WO2020140979A1 - 移动式检查系统和检查方法 - Google Patents

移动式检查系统和检查方法 Download PDF

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Publication number
WO2020140979A1
WO2020140979A1 PCT/CN2020/070309 CN2020070309W WO2020140979A1 WO 2020140979 A1 WO2020140979 A1 WO 2020140979A1 CN 2020070309 W CN2020070309 W CN 2020070309W WO 2020140979 A1 WO2020140979 A1 WO 2020140979A1
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Prior art keywords
sampler
sampling
detection result
adjustment mechanism
move
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PCT/CN2020/070309
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English (en)
French (fr)
Inventor
李营
孙尚民
梁征
杨学敬
宗春光
胡煜
冉占森
朱伟平
Original Assignee
同方威视技术股份有限公司
清华大学
同方威视科技（北京）有限公司
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Publication of WO2020140979A1 publication Critical patent/WO2020140979A1/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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004—Gaseous mixtures, e.g. polluted air
    • G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
    • 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
    • G01V5/222—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays measuring scattered radiation

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  • the present disclosure relates to the field of cargo inspection, in particular to a mobile inspection system and an inspection method using the mobile inspection system.
  • a first aspect of the present disclosure discloses a mobile inspection system, including:
  • a radiation inspection device which is arranged on the movable device and is used for radiation inspection of a box loaded with goods
  • a gas detection device includes a sampling detection device and a position adjustment mechanism.
  • the sampling detection device includes a first sampler and a sample detection section.
  • the first sampler is provided on the position adjustment mechanism and is used to align the tank at the sampling position.
  • the gas in the body is sampled to obtain a sample
  • the sample detection part can communicate with the first sampler to detect the sampled sample obtained by the first sampler
  • the position adjustment mechanism is provided on the On the mobile device, used to adjust the position of the first sampler relative to the movable device;
  • the control device which is in signal connection with the movable device and the gas detection device, is configured to control at least one of the movement of the movable device and the action of the position adjustment mechanism to move the first sampler to all Describe the sampling location.
  • the mobile inspection system further includes a first measuring device for detecting at least one of the position of the box and the contour of the box to form a first detection result, the first The measuring device is in signal connection with the control device, and the control device is configured to control the movement of the movable device and/or the action of the position adjustment mechanism to move the first sampler based at least on the first detection result To the sampling position.
  • the first measuring device includes at least one of a laser ranging sensor, an area laser scanner, and a camera in signal connection with the control device.
  • the mobile inspection system further includes a second measurement device for detecting the sampling position to form a second detection result
  • the second measurement device is in signal connection with the control device
  • the control The device is configured to control at least one of the movement of the movable device and the action of the position adjustment mechanism according to the first detection result and the second detection result to move the first sampler to the sampling position .
  • control device is configured to control the movable device to move according to the first detection result so that the sampling position enters the detection range of the second measurement device, according to the second The detection result controls the action of the position adjustment mechanism to move the first sampler to the sampling position.
  • the second measurement device includes at least one of a monocular camera, a laser ranging sensor, a binocular camera, and a lidar.
  • the second measurement device is disposed on the first sampler or position adjustment mechanism.
  • the sampling detection device further includes a second sampler provided on the movable device, the second sampler is used to manually sample the gas in the tank at the sampling position to obtain a sample A sample, the sample detection part may be in communication with the second sampler to detect the sampled sample taken by the second sampler, the control device is configured to control the first sampler and the The second sampler is connected to the sample detection unit.
  • the first sampler is a suction cup sampler.
  • the movable device is a vehicle.
  • the position adjustment mechanism includes a manipulator signally connected to the control device, and the first sampler is provided at an end of the manipulator.
  • a second aspect of the present disclosure discloses an inspection method using the mobile inspection system, including:
  • controlling at least one of the movement of the movable device and the action of the position adjustment mechanism to move the first sampler to the sampling position includes detecting the position of the box and the position of the box At least one of the contours forms a first detection result, and at least one of the movement of the movable device and the action of the position adjustment mechanism is controlled based on the first detection result to move the first sampler to a sampling position.
  • controlling at least one of the movement of the movable device and the action of the position adjustment mechanism to move the first sampler to the sampling position based on at least the first detection result includes: according to the first The detection result calculates the position closest to the cabinet to which the first sampler can be moved by controlling the action of the position adjustment mechanism, determines the position as the sampling position, and controls the action of the position adjustment mechanism to The first sampler moves to the sampling position.
  • it includes detecting the sampling position to form a second detection result, and controlling at least one of the movement of the movable device and the action of the position adjustment mechanism to move the first position according to at least the first detection result
  • a sampler to the sampling position includes: controlling at least one of the movement of the movable device and the action of the position adjustment mechanism according to the first detection result and the second detection result to move the first sampler to sampling position.
  • controlling at least one of the movement of the movable device and the action of the position adjustment mechanism according to the first detection result and the second detection result to move the first sampler to the sampling position includes : Controlling the movable device to move according to the first detection result so that the sampling position enters the detection range of the second measuring device for acquiring the second detection result, and controlling the position adjustment according to the second detection result The mechanism operates to move the first sampler to the sampling position.
  • the box is a closed container
  • a gas exchange window is provided on the container
  • the first sampler is a suction cup sampler
  • the gas sampling includes using the suction cup sampler Adsorb in the gas exchange window for gas sampling.
  • gas sampling and detection can also be performed for auxiliary judgment, so that more accurate information of the loaded box can be obtained.
  • the mobile inspection system of the present disclosure can make the radiation inspection and gas detection of the loading box more flexible and convenient by integrating the radiation inspection device and the first sampler provided on the position adjustment structure on the movable device, and at the same time
  • the flexibility of the position of the first sampler can make the gas sampling of the loading box more suitable and accurate, which helps Improve the judgment accuracy of the mobile inspection system.
  • the inspection method based on the mobile inspection system provided by the present disclosure also has corresponding beneficial effects.
  • FIG. 1 is a schematic structural diagram of a mobile inspection system according to some embodiments of the present disclosure.
  • the mobile inspection system of the embodiment of the present disclosure includes a movable device 2, a radiation inspection device 1, a gas detection device, and a control device.
  • the movable device 2 is used to carry some devices of the inspection system and can carry objects above it for movement.
  • the movable device 2 may be a vehicle as shown in the figure, and may also be in some embodiments not shown in the figure. It is a track device or a crawler device that walks on a track.
  • the radiation inspection device 1 is provided on the movable device 2 and is used for radiation inspection of the box containing the cargo.
  • the radiation inspection device 1 can use radiation technology such as fluoroscopic imaging technology or backscatter imaging technology to inspect the box containing the cargo, for example, X-rays, ⁇ -rays and other radiation rays can be used to inspect the cabinet.
  • the gas detection device includes a sampling detection device and a position adjustment mechanism 4.
  • the gas detection device of the inspection system can sample the gas of the loaded cargo box, according to the collected box.
  • the gas emitted by the cargo and the detection and analysis of the gas can further obtain the relevant information of the cargo in the box, so that when the cargo information is obtained through the radiation inspection of the cargo, the cargo information in the box can be additionally assisted in judgment.
  • VOCs volatile organic compounds
  • the gas detection device can use technologies such as ion mobility spectroscopy, gas chromatography, and Raman spectroscopy.
  • the sampling detection device includes a first sampler 5 and a sample detection section 3.
  • the first sampler 5 is provided on the position adjustment mechanism 4.
  • the first sampler 5 samples the gas in the box at the sampling position to obtain a sample.
  • the sample detection part 3 can communicate with the first sampler 5 to detect the sampled sample obtained by the first sampler 5.
  • the sampling position of the first sampler 5 for sampling the gas in the box may be located in the box or outside the box.
  • the first sampler 5 samples the gas emitted from the box near the box.
  • the sampling position of the first sampler 5 may be near the gas exchange window of the closed container, sampling the gas emitted from passing through the gas exchange window, It can also move directly to the gas exchange window or go deep into the tank through the gas exchange window to sample the gas emitted from the cargo in the tank.
  • the position adjustment mechanism 4 is provided on the movable device 2 and is used to adjust the position of the first sampler 5 relative to the movable device 2.
  • the movable device 2 can carry the position adjustment mechanism 4 to move, and the position adjustment mechanism 4 can also adjust the movement of the first sampler 5 relative to the movable device, so that the first device 5 and the position adjustment mechanism 4 can make the first
  • the position movement of the sampler 5 is very flexible and convenient.
  • the first sampler 5 can be flexibly moved to a suitable sampling position Carry out gas sampling to improve the adaptability and accuracy of gas sampling.
  • the sample detection unit 3 may be provided on the position adjustment mechanism 4 together with the first sampler 5, or may be provided directly on the movable device 2 without being provided on the position adjustment mechanism 4, or even may not be provided on the movable device 2 It is located at a certain position on the ground. After sampling the gas, the first sampler 5 transfers the gas sample to the sample detection unit 3 for detection and analysis.
  • the control device is in signal connection with the movable device 2 and the gas detection device.
  • the control device is configured to control at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position.
  • the control device may be provided on the movable device 2 or may be located at a certain position on the ground, as long as the control device can control the movement of the movable device 2 and the action of the position adjustment mechanism 4.
  • the mobile inspection system further includes a first measurement device for detecting at least one of the position of the box and the contour of the box to form a first detection result, and the first measurement device is in signal connection with the control device.
  • the control device is configured to control at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 based on the first detection result to move the first sampler 5 to the sampling position.
  • the first measuring device can first detect the box to determine the position of the box or the contour of the box, etc., so that the control device can calculate the appropriate sampling position.
  • a suitable sampling position may be the closest and safest position to the opening of the cabinet, for example, the closest and unobstructed position.
  • a suitable sampling position may also be the position closest to the tank to which the movable device 2 and the position adjustment mechanism 4 can move the first sampler 5 when the travel distance of the first sampler 5 is limited.
  • a suitable sampling position may also be an off-box that the position adjusting mechanism 4 can move the first sampler 5 to when calculating the position and contour of the cabinet, which is calculated by measuring the position and contour of the cabinet, when the movable device 2 is held stationary The nearest position of the body. Only moving the first sampler 5 by the position adjustment mechanism 4 can save the position adjustment time, thereby improving the sampling efficiency.
  • the first measuring device may include a device such as a laser distance sensor, an area laser scanner, or a camera that is signal-connected to the control device.
  • the mobile inspection system further includes a second measurement device for detecting the sampling position to form a second detection result.
  • the second measuring device is signally connected to the control device.
  • the control device is configured to control at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 according to the first detection result and the second detection result to move the first sampler 5 to the sampling position.
  • the second measuring device can detect the sampling position by measuring at least one of the position and contour of the box accessory such as the gas exchange window on the box. By setting the second measuring device, a sampling position more suitable for sampling can be found.
  • control device is configured to: control the movable device 2 to move according to the first detection result so that the sampling position enters the detection range of the second measurement device, and control the position adjustment mechanism 4 to move according to the second detection result to move the first A sampler 5 to the sampling position.
  • This setting can make use of the characteristics of different measuring devices and configure the measuring devices reasonably.
  • the second measuring device and the first sampler 5 are arranged closer to each other, for example, the second measuring device may be arranged on the position adjusting mechanism 4 or the second measuring device is arranged on the first sampler 5.
  • the control device controls at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 under the measurement of the first measurement device with lower measurement accuracy to make the sampling position into the detection range of the second measurement device, and then passes the measurement
  • the measuring device of the second measuring device with higher accuracy controls the position adjusting mechanism 4 to move the first sampler 5 to the sampling position.
  • This setting can reasonably configure the accuracy and detection range of the measuring device and improve the utilization efficiency of the measuring device.
  • the second measurement device includes at least one of a camera, a laser ranging sensor, and a laser radar that are in signal connection with the control device.
  • the camera can be a monocular camera or a binocular camera.
  • the second measurement device is provided on the first sampler 5 or the position adjustment mechanism 4.
  • the sampling detection apparatus further includes a second sampler provided on the movable device 2.
  • the second sampler is used to manually sample the gas in the tank at the sampling position to obtain the sampled sample.
  • the sample detection part 3 can communicate with the second sampler to detect the sampled sample obtained by the second sampler.
  • the control device is configured to The first sampler 5 and the second sampler are controlled to turn on and off with the sample detection unit 3. Setting the second sampler can facilitate manual gas sampling.
  • the first sampler 5 and the second sampler are two sampling gas paths, the control device switches the first sampler 5 and the second sampler to sample the gas in the box, that is, which sampling gas path can be switched by the control device Perform gas sampling.
  • the placement port 6 of the second sampler may be provided at the bottom of the outer wall of the movable device 2. This arrangement may facilitate manual access to the second sampler.
  • the first sampler 5 is a suction cup sampler.
  • the device can be adsorbed on the gas exchange window by the suction cup structure when sampling the closed box with the gas exchange window, so that the first sampler 5 can have a larger adsorption force for the gas exchange window and a larger gas sampling area.
  • the movable device 2 is a vehicle.
  • the position adjustment mechanism 4 includes a manipulator signally connected to the control device, and the first sampler 5 is provided at the end of the manipulator. This setting can flexibly move the first sampler 5, which makes gas sampling more efficient and flexible, and helps to improve the degree of automation of inspiratory sampling.
  • An embodiment of the present disclosure also discloses an inspection method using the above mobile inspection system, which includes performing radiation inspection on the cabinet and controlling at least one of the movement of the movable device 2 and the movement of the position adjustment mechanism 4 to move the first sampler 5 At the sampling position, the gas in the box is sampled to obtain a sample, and the sample detection unit 3 detects the sample obtained by the first sampler 5.
  • controlling at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 to move the first sampler 5 to the sampling position includes detecting at least one of the position of the cabinet and the contour of the cabinet to form In the first detection result, at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 is controlled according to the first detection result to move the first sampler 5 to the sampling position.
  • controlling at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 based on the first detection result to move the first sampler 5 to the sampling position includes calculating the control position adjustment based on the first detection result
  • the mechanism 4 can move the first sampler 5 to the position closest to the cabinet, determine the position as the sampling position, and control the position adjustment mechanism 4 to move the first sampler 5 to the sampling position.
  • the inspection method further includes detecting a sampling position to form a second detection result
  • controlling at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 to move the first sampler based on at least the first detection result 5 to the sampling position includes: controlling at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 according to the first detection result and the second detection result to move the first sampler 5 to the sampling position.
  • controlling at least one of the movement of the movable device 2 and the action of the position adjustment mechanism 4 according to the first detection result and the second detection result to move the first sampler 5 to the sampling position includes: controlling according to the first detection result The movable device 2 moves so that the sampling position enters the detection range of the second measuring device for acquiring the second detection result, and controls the position adjusting mechanism 4 to move the first sampler 5 to the sampling position according to the second detection result.
  • the box body is a closed container, and a gas exchange window is provided on the container.
  • the first sampler 5 is a suction cup sampler. Sampling the gas includes using a suction cup sampler to adsorb on the gas exchange window to perform gas sampling.
  • the mobile inspection device of the present disclosure is suitable for containers, cargo boxes of vehicles, and various other types of closed or non-closed boxes.
  • control device described above may be a general-purpose processor, a programmable logic controller (Programmable Logic Controller, PLC for short), and a digital signal processor (Digital Signal Processor) for performing the functions described in the present invention.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA field-programmable gate array

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Abstract

一种移动式检查系统和检查方法。移动式检查系统包括可移动装置(2)、辐射检查装置(1)、气体检测装置和控制装置。气体检测装置包括采样检测设备和位置调节机构(4)，采样检测设备包括第一采样器(5)和样本检测部(3)，第一采样器(5)设置于位置调节机构(4)上，在采样位置对箱体内的气体采样以取得采样样本，样本检测部(3)对第一采样器(5)取得的采样样本进行检测，位置调节机构(4)设置于可移动装置(2)上，用于调节第一采样器(5)相对于可移动装置(2)的位置；控制装置与可移动装置(2)和气体检测装置信号连接，控制可移动装置(2)移动和位置调节机构(4)动作中的至少一个以移动第一采样器(5)至采样位置。利用检查系统可以对箱体进行辐射检查，同时进行气体采样检测辅助判断。

Description

移动式检查系统和检查方法
相关申请
本申请是以CN申请号为201910009505.7，申请日为2019年1月4日，发明名称为“移动式检查系统和检查方法”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
本公开涉及货物检查领域，特别涉及一种移动式检查系统和应用该移动式检查系统的检查方法。
背景技术
传统辐射检查系统例如集装箱/车辆检查系统，通常利用透视成像或背散射成像技术，依靠X射线穿透被检物或背散射X射线来获得被检物内部及表面信息。但是在现场查验中，对于一些特定种类货物，仅仅依靠X射线透视图像或背散射图像，无法进行准确的物质属性判断，此时需要进一步通过采集被检物痕量样本进行分析而获得货物的物质属性信息，例如通过离子迁移谱、气相色谱、拉曼光谱等技术对采集的样本进行检测和分析来辅助判断。
发明内容
本公开第一方面公开一种移动式检查系统，包括：
可移动装置；
辐射检查装置，设置于所述可移动装置上，用于辐射检查装载货物的箱体；
气体检测装置，包括采样检测设备和位置调节机构，所述采样检测设备包括第一采样器和样本检测部，第一采样器设置于所述位置调节机构上，用于在采样位置对所述箱体内的气体采样以取得采样样本，所述样本检测部与所述第一采样器可连通以对所述第一采样器取得的所述采样样本进行检测，所述位置调节机构设置于所述可移动装置上，用于调节所述第一采样器相对于所述可移动装置的位置；
控制装置，与所述可移动装置和所述气体检测装置信号连接，被配置为：控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至 所述采样位置。
在一些实施例中，所述移动式检查系统还包括用于检测所述箱体的位置和所述箱体的轮廓中的至少一个以形成第一检测结果的第一测量装置，所述第一测量装置与所述控制装置信号连接，所述控制装置被配置为：至少根据所述第一检测结果控制所述可移动装置移动和/或所述位置调节机构动作以移动所述第一采样器至所述采样位置。
在一些实施例中，所述第一测量装置包括与所述控制装置信号连接的激光测距传感器、区域激光扫描仪和摄像头中的至少一个。
在一些实施例中，所述移动式检查系统还包括用于检测所述采样位置以形成第二检测结果的第二测量装置，所述第二测量装置与所述控制装置信号连接，所述控制装置被配置为：根据所述第一检测结果和所述第二检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至所述采样位置。
在一些实施例中，所述控制装置被配置为：根据所述第一检测结果控制所述可移动装置移动以使所述采样位置进入所述第二测量装置的检测范围，根据所述第二检测结果控制所述位置调节机构动作以移动所述第一采样器至所述采样位置。
在一些实施例中，所述第二测量装置包括单目摄像头、激光测距传感器、双目摄像头和激光雷达中的至少一个。
在一些实施例中，所述第二测量装置设置于所述第一采样器或位置调节机构上。
在一些实施例中，所述采样检测设备还包括设于所述可移动装置上的第二采样器，所述第二采样器用于在采样位置对所述箱体内的气体进行人工采样以取得采样样本，所述样本检测部与所述第二采样器可连通以对所述第二采样器取得的所述采样样本进行检测，所述控制装置被配置为控制所述第一采样器和所述第二采样器与所述样本检测部通断。
在一些实施例中，所述第一采样器为吸盘式采样器。
在一些实施例中，所述可移动装置为车辆。
在一些实施例中，所述位置调节机构包括与所述控制装置信号连接的机械手，所述第一采样器设于所述机械手的端部。
本公开第二方面公开一种应用所述移动式检查系统的检查方法，包括：
对所述箱体进行辐射检查；
控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置对所述箱体内的气体采样并取得采样样本，所述样本检测部对所 述第一采样器取得的所述采样样本进行检测。
在一些实施例中，控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置包括：检测所述箱体的位置和所述箱体的轮廓中的至少一个以形成第一检测结果，至少根据所述第一检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置。
在一些实施例中，至少根据所述第一检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置包括：根据所述第一检测结果计算出控制所述位置调节机构动作所能够将所述第一采样器移动到的距离所述箱体最近的位置，将所述位置确定为采样位置并控制所述位置调节机构动作以将所述第一采样器移动至所述采样位置。
在一些实施例中，包括检测所述采样位置以形成第二检测结果，至少根据所述第一检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置包括：根据所述第一检测结果和所述第二检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置。
在一些实施例中，根据所述第一检测结果和所述第二检测结果控制所述可移动装置移动和所述位置调节机构动作中的至少一个以移动所述第一采样器至采样位置包括：根据第一检测结果控制所述可移动装置移动以使所述采样位置进入用于获取所述第二检测结果的第二测量装置的检测范围，根据所述第二检测结果控制所述位置调节机构动作以移动所述第一采样器至所述采样位置。
在一些实施例中，所述箱体为封闭式集装箱，所述集装箱上设有气体交换窗口，所述第一采样器为吸盘式采样器，所述进行气体采样包括利用所述吸盘式采样器吸附在所述气体交换窗口进行气体采样。
基于本公开提供的移动式检查系统，除了可以对装货的箱体进行辐射检查外，还可以同时对其进行气体采样检测用于辅助判断，从而能得到装货箱体的更准确的信息。本公开的移动式检查系统通过将辐射检查装置和设在位置调节结构上的第一采样器集成在可移动的装置上，可以使得对装货箱体的辐射检查以及气体检测更加灵活方便，同时对于不同规格的装货箱体以及装载不同的货物的箱体进行气体检测时，第一采样器的位置的灵活性可以使对装货箱体的气体采样更加适配和精准，从而有助于提高移动式检查系统的判断准确性。
基于本公开提供的应用上述移动式检查系统的检查方法也具有相应的有益效果。
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。
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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为本公开一些实施例的移动式检查系统的结构示意图。
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。
如图1所示，本公开实施例的移动式检查系统包括可移动装置2、辐射检查装置1、气体检测装置和控制装置。
可移动装置2用于承载检查系统的一些装置，并且可以承载着其上方的物体进行移动，可移动装置2可以是如图所示的车辆，在一些图示未示出的实施例中还可以是在轨道上行走的轨道装置或者是履带式装置等。
辐射检查装置1设置于可移动装置2上，用于辐射检查装载货物的箱体，辐射检 查装置1可以利用透视成像技术或背散射成像技术等辐射技术对装载货物的箱体进行检查，例如，可以利用X射线、γ射线等辐射射线对箱体进行检查。
气体检测装置包括采样检测设备和位置调节机构4。
在辐射检查装置1对装载货物的箱体进行辐射检查所得到的货物信息不够丰富还需要进一步检查时，检查系统的气体检测装置可以对装载货物的箱体进行气体采样，根据采得的箱体内货物散发的气体以及对气体进行检测和分析，可以进一步得到箱体内货物的相关信息，从而可以在通过辐射检查货物得到货物信息时，另外对箱体内的货物信息进行辅助判断。
设置气体检测装置，可以通过对箱体内货物散发的气体例如一些易挥发性有机物(VOCs)或痕量颗粒物等物质进行快速、准确地嗅探，实现对箱体内的货物例如有毒有害气体、易挥发危化品、动植食产品的辅助检测。
气体检测装置可以使用离子迁移谱、气相色谱、拉曼光谱等技术。
如图1所示，采样检测设备包括第一采样器5和样本检测部3。第一采样器5设置于位置调节机构4上。第一采样器5在采样位置对箱体内的气体进行采样以取得采样样本。样本检测部3与第一采样器5可连通以对第一采样器5取得的采样样本进行检测。
第一采样器5对箱体内的气体进行采样的采样位置可以是位于箱体内，也可以是位于箱体外，例如第一采样器5在箱体附近对从箱体内散发出来的气体进行采样。对于一些具有气体交换窗口的封闭式箱体，例如封闭式集装箱，第一采样器5的采样位置可以是在封闭式集装箱的气体交换窗口附近，对从经过气体交换窗口散发出来的气体进行采样，还可以是直接移动至气体交换窗口上或者通过气体交换窗口深入箱体内部对箱体内的货物散发的气体进行采样。
位置调节机构4设置于可移动装置2上，用于调节第一采样器5相对于可移动装置2的位置。可移动装置2可以承载着位置调节机构4进行移动，位置调节机构4也可以调节第一采样器5相对于可移动装置移动，从而在可以动装置2和位置调节机构4的动作下使第一采样器5的位置移动十分地灵活和方便，在对不同规格的装货箱体以及装载不同的类型的货物的箱体进行气体检测时，第一采样器5可以灵活地移动到合适的采样位置进行气体采样，以提高气体采样的适配度和精准度。
样本检测部3可以与第一采样器5一起设置于位置调节机构4上，也可以不设在位置调节机构4上而直接设在可移动装置2上，甚至还可以不设在可移动装置2上而 设在地面上的某一位置。第一采样器5在进行气体采样后将气体样本移送给样本检测部3进行检测分析。
控制装置与可移动装置2和气体检测装置信号连接，控制装置被配置为：控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置。控制装置可以设在可移动装置2上，也可以位于地面上的某一位置，只需控制装置能够控制可移动装置2移动和位置调节机构4的动作即可。
在一些实施例中，移动式检查系统还包括用于检测箱体的位置和箱体的轮廓中的至少一个以形成第一检测结果的第一测量装置，第一测量装置与控制装置信号连接。控制装置被配置为：至少根据第一检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置。
通过设置第一测量装置，可以首先通过第一测量装置对箱体进行检测来确定箱体的位置或者箱体的轮廓等信息，从而控制装置可以计算得到合适的采样位置。合适的采样位置可以是离箱体口最近且安全的位置，例如最近且无障碍物的位置。合适的采样位置也可以是在第一采样器5位置移动的行程受限时可移动装置2与位置调节机构4能够将第一采样器5移送到的离箱体最近的位置。合适的采样位置还可以是为了提高采样效率，通过测量箱体的位置和轮廓等信息计算出来的在操持可移动装置2不动时位置调节机构4能够将第一采样器5移动到的离箱体最近的位置。仅通过位置调节机构4移动第一采样器5可以节省位置调节时间，从而提高采样效率。
第一测量装置可以包括与控制装置信号连接的激光测距传感器、区域激光扫描仪或摄像头等装置。
在一些实施例中，移动式检查系统还包括用于检测采样位置以形成第二检测结果的第二测量装置。第二测量装置与控制装置信号连接。控制装置被配置为：根据第一检测结果和第二检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置。
第二测量装置可以通过测量箱体上如气体交换窗口等箱体附件的位置和轮廓中的至少一个等信息来检测采样位置，通过设置第二测量装置，可以找到更加适于采样的采样位置。
在一些实施例中，控制装置被配置为：根据第一检测结果控制可移动装置2移动以使采样位置进入第二测量装置的检测范围，根据第二检测结果控制位置调节机构4动作以移动第一采样器5至采样位置。该设置可以发挥不同测量装置的特点，合理配 置测量装置。
例如，可以将第一测量装置的测量精度配置低一点，将第一测量装置的检测范围配置大一些，将第二测量装置的测量精度配置高一点，将第二测量装置的检测范围配置小一些，将第二测量装置与第一采样器5设置得更接近一些，例如可以将第二测量装置设置在位置调节机构4上，或者将第二测量装置设置在第一采样器5上。这样设置后首先在测量精度较低的第一测量装置的测量下控制装置控制可移动装置2移动和位置调节机构4动作中的至少一个使采样位置进入第二测量装置的检测范围，然后通过测量精度较高的第二测量装置的测量下控制装置控制位置调节机构4动作以移动第一采样器5至采样位置。该设置可以合理配置测量装置的精度和检测范围，提高对测量装置的利用效率。
在一些实施例中，第二测量装置包括与控制装置信号连接的摄像头、激光测距传感器、和激光雷达中的至少一个。其中，摄像头可以是单目摄像头或双目摄像头。
在一些实施例中，第二测量装置设置于第一采样器5或位置调节机构4上。
在一些实施例中，采样检测设备还包括设于可移动装置2上的第二采样器。第二采样器用于在采样位置对箱体内的气体进行人工采样以取得采样样本，样本检测部3与第二采样器可连通以对第二采样器取得的采样样本进行检测，控制装置被配置为控制第一采样器5和第二采样器与样本检测部3通断。设置第二采样器可以方便进行人工气体采样。
第一采样器5与第二采样器为两路采样气路，控制装置切换第一采样器5和第二采样器对箱体内的气体采样，即可以通过控制装置切换由哪一路采样气路来进行气体采样。
如图1所示，在一些实施例中，第二采样器的放置口6可以设置在可移动装置2的外壁的底部，该设置可以方便人工对第二采样器的取用。
在一些实施例中，第一采样器5为吸盘式采样器。该设置在对具有气体交换窗口的封闭式箱体进行采样时可以利用吸盘结构吸附在气体交换窗口上，使得第一采样器5可以具有对气体交换窗口较大的吸附力以及较大的气体采样面积。
在一些实施例中，可移动装置2为车辆。
在一些实施例中，位置调节机构4包括与控制装置信号连接的机械手，第一采样器5设于机械手的端部。该设置可以灵活地移动第一采样器5，使得气体采样更加高效灵活，有助于提高吸气采样的自动化程度。
本公开实施例还公开一种应用上述的移动式检查系统的检查方法，包括对箱体进行辐射检查和控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置对箱体内的气体采样并取得采样样本，样本检测部3对第一采样器5取得的采样样本进行检测。
在一些实施例中，控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置包括：检测箱体的位置和箱体的轮廓中的至少一个以形成第一检测结果，至少根据第一检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置。
在一些实施例中，至少根据第一检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置包括：根据第一检测结果计算出控制位置调节机构4动作所能够将第一采样器5移动到的距离箱体最近的位置，将位置确定为采样位置并控制位置调节机构4动作以将第一采样器5移动至采样位置。
在一些实施例中，检查方法还包括用于检测采样位置以形成第二检测结果，至少根据第一检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置包括：根据第一检测结果和第二检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置。
在一些实施例中，根据第一检测结果和第二检测结果控制可移动装置2移动和位置调节机构4动作中的至少一个以移动第一采样器5至采样位置包括：根据第一检测结果控制可移动装置2移动以使采样位置进入用于获取第二检测结果的第二测量装置的检测范围，根据第二检测结果控制位置调节机构4动作以移动第一采样器5至采样位置。
在一些实施例中，箱体为封闭式集装箱，集装箱上设有气体交换窗口，第一采样器5为吸盘式采样器，进行气体采样包括利用吸盘式采样器吸附在气体交换窗口进行气体采样。
本公开的移动式检查装置适用于集装箱、车辆的货箱及其它各种类型的封闭的或非封闭的箱体。
在一些实施例中，在上面所描述的控制装置可以为用于执行本发明所描述功能的通用处理器、可编程逻辑控制器(Programmable Logic Controller，简称：PLC)、数字信号处理器(Digital Signal Processor，简称：DSP)、专用集成电路(Application Specific Integrated Circuit，简称：ASIC)、现场可编程门阵列(Field-Programmable  Gate Array，简称：FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。
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；而不脱离本公开技术方案的精神，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. 一种移动式检查系统，包括：
    可移动装置(2)；
    辐射检查装置(1)，设置于所述可移动装置(2)上，用于辐射检查装载货物的箱体；
    气体检测装置，包括采样检测设备和位置调节机构(4)，所述采样检测设备包括第一采样器(5)和样本检测部(3)，所述第一采样器(5)设置于所述位置调节机构(4)上，用于在采样位置对所述箱体内的气体采样以取得采样样本，所述样本检测部(3)与所述第一采样器(5)可连通以对所述第一采样器(5)取得的所述采样样本进行检测，所述位置调节机构(4)设置于所述可移动装置(2)上，用于调节所述第一采样器(5)相对于所述可移动装置(2)的位置；
    控制装置，与所述可移动装置(2)和所述气体检测装置信号连接，被配置为：控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至所述采样位置。
  2. 如权利要求1所述的移动式检查系统，其中所述移动式检查系统还包括用于检测所述箱体的位置和所述箱体的轮廓中的至少一个以形成第一检测结果的第一测量装置，所述第一测量装置与所述控制装置信号连接，所述控制装置被配置为：至少根据所述第一检测结果控制所述可移动装置(2)移动和/或所述位置调节机构(4)动作以移动所述第一采样器(5)至所述采样位置。
  3. 如权利要求2所述的移动式检查系统，其中所述第一测量装置包括与所述控制装置信号连接的激光测距传感器、区域激光扫描仪和摄像头中的至少一个。
  4. 如权利要求2所述的移动式检查系统，其中所述移动式检查系统还包括用于检测所述采样位置以形成第二检测结果的第二测量装置，所述第二测量装置与所述控制装置信号连接，所述控制装置被配置为：根据所述第一检测结果和所述第二检测结果控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至所述采样位置。
  5. 如权利要求4所述的移动式检查系统，其中所述控制装置被配置为：根据所述第一检测结果控制所述可移动装置(2)移动以使所述采样位置进入所述第二测量装置的检测范围，根据所述第二检测结果控制所述位置调节机构(4)动作以移动所述第一采样器(5)至所述采样位置。
  6. 如权利要求4所述的移动式检查系统，其中所述第二测量装置包括单目摄像头、激光测距传感器、双目摄像头和激光雷达中的至少一个。
  7. 如权利要求4所述的移动式检查系统，其中，所述第二测量装置设置于所述第一采样器(5)或位置调节机构(4)上。
  8. 如权利要求1所述的移动式检查系统，其中所述采样检测设备还包括设于所述可移动装置(2)上的第二采样器，所述第二采样器用于在采样位置对所述箱体内的气体进行人工采样以取得采样样本，所述样本检测部(3)与所述第二采样器可连通以对所述第二采样器取得的所述采样样本进行检测，所述控制装置被配置为控制所述第一采样器(5)和所述第二采样器与所述样本检测部(3)通断。
  9. 如权利要求1所述的移动式检查系统，其中所述第一采样器(5)为吸盘式采样器。
  10. 如权利要求1至9任一所述的移动式检查系统，其中所述可移动装置(2)为车辆。
  11. 如权利要求1至9任一所述的移动式检查系统，其中所述位置调节机构(4)包括与所述控制装置信号连接的机械手，所述第一采样器(5)设于所述机械手的端部。
  12. 一种应用如权利要求1至11任一所述的移动式检查系统的检查方法，包括：
    对所述箱体进行辐射检查；
    控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移 动所述第一采样器(5)至采样位置对所述箱体内的气体采样并取得采样样本，所述样本检测部(3)对所述第一采样器(5)取得的所述采样样本进行检测。
  13. 如权利要求12所述的检查方法，其中控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至采样位置包括：检测所述箱体的位置和所述箱体的轮廓中的至少一个以形成第一检测结果，至少根据所述第一检测结果控制所述可移动装置(2)移动和/或所述位置调节机构(4)动作以移动所述第一采样器(5)至采样位置。
  14. 如权利要求13所述的检查方法，其中至少根据所述第一检测结果控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至采样位置包括：根据所述第一检测结果计算出控制所述位置调节机构(4)动作所能够将所述第一采样器(5)移动到的距离所述箱体最近的位置，将所述位置确定为采样位置并控制所述位置调节机构(4)动作以将所述第一采样器(5)移动至所述采样位置。
  15. 如权利要求13所述的检查方法，其中包括检测所述采样位置以形成第二检测结果，至少根据所述第一检测结果控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至采样位置包括：根据所述第一检测结果和所述第二检测结果控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至采样位置。
  16. 如权利要求15所述的检查方法，其中根据所述第一检测结果和所述第二检测结果控制所述可移动装置(2)移动和所述位置调节机构(4)动作中的至少一个以移动所述第一采样器(5)至采样位置包括：根据第一检测结果控制所述可移动装置(2)移动以使所述采样位置进入用于获取所述第二检测结果的第二测量装置的检测范围，根据所述第二检测结果控制所述位置调节机构(4)动作以移动所述第一采样器(5)至所述采样位置。
  17. 如权利要求12所述的检查方法，其中所述箱体为封闭式集装箱，所述集装箱 上设有气体交换窗口，所述第一采样器(5)为吸盘式采样器，所述进行气体采样包括利用所述吸盘式采样器吸附在所述气体交换窗口进行气体采样。
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