CN106908852A - AGV type vehicle inspection systems - Google Patents
AGV type vehicle inspection systems Download PDFInfo
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- CN106908852A CN106908852A CN201710232412.1A CN201710232412A CN106908852A CN 106908852 A CN106908852 A CN 106908852A CN 201710232412 A CN201710232412 A CN 201710232412A CN 106908852 A CN106908852 A CN 106908852A
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- 238000007689 inspection Methods 0.000 title claims abstract description 110
- 230000005611 electricity Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
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Abstract
The invention provides a kind of AGV types vehicle inspection system, including：Car is checked from walking, is included vehicle main body from walking inspection car and is installed on the arm support of vehicle main body；Vehicle main body is provided with self actuating system and walks straight control system, so as to check that car can be moved according to predetermined guide path from walking；The passage passed through for vehicle to be checked is formed between arm support and vehicle main body, arm support is provided with ray inspection arrangement, for when checking that car is moved to the corresponding position of vehicle to be checked from walking, safety inspection being carried out to vehicle to be checked.The technical scheme, check car including being installed on the self actuating system of vehicle main body and walking straight control system from walking, enable to check that car is moved according to predetermined guide path from walking, and the limitation without track is effectively ensured the accuracy that car moving direction is checked from walking, so that the safety inspection for checking vehicle-to-vehicle from walking is not limited by place, convenient conversion checks place, effectively improves the flexibility of inspection.
Description
Technical field
Apparatus field is checked the present invention relates to ray scanning, more specifically, is related to a kind of AGV types vehicle inspection system.
Background technology
At present, safety inspection is generally carried out to importing and exporting vehicle by vehicle inspection system in customs.Existing combination is moved
Dynamic formula vehicle inspection system, its mobile inspection equipment for using generally needs to be moved along the track for designing, that is, move inspection and set
Standby movement is limited by track, so as to the inspection place for causing vehicle inspection system is limited, influences the flexibility for checking.
The content of the invention
Present invention seek to address that at least one technical problem present in prior art.
Therefore, of the invention be, there is provided a kind of AGV types vehicle inspection system.
To achieve the above object, technical scheme provides a kind of AGV (Automated Guided
Vehicle, automatical pilot transportation vehicle) type vehicle inspection system, including：Car is checked from walking, it is described to check that car includes from walking
Vehicle main body and it is installed on the arm support of the vehicle main body；Wherein, the vehicle main body is provided with self actuating system and walks straight control system,
So that described check that car can be moved according to predetermined guide path from walking；Confession is formed between the arm support and the vehicle main body
The passage that vehicle to be checked passes through, the arm support is provided with ray inspection arrangement, for checking that car is moved to institute from walking described
When stating the corresponding position of vehicle to be checked, safety inspection is carried out to the vehicle to be checked.
The AGV type vehicle inspection systems that above-mentioned technical proposal of the present invention is provided, check that car includes being installed on car owner from walking
The self actuating system of body and straight control system is walked, enable to check that car is moved according to predetermined guide path from walking, and nothing
Need the limitation of track that the accuracy that car moving direction is checked from walking is effectively ensured, so that checking vehicle-to-vehicle from walking
Safety inspection is not limited by place, and can will check that car is moved to from walking as needed needs to carry out safety inspection to vehicle
Place (as that will check that car is transported to the place for needing to carry out vehicle safety inspection from walking using transport vehicle), convenient conversion inspection
Place is looked into, the flexibility of inspection is effectively improved；Specifically, behind vehicle parking to be checked to parking areas, car is checked from walking
Be moved to position corresponding with vehicle to be checked according to predetermined guide path, make vehicle to be checked be located at from walking check car arm support with
The passage area formed between vehicle main body, safety inspection is carried out by the ray inspection arrangement being located on arm support to vehicle to be checked.
It should be noted that the vehicle main body is the car body with independent driving system, the arm support is by the vehicle main body
Side stretch out, it is preferable that the arm support is removably mounted in the vehicle main body, described when the arm support is removed
Vehicle main body can be used as independent mobile device.
In addition, the AGV types vehicle inspection system that above-mentioned technical proposal of the present invention is provided can also have following technical characteristic：
In the above-mentioned technical solutions, it is described walk straight control system include：Reflecting plate, the predetermined of car is checked with described from walking
Guide path be arranged in parallel；First rangefinder, is located at the head end of the vehicle main body, head end and institute for measuring the vehicle main body
State the vertical range of reflecting plate；Second rangefinder, is located at the tail end of the vehicle main body, for measure the tail end of the vehicle main body with
The vertical range of the reflecting plate；And guider, for the measurement according to first rangefinder and second rangefinder
As a result, check that car sends navigation signal from walking to described, so that described check that car is moved according to predetermined guide path from walking.
In order to ensure to check that car can be moved according to default guide path from walking, the head end of car is being checked from walking respectively
Rangefinder is set with tail end, when the distance that two rangefinders are detected is differed, illustrates to check that car movement is inclined from walking, then
The moving direction that car is checked from walking is adjusted by guider so that check that car is moved according to predetermined guide path from walking.
In the above-mentioned technical solutions, the ray inspection arrangement includes：Radiographic source and the detection relative with the radiographic source
Device, the region between the radiographic source and the detector is provided with the area that parks, and the area that parks is to be examined from walking parallel to described
The strip region that the predetermined guide path of car is set is looked into, the ray inspection arrangement can be pointed to the institute parked in area
Stating vehicle to be checked carries out safety inspection；When the vehicle main body drives the arm support to be moved to the corresponding position of the vehicle to be checked
When, the ray inspection arrangement carries out safety inspection to the vehicle to be checked.
When vehicle parking to be checked between radiographic source and detector park area when, from walking check car according to predetermined guiding
Path is moved to position corresponding with vehicle to be checked, and the corresponding position ensures the ray of the radiographic source transmitting of ray inspection arrangement
Can launch to vehicle to be checked, while ensure to be received by a detector through the ray of vehicle to be checked, radiographic source is to treating
Inspection vehicle emissions ray, detector receives the ray passed through from vehicle to be checked, safety inspection is carried out to vehicle to be checked.
In the above-mentioned technical solutions, the arm support include horizontal arm support and vertical arm support, one end of the horizontal arm support with
The vehicle main body is connected, and the other end of the horizontal arm support is connected with the upper end of the vertical arm support；Wherein, the horizontal arm support
It is rotatably connected with the vehicle main body, so that the horizontal arm support can be rotated to the direction closer or far from the vehicle main body；
And/or, the vertical arm support is rotatably connected with the horizontal arm support, so that the vertical arm support can be to closer or far from institute
The direction for stating horizontal arm support rotates.
Horizontal arm support and vertical arm support are used to install radiographic source or detector, and horizontal arm support is rotatably connected with vehicle main body,
And/or, vertical arm support is rotatably connected with horizontal arm support, so transport or during converting field, by rotating vertical straight arm frame or water
Flat arm support, can by vertical arm support and horizontal arm support to folding together so that reduce horizontal arm support and vertical arm support laterally and/
Or the upper occupied space length in longitudinal direction, and then convenient walking certainly checks car transport or converting field.
In any of the above-described technical scheme, the self actuating system includes：Be installed on the vehicle main body bottom movable pulley,
Drive motor and check that car provides the supply unit of electric power to the whole walking certainly that the movable pulley is rotated.
By installing the movable pulley with vehicle main body bottom, realize checking car autonomous on the ground from walking, and nothing
Need to be moved along track, improve the flexibility that car movement is checked from walking.
In the above-mentioned technical solutions, the supply unit is battery；The AGV types vehicle inspection system also includes：Charge
Stake, is connected for being set up with the battery at the position where the walking certainly checks that car is moved to the charging pile, so that
External power source is charged by the charging pile to the battery.
It is to check that car is powered from walking by battery, and movement is so efficiently solved for battery charges by charging pile
The problem of cable, makes to be checked on car there is no cable connection from walking, improves from walking and checks the reliability that car is used；And have
Effect solves the problems, such as to check that car cannot continue detection because of transient-power failure from walking, is one especially in unstable power region
Extraordinary solution.
Specifically, when vehicle parking to be checked to parking areas, check that car is moved according to predetermined guide path from walking
To position corresponding with vehicle to be checked, safety inspection is carried out to vehicle to be checked；When the electricity that the battery that car is powered is checked to walk certainly
When amount is not enough, check that car is moved to charging pile position from walking, charging pile is set up with battery and be connected, by external power source
Battery is charged, so as to ensure to check that car continues to carry out safety inspection to vehicle to be checked from walking.
In the above-mentioned technical solutions, the charging pile is additionally operable to, when the charging pile and the battery are set up and be connected, cut
Shift to external power source and check that car provides electric power to the whole walking certainly.
When checking that car is moved to charging pile position from walking, external power source is switched to checking that car is carried out from walking
Power supply, while ensureing to check car normal work from walking, to reduce battery loss, lifts battery charging rate, and extend
Battery；It is of course also possible to check that car is powered from walking to described using battery all the time.
In the above-mentioned technical solutions, the charging pile is set up by way of pantograph or wirelessly with the battery
Connection.
Charging pile can be set up with battery using pantograph backup mode and is connected, i.e., connect using pantograph backup mode
Touch power supply；Charging pile can be also connected using wirelessly being set up with battery, i.e., battery is charged using wireless mode；Above-mentioned two
The mode of kind, easy to connect, good reliability.
In the above-mentioned technical solutions, the one or both ends of the predetermined guide path that car is checked from walking are provided with described filling
Electric stake；The AGV types vehicle inspection system also includes：Battery charge controller is small for the current residual electricity in the battery
When pre-set threshold value, check that car sends charging control signal from walking to described, so that described check that car is moved to institute from walking
Position where stating charging pile is battery charging.
It should be noted that described pre-set threshold value can check situation of the car not checking, only mobile according to from walking
Under determine according to the predetermined guide path electricity that is consumed of movement one way stroke, it is enough with the current residual electricity for ensureing battery
Support checks that car is moved to charging pile position and is charged from walking.
Certainly, described pre-set threshold value can also check that car moves one way row according to predetermined guide path slightly larger than from walking
The electricity of Cheng Suoxu, the pre-set threshold value determined by above-mentioned technical proposal can be a definite value；Described pre-set threshold value can be with
Comprehensively determine according to the parameters such as distance, the current residual electricity of battery of car current distance charging pile are checked from walking, at this
In the case of determine pre-set threshold value can be a variable.
In the above-mentioned technical solutions, the battery-disassembled ground is arranged in the vehicle main body.
Detachable form is designed cells into, is on the one hand easy to pull down on battery and is changed；On the other hand when battery
Current residual electricity be not enough to support it is mobile from walking check that car is moved to charging pile position when, can by battery pull down into
After row charges, then it is to check that car is powered from walking to install；Battery and vehicle main body can be using the fixation sides of any conventional design
Formula is detachably connected, such as clamping connection, mode connects for screw.
In any of the above-described technical scheme, described AGV type vehicle inspection systems also include：Radio communication device, it is described
Ray inspection arrangement is set up wireless network and is connected by the radio communication device and terminal, the inspection of the ray inspection arrangement
Result is sent to terminal by the radio communication device.
Data transfer between ray inspection arrangement and terminal is realized by wireless network, directly avoids checking car from walking
It is upper to also have any cable being connected with external equipment, so as to further solve the problems, such as mobile cable, make to check car from walking
On there is no cable connection, improve from walking and check the reliability that uses of car.
Additional aspect of the invention and advantage will become obvious in following description section, or by practice of the invention
Recognize.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the schematic block diagram of AGV types vehicle inspection system described in one embodiment of the invention；
Fig. 2 is the dimensional structure diagram of AGV types vehicle inspection system described in one embodiment of the invention；
Fig. 3 is the main structure diagram of AGV types vehicle inspection system described in one embodiment of the invention；
Fig. 4 is the overlooking the structure diagram of AGV types vehicle inspection system described in one embodiment of the invention；
Fig. 5 is the right side structural representation of AGV types vehicle inspection system described in one embodiment of the invention.
Wherein, the corresponding relation between the reference and component names in Fig. 1 to Fig. 5 is：
10AGV type vehicle inspection systems, 12 walk certainly checks car, 120 vehicle main bodies, 122 arm supports, 1222 horizontal arm supports,
1224 vertical arm supports, 124 walk straight control system, 1242 reflecting plates, 1,244 first rangefinders, 1,246 second rangefinders, and 1248 lead
Boat device, 126 self actuating systems, 1262 movable pulleys, 1264 motors, 1266 batteries, 128 ray inspection arrangements, 1282 penetrate
Line source, 1284 detectors, 14 charging piles, 142 charging telescopic devices, 16 battery charge controllers, 18 radio communication devices, 20 cars to be checked
, 30 park area.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied to be further described in detail the present invention.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from mode described here using other, therefore, protection scope of the present invention does not receive following public tool
The limitation of body embodiment.
The AGV type vehicle inspection systems that 1 to Fig. 5 descriptions are provided according to some embodiments of the invention below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, some embodiments of the present invention provide a kind of AGV types vehicle inspection system 10, including：
Car 12 is checked from walking, is included vehicle main body 120 from walking inspection car 12 and is installed on the arm support 122 of vehicle main body 120；Wherein, car
Main body 120 is provided with self actuating system 126 and walks straight control system 124, so as to check that car 12 can lead according to predetermined from walking
Lead the way footpath movement；The passage passed through for vehicle to be checked is formed between arm support 122 and vehicle main body 120, arm support 122 is provided with ray
Check device 128, for when checking that car 12 is moved to 20 corresponding position of vehicle to be checked from walking, being carried out to vehicle to be checked 20
Safety inspection.
The AGV types vehicle inspection system 10 that the above embodiment of the present invention is provided, checks that car 12 includes being installed on car from walking
The self actuating system 126 of main body 120 and straight control system 124 is walked, enable to check car 12 according to predetermined guide path from walking
Move, and the limitation without track is effectively ensured the accuracy that the moving direction of car 12 is checked from walking, so that voluntarily
Walk to check that safety inspection of the car 12 to vehicle is not limited by place, can will check that car 12 is moved to needs from walking as needed
The place of safety inspection is carried out to vehicle (as that will be transported to needing to carry out safety to vehicle from walking inspection car 12 using transport vehicle
The place of inspection), inspection place is convenient for changing, effectively improve the flexibility of inspection；Specifically, when vehicle to be checked 20 stop to
Behind parking areas, from walking check car 12 according to predetermined guide path be moved to the corresponding position of vehicle to be checked 20, make to be checked
Vehicle 20 is located at the passage area formed between arm support 122 and vehicle main body 120 that car 12 is checked from walking, by being located at arm support
Ray inspection arrangement 128 on 122 carries out safety inspection to vehicle to be checked 20.
In one specific embodiment, as shown in Figure 2 and Figure 5, vehicle main body 120 is the car body with independent driving system, arm
Frame 122 is stretched out by the side of vehicle main body 120, it is preferable that arm support 122 is removably mounted in vehicle main body 120, when arm support 122
When being removed, vehicle main body 120 can be used as independent mobile device.
In some embodiments of the invention, include as shown in figure 1, walking straight control system 124：Reflecting plate 1242, first
Rangefinder 1244, the second rangefinder 1246 and guider 1248.Wherein, reflecting plate 1242 checks the predetermined of car 12 with from walking
Guide path be arranged in parallel；First rangefinder 1244 is located at the head end of vehicle main body 120, for measure the head end of vehicle main body 120 with
The vertical range of reflecting plate 1242；Second rangefinder 1246 is located at the tail end of vehicle main body 120, the tail for measuring vehicle main body 120
End and the vertical range of reflecting plate 1242；Guider 1248 is used for according to the first rangefinder 1244 and the second rangefinder 1246
Measurement result, checks that car 12 sends navigation signal to from walking, so as to check that car 12 is moved according to predetermined guide path from walking.
In order to ensure to check that car 12 can be moved according to default guide path from walking, car 12 is being checked from walking respectively
Head end and tail end set rangefinder, when the distance that two rangefinders are detected is differed, illustrate to check that car 12 is moved from walking
Partially, then the moving direction that car 12 is checked from walking is adjusted by guider 1248 so that check car 12 according to pre- from walking
Determine guide path movement.
In some embodiments of the invention, as shown in Figure 2 and Figure 4, ray inspection arrangement 128 includes：Radiographic source 1282
And the detector 1284 relative with radiographic source 1282, the region between radiographic source 1282 and detector 1284 is provided with the area 30 that parks,
Park area 30 be parallel to from walking check car 12 predetermined guide path set strip region, ray inspection arrangement 128
The vehicle to be checked 20 in area 30 that can be pointed to park carries out safety inspection；When vehicle main body 120 drive arm support 122 be moved to it is to be checked
During 20 corresponding position of vehicle, ray inspection arrangement 128 carries out safety inspection to vehicle to be checked 20.
When vehicle to be checked 20 stop between radiographic source 1282 and detector 1284 park area 30 when, from walking check car
12 are moved to and the corresponding position of vehicle to be checked 20, corresponding position guarantee ray inspection arrangement according to predetermined guide path
The ray of 128 transmitting of radiographic source 1282 can be launched to vehicle to be checked 20, while ensureing the ray through vehicle to be checked 20
Can be received by detector 1284, to the divergent-ray of vehicle to be checked 20, detector 1284 is received from car to be checked radiographic source 1282
20 rays for passing through, safety inspection is carried out to vehicle to be checked 20.
In some embodiments of the invention, as shown in Figure 2 and Figure 5, arm support 122 includes horizontal arm support 1222 and vertical arm
Frame 1224, one end of horizontal arm support 1222 is connected with vehicle main body 120, the other end of horizontal arm support 1222 and vertical arm support 1224
Upper end is connected；Wherein, horizontal arm support 1222 is rotatably connected with vehicle main body 120 so that horizontal arm support 1222 can near or
Direction away from vehicle main body 120 rotates；And/or, vertical arm support 1224 is rotatably connected with horizontal arm support 1222, so that vertical arm
Frame 1224 can be rotated to the direction closer or far from horizontal arm support 1222.
Horizontal arm support 1222 and vertical arm support 1224 are used to install radiographic source 1282 or detector 1284, horizontal arm support 1222
It is rotatably connected with vehicle main body 120, and/or, vertical arm support 1224 is rotatably connected with horizontal arm support 1222, so transports or turns
During carry over ground, by rotating vertical straight arm frame 1224 or horizontal arm support 1222, can be by vertical arm support 1224 and horizontal arm support 1222
To folding together, so as to reduce horizontal arm support 1222 and vertical arm support 1224 laterally and/or longitudinally to go up occupied space long
Degree, and then convenient walking certainly checks that car 12 is transported or converting field.
For example, one end of horizontal arm support 1222 is rotatably connected with vehicle main body 120, specifically, can use rotary shaft
Realize that horizontal arm support 1222 is rotatably connected with vehicle main body 120, enable the other end of horizontal arm support 1222 with horizontal arm support
Rotated in the horizontal direction centered on 1222 one end being connected with vehicle main body 120, so as to realize horizontal arm support 1222 to close or remote
Rotated from the direction of vehicle main body 120；The other end of horizontal arm support 1222 is rotatably connected with the upper end of vertical arm support 1224, specifically
Ground, can realize that vertical arm support 1224 is rotatably connected with horizontal arm support 1222 using rotary shaft, make the lower end of vertical arm support 1224
Can vertically be rotated centered on the upper end of vertical arm support 1224, thus realize vertical arm support 1224 along closer or far from
The direction of horizontal arm support 1222 rotates.
In some embodiments of the invention, as shown in Figures 2 and 3, self actuating system 126 includes：It is installed on vehicle main body
Motor 1264 and carried from walking inspection car 12 to whole that the movable pulley 1262 of 120 bottoms, driving movable pulley 1262 are rotated
The supply unit of power of powering.
By install with the movable pulley 1262 of the bottom of vehicle main body 120, realize checking on the ground autonomous of car 12 from walking
It is mobile, and without being moved along track, improve the flexibility that the movement of car 12 is checked from walking.
In one specific embodiment, as shown in Figure 2, Figure 3 and Figure 4, the supply unit is battery 1266；AGV type vehicles
Inspection system 10 also includes：Charging pile 14, at the position where walking certainly checks that car 12 is moved to charging pile 14 and electric
Connection is set up in pond 1266, so that external power source is charged by charging pile 14 to battery 1266.
It is to check that car 12 is powered from walking by battery 1266, and so has for battery 1266 charges by charging pile 14
Effect solves the problems, such as mobile cable, makes to be checked on car 12 there is no cable connection from walking, improves from walking and checks car 12
The reliability for using；And efficiently solve the problems, such as to check that car 12 cannot continue detection because of transient-power failure from walking, especially exist
Unstable power region is an extraordinary solution.
Specifically, when vehicle to be checked 20 is stopped to parking areas, check car 12 according to predetermined guide path from walking
Be moved to the corresponding position of vehicle to be checked 20, safety inspection is carried out to vehicle to be checked 20；Powered when for inspection car 12 of walking certainly
Battery 1266 not enough power supply when, from walking check car 12 be moved to the position of charging pile 14, make charging pile 14 and battery
1266 set up connection, and battery 1266 is charged by external power source, so as to ensure to check that car 12 continues to be checked from walking
Vehicle 20 carries out safety inspection.
Further, the charging pile 14 is additionally operable to, when charging pile 14 and battery 1266 are set up and be connected, switch to outside
Power supply checks that car 12 provides electric power to whole from walking.
When checking that car 12 is moved to 14 position of charging pile from walking, external power source is switched to checking car from walking
12 are powered, and while ensureing to check 12 normal work of car from walking, to reduce battery 1266 and be lost, lift battery 1266
Charging rate, and extend the service life of battery 1266；It is of course also possible to be checked from walking using described in 1266 pairs, battery all the time
Car 12 is powered.
In one embodiment, charging pile 14 is set up with battery 1266 by way of pantograph and is connected.
As shown in Figures 2 to 4, charging pile 104 is provided with charging telescopic device 142, vehicle main body 120 be provided with for charging
The connecting interface of the adaptation of expansion bend 142, charging telescopic device 142 is engaged with connecting interface, and realization is powered to battery 1266.
In another embodiment, charging pile 14 is wirelessly set up with battery 1266 and is connected.
Charging pile 14 can be set up with battery 1266 using pantograph backup mode and is connected, i.e., using pantograph backup mode
Carry out contact power supply；Charging pile 14 can be also connected using wirelessly being set up with battery 1266, i.e., using wireless mode to electricity
Charge in pond 1266；Above two mode, easy to connect, good reliability.
In one embodiment of the invention, check that the one or both ends of the predetermined guide path of car 12 are provided with from walking to fill
Electric stake 14；AGV types vehicle inspection system 10 also includes：Battery charge controller 16, for the current residual electricity in battery 1266
During less than pre-set threshold value, check that car 12 sends charging control signal to from walking, so as to check that car 12 is moved to charging from walking
Charged for battery 1266 position at the place of stake 14.
It should be noted that described pre-set threshold value can check feelings of the car 12 not checking, only mobile according to from walking
Determine according to the predetermined guide path electricity that is consumed of movement one way stroke under condition, to ensure the current residual electricity of battery 1266
Amount support enough checks that car 12 is moved to the position of charging pile 14 and is charged from walking.
Certainly, described pre-set threshold value can also check that car 12 moves one way according to predetermined guide path slightly larger than from walking
Electricity needed for stroke, the pre-set threshold value determined by above-described embodiment can be a definite value；Described pre-set threshold value can be with
According to parameters such as distance, the current residual electricities of battery 1266 from the walking inspection current distance charging pile 14 of car 12 come comprehensive true
Fixed, the pre-set threshold value for determining in this case can be a variable.
In the above embodiment, it is preferable that battery 1266 is removably mounted in vehicle main body 120.
Battery 1266 is designed to detachable form, is on the one hand easy to pull down on battery 1266 and is changed；On the other hand
When the current residual electricity of battery 1266 is not enough to the mobile walking certainly of support checks that car 12 is moved to 14 position of charging pile,
Battery 1266 can be pulled down after being charged, then it is to check that car 12 is powered from walking to install；Battery 1266 and vehicle main body 120
Can be detachably connected using the fixed form of any conventional design, such as clamping connection, mode connects for screw.
In some embodiments of the invention, described AGV types vehicle inspection system 10, also includes：Radio communication device
18, ray inspection arrangement 128 is set up wireless network and is connected by radio communication device 18 and terminal, ray inspection arrangement 128
Inspection result is sent to terminal by radio communication device 18.
Data transfer between ray inspection arrangement 128 and terminal is realized by wireless network, directly avoids being examined from walking
Look into and also have any cable being connected with external equipment on car 12, so as to further solve the problems, such as mobile cable, make from walking
Check on car 12 there is no cable connection, improve from walking and check the reliability that car 12 is used.
In sum, the AGV type vehicle inspection systems that the present invention is provided, check that car includes being installed on vehicle main body from walking
Self actuating system and straight control system is walked, enable to check that car is moved according to predetermined guide path from walking, and without rail
The limitation in road is effectively ensured the accuracy that car moving direction is checked from walking, so that checking the safety of vehicle-to-vehicle from walking
Inspection is not limited by place, can will check that car is moved to the ground for needing that safety inspection is carried out to vehicle from walking as needed
Side, is convenient for changing inspection place, effectively improves the flexibility of inspection.
In the description of the invention, it is to be understood that term " on ", D score, "front", "rear", "left", "right" etc. indicate
Orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention and simplification retouch
State, rather than indicate imply signified device or element must have specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.Term " connection ", " installation ", " fixation " etc. all should be interpreted broadly, for example,
" connection " can be fixedly connected, or be detachably connected, or be integrally connected；Can be joined directly together, it is also possible to logical
Intermediary is crossed to be indirectly connected to.For the ordinary skill in the art, above-mentioned term can as the case may be understood
Concrete meaning in the present invention.
In the description of this specification, term " first ", " second " are only used for the purpose of description, and it is not intended that indicating
Or relative importance is implied, unless otherwise clearly defined and limited；Term " one embodiment ", " some embodiments ", " specific
The description of embodiment " etc. means that the specific features, structure, material or the feature that are described with reference to the embodiment or example are contained in this hair
In at least one bright embodiment or example.In this manual, the schematic representation to above-mentioned term is not necessarily referring to phase
Same embodiment or example.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of AGV types vehicle inspection system, it is characterised in that including：
Car is checked from walking, including vehicle main body and be installed on the arm support of the vehicle main body；
Wherein, the vehicle main body is provided with self actuating system and walks straight control system, so that described check that car can be by from walking
According to the movement of predetermined guide path；
The passage passed through for vehicle to be checked is formed between the arm support and the vehicle main body, the arm support is provided with radiological survey X
Device, for it is described check that car is moved to the vehicle to be checked corresponding position from walking when, the vehicle to be checked is carried out
Safety inspection.
2. AGV types vehicle inspection system according to claim 1, it is characterised in that it is described walk straight control system include：
Reflecting plate, checks that the predetermined guide path of car be arranged in parallel with described from walking；
First rangefinder, is located at the head end of the vehicle main body, for measuring the head end of the vehicle main body and hanging down for the reflecting plate
Straight distance；
Second rangefinder, is located at the tail end of the vehicle main body, for measuring the tail end of the vehicle main body and hanging down for the reflecting plate
Straight distance；With
Guider, for the measurement result according to first rangefinder and second rangefinder, examines to described from walking
Look into car and send navigation signal, so that described check that car is moved according to predetermined guide path from walking.
3. AGV types vehicle inspection system according to claim 1, it is characterised in that the ray inspection arrangement includes：
Radiographic source and the detector relative with the radiographic source, the region between the radiographic source and the detector is provided with parks
Area, the area that parks is to check the strip region that the predetermined guide path of car is set, the ray from walking parallel to described
Check device can be pointed to the vehicle described to be checked parked in area and carry out safety inspection；
When the vehicle main body drives the arm support to be moved to the corresponding position of the vehicle to be checked, the ray inspection arrangement pair
The vehicle to be checked carries out safety inspection.
4. AGV types vehicle inspection system according to claim 1, it is characterised in that
The arm support includes horizontal arm support and vertical arm support, and one end of the horizontal arm support is connected with the vehicle main body, the water
The other end of flat arm support is connected with the upper end of the vertical arm support；
Wherein, the horizontal arm support is rotatably connected with the vehicle main body so that the horizontal arm support can to closer or far from
The direction of the vehicle main body rotates；And/or, the vertical arm support is rotatably connected with the horizontal arm support, so that described vertical
Arm support can be rotated to the direction closer or far from the horizontal arm support.
5. AGV types vehicle inspection system according to any one of claim 1 to 4, it is characterised in that the self-driven system
System includes：
Be installed on the vehicle main body bottom movable pulley, drive motor that the movable pulley rotates and to it is whole it is described voluntarily
Walk to check that car provides the supply unit of electric power.
6. AGV types vehicle inspection system according to claim 5, it is characterised in that
The supply unit is battery；
The AGV types vehicle inspection system also includes：Charging pile, for checking that car is moved to the charging pile from walking described
Set up with the battery during position at place and be connected, so that external power source is charged by the charging pile to the battery.
7. AGV types vehicle inspection system according to claim 6, it is characterised in that
The charging pile is additionally operable to, when the charging pile and the battery are set up and be connected, switch to external power source to whole described
Check that car provides electric power from walking.
8. AGV types vehicle inspection system according to claim 6, it is characterised in that
The charging pile is connected by way of pantograph or wirelessly with battery foundation.
9. AGV types vehicle inspection system according to claim 6, it is characterised in that
The one or both ends of the predetermined guide path that car is checked from walking are provided with the charging pile；
The AGV types vehicle inspection system also includes：Battery charge controller, for being less than in the current residual electricity of the battery
During pre-set threshold value, check that car sends charging control signal from walking to described, to check that car is moved to from walking described so that described
Position where charging pile is battery charging.
10. AGV types vehicle inspection system according to any one of claim 1 to 4, it is characterised in that also include：
Radio communication device, the ray inspection arrangement is set up wireless network and is connected by the radio communication device and terminal,
The inspection result of the ray inspection arrangement is sent to terminal by the radio communication device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232412.1A CN106908852A (en) | 2017-04-11 | 2017-04-11 | AGV type vehicle inspection systems |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232412.1A CN106908852A (en) | 2017-04-11 | 2017-04-11 | AGV type vehicle inspection systems |
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| CN106908852A true CN106908852A (en) | 2017-06-30 |
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| CN201710232412.1A Pending CN106908852A (en) | 2017-04-11 | 2017-04-11 | AGV type vehicle inspection systems |
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