WO2021238918A1 - 用于移动式辐射检查装置的方向纠偏设备及方法 - Google Patents
用于移动式辐射检查装置的方向纠偏设备及方法 Download PDFInfo
- Publication number
- WO2021238918A1 WO2021238918A1 PCT/CN2021/095809 CN2021095809W WO2021238918A1 WO 2021238918 A1 WO2021238918 A1 WO 2021238918A1 CN 2021095809 W CN2021095809 W CN 2021095809W WO 2021238918 A1 WO2021238918 A1 WO 2021238918A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- radiation inspection
- mobile radiation
- inspection device
- drive wheel
- deviation value
- Prior art date
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 114
- 230000005855 radiation Effects 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/30—Accessories, mechanical or electrical features
- G01N2223/33—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
- G01N2223/3303—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts object fixed; source and detector move
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
Definitions
- a direction correction device for a mobile radiation inspection device including:
- the first reference plate and/or the second reference plate can move in the predetermined direction.
- adjusting the speed difference between the left driving wheel and the right driving wheel of the direction control device includes adjusting the load bearing of the left driving wheel and the right driving wheel. The big one.
- a direction correction device for a mobile radiation inspection device including: a direction detection device that detects the traveling direction of the mobile radiation inspection device and generates an indication A signal of the direction of travel; a direction control device for controlling the direction of travel of the mobile radiation inspection device, and includes a left drive wheel and a right drive wheel located on opposite sides of the mobile radiation inspection device And a control unit that calculates a deviation value between the traveling direction and a predetermined direction based on the signal received from the direction detection device, and adjusts the left drive wheel of the direction control device based on the deviation value And the right drive wheel to correct the travel direction to the predetermined direction.
- the direction detection device includes laser area sensors 1A, 1B, and the laser area sensors 1A, 1B generate signals indicating the distance between the current traveling direction and a predetermined direction.
- the deviation signal of the deviation value is shown in FIGS. 1 and 2.
- the horizontal fan beam 4A is emitted before, and the receiver is used to receive the fan beam 4A emitted by the transmitter.
- the deviation value between the indicated traveling direction and the predetermined direction 00' is generated The deviation signal.
- the angle ⁇ between the midplane of the fan beam indicating the traveling direction and the first reference plate 2A, the distance L1 between the mobile radiation inspection device 20 and the first reference plate 2A in the traveling direction, and the midplane of the fan beam on the first reference plate 2A The distance L2 between the plane and the predetermined direction 00' (as shown in Fig. 3).
- a mobile radiation inspection system 100 is also provided.
- the mobile radiation inspection system 100 includes a mobile radiation inspection device 20 and the direction correction device as described above.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (15)
- 一种用于移动式辐射检查装置的方向纠偏设备,包括:方向检测装置,所述方向检测装置用于检测所述移动式辐射检查装置的行进方向并生成指示所述行进方向的信号;方向控制装置,所述方向控制装置用于控制所述移动式辐射检查装置的行进方向,并包括位于所述移动式辐射检查装置的相对两侧的左驱动轮和右驱动轮;和控制单元,所述控制单元基于从所述方向检测装置接收的信号计算出所述行进方向与预定方向之间的偏离值,并且基于所述偏离值调整所述方向控制装置的左驱动轮和右驱动轮之间的速度差,以将所述行进方向校正到所述预定方向上。
- 根据权利要求1所述的方向纠偏设备,其中,所述方向检测装置包括激光区域传感器,所述激光区域传感器生成指示所述行进方向与所述预定方向之间的偏离值的偏离值信号。
- 根据权利要求2所述的方向纠偏设备,所述方向检测装置还包括第一基准板,所述第一基准板设置在所述移动式辐射检查装置的扫描行程的第一端部并垂直于所述预定方向,其中所述激光区域传感器包括第一激光区域传感器,所述第一激光区域传感器设置在所述移动式辐射检查装置的前部,用于检测所述移动式辐射检查装置的行进方向与所述第一基准板之间的位置关系,以生成指示所述行进方向与所述预定方向之间的偏离值的偏离值信号。
- 根据权利要求3所述的方向纠偏设备,所述方向检测装置还包括第二基准板,所述第二基准板设置在在所述移动式辐射检查装置的扫描行程的与所述第一端部相反的第二端部并垂直于所述预定方向,其中所述激光区域传感器包括第二激光区域传感器,所述第二激光区域传感器设置在所述移动式辐射检查装置的后部,用于检测所述移动式辐射检查装置的行进方向与所述第二基准板之间的位置关系,以生成指示所述行进方向与所述预定方向之间的偏离值的偏离值信号。
- 根据权利要求4所述的方向纠偏设备,其中,所述第一基准板和/或所述第二基准板能够移动,以调整所述移动式辐射检查装置的扫描行程的长度。
- 根据权利要求2所述的方向纠偏设备,其中,所述控制单元基于来自所述激光区域传感器的偏离值信号计算出所述偏离值,并基于所述偏离值调整所述左驱动轮和所述右驱动轮之间的速度差,以将所述行进方向校正到所述预定方向上。
- 根据权利要求2所述的方向纠偏设备,其中,所述偏离值包括偏离角度和偏离位移。
- 根据权利要求1-7中任一项所述的方向纠偏设备,其中,所述调整所述左驱动轮和所述右驱动轮之间的速度差包括调整所述左驱动轮和所述右驱动轮中的至少一者。
- 根据权利要求8所述的方向纠偏设备,其中,所述调整所述左驱动轮和所述右驱动轮之间的速度差包括调整所述左驱动轮和所述右驱动轮中承重较大的一者。
- 一种移动式辐射检查系统,包括移动式辐射检查装置和根据权利要求1-9中任一项所述的方向纠偏设备。
- 一种用于校正移动式辐射检查装置的行进方向的方向纠偏方法,所述方向纠偏方法包括:步骤1:检测所述移动式辐射检查装置的行进方向并生成指示所述行进方向的信号;步骤2:基于所述信号计算所述行进方向与预定方向之间的偏离值,并且基于所述偏离值调整方向控制装置的左驱动轮和右驱动轮之间的速度差,以将所述行进方向校正到所述预定方向上。
- 根据权利要求11所述的方向纠偏方法,其中,所述检测移动式辐射检查装置的行进方向包括检测所述移动式辐射检查装置的所述行进方向与基准板之间的位置关系,并且基于指示所述位置关系的信号计算出所述移动式辐射检查装置的行进方向与所述预定方向之间的偏离值,其中,所述基准板设置在所述移动式辐射检查装置的扫描行程的至少一端并垂直于所述预定方向。
- 根据权利要求12所述的方向纠偏方法,其中,所述偏离值包括偏离角度和偏离位移。
- 根据权利要求11-13中任一项所述的方向纠偏方法,其中,所述调整方向控制装置的左驱动轮和右驱动轮之间的速度差包括调整所述左驱动轮和所述右驱动轮中的至少一者。
- 根据权利要求11-13中任一项所述的方向纠偏方法,其中,所述调整方向控制装置的左驱动轮和右驱动轮之间的速度差包括调整所述左驱动轮和所述右驱动轮中承重较大的一者。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL442983A PL442983A1 (pl) | 2020-05-29 | 2021-05-25 | Urządzenie do korygowania odchylenia kierunku oraz sposób korygowania odchylenia kierunku dla mobilnego urządzenia do kontroli promieniowaniem |
GB2217586.3A GB2610515A (en) | 2020-05-29 | 2021-05-25 | Directional-deviation correction device and method for mobile-type radiation inspection apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010481930.9 | 2020-05-29 | ||
CN202010481930.9A CN113759305A (zh) | 2020-05-29 | 2020-05-29 | 用于移动式辐射检查装置的方向纠偏设备及方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021238918A1 true WO2021238918A1 (zh) | 2021-12-02 |
Family
ID=78745617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/095809 WO2021238918A1 (zh) | 2020-05-29 | 2021-05-25 | 用于移动式辐射检查装置的方向纠偏设备及方法 |
Country Status (4)
Country | Link |
---|---|
CN (1) | CN113759305A (zh) |
GB (1) | GB2610515A (zh) |
PL (1) | PL442983A1 (zh) |
WO (1) | WO2021238918A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114797192A (zh) * | 2022-05-23 | 2022-07-29 | 宝武集团鄂城钢铁有限公司 | 双电机行车式刮泥机斜行预警纠正方法及系统 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201016939Y (zh) * | 2007-02-16 | 2008-02-06 | 清华同方威视技术股份有限公司 | 方向纠偏设备和移动式辐射检查系统 |
CN101246133A (zh) * | 2007-02-16 | 2008-08-20 | 同方威视技术股份有限公司 | 方向纠偏设备和方法及移动式辐射检查系统 |
CN101885350A (zh) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | 全方位自动导引车的路径自适应跟踪控制方法 |
CN102095421A (zh) * | 2007-02-16 | 2011-06-15 | 同方威视技术股份有限公司 | 方向纠偏设备和方法及移动式辐射检查系统 |
US20120195403A1 (en) * | 2011-01-31 | 2012-08-02 | University Of Massachusetts | Tomosynthesis imaging |
CN109394095A (zh) * | 2018-10-23 | 2019-03-01 | 珠海市微半导体有限公司 | 一种机器人运动地毯偏移的控制方法、芯片及清洁机器人 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4760207B2 (ja) * | 2005-08-09 | 2011-08-31 | 日産自動車株式会社 | 走行制御装置 |
CN106200647A (zh) * | 2016-08-30 | 2016-12-07 | 北京华力兴科技发展有限责任公司 | 自动导航系统和自动导航方法 |
CN106970629B (zh) * | 2017-05-22 | 2020-03-03 | 北京京东尚科信息技术有限公司 | 无人搬运车的控制方法和装置 |
CN107943020B (zh) * | 2017-10-17 | 2021-07-23 | 上海辛格林纳新时达电机有限公司 | 一种轮胎吊大车自动纠偏方法 |
CN108344986A (zh) * | 2018-01-23 | 2018-07-31 | 天津市计量监督检测科学研究院 | 一种手持式激光测距仪用自动检定系统及检定方法 |
CN109857103B (zh) * | 2019-01-22 | 2023-04-07 | 秦皇岛天业通联重工科技有限公司 | 一种自动驾驶车辆的控制方法、装置及系统 |
CN110006404A (zh) * | 2019-04-15 | 2019-07-12 | 深圳市卫飞科技有限公司 | 一种激光导引机器人系统及其导引方法 |
CN110509781A (zh) * | 2019-08-13 | 2019-11-29 | 深兰科技(上海)有限公司 | 一种控制移动设备行进的方法及装置 |
-
2020
- 2020-05-29 CN CN202010481930.9A patent/CN113759305A/zh active Pending
-
2021
- 2021-05-25 WO PCT/CN2021/095809 patent/WO2021238918A1/zh active Application Filing
- 2021-05-25 GB GB2217586.3A patent/GB2610515A/en active Pending
- 2021-05-25 PL PL442983A patent/PL442983A1/pl unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201016939Y (zh) * | 2007-02-16 | 2008-02-06 | 清华同方威视技术股份有限公司 | 方向纠偏设备和移动式辐射检查系统 |
CN101246133A (zh) * | 2007-02-16 | 2008-08-20 | 同方威视技术股份有限公司 | 方向纠偏设备和方法及移动式辐射检查系统 |
CN102095421A (zh) * | 2007-02-16 | 2011-06-15 | 同方威视技术股份有限公司 | 方向纠偏设备和方法及移动式辐射检查系统 |
CN101885350A (zh) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | 全方位自动导引车的路径自适应跟踪控制方法 |
US20120195403A1 (en) * | 2011-01-31 | 2012-08-02 | University Of Massachusetts | Tomosynthesis imaging |
CN109394095A (zh) * | 2018-10-23 | 2019-03-01 | 珠海市微半导体有限公司 | 一种机器人运动地毯偏移的控制方法、芯片及清洁机器人 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114797192A (zh) * | 2022-05-23 | 2022-07-29 | 宝武集团鄂城钢铁有限公司 | 双电机行车式刮泥机斜行预警纠正方法及系统 |
CN114797192B (zh) * | 2022-05-23 | 2024-02-06 | 宝武集团鄂城钢铁有限公司 | 双电机行车式刮泥机斜行预警纠正方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
GB202217586D0 (en) | 2023-01-11 |
PL442983A1 (pl) | 2023-08-28 |
CN113759305A (zh) | 2021-12-07 |
GB2610515A (en) | 2023-03-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10315697B2 (en) | Vehicle comprising a manoeuvring system | |
EP3290963B1 (en) | Movable divided inspection system and method | |
WO2021238918A1 (zh) | 用于移动式辐射检查装置的方向纠偏设备及方法 | |
US11667503B2 (en) | Vehicle-mounted device, cargo handling machine, control circuit, control method, and program thereof | |
CN107179530B (zh) | 用于求取固定在车辆上的探测设备的失调的装置 | |
MX2013011762A (es) | Sistema y metodo de alineacion de manipulador de contenedores. | |
CN103529061B (zh) | 车载式辐射检查系统 | |
EP2871466B1 (en) | Gantry structure for use in assembled mobile radiation inspection system | |
JP2012194169A (ja) | 車両レーダーのアライメント方法及びシステム | |
WO2020010967A1 (zh) | 辐射检查系统 | |
CN109682842B (zh) | 一种列车检查系统及检查方法 | |
CN104777520B (zh) | 一种基于激光扫描仪的移动目标自动检查系统 | |
WO2015161717A1 (zh) | 一种速通式移动目标辐射检查方法和系统 | |
US11952027B2 (en) | Train identification system and method, and train safety inspection system and method | |
WO2020119148A1 (zh) | 一种装车行走引导系统以及装车行走引导方法 | |
NL2024027B1 (en) | Security inspection apparatus and security inspection method | |
JP2018036723A (ja) | 物品搬送設備 | |
CN107990831B (zh) | 车辆长度测量装置及车辆外轮廓测量系统 | |
CN107515605B (zh) | 一种基于超声波测距的agv小车导航方法及系统 | |
CN202757895U (zh) | 用于组合移动式辐射检查系统的龙门结构 | |
WO2023125409A1 (zh) | 安检设备、安检系统及安检方法 | |
WO2022142863A1 (zh) | 物体检测设备 | |
SE543438C2 (en) | Method, control arrangement and drone for calibration of vehicle sensors | |
CN107806857A (zh) | 无人驾驶的可移动设备 | |
EP4038010B1 (en) | Spreader position control |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21813560 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 202217586 Country of ref document: GB Kind code of ref document: A Free format text: PCT FILING DATE = 20210525 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21813560 Country of ref document: EP Kind code of ref document: A1 |