WO2020141001A1 - 安全检查装置 - Google Patents

安全检查装置 Download PDF

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Publication number
WO2020141001A1
WO2020141001A1 PCT/CN2020/070488 CN2020070488W WO2020141001A1 WO 2020141001 A1 WO2020141001 A1 WO 2020141001A1 CN 2020070488 W CN2020070488 W CN 2020070488W WO 2020141001 A1 WO2020141001 A1 WO 2020141001A1
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WO
WIPO (PCT)
Prior art keywords
vertical
arm
inspection device
telescopic
vertical arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/070488
Other languages
English (en)
French (fr)
Inventor
李荐民
张丽
李元景
陈志强
史俊平
王�锋
何远
高克金
韩文学
冯顺昌
孙尚民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Original Assignee
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University, Nuctech Co Ltd, Nuctech Beijing Co Ltd filed Critical Tsinghua University
Publication of WO2020141001A1 publication Critical patent/WO2020141001A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the present disclosure relates to the field of safety inspection, and in particular to a safety inspection device.
  • the detection of goods, combined goods, vehicle-mounted goods or vehicles is mostly completed by the gantry detection system.
  • the inventor knows that the detection of the vehicle-mounted goods or vehicles that can move autonomously can be completed by the fixed gantry detection system; and for the goods that cannot move autonomously or the combined goods, the gantry detection system is required It is additionally equipped with mobile facilities such as conveyor belts.
  • a safety inspection device including: a portal frame, including a transverse arm at the top, and two vertical arms located on both sides of the horizontal arm and connected to the horizontal arm, the horizontal arm and the two vertical The area enclosed by the arms constitutes the detection channel; the slewing support devices are respectively connected to the upper ends of the two vertical arms to support the transverse arms, and are configured to rotate the two vertical arms around their vertical axes respectively through their own rotary motion Rotation; and an item detection assembly based on radiation imaging, at least partially disposed on the portal frame, configured to detect items passing through the portal frame; wherein the cross arm includes a telescopic device that can change the cross arm through its own telescopic motion length.
  • the telescopic device includes at least one telescopic cylinder.
  • the cross arm includes: a telescopic cross arm connected to two vertical arms at both ends, which can be extended or shortened to change the length of the cross arm; and a fixed cross arm connected at one end to the two vertical arms At least one, used to support the telescopic cross arm.
  • the safety inspection device includes a lifting device configured to move the two vertical arms up or down through its own lifting motion.
  • the safety inspection device includes: a wheeled walking device, respectively disposed at the lower ends of the two vertical arms, and configured to walk and turn the safety inspection device relative to the ground through its own walking motion.
  • the safety inspection device includes: a ray cabin, which is provided on one of the two vertical arms, the ray cabin includes a ray source, and is configured to emit detection rays to scan items passing through the portal frame; the detector, At least one of the two vertical arms and/or the transverse arm is configured to detect the transmission signal or scattering signal of the detection beam on the article for scanning imaging; and the protective wall is provided on the other of the two vertical arms One.
  • the cross arm includes: a telescopic cross arm connected to two vertical arms at both ends, which can be extended or shortened to change the length of the cross arm; and a fixed cross arm connected at one end to the two vertical arms At least one is used to support the telescopic vertical arm; wherein, at least part of the detector is disposed on the telescopic cross arm.
  • the safety inspection device includes: a lifting device configured to raise or lower the two vertical arms through its own lifting motion; and a wheeled walking device, which are respectively provided at the lower ends of the two vertical arms, are It is configured to walk and steer the safety inspection device relative to the ground through its own walking motion.
  • the safety inspection device includes a controller for controlling the elevating movement of the elevating device, the telescopic movement of the telescopic device, the rotational movement of the slewing support device, and the walking movement of the wheeled walking device.
  • the controller is configured to control the telescopic device to perform the telescopic movement of the cross arm and/or the lifting device to perform the lifting movement of the portal frame.
  • the controller is configured to control the rotation of the slewing support device so that at least one of the two vertical arms rotates around its vertical axis by a preset angle.
  • the two vertical arms include a first vertical arm and a second vertical arm
  • the slewing support device includes a first slewing support device corresponding to the first vertical arm and a second slewing support device corresponding to the second vertical arm
  • the wheeled walking device includes a wheeled walking device corresponding to the first vertical arm and a second wheeled walking device corresponding to the second vertical arm; the controller is configured to: control the first wheeled walking device to be stationary relative to the ground, And control the rotation of the first slewing support device, so that the second wheeled walking device walks and turns relative to the ground, so that the transverse arm rotates by a preset angle relative to the first vertical arm.
  • the controller is further configured to: control the rotation of the second slewing support device, so that the second vertical arm rotates around its vertical axis by a preset angle, so that when the detection channel makes a steering movement, the vertical arm does rotation movement.
  • the two vertical arms include a first vertical arm and a second vertical arm
  • the slewing support device includes a first slewing support device corresponding to the first vertical arm and a second slewing support device corresponding to the second vertical arm
  • the wheeled walking device includes a wheeled walking device corresponding to the first vertical arm and a second wheeled walking device corresponding to the second vertical arm
  • the controller is configured to: control the first wheeled walking device to be stationary relative to the ground, And control the rotation of the first slewing support device, so that the second wheeled walking device walks and turns relative to the ground, so that the cross arm rotates a preset angle relative to the first vertical arm; and further controls the second wheeled walking device relative It is stationary on the ground, and controls the rotation of the second slewing support device, so that the first wheeled walking device walks and turns relative to the ground, so that the cross arm rotates a preset angle relative to the second vertical arm.
  • the controller is further configured to: the angle at which the second vertical arm rotates around the first vertical arm, and the angle at which the first vertical arm rotates around the second vertical arm are both preset to 180°.
  • the safety inspection device includes: a remote controller and a remote command transmission component.
  • the remote control command transmission component is disposed on the door frame and is electrically connected to the controller.
  • the remote controller can remotely communicate with the remote command transmission component.
  • FIG. 1 is a schematic diagram of a frontal angle structure of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 2 is a schematic diagram of a frontal angle structure of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 3 is a schematic structural diagram of a front view angle of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 4 is a schematic structural diagram of a front view angle of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 5 is a schematic diagram of a top angle structure of a safety inspection device provided by some embodiments of the present disclosure.
  • FIG. 6 is a schematic diagram of the rotation motion of the vertical arm at a top view angle of the safety inspection device provided by some embodiments of the present disclosure
  • FIG. 7 is a schematic diagram of a detection channel performing a steering movement under a top view angle of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 8 is a schematic diagram of a vertical movement of a vertical arm and a rotation movement of a detection channel at a top view angle of a safety inspection device provided by some embodiments of the present disclosure
  • FIG. 9 is a schematic diagram of the movement of the door-type frame striding from a top view angle of the safety inspection device provided by some embodiments of the present disclosure.
  • the safety inspection device known to the inventors can change the length of the transverse arm through the telescopic movement of the telescopic device, thereby changing the size of the detection channel according to the size of the object to be inspected, so as to improve the security inspection device provided by the present disclosure for different goods and combined types. Inspection efficiency of cargo, vehicle-mounted cargo or vehicles.
  • the width dimension is much smaller than the length dimension.
  • the passability of the detection device is lower.
  • cargo storage and vehicle parking are often relatively close. It is often difficult to adjust the angle of the combined cargo, vehicle-mounted cargo and vehicle, and pass the detection device in its width direction, which also leads to low detection efficiency.
  • the embodiments of the present disclosure provide a security inspection device, which can improve the detection efficiency of articles of different shapes, sizes, and placement methods.
  • FIG. 1 is a schematic structural diagram of a front view angle of a safety inspection device provided by some embodiments of the present disclosure.
  • a safety inspection device provided by the present disclosure includes: a portal frame, including a transverse arm 1 at the top, and two vertical arms 2 (including the first A vertical arm 2 (a) and a second vertical arm 2 (b)), the area surrounded by the horizontal arm and the two vertical arms constitutes a detection channel; the slewing support device 22 is respectively connected to the two vertical arms (including the first The upper ends of the vertical arms 2(a) and the second vertical arms 2(b)) are used to support the transverse arms, and are configured to rotate the two vertical arms around their vertical axes by their own rotary motion; and based on radiation
  • the imaged article detection assembly 3 is at least partially provided on the portal frame, and is configured to detect articles passing through the portal frame; wherein, the cross arm 1 includes a telescopic device 11 that can change the cross arm 1 through its own telescopic movement length.
  • the embodiment of the present disclosure changes the length of the transverse arm through the telescopic movement of the telescopic device, thereby changing the size of the detection channel according to the size of the object to be detected, so as to enhance the safety inspection device provided by the embodiment of the present disclosure for different goods, combined goods, Inspection efficiency of vehicle-mounted goods or vehicles.
  • the slewing support device 22 may be a rotating shaft having both a rotating function and a supporting function, or may be an integrated structure formed by combining a rotating shaft having a rotating function and a supporting frame.
  • the slewing support device 22 can drive its own slewing motion by a motor, or can be driven by other means, such as manual or hydraulic means.
  • the slewing support device 22 is connected to the upper ends of the two vertical arms, so that its own rotary motion can rotate the two vertical arms around its vertical axis, respectively.
  • the vertical axis of the vertical arm itself is subject to the vertical straight line where the center of rotation of the rotary support device 22 is located.
  • the vertical axis can coincide with the vertical straight line where the geometric center of the vertical arm is located, so that the vertical arm can obtain a more stable rotation movement process; the vertical axis can not coincide with the vertical straight line where the geometric center of the vertical arm is located, so that the vertical The arms have different turning radii during the rotational movement.
  • the different turning radius of the vertical arm can improve the adaptability of the safety inspection device.
  • the vertical arm can turn its direction of larger turning radius to the position of the detection channel, so that the overall outline range of the door frame is smaller, which is convenient for the safety inspection device and Mutual passage between other items to be tested.
  • the item detection component can detect the items to be detected in the detection channel at different detection angles, so as to obtain scanned images of the items to be detected at different angles, helping the operator to make a more accurate and comprehensive judgment The type and composition of the item to be tested.
  • the object detection assembly 3 based on radiation imaging can observe the inside of an object using rays.
  • the item detection component 3 can obtain information such as the internal structure and density of the object without destroying the object, and has been widely used in security inspections at stations, docks, and airports.
  • the safety inspection device can change the length of the transverse arm 1 through its own telescopic motion, and then the combination The different sizes and shapes of the cargo are adjusted adaptively, so that the detection channel can allow the combined cargo to pass.
  • the goods to be detected can pass through the detection channel through a variety of existing methods, including but not limited to conveyor belts, transport trolleys, etc., which will not be described in detail here.
  • the safety inspection device by providing the safety inspection device with a certain moving ability, for example, being equipped with wheels, or being configured with a pulley rail, the detection channel of the safety inspection device can be passed through the object to be inspected without moving the object to be inspected.
  • the telescopic device includes at least one telescopic cylinder.
  • the telescopic oil cylinder can be connected to the control hydraulic oil circuit, so that the operator can easily adjust the telescopic movement of the telescopic oil cylinder by controlling the hydraulic oil circuit; the telescopic oil cylinder can also be configured to manually input the pressure to reduce the cost of the telescopic device and obtain Simpler control method.
  • the telescopic oil cylinder can be one level or multiple levels.
  • the telescopic oil cylinder can have a larger range of telescopic movements.
  • the telescoping movement of the telescopic cylinders can be made faster and the operation response speed is faster.
  • FIG. 2 is a schematic diagram of a frontal angle structure of a safety inspection device provided by some embodiments of the present disclosure.
  • the cross arm includes: a telescopic cross arm 13 connected to two vertical arms at both ends, which can be extended or shortened to change the length of the cross arm; and a fixed cross arm 12 at one end Connected to at least one of the two vertical arms for supporting the telescopic cross arm.
  • the fixed cross arm can support the telescopic cross arm, thereby improving the overall strength and rigidity of the cross arm. Especially when the cross arm has a large length under the action of the telescopic device, the fixed cross arm can effectively reduce the deflection of the cross arm, so that the components provided on the cross arm are less affected, and the detection of the object to be inspected is improved effect.
  • the fixed cross arm can also be used as a guide rail for the telescopic cross arm to perform telescopic movement, so that the cross arm is more stable in the process of extending or shortening the telescopic cross arm, so that the application of radiation imaging principles and vibration-sensitive article detection components Less affected by the telescopic movement of the transverse arm, and thus the article detection component at least partially disposed on the door frame reduces the failure rate and improves the service life.
  • FIG. 3 is a schematic structural diagram of a front view angle of a safety inspection device provided by some embodiments of the present disclosure.
  • the safety inspection device includes: a lifting device 21 configured to move the two vertical arms up or down through its lifting motion.
  • the lifting device can use a telescopic oil cylinder, or other devices that can raise or lower the vertical arm, such as jacks or other mechanisms.
  • the lifting device is located above the article detection assembly 3 on the vertical arm 2, and the article detection assembly 3 can continue to be supported by the vertical arm in contact with the ground during the lifting movement of the lifting device 21, so that it is less exposed to The effect of lifting movement.
  • the lifting device can also be located below the article detection assembly 3, or other positions that can change the length of the vertical arm.
  • the horizontal arm By adjusting the raising or lowering of the vertical arm by the lifting device, the horizontal arm can have different height positions. For the objects to be inspected with a higher height, by increasing the height position of the cross arm, the object detection assembly provided by the present disclosure can continue to be applied; and for the objects to be inspected with a lower height, it can also be passed The lower position of the height of the cross arm makes the cross arm close to the upper side of the item to be detected, and improves the detection accuracy of the item detection assembly provided on the cross arm.
  • the safety inspection device includes: a wheeled walking device 23, respectively disposed on the lower ends of two vertical arms (including the first vertical arm 2 (a) and the second vertical arm 2 (b)), configured as The safety inspection device walks and turns relative to the ground through its own walking motion.
  • the wheeled walking device 23 may be configured as a wheel-body machine with autonomous walking capability, or may be configured as a pulley mechanical component matched with a preset slide rail direction.
  • the wheeled walking device 23 can make the safety inspection device moveable, thereby facilitating the transition of the safety inspection device, position adjustment, and detection of stationary objects to be inspected.
  • the wheeled walking device 23 as a part of the portal frame that is in contact with the ground, should have strong stability in the detection state, so it can be matched with fixed legs or other parts to provide a safety inspection device when it is in a static state stability.
  • FIG. 4 is a schematic diagram of a front angle structure of a safety inspection device provided by some embodiments of the present disclosure.
  • the safety inspection device includes: a ray cabin, which is disposed on one of the two vertical arms (ie, the first vertical arm 2(a) or the second vertical arm 2(b)),
  • the ray cabin includes a ray source configured to emit detection rays to scan items passing through the portal frame; a detector, provided on at least one of the two vertical arms and/or a transverse arm, is configured to detect detection rays on the item The transmission signal or the scattering signal on the top for scanning imaging; and the protective wall is provided on the other of the two vertical arms (ie the corresponding second vertical arm 2(b) or the first vertical arm 2(a)).
  • the ray cabin, the detector and the protective wall can be further rotatably disposed on the two vertical arms, so as to realize flexible control of the ray cabin, the detector and the protective wall.
  • the two vertical arms will simultaneously have two slewing support structures 22 disposed between the two vertical arms and the transverse arms, and the ray cabin, detector, protective wall and the two vertical arms. More than one slewing structure. Therefore, when the scan channel is turned by the rotary support structure 22, the ray cabin, the detector and the protective wall can be adjusted relative to the rotary structure between the two vertical arms, so as to ensure that the scan channel can always The direction of the ray cabin relative to the detector.
  • the position of the detector includes the same vertical arm as the ray source, the opposite vertical arm, and three positions of the horizontal arm.
  • the signal detected by the detector is mainly the projection signal;
  • the signals detected by the detector are mainly scattered signals.
  • the projected signal and the scattered signal can reflect different information of the item to be detected, and thus have different imaging principles and detection focuses, and can be selectively set according to the type of the item to be detected or the working scene of the safety inspection device.
  • the cross arm includes: a telescopic cross arm connected to two vertical arms at both ends, which can be extended or shortened to change the length of the cross arm; and a fixed cross arm connected at one end to the two vertical arms At least one is used to support the telescopic vertical arm; wherein, at least part of the detector is disposed on the telescopic cross arm.
  • At least part of the detectors installed on the telescopic cross arm can ensure that the detector can detect the detection signal of the area above the detection channel more completely during the extension of the cross arm, so that the scanned image of the object to be detected is more complete and accurate.
  • the safety inspection device includes: a lifting device configured to raise or lower the two vertical arms through its own lifting motion; and a wheeled walking device, which are respectively provided at the lower ends of the two vertical arms, are It is configured to walk and steer the safety inspection device relative to the ground through its own walking motion.
  • FIGS. 5-9 are schematic diagrams of a top-view angle structure of a safety inspection device provided by some embodiments of the present disclosure, as shown in FIGS. 5-9 (the dotted outline in the figure shows the state before the door frame makes corresponding movements, and the solid outline shows (The state of the portal frame after corresponding movement), through the installation of the telescopic device, the lifting device, the slewing support device and the wheeled walking device, the portal frame can realize various movement forms accordingly, including but not limited to:
  • FIG. 6 is a schematic diagram of the rotation movement of the vertical arm in a plan view of the safety inspection device provided by some embodiments of the present disclosure.
  • the rotation motion of the two vertical arms that is, by controlling the rotation of the slewing support device provided on the two vertical arms, the two vertical arms are rotated around their vertical axes by a preset angle to achieve two Rotation motion of one vertical arm;
  • FIG. 7 is a schematic diagram of the detection channel performing a steering movement under a plan view of the safety inspection device provided by some embodiments of the present disclosure.
  • the steering movement of the detection channel is controlled by controlling the rotation of the slewing support device provided on one of the two vertical arms and the wheeled walking device stationary with respect to the ground, and controlling the wheel type provided on the other of the two vertical arms
  • the walking device walks and turns relative to the ground, and rotates the other of the two vertical arms around a predetermined angle around one of the two vertical arms to realize the steering movement of the detection channel;
  • FIG. 8 is a schematic diagram of a vertical movement of a vertical arm while a detection channel is performing a steering movement under a top-view angle of a safety inspection device provided by some embodiments of the present disclosure.
  • the vertical arm performs a self-rotating movement, that is, by controlling the rotation support device provided on the other of the two vertical arms to rotate, the other of the two vertical arms rotates around the two vertical While one of the arms rotates by a preset angle, the other of the two vertical arms rotates by a preset angle about its vertical axis, so as to realize the rotation motion of the vertical arm while the steering channel is performing the steering motion;
  • FIG. 9 is a schematic diagram of the movement of the door frame striding at a top view from the safety inspection device provided by some embodiments of the present disclosure.
  • the stride walking motion of the portal frame as shown in FIG. 9 means that the slewing support device arranged on one of the two vertical arms rotates and the wheeled walking device is stationary relative to the ground.
  • One wheeled walking device walks and turns relative to the ground, rotates the other of the two vertical arms around a predetermined angle of one of the two vertical arms; and further controls the rotation of the swing support device provided on the other of the two vertical arms 1.
  • the wheeled walking device is stationary relative to the ground, and the wheeled walking device provided on one of the two vertical arms is controlled to walk and steer relative to the ground, so that one of the two vertical arms rotates around the other of the two vertical arms. Angle; to make the portal frame do the stepping walking movement.
  • the radiation imaging-based article detection components 3 on the two vertical arms can no longer be arranged correspondingly.
  • the detection direction of the part detection component 3 provided on one of the two vertical arms has not been changed, and it is directed to the detection channel before the steering channel performs the steering movement or the stepping walking motion, and is provided on the two vertical arms
  • the detection direction of the other part of the article detection assembly 3 is directed to the detection channel after the movement along with the turning movement or striding walking movement of the detection channel.
  • one of the two vertical arms used as the rotating shaft during the steering movement or striding walking movement of the detection channel should be adjusted to make it rotate, so that the article detection component corresponding to the detection channel after the movement 3 Can work normally.
  • a device capable of controlling the rotation of the article detection assembly 3 can also be provided on the two vertical arms so as to keep the article detection assembly in a relative position and maintain the detection passage in various movements and movement combinations of the detection passage Continues to work normally.
  • the safety inspection device includes a controller for controlling the elevating movement of the elevating device, the telescopic movement of the telescopic device, the rotational movement of the slewing support device, and the walking movement of the wheeled walking device.
  • the controller can be constructed by a hydraulic control system or an electrical control system, depending on the operation principle of the controller control object. Through the controller, the operator can easily and conveniently perform various motion control on the safety inspection device, thereby adapting the safety inspection device to various application scenarios.
  • the controller is configured to control the telescopic device to perform the telescopic movement of the cross arm and/or the lifting device to perform the lifting movement of the portal frame to change the size of the detection channel.
  • the size of the detection channel can be flexibly determined according to the size of the object to be detected, and the size of the detection channel can be only slightly larger than the size of the object to be detected to obtain a better detection effect.
  • the telescopic device or the lifting device can be configured to have a multi-level structure, the detection of the objects to be detected can have a certain order accordingly. For example, firstly inspect the items to be inspected which only need to perform a first-level telescoping or lifting movement, and then in turn inspect the items to be inspected which require two, three or more times of telescoping or lifting movements in turn, so that each round of inspection In the process, the controller only needs to control the same level of telescopic device or lifting device.
  • the controller is configured to: control the rotation of the slewing support device so that at least one of the two vertical arms rotates around its vertical axis by a preset angle to achieve the rotation motion of the vertical arms.
  • the technical effects that can be achieved by the rotation of the two vertical arms include the selective adjustment of the swing range of the portal frame and the multi-angle detection of the objects to be detected.
  • the two vertical arms include a first vertical arm and a second vertical arm
  • the slewing support device includes a first slewing support device corresponding to the first vertical arm and a second slewing support device corresponding to the second vertical arm
  • the wheeled walking device includes a wheeled walking device corresponding to the first vertical arm and a second wheeled walking device corresponding to the second vertical arm; the controller is configured to: control the first wheeled walking device to be stationary relative to the ground, And control the rotation of the first slewing support device, so that the second wheeled walking device walks and turns relative to the ground, so that the transverse arm rotates a preset angle relative to the first vertical arm, so as to realize the steering movement of the detection channel.
  • the turning movement of the detection channel enables the security inspection device provided by the present disclosure to detect the object to be detected in any direction.
  • This has a beneficial technical effect on a fixed-position security inspection device and a movable object to be inspected.
  • the object to be inspected is a vehicle-mounted cargo, it is limited by the direction of movement of the vehicle, for example, the lane is narrow and the vehicle turns
  • the safety inspection device needs to be adjusted for vehicles coming from different directions to speed up the efficiency of the safety inspection.
  • the controller is further configured to: control the rotation of the second slewing support device, so that the second vertical arm rotates around its vertical axis by a preset angle, so that when the detection channel makes a steering movement, the vertical arm does rotation movement.
  • the detection channel performs a steering movement while the vertical arm performs a rotation movement, and the detection channel can perform a steering movement to adapt the safety inspection device provided by the present disclosure to the outer contour of the object to be detected, while the vertical arm performing a rotation movement can make the vertical arm set to the vertical position
  • the item detection component on the arm always detects the item to be detected at a good observation angle, for example, by controlling the rotation angle of the vertical arm relative to the horizontal arm, the detection channel always coincides with the narrowest detection cross section of the item to be detected, to improve Detection effect.
  • the two vertical arms include a first vertical arm and a second vertical arm
  • the slewing support device includes a first slewing support device corresponding to the first vertical arm and a second slewing support device corresponding to the second vertical arm
  • the wheeled walking device includes a first wheeled walking device corresponding to the first vertical arm and a second wheeled walking device corresponding to the second vertical arm
  • the controller is configured to: control the first wheeled walking device relative to the ground Stand still, and control the rotation of the first slewing support device to allow the second wheeled walking device to walk and steer relative to the ground, thereby rotating the cross arm relative to the first vertical arm by a preset angle
  • the second wheeled walking is stationary with respect to the ground, and controls the rotation of the second slewing support device, so that the first wheeled walking device walks and turns relative to the ground, so that the cross arm rotates a preset angle with respect to the second vertical arm;
  • the frame does the stepping movement.
  • the portal frame The striding walking direction of is the same as that of the detection channel.
  • the controller is further configured to: the angle at which the second vertical arm rotates around the first vertical arm, and the angle at which the first vertical arm rotates around the second vertical arm are preset It is 180°, so that when the portal frame does the stepping walking motion, the detection channel can sequentially face the to-be-detected items A and B arranged side by side.
  • the safety inspection device includes: a remote controller and a remote command transmission component, the remote command transmission component is provided on the door frame and is electrically connected to the controller
  • the remote control can communicate with the remote command transmission component remotely, so that the operator can remotely control the lifting device, telescopic device, slewing support device and wheeled walking device.

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  • Life Sciences & Earth Sciences (AREA)
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Abstract

一种安全检查装置，包括：门式框架，包括位于顶部的横臂(1)，和位于横臂(1)两侧并与横臂(1)连接的两个竖臂(2)，横臂(1)和两个竖臂(2)所围成的区域构成检测通道；回转支撑装置(22)，分别连接在两个竖臂(2)的上端，用于支撑横臂(1)，并被配置为通过自身的旋转运动使两个竖臂(2)分别绕自身竖直轴线旋转；以及基于辐射成像的物品检测组件(3)，至少部分地设置于门式框架，被配置为对通过门式框架的物品进行检测；其中，横臂(1)包括伸缩装置(11)，能够通过自身的伸缩运动改变横臂(1)的长度。

Description

安全检查装置
相关申请的交叉引用
本申请是以CN申请号为201910009043.9，申请日为2019年01月04日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及安全检测领域，尤其涉及一种安全检查装置。
背景技术
目前对货物、组合式货物、车载式货物或车辆的检测多由门架类检测系统完成。其中，发明人知晓的针对可自主移动的车载式货物或车辆的检测，可通过固定式的门架类检测系统完成；而针对无法自主移动的货物或组合式货物，则需要门架类检测系统再额外配备传送带等移动设施。
发明内容
在本公开的一个方面，提供一种安全检查装置，包括：门式框架，包括位于顶部的横臂，和位于横臂两侧并与横臂连接的两个竖臂，横臂和两个竖臂所围成的区域构成检测通道；回转支撑装置，分别连接在两个竖臂的上端，用于支撑横臂，并被配置为通过自身的旋转运动使两个竖臂分别绕自身竖直轴线旋转；以及基于辐射成像的物品检测组件，至少部分地设置于门式框架，被配置为对通过门式框架的物品进行检测；其中，横臂包括伸缩装置，能够通过自身的伸缩运动改变横臂的长度。
在一些实施例中，伸缩装置包括至少一级的伸缩油缸。
在一些实施例中，横臂包括：伸缩横臂，两端分别连接至两个竖臂，能够伸长或缩短以改变横臂的长度；和固定横臂，一端连接至两个竖臂中的至少一个，用于支撑伸缩横臂。
在一些实施例中，安全检查装置包括：升降装置，被配置为通过自身的升降运动使两个竖臂做上升或下降运动。
在一些实施例中，安全检查装置包括：轮式行走装置，分别设置在两个竖臂的下端，被配置为通过自身的行走运动使安全检查装置相对于地面行走和转向。
在一些实施例中，安全检查装置包括：射线舱体，设置于两个竖臂之一，射线舱体包括射线源，被配置为发射探测射线对通过门式框架的物品进行扫描；探测器，设置于两个竖臂中的至少一个和/或横臂，被配置为探测探测射线在物品上的透射信号或散射信号，以进行扫描成像；和防护墙，设置于两个竖臂中的另一个。
在一些实施例中，横臂包括：伸缩横臂，两端分别连接至两个竖臂，能够伸长或缩短以改变横臂的长度；和固定横臂，一端连接至两个竖臂中的至少一个，用于支撑伸缩竖臂；其中，至少部分探测器设置在伸缩横臂。
在一些实施例中，安全检查装置包括：升降装置，被配置为通过自身的升降运动使两个竖臂做上升或下降运动；和轮式行走装置，分别设置在两个竖臂的下端，被配置为通过自身的行走运动使安全检查装置相对于地面行走和转向。
在一些实施例中，安全检查装置包括：控制器，用于对升降装置的升降运动、伸缩装置的伸缩运动、回转支撑装置的旋转运动和轮式行走装置的行走运动进行控制。
在一些实施例中，控制器被配置为：控制伸缩装置执行横臂的伸缩运动和/或升降装置执行门式框架的升降运动。
在一些实施例中，控制器被配置为：控制回转支撑装置旋转，使两个竖臂中的至少一个绕自身竖直轴线旋转预设的角度。
在一些实施例中，两个竖臂包括第一竖臂和第二竖臂，回转支撑装置包括对应于第一竖臂的第一回转支撑装置和对应于第二竖臂的第二回转支撑装置，轮式行走装置包括对应于第一竖臂的轮式行走装置和对应于第二竖臂的第二轮式行走装置；控制器被配置为：控制第一轮式行走装置相对于地面静止，并控制第一回转支撑装置旋转，以使第二轮式行走装置相对于地面行走和转向，从而使横臂相对于第一竖臂旋转预设的角度。
在一些实施例中，控制器被进一步配置为：控制第二回转支撑装置旋转，使第二竖臂绕自身竖直轴线旋转预设的角度，从而在检测通道做转向运动时，竖臂做自转运动。
在一些实施例中，两个竖臂包括第一竖臂和第二竖臂，回转支撑装置包括对应于第一竖臂的第一回转支撑装置和对应于第二竖臂的第二回转支撑装置，轮式行走装置包括对应于第一竖臂的轮式行走装置和对应于第二竖臂的第二轮式行走装置；控制器被配置为：控制第一轮式行走装置相对于地面静止，并控制第一回转支撑装置旋转，以使第二轮式行走装置相对于地面行走和转向，从而使横臂相对于第一竖臂旋转预设 的角度；以及进一步控制第二轮式行走装置相对于地面静止，并控制第二回转支撑装置旋转，以使第一轮式行走装置相对于地面行走和转向，从而使横臂相对于第二竖臂旋转预设的角度。
在一些实施例中，控制器被进一步配置为：第二竖臂绕第一竖臂旋转的角度，以及第一竖臂绕第二竖臂旋转的角度均被预设为180°。
在一些实施例中，安全检查装置包括：遥控器和遥控指令传递组件，遥控指令传递组件设置在门式框架上，并与控制器电连接，遥控器能够与遥控指令传递组件远程通信。
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为本公开一些实施例所提供的安全检查装置的正视角度结构示意图；
图2为本公开一些实施例所提供的安全检查装置的正视角度结构示意图；
图3为本公开一些实施例所提供的安全检查装置的正视角度结构示意图；
图4为本公开一些实施例所提供的安全检查装置的正视角度结构示意图；
图5为本公开一些实施例所提供的安全检查装置的俯视角度结构示意图；
图6为本公开一些实施例所提供的安全检查装置俯视角度下竖臂自转运动的示意图；
图7为本公开一些实施例所提供的安全检查装置俯视角度下检测通道做转向运动的示意图；
图8为本公开一些实施例所提供的安全检查装置俯视角度下检测通道做转向运动的同时竖臂做自转运动的示意图；
图9为本公开一些实施例所提供的安全检查装置俯视角度下门式框架跨步式行走的运动示意图；
各附图标记分别代表：
1-横臂，11-伸缩装置，12-固定横臂，13-伸缩横臂，2-竖臂，2a第一竖臂，2b第二竖臂，21-升降装置，22-回转支撑装置，23-轮式行走装置，3物品检测组件，31-射线舱体，32-射线源，33-探测器，34-防护墙。
具体实施方式
下面将结合本公开一些实施例中的附图，对本公开一些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。
发明人知晓的安全检查装置能够通过伸缩装置的伸缩运动改变横臂的长度，从而依据待检测物品的尺寸改变检测通道的尺寸，以提升本公开所提供的安全检查装置对不同的货物、组合式货物、车载式货物或车辆的检测效率。
经研究发现，由于货物种类多样，尤其是对于组合式货物、车载式货物或车辆的检测而言，由于待检测物品的形状、尺寸难以统一，需要在检测区域设置适用于不同形状、尺寸待检物品的检测装置，并将待检物品按照形状、尺寸不同而分类，以分别通行与自身形状、尺寸相对应的检测装置，导致检测效率低下。此外，对于部分组合式货物、车载式货物和车辆而言，其宽度方向的尺寸远小于长度方向的尺寸。对于这类货物，以其宽度方向通过检测装置时，对检测装置的可通行性要求较低。然而，在检测区域中，货物码放、车辆停放往往比较紧密，调整组合式货物、车载式货物和车辆的角度，并以其宽度方向通过检测装置的操作难度往往较高，同样导致检测效率底下。
有鉴于此，本公开实施例提供一种安全检查装置，能够提升对不同形状、尺寸、摆放方式的物品的检测效率。
图1为本公开一些实施例所提供的安全检查装置的正视角度结构示意图。如图1所示，本公开提供的一种安全检查装置，包括：门式框架，包括位于顶部的横臂1， 和位于横臂两侧并与横臂连接的两个竖臂2(包括第一竖臂2(a)和第二竖臂2(b))，横臂和两个竖臂所围成的区域构成检测通道；回转支撑装置22，分别连接在两个竖臂(包括第一竖臂2(a)和第二竖臂2(b))的上端，用于支撑横臂，并被配置为通过自身的旋转运动使两个竖臂分别绕自身竖直轴线旋转；以及基于辐射成像的物品检测组件3，至少部分地设置于门式框架，被配置为对通过门式框架的物品进行检测；其中，横臂1包括伸缩装置11，能够通过自身的伸缩运动改变横臂1的长度。
本公开实施例通过伸缩装置的伸缩运动改变横臂的长度，从而依据待检测物品的尺寸改变检测通道的尺寸，以提升本公开实施例所提供的安全检查装置对不同的货物、组合式货物、车载式货物或车辆的检测效率。
回转支撑装置22可以为同时具有回转功能和支撑作用的转轴，也可以为分别具有回转功能的转轴以及具有支撑作用的框架所组合而成的一体化结构。回转支撑装置22可以通过电机驱动自身的回转运动，也可以通过其他方式，例如人工或液压的方式进行驱动。
此外，回转支撑装置22被连接于两个竖臂的上端，以使自身的旋转运动能够使两个竖臂分别绕自身竖直轴线旋转。竖臂自身的竖直轴线以回转支撑装置22的回转中心所在的竖直直线为准。竖直轴线可以与竖臂几何中心所在的竖直直线相重合，以使竖臂获得更稳定的旋转运动过程；竖直轴线可以与竖臂几何中心所在的竖直直线不相重合，以使竖臂在旋转运动过程中具有不同的回转半径。
其中，竖臂所具有的不同的回转半径能够提高安全检查装置的适应性。例如对于待检测物品堆放较为密集的检测区域而言，竖臂可以将自身回转半径较大的方向转至检测通道所在的位置，从而使门式框架的整体轮廓范围较小，便于安全检查装置与其他待检测物品之间的相互通行。
并且，当两个竖臂的回转支撑装置同步地向相同的方向旋转相同的角度(小于180°)时，物品检测组件3之间依旧保持着相对的位置关系。在回转支撑装置的同步旋转过程中，物品检测组件能够以不同的检测角度对检测通道内的待检测物品进行检测，从而获得不同角度的待检测物品的扫描图像，帮助操作人员更加准确全面地判断待检测物品的种类和成分。
基于辐射成像的物品检测组件3可以利用射线观察物体内部。物品检测组件3可以在不破坏物体的情况下获得物体内部的结构和密度等信息，目前已经广泛应用于车站、码头和机场的安检。
对于待检测物品为货物、组合式货物、车载式货物或车辆等情况，以组合式货物为例，本公开所提供的安全检查装置能够通过自身的伸缩运动改变横臂1的长度，进而对组合式货物所具有的不同尺寸和形状进行适应性调整，使探测通道能够容许组合式货物通过。
而对于本领域技术人员而言，使待检测货物通过探测通道可以通过多种现有方式，包括但不限于传送带、运输小车等，在此不再详述。相应地，通过使安全检查装置具有一定的移动能力，例如装配以车轮、或配置以滑轮滑轨，也能在待检测物品不移动的情况下，使安全检查装置的探测通道经过待检测物品。在一些实施例中，伸缩装置包括至少一级的伸缩油缸。
伸缩油缸可以连接至控制液压油路中，进而使操作人员可以方便地通过控制液压油路调整伸缩油缸的伸缩运动；伸缩油缸也可以被配置为手动输入压力，以降低伸缩装置的成本，并获得较为简单的控制方式。
伸缩油缸可以为一级，也可以为多级，当伸缩油缸为多级时，可以使伸缩油缸具有更大范围的伸缩运动。并且对于多级伸缩油缸而言，通过对每一级伸缩油缸进行控制，可以使伸缩油缸的伸缩运动更加迅捷，操作响应速度更快。
图2为本公开一些实施例所提供的安全检查装置的正视角度结构示意图。如图2所示，在一些实施例中，横臂包括：伸缩横臂13，两端分别连接至两个竖臂，能够伸长或缩短以改变横臂的长度；和固定横臂12，一端连接至两个竖臂中的至少一个，用于支撑伸缩横臂。
固定横臂能够对伸缩横臂起到支撑的作用，进而提高横臂的整体强度与刚度。尤其对于当横臂在伸缩装置的作用下具有较大的长度时，固定横臂能够有效降低横臂的挠度，使得设置在横臂上的元器件受到较小的影响，提高对待检测物品的检测效果。
此外，设置的固定横臂还可以作为伸缩横臂做伸缩运动的导轨，使横臂在伸缩横臂伸长或缩短的过程中更加平稳，使应用辐射成像原理、对振动较为敏感的物品检测组件较少地受到横臂伸缩运动的影响，进而使至少部分地设置在门式框架上的的物品检测组件减少故障率，提高使用寿命。
图3为本公开一些实施例所提供的安全检查装置的正视角度结构示意图。如图3所示，在一些实施例中，安全检查装置包括：升降装置21，被配置为通过自身的升降运动使两个竖臂做上升或下降运动。升降装置可以使用伸缩油缸，也可以使用其他可以提升或降低竖臂的装置，例如千斤顶或其他机构。
并且如图3所示，升降装置位于竖臂2上物品检测组件3的上方，能够使物品检测组件3在升降装置21做升降运动时，继续由竖臂与地面接触进行支撑，从而较少受到升降运动的影响。然而本领域技术人员应当理解，升降装置还可以位于物品检测组件3的下方，或者其他能够改变竖臂长度的位置。
通过升降装置对竖臂上升或下降的调节，横臂能够具有不同的高度位置。对于具有较高高度的待检测物品而言，通过提高横臂的高度位置，能够使得本公开所提供的物品检测组件继续得以适用；而对于具有较低高度的待检测物品而言，也可以通过较低横臂的高度位置，使横臂贴近于待检测物品的上侧，提高设置在横臂上的物品检测组件的探测精度。
在一些实施例中，安全检查装置包括：轮式行走装置23，分别设置在两个竖臂(包括第一竖臂2(a)和第二竖臂2(b))的下端，被配置为通过自身的行走运动使安全检查装置相对于地面行走和转向。
轮式行走装置23可以被配置为具有自主行走能力的轮体机械，也可以被配置为与预设的滑轨向配套的滑轮机械组件。轮式行走装置23可以使安全检查装置具有移动能力，从而方便安全检查装置的转场、位置调整以及对静止待检测物品的检测。
轮式行走装置23作为门式框架与地面相接触的部件，应当在检测状态下具有较强的稳定性，因而可以配套以固定支腿或其他部件，以提供安全检查装置在静止状态下时的稳定性。
图4为本公开一些实施例所提供的安全检查装置的正视角度结构示意图。如图4所示，在一些实施例中，安全检查装置包括：射线舱体，设置于两个竖臂之一(即第一竖臂2(a)或第二竖臂2(b))，射线舱体包括射线源，被配置为发射探测射线对通过门式框架的物品进行扫描；探测器，设置于两个竖臂中的至少一个和/或横臂，被配置为探测探测射线在物品上的透射信号或散射信号，以便进行扫描成像；和防护墙，设置于两个竖臂中的另一个(即对应的第二竖臂2(b)或第一竖臂2(a))。
射线舱体、探测器以及防护墙能够进一步可回转地设置于两个竖臂，以实现对射线舱体、探测器以及防护墙的灵活控制。此时，两个竖臂上将同时具有设置于两个竖臂与横臂之间的两个回转支撑结构22，以及设置于射线舱体、探测器以及防护墙与两个竖臂之间的不止一个回转结构。以使通过回转支撑结构22使扫描通道做转向运动时，射线舱体、探测器以及防护墙能够以其与两个竖臂之间的回转结构进行相对位置的调整，从而保证扫描通道始终能够以射线舱体相对于探测器的方向设置。
探测器设置的位置包括与射线源所在的竖臂相同、相对的竖臂，以及设置于横臂三种位置。对应的，当探测器设置于与射线源所在的竖臂相对的竖臂和/或设置于横臂时，探测器探测的信号以投射信号为主；而当探测器设置于与射线源所在的竖臂相同的竖臂时，探测器探测的信号以散射信号为主。投射信号与散射信号能够反映待检测物品的不同信息，因而具有不同的成像原理与检测侧重点，可以依据待检测物品的种类或安全检查装置的工作场景有选择的设置。
在一些实施例中，横臂包括：伸缩横臂，两端分别连接至两个竖臂，能够伸长或缩短以改变横臂的长度；和固定横臂，一端连接至两个竖臂中的至少一个，用于支撑伸缩竖臂；其中，至少部分探测器设置在伸缩横臂。
至少部分设置在伸缩横臂的探测器能够保证在横臂伸长的过程中，探测器均能比较完整地探测到检测通道上方区域的探测信号，以使对待探测物品的扫描成像更加完整准确。
在一些实施例中，安全检查装置包括：升降装置，被配置为通过自身的升降运动使两个竖臂做上升或下降运动；和轮式行走装置，分别设置在两个竖臂的下端，被配置为通过自身的行走运动使安全检查装置相对于地面行走和转向。
图5为本公开一些实施例所提供的安全检查装置的俯视角度结构示意图，如图5～9所示(图中虚线轮廓示出了门式框架做相应运动之前的状态，实线轮廓示出了门式框架做相应运动之后的状态)，通过伸缩装置、升降装置、回转支撑装置和轮式行走装置的设置，门式框架能够相应地实现多种运动形式，包括但不限于：
图6为本公开一些实施例所提供的安全检查装置俯视角度下竖臂自转运动的示意图。如图6所示的两个竖臂的自转运动，即通过控制设置在两个竖臂上的回转支撑装置旋转，使两个竖臂分别绕自身竖直轴线旋转预设的角度，以实现两个竖臂的自转运动；
图7为本公开一些实施例所提供的安全检查装置俯视角度下检测通道做转向运动的示意图。如图7所示的检测通道的转向运动，即通过控制设置在两个竖臂之一的回转支撑装置旋转、轮式行走装置相对于地面静止，控制设置在两个竖臂另一个的轮式行走装置相对于地面行走和转向，使两个竖臂的另一个绕两个竖臂之一旋转预设的角度，以实现检测通道的转向运动；
图8为本公开一些实施例所提供的安全检查装置俯视角度下检测通道做转向运动的同时竖臂做自转运动的示意图。如图8所示的在检测通道做转向运动的同时，竖臂 做自转运动，即通过控制设置在两个竖臂另一个的回转支撑装置旋转，使两个竖臂的另一个绕两个竖臂之一旋转预设的角度的同时，两个竖臂的另一个绕自身竖直轴线旋转预设的角度，以实现在检测通道做转向运动的同时，竖臂做自转运动；
图9为本公开一些实施例所提供的安全检查装置俯视角度下门式框架跨步式行走的运动示意图。如图9所示的门式框架的跨步式行走运动，即通过控制设置在两个竖臂之一的回转支撑装置旋转、轮式行走装置相对于地面静止，控制设置在两个竖臂另一个的轮式行走装置相对于地面行走和转向，使两个竖臂的另一个绕两个竖臂之一旋转预设的角度；以及进一步控制设置在两个竖臂另一个的回转支撑装置旋转、轮式行走装置相对于地面静止，控制设置在两个竖臂之一的轮式行走装置相对于地面行走和转向，使两个竖臂之一绕两个竖臂的另一个旋转预设的角度；以使门式框架做跨步式行走运动。
在检测通道做转向运动或跨步式行走运动的过程中，由于作为转轴的两个竖臂之一固定不动，而两个竖臂另一个则绕其旋转了一定的角度，此时，设置于两个竖臂上的基于辐射成像的物品检测组件3不再能够相对应设置。具体而言，设置于两个竖臂之一的部分物品检测组件3的检测方向还未变更，指向于检测通道做转向运动或跨步式行走运动之前的检测通道，而设置于两个竖臂另一个的部分物品检测组件3的检测方向，则随着检测通道的转向运动或跨步式行走运动而指向于运动之后的检测通道。
此时，应当调整在检测通道做转向运动或跨步式行走运动的过程中作为转轴的两个竖臂之一，使其做自转运动，以使运动后的检测通道所对应的物品检测组件3能够正常工作。
相应的，也可以在两个竖臂上设置能够控制物品检测组件3旋转的装置，以便在检测通道的各种运动和运动组合中，始终保持物品检测组件处于相对的位置，并能保持检测通道的持续正常工作。
在一些实施例中，安全检查装置包括：控制器，用于对升降装置的升降运动、伸缩装置的伸缩运动、回转支撑装置的旋转运动和轮式行走装置的行走运动进行控制。
控制器可以通过液压控制系统构建，也可以通过电气控制系统构建，具体依据控制器控制对象的运作原理。通过控制器，操作人员能够比较省力且便捷地对安全检查装置进行多种运动控制，从而使安全检查装置能够适应于各种应用场景。
在一些实施例中，控制器被配置为：控制伸缩装置执行横臂的伸缩运动和/或升降装置执行门式框架的升降运动，以改变检测通道的尺寸。
如前文，检测通道的尺寸可以根据待检测物品的尺寸而灵活确定，并且可以使检测通道的尺寸仅略大于待检测物品的尺寸，以获得更佳的检测效果。相应地，由于伸缩装置或升降装置均可被配置为具有多级结构，对待检测物品的检测可以相应的具有一定的顺序。例如，先对只需进行一级伸缩或升降运动的待检测物品进行检测，再依次对需要进行两次、三次及更多次伸缩或升降运动的待检测物品进行轮流检测，以使每轮检测过程中，控制器都只需对同一级伸缩装置或升降装置进行控制。
在一些实施例中，控制器被配置为：控制回转支撑装置旋转，使两个竖臂中的至少一个绕自身竖直轴线旋转预设的角度，以实现竖臂的自转运动。如前文，两个竖臂的自转运动所能实现的技术效果包括有选择的调整门式框架的回转范围，以及对待检测物品进行多角度的检测。
在一些实施例中，两个竖臂包括第一竖臂和第二竖臂，回转支撑装置包括对应于第一竖臂的第一回转支撑装置和对应于第二竖臂的第二回转支撑装置，轮式行走装置包括对应于第一竖臂的轮式行走装置和对应于第二竖臂的第二轮式行走装置；控制器被配置为：控制第一轮式行走装置相对于地面静止，并控制第一回转支撑装置旋转，以使第二轮式行走装置相对于地面行走和转向，从而使横臂相对于第一竖臂旋转预设的角度，以实现检测通道的转向运动。
检测通道的转向运动能够使本公开所提供的安全检查装置可以检测任意方向的待检测物品。这对于固定位置的安全检查装置和可移动的待检测物品具有有益的技术效果，具体而言，以待检测物品为车载式货物而言，受车辆运动方向的限制，例如车道较窄，车辆回转余地较小的情况下，需要安全检查装置针对从不同方向行驶而来的车辆进行调整，以加快安全检查的效率。
在一些实施例中，控制器被进一步配置为：控制第二回转支撑装置旋转，使第二竖臂绕自身竖直轴线旋转预设的角度，从而在检测通道做转向运动时，竖臂做自转运动。
对于组合式货物而言，往往由于多种货物的拼接而具有不规则的外部轮廓，此时。检测通道做转向运动的同时竖臂做自转运动，能够通过检测通道做转向运动使本公开所提供的安全检查装置适应于待检测物品的外部轮廓，而竖臂同时做自转运动能够使设置于竖臂上的物品检测组件始终以较好的观测角度对待检测物品进行检测，例如通过控制竖臂相对于横臂的旋转角度，使检测通道始终与待检测物品的最窄检测截面相重合，以提高检测效果。
在一些实施例中，两个竖臂包括第一竖臂和第二竖臂，回转支撑装置包括对应于第一竖臂的第一回转支撑装置和对应于第二竖臂的第二回转支撑装置，轮式行走装置包括对应于第一竖臂的第一轮式行走装置和对应于第二竖臂的第二轮式行走装置；控制器被配置为：控制第一轮式行走装置相对于地面静止，并控制第一回转支撑装置旋转，以使第二轮式行走装置相对于地面行走和转向，从而使横臂相对于第一竖臂旋转预设的角度；以及进一步控制第二轮式行走装置相对于地面静止，并控制第二回转支撑装置旋转，以使第一轮式行走装置相对于地面行走和转向，从而使横臂相对于第二竖臂旋转预设的角度；以使门式框架做跨步式行走运动。
例如，当第二竖臂绕第一竖臂旋转的角度预设为顺时针的30°，而第一竖臂绕第二竖臂旋转的角度预设为逆时针的30°时，门式框架的跨步式行走方向为与探测通道方向一致。通过这样的跨步式行走运动方式，安全检查装置能够在不依靠轮式行走装置的情况下，实现相对于待检测物品的移动，从而以一定的观测角度进行检测。
当然，本领域技术人员应当想到跨步式行走运动还具有其他的预设角度旋转，并相应地具有不同的技术效果。例如如图9所示，在一些实施例中，控制器被进一步配置为：第二竖臂绕第一竖臂旋转的角度，以及第一竖臂绕第二竖臂旋转的角度均被预设为180°，以使在门式框架做跨步式行走运动时，检测通道能够依次朝向于并排设置的待检测物品A、B。
为了实现对本公开所提供的安全检查装置的远程操纵，在一些实施例中，安全检查装置包括：遥控器和遥控指令传递组件，遥控指令传递组件设置在门式框架上，并与控制器电连接，遥控器能够与遥控指令传递组件远程通信，以便操作人员远程控制升降装置、伸缩装置、回转支撑装置和轮式行走装置。
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 (16)

  1. 一种安全检查装置，包括：
    门式框架，包括位于顶部的横臂(1)，和位于所述横臂(1)两侧并与所述横臂(1)连接的两个竖臂(2)，所述横臂(1)和所述两个竖臂(2)所围成的区域构成检测通道；
    回转支撑装置(22)，分别连接在所述两个竖臂(2)的上端，用于支撑所述横臂(1)，并被配置为通过自身的旋转运动使所述两个竖臂(2)分别绕自身竖直轴线旋转；以及
    基于辐射成像的物品检测组件(3)，至少部分地设置于所述门式框架，被配置为对通过所述门式框架的物品进行检测；
    其中，所述横臂(1)包括伸缩装置(11)，能够通过自身的伸缩运动改变所述横臂(1)的长度。
  2. 根据权利要求1所述的安全检查装置，其中，所述伸缩装置(11)包括至少一级的伸缩油缸。
  3. 根据权利要求1所述的安全检查装置，其中，所述横臂(1)包括：
    伸缩横臂(13)，两端分别连接至所述两个竖臂(2)，能够伸长或缩短以改变所述横臂(1)的长度；和
    固定横臂(12)，一端连接至所述两个竖臂(2)中的至少一个，用于支撑所述伸缩横臂(13)。
  4. 根据权利要求1所述的安全检查装置，其中，所述安全检查装置包括：
    升降装置(21)，被配置为通过自身的升降运动使所述两个竖臂(2)做上升或下降运动。
  5. 根据权利要求1所述的安全检查装置，其中，所述安全检查装置包括：
    轮式行走装置(23)，分别设置在所述两个竖臂(2)的下端，被配置为通过自身的行走运动使所述安全检查装置相对于地面行走和转向。
  6. 根据权利要求1所述的安全检查装置，其中，所述安全检查装置包括：
    射线舱体(31)，设置于所述两个竖臂(2)之一，所述射线舱体(31)包括射线源(32)，被配置为发射探测射线对通过所述门式框架的物品进行扫描；
    探测器(33)，设置于所述两个竖臂(2)中的至少一个和/或所述横臂(1)，被配置为探测所述探测射线在所述物品上的透射信号或散射信号，以进行扫描成像；和
    防护墙(34)，设置于所述两个竖臂(2)中的另一个。
  7. 根据权利要求6所述的安全检查装置，其中，所述横臂(1)包括：
    伸缩横臂(13)，两端分别连接至所述两个竖臂(2)，能够伸长或缩短以改变所述横臂(1)的长度；和
    固定横臂(12)，一端连接至所述两个竖臂(2)中的至少一个，用于支撑所述伸缩竖臂(2)；
    其中，至少部分所述探测器(33)设置在所述伸缩横臂(13)。
  8. 根据权利要求6所述的安全检查装置，其中，所述安全检查装置包括：
    升降装置(21)，被配置为通过自身的升降运动使所述两个竖臂(2)做上升或下降运动；和
    轮式行走装置(23)，分别设置在所述两个竖臂(2)的下端，被配置为通过自身的行走运动使所述安全检查装置相对于地面行走和转向。
  9. 根据权利要求8所述的安全检查装置，其中，所述安全检查装置包括：
    控制器，用于对所述升降装置(21)的升降运动、所述伸缩装置(11)的伸缩运动、所述回转支撑装置(22)的旋转运动和所述轮式行走装置(23)的行走运动进行控制。
  10. 根据权利要求9所述的安全检查装置，其中，所述控制器被配置为：控制所述伸缩装置(11)执行所述横臂(1)的伸缩运动和/或所述升降装置(21)执行所述门式框架的升降运动。
  11. 根据权利要求9所述的安全检查装置，其中，所述控制器被配置为：控制所述 回转支撑装置(22)旋转，使所述两个竖臂(2)中的至少一个绕自身竖直轴线旋转预设的角度。
  12. 根据权利要求9所述的安全检查装置，其中，所述两个竖臂(2)包括第一竖臂(2a)和第二竖臂(2b)，所述回转支撑装置(22)包括对应于第一竖臂(2a)的第一回转支撑装置(22)和对应于第二竖臂(2b)的第二回转支撑装置(22)，所述轮式行走装置(23)包括对应于第一竖臂(2a)的轮式行走装置(23)和对应于第二竖臂(2b)的第二轮式行走装置(23)；
    所述控制器被配置为：
    控制所述第一轮式行走装置(23)相对于地面静止，并控制所述第一回转支撑装置(22)旋转，以使所述第二轮式行走装置(23)相对于地面行走和转向，从而使所述横臂(1)相对于所述第一竖臂(2a)旋转预设的角度。
  13. 根据权利要求12所述的安全检查装置，其中，所述控制器被进一步配置为：
    控制所述第二回转支撑装置(22)旋转，使所述第二竖臂(2b)绕自身竖直轴线旋转预设的角度，从而在所述检测通道做转向运动时，所述竖臂(2)做自转运动。
  14. 根据权利要求9所述的安全检查装置，其中，所述两个竖臂(2)包括第一竖臂(2a)和第二竖臂(2b)，所述回转支撑装置(22)包括对应于第一竖臂(2a)的第一回转支撑装置(22)和对应于第二竖臂(2b)的第二回转支撑装置(22)，所述轮式行走装置(23)包括对应于第一竖臂(2a)的轮式行走装置(23)和对应于第二竖臂(2b)的第二轮式行走装置(23)；
    所述控制器被配置为：
    控制所述第一轮式行走装置(23)相对于地面静止，并控制所述第一回转支撑装置(22)旋转，以使所述第二轮式行走装置(23)相对于地面行走和转向，从而使所述横臂(1)相对于所述第一竖臂(2a)旋转预设的角度；以及
    进一步控制所述第二轮式行走装置(23)相对于地面静止，并控制所述第二回转支撑装置(22)旋转，以使所述第一轮式行走装置(23)相对于地面行走和转向，从而使所述横臂(1)相对于所述第二竖臂(2b)旋转预设的角度。
  15. 根据权利要求14所述的安全检查装置，其中，所述控制器被进一步配置为：
    所述第二竖臂(2b)绕所述第一竖臂(2a)旋转的角度，以及所述第一竖臂(2a)绕所述第二竖臂(2b)旋转的角度均被预设为180°。
  16. 根据权利要求9所述的安全检查装置，其中，所述安全检查装置包括：
    遥控器和遥控指令传递组件，所述遥控指令传递组件设置在所述门式框架上，并与所述控制器电连接，所述遥控器能够与所述遥控指令传递组件远程通信。
PCT/CN2020/070488 2019-01-04 2020-01-06 安全检查装置 Ceased WO2020141001A1 (zh)

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