WO2022143175A1 - 车辆辐射检查设备和车辆辐射检查系统 - Google Patents

车辆辐射检查设备和车辆辐射检查系统 Download PDF

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Publication number
WO2022143175A1
WO2022143175A1 PCT/CN2021/138378 CN2021138378W WO2022143175A1 WO 2022143175 A1 WO2022143175 A1 WO 2022143175A1 CN 2021138378 W CN2021138378 W CN 2021138378W WO 2022143175 A1 WO2022143175 A1 WO 2022143175A1
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WIPO (PCT)
Prior art keywords
vehicle
scanning
inspected
radiation inspection
transport
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Application number
PCT/CN2021/138378
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English (en)
French (fr)
Inventor
季峥
刘磊
马媛
胡煜
宗春光
Original Assignee
同方威视科技（北京）有限公司
同方威视技术股份有限公司
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Application filed by 同方威视科技（北京）有限公司, 同方威视技术股份有限公司 filed Critical 同方威视科技（北京）有限公司
Publication of WO2022143175A1 publication Critical patent/WO2022143175A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of nuclear radiation, e.g. of natural or induced radioactivity
    • G01V5/20—

Definitions

  • the present disclosure relates to the technical field of radiation inspection equipment, and in particular, to a vehicle radiation inspection device and a vehicle radiation inspection system.
  • a self-propelled vehicle radiation inspection apparatus which has a running device and a portal frame provided on the running device, and the scanning device is set on the portal frame.
  • the portal frame can cross the vehicle to be inspected under the driving of the running device and perform scanning inspection of the vehicle to be inspected.
  • the self-propelled vehicle radiation inspection equipment In order to prevent the scanning image from being unclear due to uneven road surface, the self-propelled vehicle radiation inspection equipment has higher requirements on ground conditions, and the vehicle radiation inspection equipment is often required to operate on a specially laid track, so the workplace of the vehicle radiation inspection equipment is limited. .
  • the detector cannot be installed at the bottom, and the inspection viewing angle of the scanning device is limited. Scanning device with overhead viewing angle.
  • a first aspect of the present disclosure provides a vehicle radiation inspection apparatus, including:
  • a scanning vehicle includes a scanning vehicle traveling portion, a scanning vehicle body, a scanning device and a conveyor, the scanning vehicle traveling portion is configured to drive the scanning vehicle to travel, and the scanning vehicle body is provided on the scanning vehicle traveling portion and forming a scanning channel, the scanning device is installed on the body of the scanning vehicle, and is configured to scan and inspect the vehicles to be inspected passing through the scanning channel, and the conveyor is arranged at the bottom of the body of the scanning vehicle and extending along the scan channel and configured to convey the vehicle to be inspected from one end of the scan channel to the other end of the scan channel; and
  • a transport vehicle includes a transport vehicle running part, a transport vehicle body and a transport part, the transport vehicle body is arranged on the transport vehicle running part, the transport part is arranged on the transport vehicle body, and the transport vehicle body is provided on the transport vehicle body.
  • a vehicle is configured to transfer the vehicle to be inspected between the ground and the conveyor.
  • two of the trucks are included, the two trucks are respectively disposed at two ends of the scanning channel, and one of the two trucks is configured to transport the vehicle to be inspected From the ground to the conveyor, another vehicle is configured to carry the vehicle to be inspected from the conveyor to the ground.
  • a controller is further included, and the controller is signally connected with the scanning vehicle running part, the scanning device, the conveyor, the transporting vehicle running part and the transporting part to control the The scanning vehicle traveling portion, the scanning device, the conveyor, the transport vehicle traveling portion, and the conveying portion operate.
  • the scanning cart and the transport cart each include an automated guiding device in signal connection with the controller.
  • the transport vehicle is signally connected to the scanning vehicle in a wired or wireless manner.
  • the scanning device includes at least one radiation source and at least one detector unit, the at least one radiation source includes a top radiation source located at a top end of the scanning vehicle body, the at least one detector unit A bottom detection unit located at the bottom end of the scanning vehicle body is included.
  • the vehicle radiation inspection apparatus further includes a vehicle width detection sensor
  • the controller is signally connected to the vehicle width detection sensor, and is configured to determine the to-be-to-be-used width detection sensor according to detection information of the vehicle width detection sensor. Check whether the vehicle can pass through the scanning channel.
  • a second aspect of the present disclosure provides a vehicle radiation inspection system, including:
  • At least one vehicle radiation inspection apparatus the vehicle radiation inspection apparatus of the vehicle radiation inspection apparatus described in the first aspect of the present disclosure.
  • a dispatch system in signal connection with the vehicle radiation inspection device, is configured to control the vehicle radiation inspection device to perform scanning inspection on the vehicle to be inspected.
  • the vehicle radiation inspection system further includes a human-computer interaction device, the human-computer interaction device being signally connected to the dispatch system.
  • the scanning vehicle since the scanning vehicle has its own conveyor, and the vehicle radiation inspection equipment has its own transport vehicle, when the scanning device performs the scanning inspection on the vehicle to be inspected, the vehicle to be inspected is located on the conveyor, However, the conveyor and the scanning device are both arranged on the body of the scanning vehicle, and their positions are relatively fixed. Therefore, the relative position of the vehicle to be inspected and the scanning device is less affected by the ground conditions, which is conducive to obtaining higher quality on the one hand. On the other hand, it is beneficial to reduce the requirements for the ground conditions of the working environment, and can perform scanning inspections on the vehicles to be inspected in more places, which is conducive to expanding the work scope.
  • FIG. 1 is a schematic diagram of the principle of a vehicle radiation inspection apparatus according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic top-view structural diagram of the vehicle radiation inspection apparatus according to an embodiment of the disclosure when scanning and inspecting the vehicle to be inspected. At this time, the transport vehicle is connected to the scanning vehicle.
  • FIG. 3 is a schematic top-view structure diagram of a vehicle radiation inspection apparatus according to an embodiment of the present disclosure when a vehicle to be inspected is scanned and inspected, and the transport vehicle is separated from the scanning vehicle at this time.
  • FIG. 4 is a schematic top-view structural diagram of a vehicle radiation inspection apparatus according to an embodiment of the present disclosure when a vehicle to be inspected is scanned and inspected, and the transport vehicle is separated from the scanning vehicle at this time.
  • FIG. 5 is a schematic side view of the structure of a scanning vehicle of a vehicle radiation inspection apparatus along an extending direction of a scanning channel according to an embodiment of the disclosure.
  • FIG. 6 is a schematic diagram of the principle of transporting a vehicle to be inspected by a transport portion of a transport vehicle of a vehicle radiation inspection apparatus according to an embodiment of the disclosure.
  • FIG. 7A to 7J are process diagrams of performing scanning inspection on a vehicle to be inspected by a vehicle radiation inspection apparatus according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a vehicle radiation inspection apparatus according to an embodiment of the present disclosure when preparing to inspect a plurality of vehicles to be inspected.
  • FIG. 9 is a schematic block diagram of a controller and controlled components in a vehicle radiation inspection apparatus according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic block diagram of a vehicle radiation inspection system according to an embodiment of the disclosure.
  • orientations such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and these orientations do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the protection scope of the present disclosure; the orientation words “inside and outside” refer to the inside and outside relative to the outline of each component itself.
  • the longitudinal direction of the scanning vehicle 110 or the transport vehicle 120 refers to the linear running direction of the scanning vehicle 110 or the transport vehicle 120
  • the lateral direction refers to the direction perpendicular to the longitudinal direction in the horizontal plane.
  • the vehicle radiation inspection apparatus 100 provided by the embodiment of the present disclosure includes a scanning vehicle 110 and a transport vehicle 120 .
  • the scan cart 110 includes a scan cart traveling portion 114 , a scan cart body 111 , a scan device, and a conveyor 112 .
  • the scan cart traveling portion 114 is configured to drive the scan cart 110 to travel.
  • the scanning vehicle body 111 is disposed on the scanning vehicle traveling portion 114 and forms a scanning channel C.
  • the scanning device is installed on the body 111 of the scanning vehicle, and is configured to scan and inspect the vehicle 200 to be inspected passing through the scanning channel C.
  • the conveyor 112 is disposed at the bottom of the scanning vehicle body 111 and extends along the scanning passage C, and is configured to convey the vehicle 200 to be inspected from one end of the scanning passage C to the other end of the scanning passage C.
  • the scanning vehicle traveling portion 114 includes, for example, four scanning vehicle traveling wheels and four driving motors for driving the scanning vehicle traveling wheels. The number of drive motors is, for example, two or four.
  • the truck 120 includes a truck traveling portion 122 , a truck body 121 , and a transport portion 123 .
  • the truck body 121 is provided on the truck traveling portion 122 .
  • the conveyance part 123 is provided on the conveyance vehicle body 121 .
  • the truck 120 is configured to transfer the vehicle 200 to be inspected between the ground G and the conveyor 112 .
  • the truck traveling portion 122 includes, for example, four truck running wheels and four driving motors for driving the truck running wheels.
  • the number of drive motors is, for example, two or four.
  • the scanning vehicle 110 since the scanning vehicle 110 has its own conveyor 112, and the vehicle radiation inspection apparatus 100 has its own transport vehicle 120, when the scanning device performs the scanning inspection on the to-be-inspected vehicle 200, the to-be-inspected vehicle 200 is located at On the conveyor 112, the conveyor 112 and the scanning device are both arranged on the body 111 of the scanning vehicle, and their positions are relatively fixed. Therefore, the relative position of the vehicle 200 to be inspected and the scanning device is less affected by the ground conditions, so On the one hand, it is beneficial to obtain higher-quality scanned images, and on the other hand, it is beneficial to reduce the requirements on the ground conditions of the working environment.
  • the vehicle 200 to be inspected can be scanned and inspected in more places, which is beneficial to expand the work scope.
  • the scanning device includes at least one radiation source 1131 and at least one detector unit 1132, and the at least one radiation source 1131 includes a top radiation source located at the top of the scanning vehicle body 111, at least A detector unit 1132 is located at the bottom detection unit of the bottom end of the body 111 of the scanning vehicle.
  • the vehicle radiation inspection apparatus 100 may be provided with a scanning device including a top view angle, which is beneficial to improve the quality of the scanned image and expand the scanning range, thereby facilitating the comprehensive and accurate inspection of the vehicle 200 to be inspected.
  • the scanning device may include both a top radiation source arranged on the top of the scanning vehicle body 111 and a side radiation source arranged at the side of the scanning vehicle body 111 .
  • the scanning device may comprise only side radiation sources.
  • the vehicle radiation inspection apparatus 100 includes two trucks 120 .
  • the two trucks 120 are respectively disposed at both ends of the scanning channel C, and the two trucks One of the trucks 120 is configured to transport the vehicle 200 to be inspected from the ground G to the conveyor 112 , and the other is configured to transport the vehicle 200 to be inspected from the conveyor 112 to the ground G.
  • This arrangement is beneficial to improve the inspection efficiency of the vehicle radiation inspection apparatus 100 , and is also beneficial for the vehicle radiation inspection apparatus 100 to perform scanning inspections on a plurality of vehicles 200 to be inspected that are arranged in a row, and the requirements for the distance between adjacent vehicles 200 to be inspected lower.
  • the vehicle radiation inspection apparatus 100 further includes a controller 130 , the controller 130 communicates with the scanning vehicle traveling part 114 , the scanning device, the conveyor 112 , the truck traveling part 122 and the conveying part
  • the 123 signal is connected to control the operation of the scanning vehicle traveling part 114 , the scanning device, the conveyor 112 , the truck traveling part 122 and the conveying part 123 .
  • the controller 130 can coordinate the traveling of the truck, the transportation of the vehicle to be inspected, the traveling of the scanning vehicle, the transportation of the vehicle and the scanning of the vehicle to be inspected, which is beneficial to improve the automation level and inspection efficiency of the vehicle radiation inspection apparatus 100 .
  • the location of the controller 130 shown in FIG. 1 is merely schematic, for ease of illustration only. It should be understood by those skilled in the art that the controller 130 may be arranged in other positions on the vehicle radiation inspection apparatus 100, and can also implement the above-mentioned functions.
  • the scanning cart 110 and the dolly 120 each include an automated guidance device.
  • the automatic guiding device is signally connected to the controller 130 , and performs the guiding function according to the instructions of the controller 130 .
  • the autoguider may be an electromagnetic or optical autoguider.
  • the scanning vehicle 110 and the transport vehicle 120 equipped with the automatic guidance device can travel along a predetermined guidance path, and have safety protection and various transfer functions. Both the scanning vehicle 110 and the transport vehicle 120 are configured in the form of an automatic guided transport vehicle with an automatic guidance device, which is beneficial for the scanning vehicle 110 and the transport vehicle 120 to quickly locate and reach the vehicle 200 to be inspected, and is beneficial to improve the vehicle radiation inspection equipment 100 inspection efficiency.
  • the transport vehicle 120 may be wirelessly connected to the scanning vehicle 110 by signal. As shown in FIG. 4 , the transport vehicle 120 may also be electrically connected to the scanning vehicle 110 by a wire.
  • the wireless method can make the relative position between the truck 120 and the scanning vehicle 110 more flexible, and the wired method can make the connection between the truck 120 and the scanning vehicle 110 more closely, for example, the power supply can be shared.
  • the vehicle radiation inspection apparatus 100 may further include a vehicle width detection sensor 140, and the controller 130 is in signal connection with the vehicle width detection sensor 140, and is configured to detect the detection of the sensor according to the vehicle width.
  • the information determines whether the vehicle 200 to be inspected can pass through the scanning channel C.
  • the vehicle width detection sensor 140 may be provided, for example, on the truck body 121 . If the vehicle 200 to be inspected is too wide to pass through the scanning channel C, the scanning inspection of the vehicle 200 to be inspected by the radiation inspection device 100 of the vehicle is abandoned, and the vehicle radiation inspection device 100 with a suitable working range can perform the inspection instead. Scan check.
  • the location of the vehicle width detection sensor 140 shown in FIG. 2 is schematic and is only for convenience of explanation. It should be understood by those skilled in the art that the vehicle width detection sensor 140 may be arranged at other positions on the vehicle radiation inspection apparatus 100, and can also achieve the above-mentioned functions.
  • an embodiment of the present disclosure further provides a vehicle radiation inspection system, including at least one vehicle radiation inspection apparatus 100 and a scheduling system.
  • the vehicle radiation inspection apparatus 100 is the vehicle radiation inspection apparatus 100 of the embodiment of the present disclosure.
  • the dispatch system is in signal connection with the vehicle radiation inspection apparatus 100 , and is configured to control the vehicle radiation inspection apparatus 100 to perform a scanning inspection on the vehicle 200 to be inspected.
  • the dispatching system may directly connect with the scanning vehicle traveling part 114 , the scanning device, the conveyor 112 , the conveying vehicle traveling part 122 and the conveying part 123 to control the scanning vehicle traveling part 114 , scanning The apparatus, the conveyor 112, the truck traveling part 122, and the conveying part 123 operate.
  • the dispatching system can be signal-connected with the controller 130 of each vehicle radiation inspection system, and the controller 130 controls the scanning vehicle traveling part 114, the scanning device, the conveyor 112, and the transport vehicle.
  • the traveling part 122 and the conveying part 123 operate.
  • the aforementioned controller 130 or the scheduling system can be implemented as a general-purpose processor, a programmable logic controller (Programmable Logic Controller, PLC for short), a Digital Signal Processor (Digital Signal Processor, abbreviated as: DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any suitable combination thereof.
  • a programmable logic controller Programmable Logic Controller, PLC for short
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • a human-computer interaction device signally connected to the dispatching system may also be included.
  • the human-computer interaction device is used for inputting information of the vehicle 200 to be inspected or outputting scanning inspection results and the like.
  • the human-computer interaction device may include, for example, a keyboard, a touch screen, a display, a code scanner, a card reader, and the like.
  • the vehicle radiation inspection system of the embodiment of the present disclosure has the same advantages as the vehicle radiation inspection apparatus 100 of the embodiment of the present disclosure.
  • the vehicle radiation inspection apparatus 100 according to the embodiment of the present disclosure and its working process will be further described below with reference to FIGS. 1 to 8 .
  • the vehicle radiation inspection apparatus 100 as a whole constitutes an automatic guided transport vehicle with a vehicle handling function and a scanning device capable of realizing radiation scanning imaging security inspection.
  • the vehicle radiation inspection apparatus 100 includes a scanning vehicle 110 and two transport vehicles 120, and the scanning vehicle 110 and the two transport vehicles 120 are each provided in the form of an automatic guided transport vehicle with an automatic guiding device.
  • the connection between the scanning vehicle 110 and the transport vehicle 120 may be in the form of wired connection, or may be in the form of wireless connection.
  • the scanning cart 110 and the transporting cart 120 may each be equipped with a battery, or one of them may be equipped with a battery in the wired connection form, and the other may be powered by a power supply line. It can also be powered by its own generator or external power.
  • the vehicle radiation inspection apparatus 100 may be equipped with a vehicle width detection sensor 140 to measure the width information of the vehicle to be inspected 200 .
  • the two transport vehicles 120 are respectively disposed at both ends of the scanning vehicle 110.
  • the end of the conveyor 112 where the vehicle to be inspected 200 enters the scanning vehicle 110 is referred to as the scanning vehicle 110 or the entrance end of the conveyor 112.
  • the end of the inspection vehicle 200 that leaves the scanning vehicle 110 is called the scanning vehicle 110 or the exit end of the conveyor 112
  • one of the two trucks 120 arranged at the entrance is called the entry-side truck 120 .
  • One of the 120 arranged at the exit end is called an exit end truck 120 .
  • the conveyor 112 may be various conveyors suitable for conveying the vehicle to be inspected in the vehicle radiation inspection apparatus, for example, may include a plate chain conveyor, a roller conveyor, and the like. Conveyor 112 may be unidirectional or bidirectional. Therefore, in the description of this embodiment, the inlet end and the outlet end may be opposite. When the conveyor 112 is a bidirectional conveyor 112, when one of the two ends of the scanning cart 110 is used as the inlet end, the other is used as the outlet. end.
  • the conveyor 112 is divided into two sections along the extending direction of the scanning channel C, and a bottom detector unit is arranged in the interval between the two sections.
  • the scanning vehicle body 111 includes a mounting frame, and a scanning channel C is formed in the middle of the mounting frame.
  • the side part of the installation frame is installed on the walking part 114 of the scanning vehicle
  • the conveyor 112 is installed on the bottom bracket of the installation frame
  • the scanning device includes a top radiation source arranged on the top of the installation frame
  • the detector of the scanning device includes a radiation source installed on the installation frame.
  • the bottom detection unit on the bottom beam also includes two side detection units located on the side of the mounting frame.
  • the transmitted rays of the ray beam B emitted by the top radiation source after passing through the vehicle to be inspected can be received by the bottom detector unit, so that the top radiation source and the bottom detector unit constitute a top viewing angle of the scanning device.
  • the two side detector units can also receive the transmitted rays after the ray beam B emitted by the top radiation source passes through the vehicle to be inspected, thereby forming two side viewing angles of the scanning device. Therefore, the scanning device of this embodiment is a top-illuminated/multi-view scanning device with the top radiation, the bottom surface and the two side surfaces receiving the received radiation.
  • the transporting part 123 may include one or two sets of fork arms arranged in the longitudinal direction of the transport vehicle 120, each set of fork arms includes two fork arms respectively arranged on both sides of the lateral direction of the transport vehicle 120, each fork arm can be lifted and lowered, and includes two fork arms.
  • the wishbones have an avoidance position and a grip position.
  • At least one of the two swing arms 1231 is in a position to avoid the wheel 201 of the vehicle 200 to be inspected, for example, the two swing arms or one of them extends substantially along the longitudinal direction of the truck 120, and in the grip position, the two The swing arm 1231 cooperates and is in a state of clamping the wheel 201 of the vehicle to be inspected.
  • the conveying part 123 may further include a lift drive device and a swing drive device, the lift drive device drives the fork arm to move up and down, and the swing drive device drives the swing wall to rotate.
  • the elevating drive device and the swing drive device are signal-connected to the controller, respectively, so that the operation of the conveying unit 123 can be controlled by the controller.
  • the lift drive device and the swing drive device 130 may include, for example, a drive part such as a drive motor, a hydraulic cylinder, and the like, and may further include a transmission part matched with the drive part.
  • the transmission part may include, for example, a screw-nut transmission mechanism, a link mechanism, a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, and the like.
  • the truck 120 is equipped with a lift motor, a swing motor and a fork arm.
  • the lift motor controls the lift of the two swing arms 1231 of each fork arm at the same time, and the swing motor controls the opening and closing actions of the fork arm to make The two swing arms 1231 switch between the avoidance position and the grip position.
  • the driver first drives the vehicle 200 to be inspected to a designated parking area, turns on the parking brake such as the handbrake, and then gets off the vehicle. , touch screen, etc., to inform the dispatch system that the vehicle 200 to be inspected has been parked in the designated parking area, the parking brake has been activated, and the driver and passengers have left the designated parking area.
  • the vehicle radiation inspection apparatus 100 will move the vehicle 200 to be inspected from the entrance end of the scanning vehicle 110 to the conveyor 112 through the entrance port truck 120 before walking to the designated parking area.
  • the passage C conveys the vehicle to be inspected 200 from the inlet end to the outlet end, and scans the vehicle to be inspected by the scanning device to form a scanned image. After scanning is completed, the vehicle radiation inspection apparatus 100 walks to the designated parking area by itself according to the dispatch system or other instructions.
  • the vehicle radiation inspection apparatus 100 can implement an in-situ inspection mode in which the displacement of the vehicle 200 to be inspected before and after the scanning inspection is substantially unchanged.
  • the in-situ inspection mode will be described in detail below with reference to FIGS. 6 and 7A to 7J.
  • the truck 120 includes a set of fork arms.
  • FIG. 6 shows a complete process in which the transport part of the transport vehicle 120 transports the front wheel of the vehicle 200 to be inspected to the bearing surface of the conveyor 112 .
  • the driver pulls the handbrake to park the vehicle and leaves the designated parking area. Since the vehicle 200 to be inspected has activated the parking brake after parking, the four wheels 201 of the vehicle to be inspected 200 cannot move.
  • the vehicle radiation inspection apparatus 100 After receiving the dispatching system message, the vehicle radiation inspection apparatus 100 walks by itself to the front of the designated parking area.
  • the entry-side truck 120 moves in the opposite direction of the conveying direction of the vehicle 200 to be inspected on the conveyor 112 , the fork arm is in a low position, and each swing arm 1231 is in an avoidance position until the position between the two swing arms 1231 reaches the vehicle 200 to be inspected
  • the swing arm 1231 is adjusted to the clamping position, the fork arm is in contact with the front wheel, and the fork arm is raised to lift the front wheel, so that the bottom of the front wheel of the vehicle 200 to be inspected is higher than the bearing surface of the conveyor 112 .
  • the scanning vehicle 110 moves in the opposite direction of the conveying direction, and the entrance end to the conveyor 112 is located below the front wheel of the vehicle 200 to be inspected. Lowering the fork arm places the front wheel on the bearing surface of the conveyor 112, and then puts the swing arm 1231 of the fork arm in the avoidance position.
  • the entry-side truck 120 moves to the rear wheel of the vehicle 200 to be inspected in the opposite direction of the conveying direction, so that the swing arm 1231 is in the clamping position. It moves in the same direction as the conveyor 112 in the conveying direction. After the rear wheel of the vehicle to be inspected 200 is located above the bearing surface of the conveyor 112, the fork arm is lowered to place the rear wheel of the vehicle on the bearing surface of the conveyor 112, and then the swing arm 1231 is placed in the avoidance position.
  • the scanning device starts scanning.
  • the entry-side truck 120 may be stationary or begin to prepare to transport the vehicle 200 to be inspected.
  • the scanning vehicle 110 moves several distances in a direction opposite to the conveying direction, so as to ensure that the vehicle 200 to be inspected can be placed near the starting position when it is finally parked.
  • the truck 120 at the exit end is at the exit end of the scanning vehicle 110, its swing arm 1231 is in an unfolded state, the height of the fork arm is above the bearing surface of the conveyor 112 and between the front wheel and the bearing surface of the conveyor 112, waiting for the front wheel of the vehicle to move to the fork After passing between the two swing arms 1231 of the arm, the outlet truck 120 and the conveyor 112 move in the same direction and at the same speed.
  • the scanning device stops scanning until the rear wheel of the vehicle moves to the edge of the exit end of the conveyor 112 .
  • the movement of the conveyor 112 and the exit trolley 120 is stopped.
  • the exit end truck 120 begins to lower the fork arm until the front wheel of the vehicle is placed on the ground G, and then the swing arm 1231 is in the avoidance position.
  • the fork arm of the truck 120 at the exit end is raised, the height is between the rear wheel and the bearing surface of the conveyor 112, and moves in the opposite direction of the conveying direction to the position where the rear wheel of the vehicle to be inspected 200 is between the two swing arms 1231, so that the The swing arm 1231 is in the clamping position, continue to lift the fork arm to make the rear wheel leave the bearing surface of the conveyor 112, the scanning vehicle 110 moves in the opposite direction of the conveying direction, the exit end of the conveyor 112 leaves the underside of the vehicle 200 to be inspected, and the exit end
  • the fork arm of the truck 120 is lowered, and the rear wheel of the vehicle 200 to be inspected is placed on the ground G.
  • the fork arm is placed in the avoidance position, the exit end truck 120 leaves the vehicle 200 to be inspected, and the scanning inspection process is completed.
  • the same vehicle radiation inspection apparatus 100 performs scanning inspection on multiple vehicles 200 to be inspected, a certain working distance is guaranteed between the multiple vehicles 200 to be inspected.
  • the entry-side truck 120 After the entry-side truck 120 completes the transportation of the preceding vehicle 200 to be inspected, it can immediately enter the transportation process of the next vehicle 200 to be inspected.
  • the conveyor 112 of the scanning vehicle 110 After the rear wheels of the previous vehicle 200 to be inspected are transported to the exit truck 120, the conveyor 112 of the scanning vehicle 110 starts to carry and transport the next vehicle 200 to be inspected, and the entry truck 120 transports the next vehicle 200 to be inspected.
  • the front wheels of the vehicle 200 to be inspected are placed on the bearing surface of the conveyor 112 .
  • the above embodiments describe in detail the in-situ inspection mode in which the vehicle radiation inspection apparatus 100 completes the scanning inspection of the vehicle 200 to be inspected and the vehicle 200 to be inspected basically remains in the original designated parking area.
  • This in-situ inspection mode is suitable for workplaces such as ro-ro ferries, road checkpoints, etc.
  • the vehicle radiation inspection apparatus 100 in the embodiment of the present disclosure can also implement a shift inspection mode in which the vehicle 200 to be inspected after performing the scanning inspection is placed in another parking area, and the transportation task is completed while the scanning inspection is performed.
  • the displacement inspection mode is suitable for workplaces such as parking lots and border inspection ports.
  • the suspect vehicle may be placed at another designated location according to the instruction of the dispatching system.
  • each scanning vehicle 110 is equipped with two trucks 120.
  • only one truck 120 can be configured for one scanning vehicle 110, and the truck performs all the transportation tasks. More trucks 120 can also be configured to improve the pass rate of the scanning vehicles 110 .
  • the vehicle radiation inspection equipment of the embodiment of the present disclosure is provided with a scanning device and a conveyor on the scanning vehicle, and a transport vehicle is configured for the scanning vehicle to realize the transportation work of the upper and lower conveyors of the vehicle to be inspected.
  • the vehicle radiation inspection equipment has no civil construction requirements, and can quickly deployment, which is conducive to reducing the requirements for ground conditions.
  • the vehicle radiation inspection apparatus of the embodiment of the present disclosure has no limitation on the viewing angle of the scanning device, and the scanning device can be flexibly arranged, which is beneficial to improve the quality of the scanned image and the accuracy of the scanning inspection.
  • the in-situ inspection mode can be realized, and the position of the vehicle to be inspected remains basically unchanged after the scanning inspection, or the displacement inspection mode can be realized. During the scanning inspection process and after the scanning inspection, the vehicle to be inspected can be directly transported to the designated parking position.

Abstract

一种车辆辐射检查设备和车辆辐射检查系统，车辆辐射检查设备包括：扫描车(110)，包括扫描车行走部(114)、扫描车车体(111)、扫描装置(1131,1132)和输送机(112)，扫描车行走部(114)被配置为驱动扫描车(110)行走，扫描车车体(111)设置于扫描车行走部(114)上并形成扫描通道(C)，扫描装置安装于扫描车车体(111)上，被配置为扫描检查通过扫描通道(C)的待检车辆(200)，输送机(112)设置于扫描车车体(111)的底部并沿扫描通道(C)延伸，被配置为从扫描通道(C)的一端向扫描通道(C)的另一端输送待检车辆(200)；和搬运车(120)，包括搬运车行走部(122)、搬运车车体(121)和搬运部(123)，搬运车车体(121)设置于搬运车行走部(122)上，搬运部(123)设置于搬运车车体(121)上，搬运车(120)被配置为在地面(G)和输送机(112)之间传递待检车辆(200)。

Description

车辆辐射检查设备和车辆辐射检查系统
本公开以中国申请号为202011642017.9，申请日为2020年12月31日的申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及辐射检查设备技术领域，特别涉及一种车辆辐射检查设备和车辆辐射检查系统。
背景技术
在相关技术中存在可以自行走的车辆辐射检查设备，其具有行走装置和设置于行走装置上的门式框架，扫描装置设置于门式框架上。对待检车辆进行检查时，门式框架可在行走装置的驱动下跨过待检车辆并对待检车辆执行扫描检查。
为了防止路面不平导致扫描图像不清，自行走的车辆辐射检查设备对地面条件有较高的要求，往往要求车辆辐射检查设备在专门布设的轨道上运行，从而车辆辐射检查设备的工作场所受限。
另外，由于需要跨越待检车辆，因此，自行走的车辆辐射检查设备中，无法在底部安装探测器，其扫描装置的检查视角受限，一般只能布置侧部视角的扫描装置，而无法布置顶视角的扫描装置。
发明内容
本公开第一方面提供一种车辆辐射检查设备，包括：
扫描车，包括扫描车行走部、扫描车车体、扫描装置和输送机，所述扫描车行走部被配置为驱动所述扫描车行走，所述扫描车车体设置于所述扫描车行走部上并形成扫描通道，所述扫描装置安装于所述扫描车车体上，被配置为扫描检查通过所述扫描通道的待检车辆，所述输送机设置于所述扫描车车体的底部并沿所述扫描通道延伸，被配置为从所述扫描通道的一端向所述扫描通道的另一端输送所述待检车辆；和
搬运车，包括搬运车行走部、搬运车车体和搬运部，所述搬运车车体设置于所述搬运车行走部上，所述搬运部设置于所述搬运车车体上，所述搬运车被配置为在地面和所述输送机之间传递所述待检车辆。
在一些实施例中，包括两辆所述搬运车，所述两辆搬运车分别设置于所述扫描通道的两端，所述两辆搬运车中的一辆被配置为将所述待检车辆从地面搬运至所述输送机，另一辆被配置为将所述待检车辆从所述输送机搬运至地面。
在一些实施例中，还包括控制器，所述控制器与所述扫描车行走部、所述扫描装置、所述输送机、所述搬运车行走部和所述搬运部信号连接以控制所述扫描车行走部、所述扫描装置、所述输送机、所述搬运车行走部和所述搬运部动作。
在一些实施例中，所述扫描车和所述搬运车各自包括自动导引装置，所述自动导引装置与所述控制器信号连接。
在一些实施例中，所述搬运车通过有线方式或无线方式与所述扫描车信号连接。
在一些实施例中，所述扫描装置包括至少一个辐射源和至少一个探测器单元，所述至少一个辐射源包括位于所述扫描车车体的顶端的顶部辐射源，所述至少一个探测器单元包括位于所述扫描车车体的底端的底部探测单元。
在一些实施例中，所述车辆辐射检查设备还包括车辆宽度检测传感器，所述控制器与所述车辆宽度检测传感器信号连接，被配置为根据所述车辆宽度检测传感器的检测信息判断所述待检车辆是否能通过所述扫描通道。
本公开第二方面提供一种车辆辐射检查系统，包括：
至少一台车辆辐射检查设备，所述车辆辐射检查设备为本公开第一方面所述的车辆辐射检查设备；和
调度系统，与所述车辆辐射检查设备信号连接，被配置为控制所述车辆辐射检查设备对所述待检车辆执行扫描检查。
在一些实施例中，车辆辐射检查系统还包括人机交互装置，所述人机交互装置与所述调度系统信号连接。
基于本公开提供的车辆辐射检查设备和车辆辐射检查系统，由于扫描车自带输送机，车辆辐射检查设备自带搬运车，在扫描装置对待检车辆执行扫描检查时，待检车辆位于输送机上，而输送机与扫描装置均布置在扫描车车体上，二者的位置相对固定，因此，待检车辆与扫描装置的相对位置受地面条件的影响较小，从而一方面有利于获得更高质量的扫描图像，另一方面有利于降低对工作环境的地面条件的要求，可以在更多的场所对待检车辆执行扫描检查，利于拓展工作范围。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施例的车辆辐射检查设备的原理示意图。
图2为本公开一实施例的车辆辐射检查设备在对待检车辆进行扫描检查时的俯视结构示意图，此时搬运车与扫描车相接。
图3为本公开一实施例的车辆辐射检查设备在对待检车辆进行扫描检查时的俯视结构示意图，此时搬运车与扫描车分离。
图4为本公开一实施例的车辆辐射检查设备在对待检车辆进行扫描检查时的俯视结构示意图，此时搬运车与扫描车分离。
图5为本公开一实施例的车辆辐射检查设备的扫描车的沿扫描通道的延伸方向的侧视结构示意图。
图6为本公开一实施例的车辆辐射检查设备的搬运车的搬运部搬运待检车辆的原理示意图。
图7A至图7J为本公开一实施例的车辆辐射检查设备的对待检车辆执行扫描检查的过程图。
图8为本公开一实施例的车辆辐射检查设备在准备检查多辆待检车辆时的示意图。
图9为本公开一实施例的车辆辐射检查设备中控制器与被控部件的原理框图。
图10为本公开一实施例的车辆辐射检查系统的原理框图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表 达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
以下描述中，扫描车110或搬运车120的纵向是指扫描车110或搬运车120的直线行走方向，横向是指水平面内与纵向垂直的方向。
如图1至图10所示，本公开实施例提供的车辆辐射检查设备100包括扫描车110和搬运车120。
扫描车110包括扫描车行走部114、扫描车车体111、扫描装置和输送机112。扫描车行走部114被配置为驱动扫描车110行走。扫描车车体111设置于扫描车行走部114上并形成扫描通道C。扫描装置安装于扫描车车体111上，被配置为扫描检查通过扫描通道C的待检车辆200。输送机112设置于扫描车车体111的底部并沿扫描通道C延伸，被配置为从扫描通道C的一端向扫描通道C的另一端输送待检车辆200。如图8所示，扫描车行走部114例如包括四个扫描车行走轮和四个驱动扫描车行走轮的驱动电机。驱动电机的数量例如为两个或四个。
搬运车120包括搬运车行走部122、搬运车车体121和搬运部123。搬运车车体121设置于搬运车行走部122上。搬运部123设置于搬运车车体121上。搬运车120被配置为在地面G和输送机112之间传递待检车辆200。如图8所示，搬运车行走部 122例如包括四个搬运车行走轮和四个驱动搬运车行走轮的四个驱动电机。驱动电机的数量例如为两个或四个。
根据本公开实施例的车辆辐射检查设备100，由于扫描车110自带输送机112，车辆辐射检查设备100自带搬运车120，在扫描装置对待检车辆200执行扫描检查时，待检车辆200位于输送机112上，而输送机112与扫描装置均布置在扫描车车体111上，二者的位置相对固定，因此，待检车辆200与扫描装置的相对位置受地面条件的影响较小，从而一方面有利于获得更高质量的扫描图像，另一方面有利于降低对工作环境的地面条件的要求，可以在更多的场所对待检车辆200执行扫描检查，利于拓展工作范围。
另外，由于待检车辆200在扫描车110的输送机112上被输送，可以在扫描车车体111的底部设置探测器，利于布置顶视角扫描单元，因此，扫描装置的布置灵活方便。例如，如图5所示，在一些实施例中，扫描装置包括至少一个辐射源1131和至少一个探测器单元1132，至少一个辐射源1131包括位于扫描车车体111的顶端的顶部辐射源，至少一个探测器单元1132位于扫描车车体111的底端的底部探测单元。该车辆辐射检查设备100可以设置包括顶视角的扫描装置，利于提高扫描图像质量和扩大扫描范围，从而利于对待检车辆200进行全面、准确检查。
在一些未图示的实施例中，扫舞描装置可以同时包括布置于扫描车车体111顶部的顶部辐射源和布置于扫描车车体111侧部的侧部辐射源。当然，也扫描装置也可以只包括侧部辐射源。
如图1至图4、图7A至图8所示，在一些实施例中，车辆辐射检查设备100包括两辆搬运车120，两辆搬运车120分别设置于扫描通道C的两端，两辆搬运车120中的一辆被配置为将待检车辆200从地面G搬运至输送机112，另一辆被配置为将待检车辆200从输送机112搬运至地面G。该设置利于提高车辆辐射检查设备100的检查效率，也利于车辆辐射检查设备100对连续布置的多辆待检车辆200顺次进行扫描检查，并且对相邻待检车辆200之间的距离的要求较低。
如图1和9所示，在一些实施例中，车辆辐射检查设备100还包括控制器130，控制器130与扫描车行走部114、扫描装置、输送机112、搬运车行走部122和搬运部123信号连接以控制扫描车行走部114、扫描装置、输送机112、搬运车行走部122和搬运部123动作。控制器130可以协调搬运车行走、搬运待检车辆以及扫描车行走、输送车辆和扫描待检车辆各项工作，利于提高车辆辐射检查设备100的自动化水平和 检查效率。图1所示的控制器130的位置仅仅是示意性的，仅为了便于说明。本领域技术人员应该明白，控制器130可以布置在车辆辐射检查设备100上的其他位置，也能实现上述功能。
在一些实施例中，扫描车110和搬运车120各自包括自动导引装置。自动导引装置与控制器130信号连接，根据控制器130的指令执行导引功能。
自动导引装置可以是电磁的或光学的自动导引装置。本公开实施例的自动导引装置可以参考自动导引运输车(Automated Guided Vehicle，AGV)的自动导引装置。装备有自动导引装置的扫描车110和搬运车120能够沿规定的导引路径行驶，具有安全保护以及各种移载功能。将扫描车110和搬运车120都配置为带有自动导引装置的自动导引运输车的形式，利于扫描车110和搬运车120快速定位、到达待检车辆200，利于提高车辆辐射检查设备100的检查效率。
如图2和图3所示，搬运车120可以通过无线方式与扫描车110信号连接。如图4所示，搬运车120也可以通过有线方式与扫描车110电气连接。无线方式可以使搬运车120与扫描车110之间的相对位置更加灵活多变，有线方式则可以使搬运车120与扫描车110之间连系更加紧密，例如可以共用电源。
如图2和9所示，在一些实施例中，车辆辐射检查设备100还可以包括车辆宽度检测传感器140，控制器130与车辆宽度检测传感器140信号连接，被配置为根据车辆宽度检测传感器的检测信息判断待检车辆200是否能通过扫描通道C。车辆宽度检测传感器140例如可以设置于搬运车车体121上。如果待检车辆200的过宽，以致难以通过扫描通道C，则放弃本车辆辐射检查设备100对该待检车辆200的扫描检查，可以改由其它工作范围合适的车辆辐射检查设备100对其执行扫描检查。图2所示的车辆宽度检测传感器140的位置是示意性的，仅为了便于说明。本领域技术人员应该明白，车辆宽度检测传感器140可以布置在车辆辐射检查设备100上的其他位置，也能实现上述功能。
如图10所示，本公开实施例还提供一种车辆辐射检查系统，包括至少一台车辆辐射检查设备100和调度系统。车辆辐射检查设备100为本公开实施例的车辆辐射检查设备100。调度系统与车辆辐射检查设备100信号连接，被配置为控制车辆辐射检查设备100对待检车辆200执行扫描检查。
在车辆辐射检查设备100不具有控制器时，调度系统可以直接与扫描车行走部114、扫描装置、输送机112、搬运车行走部122和搬运部123信号连接以控制扫描 车行走部114、扫描装置、输送机112、搬运车行走部122和搬运部123动作。
在车辆辐射检查设备100具有单独的控制器130时，调度系统可以与各车辆辐射检查系统的控制器130信号连接，通过控制器130控制扫描车行走部114、扫描装置、输送机112、搬运车行走部122和搬运部123动作。
前述的控制器130或调度系统可以实现为用于执行本公开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。
如图10所示，在一些实施例的车辆辐射检查系统中，还可以包括与调度系统信号连接的人机交互装置。人机交互装置用于输入待检车辆200的信息或输出扫描检查结果等。人机交互装置例如可以包括键盘、触摸屏、显示器、扫码器、读卡器等等。
本公开实施例的车辆辐射检查系统与本公开实施例的车辆辐射检查设备100具有相同的优点。
以下结合图1至图8对本公开实施例的车辆辐射检查设备100及其工作过程进行进一步说明。
该车辆辐射检查设备100整体上构成一种具有车辆搬运功能并带有能实现辐射扫描成像安全检查的扫描装置的自动引导运输车。
该车辆辐射检查设备100包括扫描车110和两台搬运车120，扫描车110和两台搬运车120各自设置为带有自动引导装置的自动引导运输车形式。扫描车110和搬运车120之间可以为有线连接形式，也可以为无线连接形式。扫描车110和搬运车120可以各自配备电池，或在有线连接形式时其中之一配备电池，并通过供电线为另一提供动力。也可以通过自带发电机或外接电力的方式实现供电。
该车辆辐射检查设备100可以安装有车辆宽度检测传感器140以测量待检车辆200的宽度信息，宽度信息例如可以为待检车辆200的轮距或车身宽度等。
两台搬运车120分别设置于扫描车110的两端，为便于描述，以下将待检车辆200进入扫描车110的输送机112的一端称为扫描车110或输送机112的入口端，将待检车辆200离开扫描车110的一端称为扫描车110或输送机112的出口端，并且，将两台搬运车120中布置于入口端的一辆称为入口端搬运车120，将两台搬运车120 中布置于出口端的一辆称为出口端搬运车120。
输送机112可以为各种适于在车辆辐射检查设备中输送待检车辆的输送机，例如可以包括板链式输送机、辊式输送机等。输送机112可以是单向输送的，也可以是双向输送的。因此，本实施例的描述中的入口端和出口端可以是相对的，在输送机112为双向输送机112时，扫描车110的两个端部中一个作为入口端时，另一个即作为出口端。
输送机112沿扫描通道C的延伸方向分为两段，两段之间的间隔内布置有底部探测器单元。
如图5所示，沿扫描车110的纵向观察，扫描车车体111包括安装框架，安装框架的中部形成扫描通道C。安装框架的侧部安装于扫描车行走部114上，输送机112安装于安装框架的底部支架上，扫描装置包括设置于安装框架顶部的顶部辐射源，扫描装置的探测器包括安装于安装框架的底部横梁上的底部探测单元，还包括位于安装框架的侧部的两个侧部探测单元。
顶部辐射源发出的射线束B穿过待检车辆后的透射射线可以被底部探测器单元接收，从而顶部辐射源和底部探测器单元构成扫描装置的一个顶视角。另外，两个侧部探测器单元也能接收顶部辐射源发出的射线束B穿过待检车辆后的透射射线，从而形成扫描装置的两个侧视角。从而本实施例的扫描装置为顶部辐射、底面和两个侧面接接收射线的顶照/多视角的扫描装置。
搬运部123可以包括沿搬运车120纵向布置的一组或两组叉臂，每组叉臂包括分别布置在搬运车120横向两侧的两个叉臂，每个叉臂可升降，且包括两个可转动的摆臂1231。叉臂具有避让位置和夹抱位置。在避让位置，两个摆臂1231中至少一个处于避让待检车辆200的车轮201的位置，例如，两个摆臂或其中之一大致沿搬运车120的纵向延伸，在夹抱位置，两个摆臂1231配合，处于夹持待检车辆的车轮201的状态。
搬运部123还可以包括升降驱动装置和摆动驱动装置，通过升降驱动装置驱动叉臂升降，通过摆动驱动装置驱动摆壁转动。升降驱动装置与摆动驱动装置分别与控制器信号连接，从而可以通过控制器控制搬运部123动作。升降驱动装置和摆动驱动装置130例如可以包括驱动电机、液压缸等驱动部，还可以进一步包括与驱动部配套的传动部。传动部例如可以包括丝杠螺母传动机构、连杆机构、齿轮传动机构、带传动机构、链传动机构等等。
本实施例中，搬运车120装有升降电机、摆动电机及叉臂，通过升降电机对每个叉臂的两个摆臂1231同时进行升降控制，摆动电机对叉臂的开合动作控制以使两个摆臂1231在避让位置和夹抱位置之间切换。
该车辆辐射检查设备100对待检车辆200进行扫描检查的检查过程中，司机首先将待检车辆200开至指定停车区域，开启驻车制动器如手刹后下车，通过人机交互装置，如通过按键、触摸屏等，告知调度系统待检车辆200已停放至指定停车区域、驻车制动器已启动且司乘人员已离开该指定停车区域。车辆辐射检查设备100收到调度系统消息后，自行走至指定停车区域前，通过入口端搬运车120将待检车辆200从扫描车110的入口端搬运至输送机112上，输送机112沿扫描通道C从入口端向出口端输送待检车辆200，并通过扫描装置完成待检辆车的扫描，形成扫描图像。完成扫描后，车辆辐射检查设备100根据调度系统或其他指令自行走至指定的停放区。
车辆辐射检查设备100可以实现待检车辆200扫描检查前后位移大致无变化的原位检查模式。以下结合图6、图7A至图7J对原位检查模式进行详细说明。该实施例中，搬运车120包括一组叉臂。图6示出了搬运车120的搬运部搬运待检车辆200的前轮至输送机112的承载面上的完整过程。
司机拉手刹将车辆停放好后离开指定停车区域，由于待检车辆200在停放后已启动驻车制动器，待检车辆200的四个车轮201都不能移动。
车辆辐射检查设备100收到调度系统消息后，自行走至指定停车区域前。
入口端搬运车120向待检车辆200在输送机112上的输送方向的反方向移动，叉臂处于低位，各摆臂1231处于避让位置，直至两摆臂1231之间的位置到达待检车辆200的前端车轮外侧，将摆臂1231调整至夹抱位置，叉臂与前轮接触，抬升叉臂将前轮抬起，使待检车辆200的前轮底部高于输送机112的承载面。
扫描车110向输送方向反方向运动，至输送机112的入口端位于待检车辆200前轮下方。下降叉臂将前轮放置在输送机112的承载面上，之后使叉臂的摆臂1231处于避让位置。
入口端搬运车120向输送方向反方向运动至待检车辆200的后轮，使摆臂1231处于夹抱位置，抬升叉臂以抬起待检车辆200的后轮的同时，入口端搬运车120与输送机112沿输送方向同向运动。当待检车辆200的后轮位于输送机112的承载面上方后，下降叉臂将车辆的后轮放置在输送机112的承载面上，之后使摆臂1231处于避让位置。
当待检车辆200完全由输送机112输送时，扫描装置启动扫描。此时，入口端搬运车120可以静止或开始准备搬运一下待检车辆200。在扫描装置执行扫描的过程中，扫描车110沿朝向与输送方向相反的方向移动若干距离，以保证待检车辆200在最终停放时可放置在起始位置附近。
出口端搬运车120在扫描车110出口端，其摆臂1231处于展开状态，叉臂高度处于输送机112承载面上方且前轮与输送机112承载面之间，等待于车辆前轮运动至叉臂的两摆臂1231之间后，出口端搬运车120与输送机112同向同速运动。
抬升叉臂使前轮离开输送机112承载面，同时直至车辆后轮运动至输送机112的出口端边缘，扫描装置停止扫描。停止输送机112与出口端搬运车120运动。
出口端搬运车120开始下降叉臂，直至车辆前轮放置在地面G上，之后使摆臂1231处于避让位置。
出口端搬运车120的叉臂升起，高度处于后轮与输送机112承载面之间，向输送方向的反方向移动至待检车辆200的后轮处于两摆臂1231之间的位置，使摆臂1231处于夹抱位置，继续抬升叉臂使后轮离开输送机112的承载面，扫描车110向输送方向的反方向移动，输送机112的出口端离开待检车辆200的下方，出口端搬运车120的叉臂下降，将待检车辆200后轮放至地面G。
使叉臂处于避让位置，出口端搬运车120离开待检车辆200，扫描检查过程完成。
如图8所示，在同一车辆辐射检查设备100对多辆待检车辆200执行扫描检查时，多辆待检车辆200之间保证一定的工作距离。在入口端搬运车120完成前辆待检车辆200的搬运工作后，可立即进入下一辆待检车辆200的搬运搬运流程。当前辆待检车辆200的后轮搬运至出口端搬运车120上后，扫描车110的输送机112开始执行下一辆待检车辆200的承载和输送工作，入口端搬运车120将下一辆待检车辆200的前轮放置在输送机112的承载面上。
以上实施例详细描述了车辆辐射检查设备100对待检车辆200完成扫描检查后待检车辆200基本保留在原指定停车区域的原位检查模式。该原位检查模式适于滚装轮渡、公路检查站等工作场所。
本公开实施例的车辆辐射检查设备100还可以实现将执行完扫描检查的待检车辆200放置于另外的停车区域的移位检查模式，在执行扫描检查的同时，完成搬运任务。移位检查模式适用于停车场、边检口岸等工作场所。另外，若经扫描检查判定待检车辆200为嫌疑车辆，可根据调度系统的指令将嫌疑车辆放置在其他指定地点。
以上实施例中，每辆扫描车110配置两辆搬运车120，在未图示的实施例中，也可以一辆扫描车110仅配置一辆搬运车120，由该搬运车执行全部搬运任务，也可以配置更多的搬运车120以提高扫描车110的通过率。
本公开实施例的车辆辐射检查设备通过在扫描车上设置扫描装置和输送机，为扫描车配置搬运车实现待检车辆上下输送机的搬运工作，该车辆辐射检查设备无土建施工要求，可快速部署，有利于降低对地面条件的要求。
本公开实施例的车辆辐射检查设备对扫描装置的视角无限制，可以灵活布置扫描装置，利于提高扫描图像质量和扫描检查的准确性。
执行扫描检查时，无需司乘人员和工作人员参与，减少辐射对司机、乘客以及工作人员的影响。
利于在待检车辆的集中停放区域进行集中检查，减少工作占地面积。对多辆待检车辆进行扫描检查时，相邻待检车辆的扫描检查工作衔接紧密，利于提高扫描检查的效率。
可以实现原位检查模式，扫描检查后待检车辆位置基本保持不变，也可以实现移位检查模式，扫描检查过程中及扫描检查后可将待检车辆直接搬运至指定停放位置。
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，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (9)

  1. 一种车辆辐射检查设备，包括：
    扫描车(110)，包括扫描车行走部(114)、扫描车车体(111)、扫描装置(1131,1132)和输送机(112)，所述扫描车行走部(114)被配置为驱动所述扫描车(110)行走，所述扫描车车体(111)设置于所述扫描车行走部(114)上并形成扫描通道(C)，所述扫描装置安装于所述扫描车车体(111)上，被配置为扫描检查通过所述扫描通道(C)的待检车辆(200)，所述输送机(112)设置于所述扫描车车体(111)的底部并沿所述扫描通道(C)延伸，被配置为从所述扫描通道(C)的一端向所述扫描通道(C)的另一端输送所述待检车辆(200)；和
    搬运车(120)，包括搬运车行走部(122)、搬运车车体(121)和搬运部(123)，所述搬运车车体(121)设置于所述搬运车行走部(122)上，所述搬运部(123)设置于所述搬运车车体(121)上，所述搬运车(120)被配置为在地面(G)和所述输送机(112)之间传递所述待检车辆(200)。
  2. 根据权利要求1所述的车辆辐射检查设备，包括两辆所述搬运车(120)，所述两辆搬运车(120)分别设置于所述扫描通道(C)的两端，所述两辆搬运车(120)中的一辆被配置为将所述待检车辆(200)从地面(G)搬运至所述输送机(112)，另一辆被配置为将所述待检车辆(200)从所述输送机(112)搬运至地面(G)。
  3. 根据权利要求1或2所述的车辆辐射检查设备，还包括控制器(130)，所述控制器(130)与所述扫描车行走部(114)、所述扫描装置、所述输送机(112)、所述搬运车行走部(122)和所述搬运部(123)信号连接以控制所述扫描车行走部(114)、所述扫描装置、所述输送机(112)、所述搬运车行走部(122)和所述搬运部(123)动作。
  4. 根据权利要求1-3中任一所述的车辆辐射检查设备，其中所述扫描车(110)和所述搬运车(120)各自包括自动导引装置，所述自动导引装置与所述控制器(130)信号连接，以根据所述控制器(130)的指令执行导引功能。
  5. 根据权利要求1-4中任一所述的车辆辐射检查设备，其中所述搬运车(120)通过有线方式或无线方式与所述扫描车(110)信号连接。
  6. 根据权利要求1-5中任一所述的车辆辐射检查设备，其中所述扫描装置包括至少一个辐射源(1131)和至少一个探测器单元(1132)，所述至少一个辐射源(1131) 包括位于所述扫描车车体(111)的顶端的顶部辐射源，所述至少一个探测器单元(1132)包括位于所述扫描车车体(111)的底端的底部探测单元。
  7. 根据权利要求1-6中任一所述的车辆辐射检查设备，还包括车辆宽度检测传感器(140)，所述控制器(130)与所述车辆宽度检测传感器(140)信号连接，被配置为根据所述车辆宽度检测传感器(140)的检测信息判断所述待检车辆(200)是否能通过所述扫描通道(C)。
  8. 一种车辆辐射检查系统，包括：
    至少一台车辆辐射检查设备(100)，所述车辆辐射检查设备(100)为权利要求1至7中任一项所述的车辆辐射检查设备(100)；和
    调度系统，与所述车辆辐射检查设备(100)信号连接，被配置为控制所述车辆辐射检查设备(100)对所述待检车辆(200)执行扫描检查。
  9. 根据权利要求8所述的车辆辐射检查系统，还包括人机交互装置，所述人机交互装置与所述调度系统信号连接。
PCT/CN2021/138378 2020-12-31 2021-12-15 车辆辐射检查设备和车辆辐射检查系统 WO2022143175A1 (zh)

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