CN214523535U - Floor truck and radiation inspection system - Google Patents

Abstract

The present disclosure provides a floor truck and a radiation inspection system. The floor truck includes: a vehicle body; the vehicle body is arranged on the travelling mechanism; the carrying mechanism is arranged on the vehicle body; the vehicle information detection device comprises a posture detection sensor, a control unit and a control unit, wherein the posture detection sensor is used for acquiring the parking posture and the position information of the vehicle; and the control device is in signal connection with the travelling mechanism, the carrying mechanism and the attitude detection sensor and is configured to plan a travelling path of the travelling mechanism according to the parking attitude and the position information so as to adjust the attitude and the position of the carrying trolley, so that the longitudinal direction of the carrying trolley is consistent with the longitudinal direction of the vehicle and is opposite to the vehicle. The radiation inspection system comprises the carrying trolley and the scanning device.

Description

Floor truck and radiation inspection system

Technical Field

The present disclosure relates to the field of radiation inspection technology, and more particularly, to a carrier cart and a radiation inspection system.

Background

In the safety inspection of vehicles, in order to improve the speed and convenience of security inspection, how to automatically transfer the vehicles to a scanning device becomes an important research direction of a vehicle inspection system.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides in a first aspect a carrier for carrying vehicles, comprising:

a vehicle body;

the vehicle body is arranged on the travelling mechanism;

the carrying mechanism is arranged on the vehicle body;

a vehicle information detection device including an attitude detection sensor for acquiring a parking attitude and position information of the vehicle; and

and the control device is in signal connection with the travelling mechanism, the conveying mechanism and the attitude detection sensor, and is configured to plan a travelling path of the travelling mechanism according to the parking attitude and the position information so as to adjust the attitude and the position of the conveying trolley to enable the longitudinal direction of the conveying trolley to be consistent with the longitudinal direction of the vehicle and to be opposite to the vehicle.

In some embodiments, the attitude detection sensor includes two first laser sensors symmetrically disposed on the body in a lateral direction of the cart, the two first laser sensors are configured such that a laser beam is vertically disposed and disposed in a longitudinal direction of the cart, the parking attitude and position information includes real-time scanning angle information detected by the two first laser sensors, and the control device adjusts the attitude and position of the cart such that the longitudinal direction of the cart is aligned with and opposed to the longitudinal direction of the vehicle based on the real-time scanning angle information detected by the two first laser sensors.

In some embodiments, the real-time scanning angle information includes an angle θ 1 and an angle θ 2 of a first laser spot of the vehicle scanned by each of the two first laser sensors, and the attitude and the position of the carrier are adjusted according to the angle θ 1 and the angle θ 2, and when both θ 1 and θ 2 are 0, it is determined that the longitudinal direction of the carrier is consistent with the longitudinal direction of the vehicle and opposite to the vehicle.

In some embodiments, when the control device adjusts the attitude and the position of the carrier according to the angle θ 1 and the angle θ 2, if θ 1 and θ 2 are equal and are not both 0, the control device determines that the width of the vehicle is beyond the carrying range of the carrier, and controls the carrier to terminate carrying the vehicle.

In some embodiments, the body includes a first body and a second body arranged at a distance in a lateral direction of the floor truck, and a cross member connected to a top portion of the first body and the second body, the first body, the second body and the cross member form a space for accommodating the vehicle, and the two first laser sensors are respectively arranged at a connection portion of two ends of the cross member with the first body and the second body.

In some embodiments of the present invention, the,

the vehicle information detection apparatus further includes a wheel base detection sensor configured to acquire an actual wheel base of the vehicle;

the carrying mechanism comprises a first clamping device and a second clamping device which are arranged at intervals along the longitudinal direction of the carrying trolley;

the transfer trolley further comprises a spacing adjustment device configured to adjust a longitudinal distance between the first clamping device and the second clamping device; and

the control device is in signal connection with the distance adjusting device and is configured to control the distance adjusting device to act according to the actual wheel base so that the longitudinal distance between the first clamping device and the second clamping device is equal to the actual wheel base.

In some embodiments, the spacing adjustment apparatus includes:

the driving motor is fixedly arranged relative to one of the first clamping device and the second clamping device and is in signal connection with the control device;

the screw rod is in driving connection with the driving motor and driven by the driving motor to rotate around an axis extending along the longitudinal direction of the carrying trolley; and

the nut is fixedly arranged relative to the other one of the first clamping device and the second clamping device and is in threaded fit with the lead screw;

wherein the control device controls the driving motor to rotate according to the actual wheel base so as to change the longitudinal distance between the first clamping device and the second clamping device through the rotation of the lead screw relative to the nut.

In some embodiments, the handling trolley further comprises guiding means configured to guide the second gripping means relative to the first gripping means along the longitudinal movement of the handling trolley.

In some embodiments, the guide means comprises a guide rail fixedly arranged in longitudinal direction with respect to one of the first and second clamping means and a guide element fixedly arranged with respect to the other of the first and second clamping means and relatively movable along the guide rail.

In some embodiments, the wheel base detection device comprises at least one second laser sensor disposed on the vehicle body configured to detect the actual wheel base of the vehicle.

In some embodiments of the present invention, the,

the vehicle information detection apparatus further includes a wheel base verification sensor configured to acquire wheel base verification information of the vehicle;

the control device is in signal connection with the wheelbase checking sensor and is configured to judge whether the actual wheelbase and the wheelbase checking information are consistent or not, if the actual wheelbase is consistent with the wheelbase checking information, the control device controls the distance adjusting device to act according to the actual wheelbase, and if the actual wheelbase is not consistent with the wheelbase checking information, the control device controls the carrying trolley to stop carrying the vehicle.

In some embodiments of the present invention, the,

the wheel base verification sensor comprises a vision sensor for acquiring a front image of the vehicle, and the wheel base verification information comprises the front image;

the control device is in signal connection with the vision sensor, and is configured to store front images of a plurality of vehicle types and corresponding theoretical wheelbases, compare the front image of the vehicle with the front image stored by the control device to retrieve the stored front image corresponding to the front image of the vehicle, acquire the theoretical wheelbase of the vehicle type corresponding to the retrieved front image and compare the actual wheelbase with the theoretical wheelbase, when the actual wheelbase and the theoretical wheelbase are within a predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information match, and when the actual wheelbase and the theoretical wheelbase are outside the predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information do not match.

In some embodiments of the present invention, the,

the vehicle information detection apparatus further includes a floor height detection sensor configured to detect a floor height of the vehicle;

the control device is in signal connection with the chassis height detection sensor and is configured to judge whether the chassis height of the vehicle is larger than a preset height or not according to the chassis height, if the chassis height of the vehicle is larger than or equal to the preset height, the control device controls the carrying mechanism to carry the vehicle, and if the chassis height of the vehicle is smaller than the preset height, the control device controls the carrying trolley to stop carrying the vehicle.

In some embodiments, the ride height detection sensor comprises at least one third laser sensor configured to detect a ride height of the vehicle.

In some embodiments, the vehicle information detection device is further configured to detect whether the carrying trolley is suitable for carrying the vehicle according to the detection information of the vehicle information detection device, and if the detection result is negative, the control device instructs the alarm device to send out error reporting information.

A second aspect of the present disclosure provides a radiation inspection system comprising a scanning apparatus and a transport cart according to the first aspect of the present disclosure.

The carrying trolley provided based on the disclosure can realize automatic carrying of vehicles; furthermore, the method is beneficial to reasonably utilizing the conditions of the working scene, is suitable for different working sites, and is less influenced by buildings. The carrying trolley is applied to a radiation inspection system, and is beneficial to improving the automation degree of the radiation inspection system.

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

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

fig. 1 is a schematic top view of a cart according to an embodiment of the present disclosure.

Fig. 2 is a schematic side view of a cart according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of a distance adjusting device and a guiding device of a carrying cart according to an embodiment of the present disclosure.

Fig. 4 is a schematic block diagram of a control system of a floor truck according to an embodiment of the disclosure.

Fig. 5 is a flowchart illustrating the control device controlling the relative position of the cart and the vehicle according to the attitude detection sensor in an embodiment of the present disclosure.

Fig. 6 is a schematic structural view of a carrying trolley and a vehicle in an embodiment of the present disclosure, wherein the longitudinal direction of the body of the carrying trolley is consistent with the front-rear direction of the vehicle and is opposite to the vehicle.

Fig. 7 is a schematic diagram of a radiation inspection system according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.

In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the orientation terms is generally based on the orientation or positional relationship shown in the drawings, and is for convenience only to facilitate the description of the present disclosure and to simplify the description, and in the case of not having been stated to the contrary, these orientation terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be taken as limiting the scope of the present disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

As shown in fig. 1-7, embodiments of the present disclosure provide a transport cart and a radiation inspection system.

As shown in fig. 1 to 6, the carrying cart 100 of the embodiment is used for a carrying vehicle 300, and includes the carrying cart 100, a vehicle information detection device, and a control device.

The conveyance cart 100 includes a body 110, a traveling mechanism 120, and a conveyance mechanism 130. The vehicle body 110 is provided on the traveling mechanism 120, and the conveying mechanism 130 is provided on the vehicle body 110.

As shown in fig. 1 and 2, the vehicle information detection device includes a posture detection sensor 150, and the posture detection sensor 150 is used to acquire a parking posture and position information of the vehicle 300.

As shown in fig. 4, the control device is in signal connection with the traveling mechanism 120, the conveyance mechanism 130, and the attitude detection sensor 150, and is configured to plan the traveling path of the traveling mechanism 120 based on the parking attitude and the position information detected by the attitude detection sensor 150 to adjust the attitude and the position of the conveyance cart 100 so that the longitudinal direction of the conveyance cart 100 coincides with the longitudinal direction of the vehicle 300 and is opposed to the vehicle 300.

In the description of the present disclosure, the longitudinal direction of the cart 100 refers to a normal traveling direction of the cart 100, corresponding to the left-right direction of fig. 1 and 6, and the lateral direction of the cart 100 refers to a horizontal direction perpendicular to the longitudinal direction of the body 110, corresponding to the up-down direction of fig. 1 and 6. The longitudinal direction of the vehicle 300 refers to a normal running direction of the vehicle 300, corresponding to the left-right direction of fig. 6, and the lateral direction of the vehicle 300 refers to a horizontal direction perpendicular to the longitudinal direction of the vehicle 300, corresponding to the up-down direction of fig. 6.

The conveyance cart 100 can realize automatic conveyance of vehicles. Further, the carrying trolley 100 is beneficial to reasonably utilizing conditions of a working scene, is suitable for different working sites, and is less influenced by buildings. The carrying trolley 100 is applied to a radiation inspection system, and is beneficial to improving the automation degree of the radiation inspection system.

In some embodiments, the transfer cart 100 may include an alarm device, and the control device may be further configured to determine whether the transfer cart 100 is suitable for the transfer vehicle 300 based on the detection information of the vehicle information detection device, and instruct the alarm device to issue an error message if the determination result is no.

As shown in fig. 1 and 2, in some embodiments, the posture detection sensor 150 includes two first laser sensors 151 and 152, and the two first laser sensors 151 and 152 are symmetrically disposed on the body 110 in the lateral direction of the cart 100. The two first laser sensors 151 and 152 are configured such that the laser beams are disposed vertically and in the longitudinal direction of the cart 100. The parking attitude and position information includes real-time scanning angle information detected by the two first laser sensors. The control device adjusts the attitude and position of the conveyance cart 100 based on the real-time scanning angle information detected by the two first laser sensors so that the longitudinal direction of the conveyance cart 100 coincides with the longitudinal direction of the vehicle 300 and is opposed to the vehicle 300.

As shown in fig. 1 and 2, the body 110 includes first and second bodies 111 and 112 spaced apart in a lateral direction of the floor truck 100, and a cross member 113 connected to tops of the first and second bodies 111 and 112, the first, second bodies 111, 112 and the cross member 113 forming a space for accommodating the vehicle 300, and two first laser sensors respectively provided at junctions with the first and second bodies 111 and 112 at both ends of the cross member 113.

As shown in fig. 1 and 2, 4, the vehicle information detection device further includes a wheel base detection sensor 160, and the wheel base detection sensor 160 is configured to acquire an actual wheel base of the vehicle 300. The conveyance mechanism 130 includes a first gripping device and a second gripping device that are provided at intervals in the longitudinal direction of the conveyance cart 100. The floor truck 100 further comprises a spacing adjustment device 140, the spacing adjustment device 140 being configured to adjust a longitudinal distance between the first clamping device and the second clamping device. The control device is in signal connection with the distance adjusting device 140 and is configured to control the movement of the distance adjusting device 140 according to the actual wheel base so that the longitudinal distance between the first clamping device and the second clamping device is equal to the actual wheel base.

The wheel base of the vehicle is the distance between two perpendicular lines which pass through the middle points of two adjacent wheels on the same side of the vehicle and are perpendicular to the longitudinal symmetry plane of the vehicle. For example, for a four-wheeled passenger vehicle, the wheelbase is the distance from the center of the front axle to the center of the rear axle of the axle.

The carrier 100 can be better adapted to the same model by adjusting the longitudinal distance between the first clamping device and the second clamping device to be matched with the wheelbase of the vehicle 300 by the distance adjusting device 140.

As shown in fig. 1 and 2, in the present embodiment, the conveying mechanism 130 includes four clamping portions, namely a first clamping portion 131, a second clamping portion 132, a third clamping portion 133 and a fourth clamping portion 134. The first clamping means comprises a first clamping portion 131 and a second clamping portion 132, and the second clamping means comprises a third clamping portion 133 and a fourth clamping portion 134. Each of the first to fourth clip portions includes two clip arms which can be in a clip state shown in fig. 1 and a retracted state shown in fig. 2. The two clamping arms can be switched between a clamping state and a retracting state in a rotating mode, and the rotation of the two clamping arms can be driven by a motor.

As shown in fig. 4, in some embodiments, the spacing adjustment device 140 may include a drive motor 1411, a lead screw 1412, and a nut 1413. The driving motor 1411 is fixedly arranged relative to one of the first clamping device and the second clamping device and is in signal connection with the control device. The lead screw 1412 is drivingly connected to the driving motor 1411 and is driven by the driving motor 1411 to rotate about an axis in the longitudinal direction of the cart 100. The nut 1413 is fixedly disposed relative to the other of the first and second clamping devices and is in threaded engagement with the lead screw 1412. The control device controls the driving motor 1411 to rotate according to the actual wheel base so as to change the longitudinal distance of the first clamping device and the second clamping device through the rotation of the lead screw 1412 relative to the nut 1413.

As shown in fig. 4, the spacing adjustment device 140 includes two sets of spacing adjustment mechanisms symmetrically arranged in the transverse direction of the vehicle body 110, each set of spacing adjustment mechanism including the aforementioned drive motor 1411, a lead screw 1412 and a nut 1413.

In the embodiment not shown, the distance adjusting device may include other distance adjusting mechanisms such as a crank link mechanism, a rack and pinion mechanism, and a cam follower mechanism.

As shown in fig. 4, the floor truck 100 may further include a guide 190. The guide device 190 is configured to guide the second clamping device to move relative to the first clamping device in the longitudinal direction of the floor truck 100.

As shown in fig. 4, the guide 190 includes a guide rail 191 fixedly disposed with respect to one of the first and second clamping devices in a longitudinal direction and a guide member 192 fixedly disposed with respect to the other of the first and second clamping devices and relatively movable along the guide rail 191. The guide element can be, for example, a slide block or a roller arranged on the guide rail, a sliding sleeve sleeved outside the guide rail, and the like.

As shown in fig. 1 and 2, the wheel base detecting device includes at least one second laser sensor provided on the vehicle body 110 and configured to detect an actual wheel base of the vehicle 300.

As shown in fig. 1 and 2, in the present embodiment, one second laser sensor 161, 162, 163 and 164 is disposed at each of the four corners of the vehicle body 110, and each second laser sensor 161, 162, 163 and 164 can be used for sensing the actual wheelbase of the vehicle 300, and this configuration facilitates the truck 100 to detect the wheelbase of the vehicle 300 as soon as possible relative to the vehicle 300 at either longitudinal end, thereby facilitating the truck 100 to be adjusted to a position suitable for the truck 300 as soon as possible. In addition, mutual verification of data detected by the second laser sensors is facilitated, and the risk of vehicle damage caused by detection errors is reduced.

As shown in fig. 1, 2 and 4, the vehicle information detecting apparatus further includes a wheel base verification sensor 180 and an alarm device. The wheel base verification sensor 180 is configured to acquire wheel base verification information of the vehicle 300. The alarm device is used for outputting error reporting information. The control device is in signal connection with the wheel base checking sensor 180 and the alarm device. The control device is configured to determine whether the actual wheel base and the wheel base verification information coincide. And if the actual wheel base is consistent with the wheel base checking information, controlling the distance adjusting device 140 to act according to the actual wheel base. And if the actual wheelbase does not accord with the wheelbase verification information, controlling the carrying trolley 100 to stop carrying the vehicle 300, and indicating the alarm device to send error information. The control device controls the cart 100 to stop the cart 300, i.e., instructs the cart 100 to abort the transportation, in order to prevent the vehicle 300 from being damaged by the transportation operation of the cart 100.

As shown in fig. 2, in some embodiments, the wheelbase verification sensor 180 includes a vision sensor for acquiring a front image of the vehicle 300 and the wheelbase verification information includes the front image. The vision sensor may include a camera or the like capable of acquiring an image of the vehicle 300.

The control device is in signal connection with the vision sensor, and is configured to store front images of a plurality of vehicle types and corresponding theoretical wheelbases, compare the front image of the vehicle 300 with the front image stored by the control device to retrieve the stored front image corresponding to the front image of the vehicle 300, acquire the theoretical wheelbase of the vehicle type corresponding to the retrieved front image and compare the actual wheelbase with the theoretical wheelbase, when the actual wheelbase and the theoretical wheelbase are within a predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information are consistent, and when the actual wheelbase and the theoretical wheelbase are outside the predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information are not consistent.

In the above-described embodiment, the control device acquires the corresponding wheel-base information by performing the corresponding processing on the vehicle front image acquired by the vision sensor, but in an embodiment not shown, a redundant wheel-base detection sensor may be provided as the wheel-base checking sensor.

As shown in fig. 1, 2, and 4, in some embodiments, the vehicle information detecting apparatus further includes a floor height detecting sensor 170, and the floor height detecting sensor 170 is configured to detect a floor height of the vehicle 300. The control device is in signal connection with the chassis height detection sensor 170, and is configured to determine whether the chassis height of the vehicle 300 is greater than a preset height according to the chassis height, control the carrying cart 100 to stop carrying the vehicle 300 if the chassis height of the vehicle 300 is less than the preset height, and instruct the warning device to send out an error message, and control the carrying mechanism 130 to carry the vehicle 300 if the chassis height of the vehicle 300 is greater than or equal to the preset height.

The preset height is set according to the parameters of the transportable vehicles of the transport mechanism 130 of the transport trolley 100, for example, for the transport mechanism 130, the preset height may be set to be a distance higher than the lowest chassis height of the upper surface of each clamping portion, and the distance may be, for example, 4CM, 5CM, 6CM, or the like, which is an appropriate distance that can ensure that the clamping portion does not collide with the chassis of the vehicle when clamping the tire of the vehicle 300.

Wherein, as shown in fig. 2, the ride height detection sensor 170 includes at least one third laser sensor configured to detect a ride height of the vehicle 300.

In this embodiment, the chassis height detection sensor 170 includes four third laser sensors, and each of the third laser sensors is disposed at four corners of the vehicle body 110 and located below the corresponding second laser sensor. Each third laser sensor may be used to sense the ride height of the vehicle 300. Two third laser sensors 171 and 172 are shown in fig. 2. This configuration facilitates the floor height of the vehicle 300 to be detected in time by the transfer cart 100 opposite the vehicle 300 in either longitudinal direction, thereby facilitating a determination as to whether the transfer cart 100 is to terminate the transfer vehicle 300 as quickly as possible. In addition, mutual verification of data detected by the third laser sensors is facilitated, and the risk of vehicle damage caused by detection errors is reduced.

The transportation cart 100 of the above embodiment provides an automatic posture detection strategy for the vehicle 300, which can realize posture and position detection of the vehicle 300 according to the two first laser sensors, and adjust the traveling path of the traveling mechanism 120 of the transportation cart 100 in real time according to the detected parking posture and position information, thereby adjusting the phase position of the transportation cart 100 and the vehicle 300.

A control process of acquiring parking posture and position information of the vehicle under inspection by the two first laser sensors 151 and 152 and adjusting the posture and position of the carrier cart 100 according to the parking posture and position information will be described below with reference to fig. 5.

The two first laser sensors 151 and 152 are installed on the top of the body 110 of the floor truck 100, and the laser beams of the two first laser sensors 151 and 152 are perpendicular to the ground and parallel to the longitudinal direction of the floor truck 100.

To facilitate the attitude adjustment of the cart 100, the four wheels (two wheels 121 and 122 are shown in fig. 2) of the traveling mechanism 120 of the cart 100 are independently controlled and can rotate at least 90 °.

As shown in fig. 6, when the vehicle 300 is parked in the parking space 400, the transport cart 100 starts to detect the parking posture and the position information of the vehicle 300 at the entrance of the parking space 400, plans the traveling path of the traveling mechanism 110 of the transport cart 100 based on the parking posture and the position information of the vehicle 300, and adjusts the posture and the position of the transport cart 100 until the longitudinal direction of the transport cart 100 coincides with the longitudinal direction of the vehicle 300 and is opposite to the vehicle 300. After the posture and position adjustment of the cart 100 is completed, the cart 100 may travel toward the vehicle 300 into the parking space 400 and start the transfer work.

Before the transporting trolley 100 enters the parking space 400 of the transported trolley, the attitude and the position of the vehicle 300 are detected by two first laser sensors arranged on the top of the transporting trolley 100, and the attitude and the position of the transporting trolley 100 are dynamically adjusted by the control device.

As shown in fig. 5, the control device is configured to acquire the angle θ 1 and the angle θ 2 at which the two first laser sensors scan the leading laser spot of the vehicle 300, respectively, and adjust the attitude and the position of the cart 100 according to the angle θ 1 and the angle θ 2, and when both θ 1 and θ 2 are 0, determine that the longitudinal direction of the cart 100 coincides with the longitudinal direction of the vehicle 300 and is opposite to the vehicle 300.

In addition, as shown in fig. 5, two first laser sensors may be used as the ultra-wide sensors. When the control device adjusts the posture and position of the carrier 100 according to the angle theta 1 and the angle theta 2, if theta 1 and theta 2 are equal and are not 0, the width of the vehicle 300 is determined to be beyond the carrying range of the carrier 100, and the carrier 100 is controlled to stop the carrier 300 and instruct the alarm device to send out error information.

Specifically, a height threshold H of the first laser sensor from the ground may be set, and when the vertical distance of the laser spot is greater than H, the laser spot scanning position is determined as the ground by default. For each first laser sensor, the first laser spot having a vertical distance less than the height threshold H may be the first laser spot of the respective scanned vehicle 300. The angles at which the two first laser sensors scan the first laser spot of the vehicle 300 are the angle θ 1 and the angle θ 2, respectively. Comparing the angle θ 1 and the angle θ 2 detected by the two first laser sensors, the attitude and the position of the vehicle 300 can be determined, and the attitude and the position of the carrier 100 can be adjusted so that the longitudinal direction of the carrier 100 is aligned with the longitudinal direction of the vehicle 300 and is opposite to the vehicle 300, thereby enabling the carrier 100 to smoothly enter the parking space 400 of the vehicle 300.

The second laser sensor automatically detects the actual wheelbase of the vehicle 300 during the process of the floor truck 100 entering the parking space 400. When the vehicle 300 enters the region on the side of the crossbar 113 of the body 110 of the floor truck 100, the vision sensor 180 is used to capture a front image of the vehicle 300, and the control device identifies the vehicle type of the vehicle 300 from the front image, and acquires a theoretical wheelbase matching the vehicle type.

If the theoretical wheelbase does not match the actual wheelbase, the handling vehicle 100 is controlled to stop the handling vehicle 300 and the warning device is indicated to be in error, and the handling of the vehicle 300 by the handling vehicle 100 is stopped.

Meanwhile, the chassis height detecting sensor 170 detects the chassis height of the vehicle 300, the control device determines whether the chassis height is greater than a preset height, and if the chassis height is less than the preset height, the alarm device sends an error message to stop the carrying cart 100 to carry the vehicle 300.

For the vehicle 300 that the transport cart 100 is not suitable for transporting, the vehicle 300 can be transported by other types or kinds of transport carts, and the vehicle 300 can be manually operated to reach the designated position.

If the theoretical wheelbase matches the actual wheelbase and the chassis height is higher than the predetermined height, the longitudinal distance between the first clamping device and the second clamping device is adjusted in advance to match the actual wheelbase, so that the four clamping portions of the carrying mechanism 130 can be engaged with the tires of the vehicle under inspection to carry the vehicle 300.

In addition, the license plate of the vehicle 300 may also be recognized from the front image of the vehicle 300 to provide other information required for vehicle inspection.

When the first clamping device and the second clamping device of the carrying trolley 100 respectively reach the corresponding tire positions of the vehicle to be inspected, the longitudinal distance between the first clamping device and the second clamping device can be further finely adjusted according to the detected actual wheelbase, so that each clamping portion reaches the accurate position corresponding to the corresponding tire, each clamping portion works together, the clamping arms and the corresponding wheels are attached to reach the clamping positions, and the carrying work is completed after the vehicle to be inspected is picked up.

The transfer cart 100 is suitable for transferring vehicles 300 having a range of wheelbases and chassis heights.

In the above embodiments, the tire clamping type carrying cart 100 is adopted, and the vehicle 300 is clamped and lifted by the clamping arm, so that the tire clamping type carrying cart has a relatively simple structure, relatively high carrying efficiency and relatively high space utilization ratio compared with other types of carrying carts. However, the carrier of the present disclosure is not limited to the grip tire type carrier, and any carrier may be used as long as it can achieve the corresponding functions of the aforementioned carrier of the present disclosure.

In the above embodiments, the control device may be implemented as a general-purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, a discrete Gate or transistor Logic device, a discrete hardware component, or any suitable combination thereof for performing the functions described in the present disclosure.

The vehicle 300 transported by the transport cart 100 may be, for example, a passenger car or a small-sized transport vehicle. The sizes and working ranges of the components of the carrier 100 may be configured according to the model of the vehicle to be carried.

The present embodiment also discloses a radiation inspection system, which includes the scanning apparatus 200 and the aforementioned carrying cart 100.

As shown in fig. 7, in some embodiments, the radiation inspection system may not include a transport device for transporting the vehicle 300 through its inspection lane, and a single transport vehicle 100 or a plurality of transport vehicles 100 cooperate with the relay transport vehicle 300 to carry the vehicle 300 through the scanning lane of the scanning device 200, and the vehicle 300 is scanned and then transported to a designated location by the transport vehicle 100.

In an embodiment not shown, the radiation inspection system may also include a transport device for transporting the vehicle 300 through the inspection lane of the scanning device 200, and the cart 100 is used to transport the vehicle 300 to the transport device of the scanning device 200 and to remove the vehicle 300 from the transport device and transport it to a designated location.

The scanning apparatus 200 includes a radiation source and a detector, and may include a single-view or multi-view transmission scanning device, a single-view or multi-view backscatter scanning device, or both a transmission scanning device and a backscatter scanning device.

In the above embodiments, one scanning apparatus 200 and two associated transportation carts 100 are schematically shown, in the embodiment not shown in the drawings, a single transportation cart 100 or more than three transportation carts 100 may be configured for one scanning apparatus 200, and more scanning apparatuses 200 and/or more transportation carts 100 may be arranged according to actual vehicle detection requirements, so as to achieve the purposes of more efficiently and flexibly allocating the scanning apparatus 200 and the transportation carts 100 and improving the scanning efficiency and the vehicle passing rate.

As can be seen from the above description, the carrying cart 100 and the radiation inspection system according to the embodiment of the present disclosure can reasonably utilize the conditions of the working scene, are suitable for different working sites, are less affected by the building, and implement automatic carrying of the vehicle 300, thereby being beneficial to improving the automation degree of the radiation inspection system.

Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.

Claims (16)

1. A transfer cart (100) for a transfer vehicle (300), comprising:

a vehicle body (110);

the travelling mechanism (120), the car body (110) is arranged on the travelling mechanism (120);

a conveyance mechanism (130) provided on the vehicle body (110);

a vehicle information detection device including a posture detection sensor (150), the posture detection sensor (150) being configured to acquire a parking posture and position information of the vehicle (300); and

and the control device is in signal connection with the travelling mechanism (120), the conveying mechanism (130) and the attitude detection sensor (150) and is configured to plan a travelling path of the travelling mechanism (120) according to the parking attitude and position information so as to adjust the attitude and the position of the conveying trolley (100) to enable the longitudinal direction of the conveying trolley (100) to be consistent with the longitudinal direction of the vehicle (300) and be opposite to the vehicle (300).

2. The transfer cart (100) according to claim 1, wherein the attitude detection sensor (150) comprises two first laser sensors symmetrically disposed on the body (110) in a lateral direction of the transfer cart (100), the two first laser sensors being configured such that a laser beam is vertically disposed and disposed in a longitudinal direction of the transfer cart (100), the parking attitude and position information comprises real-time scanning angle information detected by the two first laser sensors, and the control device adjusts the attitude and position of the transfer cart (100) such that the longitudinal direction of the transfer cart (100) coincides with the longitudinal direction of the vehicle (300) and is opposite to the vehicle (300) according to the real-time scanning angle information detected by the two first laser sensors.

3. The transfer cart (100) according to claim 2, wherein the real-time scanning angle information includes an angle θ 1 and an angle θ 2 of a first laser spot of the vehicle (300) scanned by each of the two first laser sensors, and the attitude and the position of the transfer cart (100) are adjusted according to the angle θ 1 and the angle θ 2, and when both θ 1 and θ 2 are 0, it is determined that the longitudinal direction of the transfer cart (100) is identical to the longitudinal direction of the vehicle (300) and opposite to the vehicle (300).

4. The carrier (100) according to claim 3, wherein the control device determines that the width of the vehicle (300) exceeds the carrying range of the carrier (100) and controls the carrier (100) to terminate carrying the vehicle (300) if θ 1 and θ 2 are equal and are not 0 when the control device adjusts the attitude and position of the carrier (100) according to the angle θ 1 and the angle θ 2.

5. The transfer trolley (100) of claim 2, characterized in that the body (110) comprises a first body (111) and a second body (112) arranged at intervals in the transverse direction of the transfer trolley (100) and a cross beam (113) connected to the tops of the first body (111) and the second body (112), the first body (111), the second body (112) and the cross beam (113) form a space for accommodating the vehicle (300), and the two first laser sensors are respectively arranged at the connection parts of the two ends of the cross beam (113) with the first body (111) and the second body (112).

6. The transfer trolley (100) according to any of the claims 1 to 5,

the vehicle information detection apparatus further includes a wheel base detection sensor (160), the wheel base detection sensor (160) being configured to acquire an actual wheel base of the vehicle (300);

the carrying mechanism (130) comprises a first clamping device and a second clamping device which are arranged at intervals along the longitudinal direction of the carrying trolley (100);

the handling trolley (100) further comprises a spacing adjustment device (140), the spacing adjustment device (140) being configured to adjust a longitudinal distance between the first clamping device and the second clamping device; and

the control device is in signal connection with the spacing adjustment device (140) and is configured to control the action of the spacing adjustment device (140) according to the actual wheel base so that the longitudinal distance between the first clamping device and the second clamping device is equal to the actual wheel base.

7. The transfer carriage (100) of claim 6, wherein the spacing adjustment device (140) comprises:

a drive motor (1411) fixedly disposed relative to one of the first and second clamping devices and in signal communication with the control device;

the lead screw (1412) is in driving connection with the driving motor (1411) and rotates around an axis extending along the longitudinal direction of the carrying trolley (100) under the driving of the driving motor (1411); and

a nut (1413) fixedly disposed relative to the other of the first and second clamping devices in threaded engagement with the lead screw (1412);

wherein the control device controls the driving motor (1411) to rotate according to the actual wheel base so as to change the longitudinal distance of the first clamping device and the second clamping device through the rotation of the lead screw (1412) relative to the nut (1413).

8. The transfer trolley (100) according to claim 6, further comprising a guiding device (190), the guiding device (190) being configured to guide the second clamping device relative to the first clamping device along the longitudinal movement of the transfer trolley (100).

9. A handling trolley (100) according to claim 8, characterised in that the guiding means (190) comprise a guide rail (191) fixedly arranged in longitudinal direction in relation to one of the first and second gripping means and a guiding element (192) fixedly arranged in relation to the other of the first and second gripping means and relatively movable along the guide rail (191).

10. The handling trolley (100) according to claim 6, characterized in that said wheelbase detection means comprise at least one second laser sensor arranged on said body (110) configured to detect said actual wheelbase of said vehicle (300).

11. The transfer cart (100) of claim 6,

the vehicle information detection apparatus further includes a wheel base verification sensor (180), the wheel base verification sensor (180) being configured to acquire wheel base verification information of the vehicle (300);

the control device is in signal connection with the wheelbase checking sensor (180) and is configured to judge whether the actual wheelbase and the wheelbase checking information are consistent or not, if the actual wheelbase is consistent with the wheelbase checking information, the control device controls the distance adjusting device (140) to act according to the actual wheelbase, and if the actual wheelbase is not consistent with the wheelbase checking information, the control device controls the carrying trolley (100) to stop carrying the vehicle (300).

12. The transfer cart (100) of claim 11,

the wheelbase verification sensor (180) comprises a vision sensor for acquiring a front image of the vehicle (300), the wheelbase verification information comprising the front image;

the control device is in signal connection with the vision sensor, and is configured to store front images of a plurality of vehicle types and corresponding theoretical wheelbases, compare the front image of the vehicle (300) with the front image stored by the control device to retrieve the stored front image corresponding to the front image of the vehicle (300), acquire the theoretical wheelbase of the vehicle type corresponding to the retrieved front image and compare the actual wheelbase with the theoretical wheelbase, when the actual wheelbase and the theoretical wheelbase are within a predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information match, and when the actual wheelbase and the theoretical wheelbase are outside the predetermined error range, the control device judges that the actual wheelbase and the wheelbase verification information do not match.

13. The transfer trolley (100) according to any of the claims 1 to 5,

the vehicle information detection apparatus further includes a chassis height detection sensor (170), the chassis height detection sensor (170) being configured to detect a chassis height of the vehicle (300);

the control device is in signal connection with the chassis height detection sensor (170) and is configured to judge whether the chassis height of the vehicle (300) is larger than a preset height or not according to the chassis height, if the chassis height of the vehicle (300) is larger than or equal to the preset height, the control device controls the conveying mechanism (130) to convey the vehicle (300), and if the chassis height of the vehicle (300) is smaller than the preset height, the control device controls the conveying trolley (100) to stop conveying the vehicle (300).

14. The transfer cart (100) of claim 13, wherein the ride-height detection sensor (170) comprises at least one third laser sensor configured to detect a ride-height of the vehicle (300).

15. The transfer cart (100) according to any of claims 1 to 5, further comprising an alarm device, wherein the control device is further configured to determine whether the transfer cart (100) is suitable for transferring the vehicle (300) according to the detection information of the vehicle information detection device, and if the determination result is no, the alarm device is instructed to issue an error message.

16. A radiation inspection system, characterized by comprising a scanning device (200) and a transport trolley (100) according to any one of claims 1 to 15.

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