CN108761555A - Container vehicle checks system and container vehicle inspection method - Google Patents

Abstract

The invention discloses a container vehicle inspection system and a container vehicle inspection method. The container vehicle inspection system has a scanning channel extending along a first direction for container vehicles to pass through, including: a scanning device, including a radiation source for outputting radiation beams to inspect container vehicles; a plurality of area laser sensing devices, along the first Arranged at intervals in one direction, each of the area laser sensing devices has a sensing area for sensing a container vehicle and detecting sensing information that a container vehicle enters its sensing area and/or leaves its sensing area; and a control device , in signal connection with the scanning device and the multiple area laser sensing devices, and manipulating the scanning device to inspect container vehicles according to the sensing information of the multiple area laser sensing devices. Based on the container vehicle inspection system and container vehicle inspection method provided by the present invention, it is beneficial to accurately determine the position of the vehicle, reduce misoperations, and improve the success rate of inspection.

Description

Container vehicle inspection system and container vehicle inspection method

technical field

The invention relates to the technical field of radiation inspection, in particular to a container vehicle inspection system and a container vehicle inspection method.

Background technique

The container vehicle inspection system has an active scanning mode and a passive scanning mode. The active scanning mode means that the detected container vehicle is parked in the scanning channel of the container vehicle inspection system. While the container vehicle inspection system is moving, the scanning device emits X-ray and other ray beams to scan and image the container vehicle. Passive scanning mode means that the container vehicle inspection system is stationary, and the detected container vehicle normally drives into the scanning channel of the container vehicle inspection system and passes through the scanning area. Perform scanning imaging.

Due to the requirements of radiation protection safety, in the passive scanning mode, it is not allowed to scan the cab of the container vehicle. For this reason, in the related technology known to the inventor, a series of diffuse reflection switches and light curtains are arranged on the scanning equipment to detect the position of the container vehicle. When it is detected that the cab of the container vehicle has safely passed the scanning equipment The scanning is then started when the position of the output radiation beam is reached, thereby scanning only the container portion of the container vehicle.

In the above related technologies, the diffuse reflection sensor is susceptible to interference from ambient light, especially in an outdoor environment, which is prone to malfunction, causing the control device of the container vehicle inspection system to determine that the trigger sequence of the diffuse reflection switch is wrong and stop the scanning process. In this related technology, only the light curtain can detect a plane, and the other diffuse reflection sensors can only detect a single point. In this way, for detected container vehicles with different chassis heights, the situation of missed detection may occur. And during the scanning process, if someone enters the scanning channel from between the two diffuse reflection switches, it may not be detected, thus causing a great potential safety hazard.

Contents of the invention

The object of the present invention is to provide a container vehicle inspection system and a container vehicle inspection method to improve the inspection success rate.

The first aspect of the present invention provides a container vehicle inspection system, which has a scanning channel extending along a first direction for container vehicles to pass through, including:

a scanning device comprising a radiation source for outputting a radiation beam for inspection of said container vehicle;

A plurality of area laser sensing devices arranged at intervals along the first direction, each of the area laser sensing devices has a sensing area for sensing the container vehicle and detecting that the container vehicle enters its sensing area and/or sensed information leaving its sensing area; and

A control device is in signal connection with the scanning device and the multiple area laser sensing devices, and operates the scanning device to inspect the container vehicle according to the sensing information of the multiple area laser sensing devices.

In some embodiments, the multiple area laser sensing devices include at least two horizontal scanning laser sensing devices, and the sensing areas of the horizontal scanning laser sensing devices are substantially parallel to the ground.

In some embodiments, the multiple area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground.

In some embodiments, the sensing areas of the at least two horizontal scanning laser sensing devices have different heights.

In some embodiments, the at least two horizontal scanning laser sensing devices include:

The first area laser sensing device is arranged at a distance from the radiation source in the first direction, and the sensing area of the first area laser sensing device covers the radiation beam from the radiation beam in the first direction. the area from the middle split plane to the first area laser sensing device;

The second area laser sensing device is arranged on the side of the first area laser sensing device close to the radiation source in the first direction, and the sensing area of the second area laser sensing device is in the The first direction covers a first distance from the second area laser sensing device towards the side of the radiation source and across the radiation source.

In some embodiments, in the first direction, the second area laser sensing device is disposed between the first area laser sensing device and the radiation source.

In some embodiments, in the first direction, the first distance is smaller than the distance between the second area laser sensing device and the fourth area laser sensing device.

In some embodiments, in the first direction, the second-area laser sensing device also covers at least the area from the second-area laser sensing device towards the first area laser sensing device. second distance.

In some embodiments, the multiple area laser sensing devices include at least one vertical scanning laser sensing device, the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground, the The at least one vertical scanning laser sensing device includes:

The third area laser sensing device is disposed between the first area laser sensing device and the second area laser sensing device in the first direction; and/or,

The fourth area laser sensing device is arranged on the side of the radiation source opposite to the first area laser sensing device in the first direction, and the second area laser sensing device is located in the first area Between the first area laser sensing device and the fourth area laser sensing device.

In some embodiments, in the first direction, the second distance is smaller than the distance between the second area laser sensing device and the third area laser sensing device.

In some embodiments, the container vehicle inspection system is a vehicle-mounted container vehicle inspection system, including a carrying vehicle carrying the scanning device, the first area laser sensing device, the second area laser sensing device, The third area laser sensing device and/or the fourth area laser sensing device is arranged on the carrying vehicle.

In some embodiments, the carrying vehicle includes a head, a chassis, a body and a turntable, the body and the turntable are arranged on the chassis, the turntable is located behind the body, and the container vehicle inspection system passes through The turntable is carried on the vehicle body, wherein,

The first area laser sensing device is arranged at the rear of the front of the carrying vehicle; and/or,

The second area laser sensing device is arranged on the turntable or on the chassis near the turntable; and/or,

The third area laser sensing device is arranged on the vehicle body.

In some embodiments, the container vehicle inspection system further includes a bracket, and the fourth area laser sensing device is arranged on the bracket.

In some embodiments, the installation heights of at least two of the area laser sensors among the plurality of area laser sensing devices are different; and/or,

Sensing areas of at least two of the area laser sensors in the plurality of area laser sensing devices are arranged at an included angle; and/or,

The sensing area of at least one of the area laser sensors in the plurality of area laser sensing devices is approximately parallel to the ground, and the sensing area of at least one of the area laser sensors is approximately perpendicular to the ground; and/or,

In the sensing areas of every two adjacent area laser sensors of the plurality of area laser sensing devices, the sensing area of one area laser sensor is approximately parallel to the ground, while the sensing area of the other area laser sensor The area is roughly perpendicular to the ground.

The second aspect of the present invention provides a container vehicle inspection method for performing radiation inspection on container vehicles by the container vehicle inspection system according to any one of the first aspect of the present invention, including:

Each of the area laser sensing devices detects sensing information that the container vehicle enters its sensing area and/or leaves its sensing area; and

The control device operates the scanning device to inspect the container vehicle according to the sensing information of the plurality of area laser sensing devices.

In some embodiments, the control device manipulating the scanning device to inspect the container vehicle according to the sensing information of the plurality of regional laser sensing devices includes performing the following operations according to changes in the sensing information:

manipulating the radiation scanning device to switch to a passive scanning mode;

manipulating the radiation source to preheat;

manipulating the radiation source to output a radiation beam;

The radiation source is manipulated to cease outputting a radiation beam.

In some embodiments,

In the first direction, when the container vehicle enters the scanning channel from the side opposite to the first area laser sensing device of the radiation source, the container vehicle inspection method includes: the When the sensing area of the second area laser sensing device senses the container vehicle, the radiation scanning device switches to passive scanning mode; the sensing area of the first area laser sensing device senses the container vehicle When the vehicle is in use, the control device manipulates the radiation source for preheating; when the sensing areas of the first area laser sensing device and the third area laser sensing device sense the container vehicle at the same time, the radiation The source outputs a radiation beam; when the sensing area of the second area laser sensing device senses that the container vehicle is moving away, the radiation source stops outputting the radiation beam; or,

In the first direction, when the container vehicle enters the scanning channel from the side of the laser sensing device in the first area of the radiation source, the container vehicle inspection method includes: the first When the sensing area of the area laser sensing device senses the container vehicle, the radiation scanning device switches to a passive scanning mode; the sensing area of the first area laser sensing device and the second area laser sensing device When the container vehicle is simultaneously sensed in the detection area, or the sensing area of the first area laser sensing device and the third area laser sensing device are simultaneously sensing the container vehicle, the control device operates the The radiation source is preheated; when the fourth area laser sensing device senses the container vehicle, the radiation source outputs a radiation beam; the sensing area of the second area laser sensing device senses the When the container vehicle drives away, the radiation source stops outputting radiation beams.

Based on the container vehicle inspection system and container vehicle inspection method provided by the present invention, the passive scanning mode of the container vehicle inspection system can be realized by using the area laser sensing device instead of the diffuse reflection sensor and the light curtain sensor, and the area laser sensing device can be reasonably configured The number of settings, positions, and the size and direction of the sensing area are conducive to accurate judgment of the vehicle position, and can reduce false actions, thereby improving the success rate of inspection. Furthermore, the number of sensors for detecting the position of the container vehicle can be effectively reduced, and the cost of purchasing sensors can be reduced. Furthermore, it can also effectively prevent false detection caused by the intrusion of personnel or foreign objects, and improve the safety of the container vehicle inspection system. In addition, it is also beneficial to reduce the difficulty of installation and shorten the installation man-hours.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

FIG. 1 is a schematic structural diagram of a container vehicle inspection system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the sensing area of the first area laser sensing device in the container vehicle inspection system shown in Fig. 1 .

Fig. 3 is a schematic diagram of the sensing area of the second area laser sensing device in the container vehicle inspection system shown in Fig. 1 .

FIG. 4 is a schematic diagram of the sensing area of the third area laser sensing device in the container vehicle inspection system shown in FIG. 1 .

Fig. 5 is a schematic diagram of the sensing area of the fourth area laser sensing device in the container vehicle inspection system shown in Fig. 1 .

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the use of words such as "first" and "second" to define parts is only for the convenience of distinguishing corresponding parts. Therefore, it should not be construed as limiting the protection scope of the present invention.

In the description of the present invention, it should be understood that orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. In the absence of a contrary description, these orientation words do not indicate or imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present invention; the orientation words "inner and outer" refer to the inner and outer relative to the outline of each component itself.

As shown in Figures 1 to 5, the container vehicle inspection system 1 of this embodiment of the invention has a scanning channel extending along a first direction for container vehicles to pass through, including scanning equipment, multiple area laser sensing devices and a control device. The scanning device includes a radiation source for outputting a radiation beam to inspect the container vehicle. A plurality of area laser sensing devices are arranged at intervals along the first direction, and each area laser sensing device has a sensing area for sensing container vehicles and detecting that the container vehicles enter its sensing area and/or leave its sensing area. Sensing information of the area. The control device is signal-connected with the scanning device and the multiple regional laser sensing devices, and controls the scanning device to check the container vehicles according to the sensing information of the multiple regional laser sensing devices.

The container vehicle inspection system realizes the passive scanning mode of the container vehicle inspection system by using an area laser sensing device instead of a diffuse reflection sensor and a light curtain sensor. The size and direction are conducive to accurately judging the position of the vehicle, and can reduce misoperations, thereby improving the success rate of inspection. Further, the container vehicle inspection system can also effectively reduce the number of sensors for detecting the position of the container vehicles, and reduce the cost of purchasing sensors. Furthermore, it can also effectively prevent false detection caused by the intrusion of personnel or foreign objects, and improve the safety of the container vehicle inspection system. In addition, it is also beneficial to reduce the difficulty of installation and shorten the installation man-hours.

In some embodiments, the multiple area laser sensing devices include at least two horizontal scanning laser sensing devices, and the sensing areas of the horizontal scanning laser sensing devices are substantially parallel to the ground. By arranging at least two horizontal scanning laser sensing devices, the sensing information of container vehicles entering or leaving their respective sensing areas or the sensing information of different horizontal scanning laser sensing devices can be sensed according to each horizontal scanning laser sensing device The combination realizes the control of the scanning device. Through this setting, more position information of container vehicles can be obtained by setting fewer regional laser sensing devices, thereby simplifying the inspection system and control process of container vehicles and saving costs.

Wherein, the sensing area of each horizontal scanning laser sensing device may not overlap or partially overlap with the sensing area of other horizontal scanning laser sensing devices.

For example, when only two horizontal scanning laser sensing devices are provided and the sensing areas of the two horizontal scanning laser sensing devices do not overlap in the first direction, the sensing information that can be obtained includes container vehicles entering and leaving the first The two sensing information of the sensing area of the horizontal scanning laser sensing device and the two sensing information of the container vehicle entering and leaving the second horizontal scanning laser sensing device, etc. Therefore, the control device can issue different manipulation instructions according to the sensing information sent by the two horizontal scanning laser sensing devices.

For another example, when only two horizontal scanning laser sensing devices are provided and the sensing areas of the two horizontal scanning laser sensing devices overlap in the first direction, a combination of sensing information can be obtained, including the container vehicle entering the first Combination of sensing information when the sensing area of the first horizontal scanning laser sensing device does not enter the sensing area of the second horizontal scanning laser sensing device, and the container vehicle enters the sensing area of the first horizontal scanning laser sensing device Combination of sensing information when entering the sensing area of the second horizontal scanning laser sensing device at the same time, the container vehicle leaves the sensing area of the first horizontal scanning laser sensing device without leaving the second horizontal scanning laser sensing device combination of sensing information when the container vehicle leaves the sensing area of the first horizontal scanning laser sensing device and the sensing area of the second horizontal scanning laser sensing device, etc. Therefore, the control device can issue different manipulation instructions according to the combination of the sensing information sent by the two horizontal scanning laser sensing devices.

With more horizontally scanning laser sensing devices, more sensing information or combinations of sensing information can be provided, and thus more complex control can be performed.

In some embodiments, the multiple area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing area of the vertical scanning laser sensing device is substantially perpendicular to the first direction and the ground. The vertical scanning laser sensing device can provide more sensing information for the control device, so that more complex control can be performed, or it can cooperate with the horizontal scanning laser sensing device to make the position information of the container vehicle more accurate, so as to reduce operational errors Rate.

Embodiments of the present invention will be described in detail below with reference to FIG. 1 to FIG. 5 .

In this embodiment, the container vehicle inspection system 1 is a vehicle-mounted container vehicle inspection system 1 , including a vehicle carrying a scanning device. As shown in FIG. 1 , the first direction in this embodiment is the left-right direction shown in FIG. 1 , that is, set along the front-rear direction of the carrying vehicle.

As shown in Figure 1, in this embodiment, multiple regional laser sensing devices include: a first regional laser sensing device Q1, a second regional laser sensing device Q2, a third regional laser sensing device Q3 and a fourth regional laser sensing device Laser sensor device Q4.

The area laser sensing device can emit pulsed laser beams at a certain scanning frequency to perform laser scanning within the scanning angle range, and can limit the scanning area of the area laser sensing device, thereby limiting the sensing area of the area laser sensing device.

As shown in Figures 1 and 2, the first area laser sensing device Q1 is spaced apart from the radiation source in the first direction, the sensing area of the first area laser sensing device Q1 is substantially parallel to the ground, and is in the first direction. It covers upwardly the area from the vertical median plane R of the radiation beam to the first area laser sensing device Q1.

As shown in Figure 2, the sensing area of the first area laser sensing device Q1 includes two parts, one part is close to the vertical mid-section plane R of the radiation beam of the radiation source and away from the sensing area of the first area laser sensing device Q1. Part of the measuring area S3 is the sensing area S4 close to the first area laser sensing device Q1.

As shown in Figure 1 and Figure 3, the second area laser sensing device Q2 is arranged on the side of the first area laser sensing device Q1 close to the radiation source in the first direction, and the sensor of the second area laser sensing device Q2 The detection area is substantially parallel to the ground, and covers a first distance from the second area laser sensing device Q2 towards the side of the radiation source and across the radiation source in the first direction.

As shown in FIG. 1 and FIG. 3 , in some embodiments, in the first direction, the second area laser sensing device Q2 is disposed between the first area laser sensing device Q1 and the radiation source.

As shown in Figure 1 and Figure 3, in the first direction, the second area laser sensing device Q2 also covers at least the second area from the second area laser sensing device Q2 towards the first area laser sensing device Q1 side. distance. Wherein, in some embodiments, in the first direction, the second distance is smaller than the distance between the second area laser sensing device Q2 and the third area laser sensing device Q3 .

As shown in FIG. 3 , in this embodiment, the sensing area of the second area laser sensing device Q2 includes sensing subregions S1 and sensing subregions S2 located on both sides of the vertical mid-section plane R of the radiation beam output by the radiation source . Wherein, in FIG. 3 , the distance of the sensing subregion S1 in the left-right direction in the figure is the first distance, and the distance of the sensing sub-region S2 in the left-right direction in the figure is the second distance.

As shown in Figure 1 and Figure 4, the third area laser sensing device Q3 is arranged between the first area laser sensing device Q1 and the second area laser sensing device Q2 in the first direction, the third area laser sensing device The sensing area of the device Q3 is substantially perpendicular to the ground.

As shown in FIG. 4 , in this embodiment, the sensing area S5 of the third area laser sensing device Q3 is generally square, but diverges at a large angle on the laser emitting side.

As shown in Figures 1 and 4, the fourth regional laser sensing device Q4 is arranged on the side of the radiation source opposite to the third regional laser sensing device Q3 in the first direction, and the fourth regional laser sensing device Q4 The sensing area is substantially perpendicular to the ground.

As shown in FIG. 5 , in this embodiment, the shape of the sensing area S6 of the fourth area laser sensing device Q4 is similar to the shape of the sensing area S5 of the third area laser sensing device Q3 .

The sensing areas or sensing zones of the laser sensing devices in each area can be preset by the control device, and can also be adjusted by the control device.

Wherein, the control device may be any device capable of performing required control functions, such as a computer or a PCL controller.

As shown in Figure 1, in some embodiments, the first area laser sensing device Q1, the second area laser sensing device Q2, the third area laser sensing device Q3 and/or the fourth area laser sensing device Q4 are set on the carrying vehicle.

As shown in Figure 1, in the present embodiment, the carrying vehicle includes a headstock 11, a chassis, a body 12 and a turntable 14, the body 12 and the turntable 14 are arranged on the chassis, the turntable 14 is positioned at the rear of the body 12, and the container vehicle inspection system 1 passes through the turntable 14 is carried on the vehicle body 12 . The first area laser sensing device Q1 is arranged at the rear of the headstock 11 of the carrying vehicle. The second area laser sensing device Q2 is arranged on the turntable 14 or on the chassis near the turntable 14 . The third area laser sensor device Q3 is arranged on the vehicle body 12 . The container vehicle inspection system 1 further includes a bracket 15 on which the fourth area laser sensing device Q4 is arranged. In this embodiment, the bracket 15 is a vertical rod.

As shown in FIG. 1 , the scanning device includes a scanning frame 13 disposed on a turntable 14 . The scanning frame 13 rotates to the outside of the vehicle and forms a portal frame with the vehicle body when the container vehicle inspection system 1 is working. The scanning frame 13 can be rotated and folded on the vehicle body 12 when the container vehicle inspection system 1 is not working or is running. The radiation source is arranged on the scanning frame 13 .

It should be noted that the above embodiments are only exemplary, and various modifications can be made to realize their functions. For example, the number and position of multiple regional laser sensing devices, or the size or angle of the sensing area can be appropriately changed according to detection requirements.

For example, in the foregoing embodiments, the third area laser sensing device Q3 and the fourth area laser sensing device Q4 are not necessary, and only one may be provided. When only the third area light sensing device Q3 is set in the two, when the container vehicle is inspected in passive scanning mode, it can indicate that the inspected vehicle can only go from the side of the radiation source to the side of the first area laser sensing device Q1 drive. When only the fourth area light sensing device Q4 is installed in the two, it can indicate that the inspected vehicle can only drive from the side of the first area laser sensing device Q1 to the side of the radiation source when performing passive inspection on container vehicles.

For another example, multiple regional laser sensing devices can be set as follows: the installation heights of at least two regional laser sensors in multiple regional laser sensing devices are different; and/or, at least two regional laser sensors in multiple regional laser sensing devices The sensing areas of the sensors are arranged at an angle; and/or, the sensing area of at least one area laser sensor in the plurality of area laser sensing devices is approximately parallel to the ground, and the sensing area of at least one area laser sensor is approximately perpendicular to the ground; And/or, the sensing area of one area laser sensor in the sensing areas of every two adjacent area laser sensors in a plurality of area laser sensing devices is approximately parallel to the ground, while the sensing area of the other area laser sensor is approximately perpendicular to the ground. ground.

This embodiment also provides a container vehicle inspection method for performing radiation inspection on container vehicles according to the aforementioned container vehicle inspection system 1, including: each area laser sensor device detects that the container vehicle enters its sensing area and/or leaves its sensing area The sensing information of the sensing area; and the control device controls the scanning device to check the container vehicle according to the sensing information of the plurality of area laser sensing devices.

The control device controls the scanning device to check the container vehicle according to the sensing information of multiple area laser sensing devices, including performing the following operations according to the change of the sensing information: manipulating the radiation scanning device to switch to a passive scanning mode; manipulating the radiation source preheating; manipulating the radiation source to output radiation beams; manipulating the radiation source to stop outputting radiation beams.

In some embodiments, the multiple area laser sensing devices of the container vehicle inspection system include the aforementioned first area laser sensing device Q1, the second area laser sensing device Q2, and further include the aforementioned third area laser sensing device device Q3 and/or fourth area laser sensing device Q.

At this time, when the container vehicle enters the scanning channel from the side of the radiation source opposite to the first regional laser sensing device Q1 in the first direction, the container vehicle inspection method includes: sensing by the second regional laser sensing device Q2 When the container vehicle is sensed in the detection area, the radiation scanning device switches to passive scanning mode; when the sensing area of the first area laser sensing device Q1 senses the container vehicle, the control device manipulates the radiation source to preheat; the first area laser When the sensing area of the sensing device Q1 and the third area laser sensing device Q3 senses the container vehicle at the same time, the radiation source outputs a radiation beam; the sensing area of the second area laser sensing device Q2 senses that the container vehicle is leaving , the radiation source stops outputting the radiation beam.

In the first direction, when the container vehicle enters the scanning channel from the side of the first regional laser sensing device Q1 of the radiation source, the container vehicle inspection method includes: the sensing area of the first regional laser sensing device Q1 senses For container vehicles, the radiation scanning device switches to passive scanning mode; when the sensing areas of the first area laser sensing device Q1 and the second area laser sensing device Q2 simultaneously sense container vehicles or the first area laser sensing device Q1 When the sensing area of the third area laser sensing device Q3 senses the container vehicle at the same time, the control device manipulates the radiation source to preheat; when the fourth area laser sensing device Q4 senses the container vehicle, the radiation source outputs a radiation beam ; When the sensing area of the second area laser sensing device Q2 senses that the container vehicle is moving away, the radiation source stops outputting the radiation beam.

A specific operational example of the container vehicle inspection method of this embodiment will be described below with reference to FIGS. 1 to 5 , and the operational example can be changed accordingly according to control requirements.

When the detected container vehicle enters the scanning channel of the container vehicle inspection system 1 from left to right (the left and right directions shown in FIG. 1 ), it is first sensed by the sensing zone S1 of the second area laser sensor device Q2, The control device controls the container vehicle inspection system 1 to enter the passive scanning mode. When the container vehicle is sensed by the sensing zone S3 of the laser sensor device Q1 in the first area, the control device judges that the head 11 of the detected container vehicle has reached the position where the radiation source emits the radiation beam, and the radiation source is preheated to prepare for scanning. . When the container vehicle is sensed by the sensing zone S4 of the first regional laser sensing device Q1 and the sensing region S5 of the third regional laser sensing device Q3, the control device judges that the vehicle head 11 has avoided the radiation beam emitted by the radiation source. After reaching a safe position, the radiation source of the scanning device starts to output radiation beams for scanning. When the sensing zone S2 of the second area laser sensing device Q2 senses that the rear of the detected container vehicle leaves the sensing zone S2, it is considered that the entire container vehicle has passed the position where the radiation source of the scanning device emits the radiation beam , you can stop scanning, and the scanning process ends.

When the detected container vehicle enters the scanning channel from right to left (the left and right directions shown in Figure 1), it is first sensed by the sensing zone S4 of the first area laser sensor device Q1, and the control device controls the inspection of the container vehicle. System 1 starts in passive scan mode. When the container vehicle is simultaneously sensed by the sensing area S3 of the first area laser sensing device Q1 and the sensing area S2 of the second area laser sensing device Q2, or by the sensing of the first area laser sensing device Q1 When the subarea S3 and the sensing area S5 of the third area laser sensing device Q3 are simultaneously sensed, the control device judges that the head 11 of the detected container vehicle has arrived at the position where the radiation source emits the radiation beam, and the radiation source is preheated, ready to start scanning . When the container vehicle is sensed by the sensing zone S6 of the laser sensor device Q4 in the fourth area, the control device judges that the vehicle head 11 has avoided the position where the radiation source emits the radiation beam and has reached a safe position, and the radiation source of the scanning device starts to output radiation. beam scan. When the sensing zone S1 of the second area laser sensing device Q2 senses that the rear of the detected container vehicle leaves the sensing zone S1, it is considered that the entire container vehicle has passed the position where the radiation source of the scanning device emits the radiation beam , you can stop scanning, and the scanning process ends.

The container vehicle inspection method in the embodiment of the present invention has the same advantages as the container vehicle inspection device in the embodiment of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: the present invention can still be Modifications to the specific implementation of the invention or equivalent replacement of some technical features; without departing from the spirit of the technical solution of the present invention, should be included in the scope of the technical solution claimed in the present invention.

Claims (17)

1. A container vehicle inspection system (1), having a scanning channel extending along a first direction for the container vehicle to pass through, is characterized in that, comprising: a scanning device comprising a radiation source for outputting a radiation beam for inspection of said container vehicle; A plurality of area laser sensing devices arranged at intervals along the first direction, each of the area laser sensing devices has a sensing area for sensing the container vehicle and detecting that the container vehicle enters its sensing area and/or sensed information leaving its sensing area; and A control device is in signal connection with the scanning device and the multiple area laser sensing devices, and operates the scanning device to inspect the container vehicle according to the sensing information of the multiple area laser sensing devices. 2. The container vehicle inspection system (1) according to claim 1, characterized in that, the multiple area laser sensing devices comprise at least two horizontal scanning laser sensing devices, and the horizontal scanning laser sensing devices The sensing area is substantially parallel to the ground. 3. The container vehicle inspection system (1) according to claim 2, characterized in that, the multiple area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing device of the vertical scanning laser sensing device The measurement area is substantially perpendicular to the first direction and the ground. 4. The container vehicle inspection system (1) according to claim 2, characterized in that the heights of the sensing areas of the at least two horizontal scanning laser sensing devices are different. 5. The container vehicle inspection system (1) according to claim 2, characterized in that the at least two horizontal scanning laser sensing devices comprise: The first area laser sensing device (Q1) is arranged at a distance from the radiation source in the first direction, and the sensing area of the first area laser sensing device (Q1) covers in the first direction the area from the split plane (R) of said radiation beam to said first area laser sensing device (Q1); The second area laser sensing device (Q2) is arranged on the side of the first area laser sensing device (Q1) close to the radiation source in the first direction, and the second area laser sensing device The sensing area of the device (Q2) covers in said first direction a first distance from said second area laser sensing device (Q2) towards the side of said radiation source and across said radiation source. 6. The container vehicle inspection system (1) according to claim 5, characterized in that, in the first direction, the second area laser sensor device (Q2) is arranged on the first area laser sensor between the sensing device (Q1) and the radiation source. 7. The container vehicle inspection system (1) according to claim 5, characterized in that, in the first direction, the first distance is smaller than the distance between the second area laser sensing device (Q2) and the The distance between the fourth zone laser sensing devices (Q4). 8. The container vehicle inspection system (1) according to claim 5, characterized in that, in the first direction, the second area laser sensing device (Q2) also covers at least The laser sensing device (Q2) begins a second distance towards the side of the laser sensing device (Q1) of said first area. 9. The container vehicle inspection system (1) according to claim 5, characterized in that the multiple area laser sensing devices include at least one vertical scanning laser sensing device, and the sensing device of the vertical scanning laser sensing device The measurement area is substantially perpendicular to the first direction and the ground, and the at least one vertical scanning laser sensing device includes: A third area laser sensing device (Q3), disposed between the first area laser sensing device (Q1) and the second area laser sensing device (Q2) in the first direction; and/ or, The fourth area laser sensing device (Q4) is arranged on the side of the radiation source opposite to the first area laser sensing device (Q1) in the first direction, and the second area laser sensor The sensing device (Q2) is located between the first area laser sensing device (Q1) and the fourth area laser sensing device (Q4). 10. The container vehicle inspection system (1) according to claim 9, characterized in that, in the first direction, the second distance is smaller than the distance between the second area laser sensing device (Q2) and the The distance between the third zone laser sensing devices (Q3). 11. The container vehicle inspection system (1) according to claim 9, characterized in that, the container vehicle inspection system (1) is a vehicle-mounted container vehicle inspection system (1), comprising a carrying vehicle carrying the scanning device , the first area laser sensing device (Q1), the second area laser sensing device (Q2), the third area laser sensing device (Q3) and/or the fourth area laser sensing device The device (Q4) is arranged on the carrying vehicle. 12. The container vehicle inspection system (1) according to claim 9, characterized in that, the carrying vehicle comprises a headstock (11), a chassis, a vehicle body (12) and a turntable (14), and the vehicle body (12) and The turntable (14) is arranged on the chassis, the turntable (14) is located behind the vehicle body (12), and the container vehicle inspection system (1) is carried on the body through the turntable (14) (12), where, The first area laser sensing device (Q1) is arranged at the rear of the front (11) of the carrying vehicle; and/or, The second area laser sensing device (Q2) is arranged on the turntable (14) or on a chassis near the turntable (14); and/or, The third area laser sensing device (Q3) is arranged on the vehicle body (12). 13. The container vehicle inspection system (1) according to claim 9, characterized in that, the container vehicle inspection system (1) further comprises a bracket (15), and the fourth area laser sensing device (Q4) is arranged on the support (15). 14. The container vehicle inspection system (1) according to claim 1, characterized in that, The installation heights of at least two of the area laser sensors in the plurality of area laser sensing devices are different; and/or, Sensing areas of at least two of the area laser sensors in the plurality of area laser sensing devices are arranged at an included angle; and/or, The sensing area of at least one of the area laser sensors in the plurality of area laser sensing devices is approximately parallel to the ground, and the sensing area of at least one of the area laser sensors is approximately perpendicular to the ground; and/or, In the sensing areas of every two adjacent area laser sensors of the plurality of area laser sensing devices, the sensing area of one area laser sensor is approximately parallel to the ground, while the sensing area of the other area laser sensor The area is roughly perpendicular to the ground. 15. A container vehicle inspection method for applying the container vehicle inspection system (1) according to any one of claims 1 to 14 to perform radiation inspection on container vehicles, characterized in that it comprises: Each of the area laser sensing devices detects sensing information that the container vehicle enters its sensing area and/or leaves its sensing area; and The control device operates the scanning device to inspect the container vehicle according to the sensing information of the plurality of area laser sensing devices. 16. The container vehicle inspection method according to claim 15, characterized in that, the control device manipulating the scanning device to inspect the container vehicle according to the sensing information of the multiple area laser sensing devices includes according to the Changes in sensing information perform the following operations: manipulating the radiation scanning device to switch to a passive scanning mode; manipulating the radiation source to preheat; manipulating the radiation source to output a radiation beam; The radiation source is manipulated to cease outputting a radiation beam. 17. The container vehicle inspection method according to claim 16, characterized in that the container vehicle inspection system (1) is the container vehicle inspection system (1) according to any one of claims 9 to 13, wherein, In the first direction, when the container vehicle enters the scanning channel from the side of the radiation source opposite to the first area laser sensing device (Q1), the container vehicle inspection method includes : when the sensing area of the second area laser sensing device (Q2) senses the container vehicle, the radiation scanning device switches to a passive scanning mode; the first area laser sensing device (Q1) When the sensing area senses the container vehicle, the control device manipulates the radiation source to preheat; the sensing area of the first area laser sensing device (Q1) and the third area laser sensing device (Q3) When the container vehicle is sensed in the detection area at the same time, the radiation source outputs a radiation beam; when the sensing area of the second area laser sensing device (Q2) senses that the container vehicle is moving away, the radiation the source ceases to output a radiation beam; or, In the first direction, when the container vehicle enters the scanning channel from the side of the first area laser sensing device (Q1) of the radiation source, the container vehicle inspection method includes: When the sensing area of the first area laser sensing device (Q1) senses the container vehicle, the radiation scanning device switches to passive scanning mode; the first area laser sensing device (Q1) and the When the sensing area of the second area laser sensing device (Q2) simultaneously senses the container vehicle, or the first area laser sensing device (Q1) and the third area laser sensing device (Q3) When the sensing area of the fourth area senses the container vehicle at the same time, the control device manipulates the radiation source to preheat; when the fourth area laser sensing device (Q) senses the container vehicle, the radiation source Outputting radiation beams; when the sensing area of the second area laser sensing device (Q2) senses that the container vehicle is moving away, the radiation source stops outputting radiation beams.