身12上。集装箱车辆检查系统1还包括支架15，第四区域激光传感装置Q4布置于支架15上。本实施例中，支架15为一根立杆。
如图1所示，扫描设备包括设置于转台14上的扫描框架13。扫描框架13在集装箱车辆检查系统1工作时旋转至车射外侧并与车身形成门式框架。在集装箱车辆检查系统1不工作时或行驶时扫描框架13可以旋转并折叠于车身12上。辐射源设置于扫描框架13上。
需要说明的是以上实施例仅是示例性的，可以作出多种能够实现其功能变形方案。例如，多个区域激光传感装置的数量、位置或感测区域的大小或角度等均可以根据检测需要作出适当变化。
例如，前述实施例中，第三区域激光传感装置Q3和第四区域激光传感装置Q4 不是必须的，也可以仅设置一个。当二者中仅设置第三区域光传感装置Q3时，在对集装箱车辆进行被动扫描模式检查时，可以指示被检车辆只能从辐射源一侧朝向第一区域激光传感装置Q1一侧行驶。当二者中仅设置第四区域光传感装置Q4时，在对集装箱车辆进行被动式检查时，可以指示被检车辆只能从第一区域激光传感装置Q1一侧朝向辐射源一侧行驶。
再例如，多个区域激光传感装置可以如下设置：多个区域激光传感装置中至少两个区域激光传感器的安装高度不同；和/或，多个区域激光传感装置中至少两个区域激光传感器的感测区域成夹角设置；和/或，多个区域激光传感装置中至少一个区域激光传感器的感测区域大致平行于地面，至少一个区域激光传感器的感测区域大致垂直于地面；和/或，多个区域激光传感装置每两个相邻的区域激光传感器的感测区域中一个区域激光传感器的感测区域大致平行于地面而另一个区域激光传感器的感测区域大致垂直于地面。
本实施例还提供一种根据前述的集装箱车辆检查系统1对集装箱车辆进行辐射检查的集装箱车辆检查方法，包括：各区域激光传感装置检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和控制装置根据多个区域激光传感装置的感测信息操纵扫描设备检查所述集装箱车辆。
控制装置根据多个区域激光传感装置的感测信息操纵扫描设备检查集装箱车辆包括根据所述感测信息的变化执行如下操作：操纵所述辐射扫描装置切换至被动扫描模式；操纵所述辐射源进行预热；操纵所述辐射源输出辐射束；操纵所述辐射源停止输出辐射束。
在一些实施例中，集装箱车辆检查的系统多个区域激光传感装置包括前述的第一区域激光传感装置Q1、第二区域激光传感装置Q2，并且还包括前述的第三区域激光传感装置Q3和/或第四区域激光传感装置Q。
此时，在第一方向上，集装箱车辆从辐射源的与第一区域激光传感装置Q1相对的一侧驶入扫描通道时，集装箱车辆检查方法包括：第二区域激光传感装置Q2的感测区域感测到集装箱车辆时，辐射扫描装置切换至被动扫描模式；第一区域激光传感装置Q1的感测区域感测到集装箱车辆时，控制装置操纵辐射源进行预热；第一区域激光传感装置Q1和第三区域激光传感装置Q3的感测区域同时感测到集装箱车辆时，辐射源输出辐射束；第二区域激光传感装置Q2的感测区域感测到集装箱车辆驶离时，辐射源停止输出辐射束。
在第一方向上，集装箱车辆从辐射源的第一区域激光传感装置Q1的一侧驶入扫描通道时，集装箱车辆检查方法包括：第一区域激光传感装置Q1的感测区域感测到集装箱车辆时，辐射扫描装置切换至被动扫描模式；第一区域激光传感装置Q1和第二区域激光传感装置Q2的感测区域同时感测到集装箱车辆时或第一区域激光传感装置Q1和第三区域激光传感装置Q3的感测区域同时感测到集装箱车辆时，控制装置操纵辐射源进行预热；第四区域激光传感装置Q4感测到集装箱车辆时，辐射源输出辐射束；第二区域激光传感装置Q2的感测区域感测到集装箱车辆驶离时，辐射源停止输出辐射束。
以下参考图1至图5，说明本实施例的集装箱车辆检查方法的一种具体地可操作示例，该可操作示例可以根据控制需求作出相应变化。
当被检测集装箱车辆由左向右(图1中所示的左右方向)驶入集装箱车辆检查系统1的扫描通道内，首先被第二区域激光传感装置Q2的感测分区S1感测到，控制装置控制集装箱车辆检查系统1开始进入被动扫描模式。当集装箱车辆被第一区域激光传感装置Q1的感测分区S3感测到时，控制装置判断被检测集装箱车辆的车头11抵达辐射源发出辐射束的位置，辐射源进行预热，准备启动扫描。当集装箱车辆被第一区域激光传感装置Q1的感测分区S4和第三区域激光传感装置Q3的感测区域S5感测到时，控制装置判断车头11已避让过辐射源发出辐射束的位置，抵达安全位置，扫描设备的辐射源开始输出辐射束扫描。当第二区域激光传感装置Q2的感测分区S2感测到被检测集装箱车辆的车尾驶离该感测分区S2时，认为整个集装箱车辆都已通过扫描设备的辐射源发出辐射束的位置，可以停止扫描，扫描流程结束。
当被检测集装箱车辆由右向左(图1中所示的左右方向)驶入扫描通道时，首先被第一区域激光传感装置Q1的感测分区S4感测到，控制装置控制集装箱车辆检查系统1开始进入被动扫描模式。当集装箱车辆被第一区域激光传感装置Q1的感测分区S3和第二区域激光传感装置Q2的感测分区S2同时感测到时，或被第一区域激光传感装置Q1的感测分区S3和第三区域激光传感装置Q3的感测区域S5同时感测到时，控制装置判断被检测集装箱车辆的车头11抵达辐射源发出辐射束的位置，辐射源进行预热，准备启动扫描。当集装箱车辆被第四区域激光传感装置Q4的感测分区S6感测到时，控制装置判断车头11已避让过辐射源发出辐射束的位置，抵达安全位置，扫描设备的辐射源开始输出辐射束扫描。当第二区域激光传感装置Q2的感测分区S1感测到被检测集装箱车辆的车尾驶离该感测分区S1时，认为整个集装箱车辆都已通 过扫描设备的辐射源发出辐射束的位置，可以停止扫描，扫描流程结束。
本公开实施例的集装箱车辆检查方法具有与本公开实施例的集装箱车辆检查装置相同的优点。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开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，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (17)

  1. 一种集装箱车辆检查系统(1)，具有供集装箱车辆通过的沿第一方向延伸的扫描通道，包括：
    扫描设备，包括用于输出辐射束以检查所述集装箱车辆的辐射源；
    多个区域激光传感装置，沿所述第一方向间隔布置，每个所述区域激光传感装置具有用于感测所述集装箱车辆的感测区域并检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和
    控制装置，与所述扫描设备和所述多个区域激光传感装置信号连接，并被配置为根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆。
  2. 根据权利要求1所述的集装箱车辆检查系统(1)，其中，所述多个区域激光传感装置包括至少两个水平扫描激光传感装置，所述水平扫描激光传感装置的感测区域与地面基本平行。
  3. 根据权利要求2所述的集装箱车辆检查系统(1)，其中，所述多个区域激光传感装置包括至少一个垂直扫描激光传感装置，所述垂直扫描激光传感装置的感测区域与所述第一方向和地面基本垂直。
  4. 根据权利要求2所述的集装箱车辆检查系统(1)，其中，所述至少两个水平扫描激光传感装置的感测区域的高度不同。
  5. 根据权利要求2所述的集装箱车辆检查系统(1)，其中，所述至少两个水平扫描激光传感装置包括：
    第一区域激光传感装置(Q1)，在所述第一方向上与所述辐射源间隔设置，所述第一区域激光传感装置(Q1)的感测区域在所述第一方向上覆盖从所述辐射束的中分面(R)到所述第一区域激光传感装置(Q1)的区域；
    第二区域激光传感装置(Q2)，在所述第一方向上设置于所述第一区域激光传感装置(Q1)的靠近所述辐射源的一侧，所述第二区域激光传感装置(Q2)的感测区 域在所述第一方向上覆盖从所述第二区域激光传感装置(Q2)朝向所述辐射源一侧并越过所述辐射源的第一距离。
  6. 根据权利要求5所述的集装箱车辆检查系统(1)，其中，在所述第一方向上，所述第二区域激光传感装置(Q2)设置于所述第一区域激光传感装置(Q1)与所述辐射源之间。
  7. 根据权利要求5所述的集装箱车辆检查系统(1)，其中，在所述第一方向上，所述第二区域激光传感装置(Q2)还至少覆盖从所述第二区域激光传感装置(Q2)开始朝向所述第一区域激光传感装置(Q1)一侧的第二距离。
  8. 根据权利要求5所述的集装箱车辆检查系统(1)，其中，所述多个区域激光传感装置包括至少一个垂直扫描激光传感装置，所述垂直扫描激光传感装置的感测区域与所述第一方向和地面基本垂直，所述至少一个垂直扫描激光传感装置包括：
    第三区域激光传感装置(Q3)，在所述第一方向上设置于所述第一区域激光传感装置(Q1)和所述第二区域激光传感装置(Q2)之间；和/或，
    第四区域激光传感装置(Q4)，在所述第一方向上设置于所述辐射源的与所述第一区域激光传感装置(Q1)相对的一侧，所述第二区域激光传感装置(Q2)位于所述第一区域激光传感装置(Q1)和所述第四区域激光传感装置(Q4)之间。
  9. 根据权利要求8所述的集装箱车辆检查系统(1)，其中，在所述第一方向上，所述第一距离小于所述第二区域激光传感装置(Q2)与所述第四区域激光传感装置(Q4)之间的距离。
  10. 根据权利要求8所述的集装箱车辆检查系统(1)，其中，在所述第一方向上，所述第二距离小于所述第二区域激光传感装置(Q2)与所述第三区域激光传感装置(Q3)之间的距离。
  11. 根据权利要求8所述的集装箱车辆检查系统(1)，其中，所述集装箱车辆检查系统(1)为车载式集装箱车辆检查系统(1)，包括承载所述扫描设备的承载车辆， 所述第一区域激光传感装置(Q1)、所述第二区域激光传感装置(Q2)、所述第三区域激光传感装置(Q3)和/或所述第四区域激光传感装置(Q4)设置于所述承载车辆上。
  12. 根据权利要求8所述的集装箱车辆检查系统(1)，其中，所述承载车辆包括车头(11)、底盘、车身(12)和转台(14)，所述车身(12)和所述转台(14)设置于所述底盘上，所述转台(14)位于所述车身(12)的后方，所述扫描设备通过所述转台(14)承载于所述车身(12)上，其中，
    所述第一区域激光传感装置(Q1)布置在所述承载车辆的车头(11)后部；和/或，
    所述第二区域激光传感装置(Q2)布置在所述转台(14)上或所述转台(14)附近的底盘上；和/或，
    所述第三区域激光传感装置(Q3)布置在所述车身(12)上。
  13. 根据权利要求8所述的集装箱车辆检查系统(1)，还包括支架(15)，所述第四区域激光传感装置(Q4)布置于所述支架(15)上。
  14. 根据权利要求1所述的集装箱车辆检查系统(1)，其中，
    所述多个区域激光传感装置中至少两个所述区域激光传感器的安装高度不同；和/或，
    所述多个区域激光传感装置中至少两个所述区域激光传感器的感测区域成夹角设置；和/或，
    所述多个区域激光传感装置中至少一个所述区域激光传感器的感测区域大致平行于地面，至少一个所述区域激光传感器的感测区域大致垂直于地面；和/或，
    所述多个区域激光传感装置每两个相邻的所述区域激光传感器的感测区域中一个所述区域激光传感器的感测区域大致平行于地面而另一个所述区域激光传感器的感测区域大致垂直于地面。
  15. 一种应用权利要求1至14中任一项所述的集装箱车辆检查系统(1)对集装箱车辆进行辐射检查的集装箱车辆检查方法，包括：
    各所述区域激光传感装置检测所述集装箱车辆进入其感测区域和/或离开其感测区域的感测信息；和
    控制装置根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆。
  16. 根据权利要求15所述的集装箱车辆检查方法，其中，控制装置根据所述多个区域激光传感装置的所述感测信息操纵所述扫描设备检查所述集装箱车辆包括根据所述感测信息的变化执行如下操作：
    操纵所述辐射扫描装置切换至被动扫描模式；
    操纵所述辐射源进行预热；
    操纵所述辐射源输出辐射束；
    操纵所述辐射源停止输出辐射束。
  17. 根据权利要求16所述的集装箱车辆检查方法，其中，所述集装箱车辆检查系统(1)为权利要求8至13中任一项所述的集装箱车辆检查系统(1)，其中，
    在所述第一方向上，所述集装箱车辆从所述辐射源的与所述第一区域激光传感装置(Q1)相对的一侧驶入所述扫描通道时，所述集装箱车辆检查方法包括：所述第二区域激光传感装置(Q2)的感测区域感测到所述集装箱车辆时，所述辐射扫描装置切换至被动扫描模式；所述第一区域激光传感装置(Q1)的感测区域感测到所述集装箱车辆时，控制装置操纵所述辐射源进行预热；所述第一区域激光传感装置(Q1)和所述第三区域激光传感装置(Q3)的感测区域同时感测到所述集装箱车辆时，所述辐射源输出辐射束；所述第二区域激光传感装置(Q2)的感测区域感测到所述集装箱车辆驶离时，所述辐射源停止输出辐射束；或，
    在所述第一方向上，所述集装箱车辆从所述辐射源的所述第一区域激光传感装置(Q1)的一侧驶入所述扫描通道时，所述集装箱车辆检查方法包括：所述第一区域激光传感装置(Q1)的感测区域感测到所述集装箱车辆时，所述辐射扫描装置切换至被动扫描模式；所述第一区域激光传感装置(Q1)和所述第二区域激光传感装置(Q2)的感测区域同时感测到所述集装箱车辆时，或所述第一区域激光传感装置(Q1)和所述第三区域激光传感装置(Q3)的感测区域同时感测到所述集装箱车辆时，控制装置操纵所述辐射源进行预热；所述第四区域激光传感装置(Q)感测到所述集装箱车辆 时，所述辐射源输出辐射束；所述第二区域激光传感装置(Q2)的感测区域感测到所述集装箱车辆驶离时，所述辐射源停止输出辐射束。
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