WO2016026249A1 - 车辆拖动***和车辆检查*** - Google Patents

车辆拖动***和车辆检查*** Download PDF

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Publication number
WO2016026249A1
WO2016026249A1 PCT/CN2014/094610 CN2014094610W WO2016026249A1 WO 2016026249 A1 WO2016026249 A1 WO 2016026249A1 CN 2014094610 W CN2014094610 W CN 2014094610W WO 2016026249 A1 WO2016026249 A1 WO 2016026249A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
drag
wheel
distance
pusher
Prior art date
Application number
PCT/CN2014/094610
Other languages
English (en)
French (fr)
Inventor
李荐民
李明亮
李元景
李玉兰
李营
宋涛
Original Assignee
清华大学
同方威视技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华大学, 同方威视技术股份有限公司 filed Critical 清华大学
Priority to BR112017003613-4A priority Critical patent/BR112017003613B1/pt
Priority to RU2017109167A priority patent/RU2661299C1/ru
Publication of WO2016026249A1 publication Critical patent/WO2016026249A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/22—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
    • B65G15/24—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units in tandem
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
    • B65G19/02—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Definitions

  • the present invention relates to a vehicle drag system and a vehicle inspection system.
  • the vehicle inspection system usually uses a chain-type drag device, but the components on the chain and the chain appear on the scanned image, which seriously affects the image quality and easily obscures the image details.
  • the present invention provides a vehicle drag system including: a first drag device and a second drag device sequentially arranged in a direction of dragging a vehicle, and dragging the vehicle a direction in which the first drag device is disposed upstream of the second drag device and a spacing portion is disposed between the first drag device and the second drag device
  • the first drag device and the second drag device are spaced apart by a predetermined distance in a direction
  • the first drag device includes a first support plate, a first elongated traction member, and the first thin a first pushing member connected to the long traction member, the first pushing member is operated around the first supporting plate for pushing the wheel to move along the first supporting plate to drive the vehicle
  • the second dragging device comprises a second supporting plate, a second elongated traction member, and a second urging member coupled to the second elongated traction member, the second urging member operating around the second support plate for urging the wheel to move along the second support plate to cause the vehicle to travel.
  • the vehicle drag system further includes: a controller that controls the first pusher to push the first wheel of the vehicle at a first speed, when the second wheel of the vehicle reaches the first
  • the second elongated pulling member is moved, whereby the second pushing member on the lower side of the second supporting plate moves to the second wheel of the vehicle at the second speed
  • the second wheel of the vehicle is contacted and pushed to maintain the running state of the vehicle, and the second wheel is located on the downstream side of the first wheel in the direction of dragging the vehicle.
  • the second speed is greater than or equal to the first speed, and the second speed And the first speed is substantially constant.
  • the second pusher is in contact with the second wheel before the first pusher is separated from the first wheel.
  • the vehicle drag system further includes: a sensor for signaling when the second wheel of the vehicle travels to the predetermined position, after the controller receives the signal of the sensor, making the second fine The long traction member accelerates the movement, moving the second pusher on the lower side of the second support plate for a predetermined time, and contacting the second wheel of the vehicle at the second speed and pushing the second wheel of the vehicle.
  • the senor is a pressure sensor disposed at the predetermined position of the second drag device.
  • the vehicle drag system further includes: a wheel diameter acquiring device for measuring a diameter of the second wheel of the vehicle, and a computing device that is based on the second wheel acquired by the wheel diameter acquiring device The diameter and the position of the second pusher on the underside of the second support plate calculate the distance traveled by the second pusher to catch up with the second wheel and contact the second wheel.
  • a wheel diameter acquiring device includes an image acquiring device that obtains two images including a second wheel at a predetermined time interval, according to a distance of a vehicle displacement in the two images, a first of the vehicle The speed, the diameter of the second wheel of the vehicle in the image, and the time interval calculate the diameter of the second wheel of the vehicle.
  • the controller receives the signal from the sensor, the second elongated traction member is accelerated and then decelerated to the second speed.
  • the acceleration motion is a uniform acceleration motion.
  • the decelerating motion is a uniform deceleration motion.
  • the image acquisition device is a camera or a video camera, and is disposed at a predetermined position of the first drag device at a predetermined distance from the interval portion, and is located at one side of the first drag device.
  • the vehicle drag system further includes: distance acquiring means for measuring a distance between the second wheel of the vehicle and the second pusher, the second wheel of the vehicle traveling to the second When the distance of the dragging device is at a predetermined position of the predetermined distance, the distance acquiring device acquires the distance between the second wheel and the second pushing member as the second pushing member catches up with the second The distance traveled by the wheel to contact the second wheel.
  • the vehicle drag system further includes: a second sensor for signaling when the second wheel of the vehicle travels to a predetermined position of the distance interval portion of the second drag device by a predetermined distance After the controller receives the signal of the second sensor, the distance acquiring device is operated to obtain the distance between the second wheel and the second pushing member.
  • the distance obtaining means includes an image obtaining means for obtaining two images including the second wheel and the second pusher at predetermined time intervals, according to displacement of the vehicle in the two images
  • the distance between the second wheel and the second pusher is calculated from the distance, the distance of the second wheel from the second pusher in the image, the first speed of the vehicle, and the time interval.
  • the image acquisition device obtains an image including the second wheel and the second pusher when the second wheel of the vehicle travels to a predetermined position of the distance interval portion of the second drag device by a predetermined distance And obtaining another image including the second wheel and the second pusher when the pusher travels to a predetermined position of the second drag device.
  • the image acquisition device is a camera or a video camera, and is disposed at a predetermined position of a distance of the second drag device by a predetermined distance, and is located at one side of the second drag device.
  • the vehicle drag system further includes a sensor disposed on the second pusher for detecting whether the second pusher has come into contact with the second wheel of the vehicle.
  • the senor comprises a contact sensor.
  • the elongated traction member is a chain or a chain of plates.
  • the senor is an optical transceiver located at a side of the second drag device at the predetermined position for transmitting a light beam to the second drag device, and receiving at the second pusher The reflector of the end reflects the returned beam to determine that the second pusher reaches the predetermined position.
  • the vehicle drag system further includes a third drag device disposed substantially parallel to the first drag device such that the first drag device and the third drag device respectively drive the left and right wheels of the vehicle.
  • the present invention provides a vehicle inspection system, the vehicle inspection system
  • the system includes: an inspection channel; the vehicle drag system described above, wherein the first drag device and the second drag device are disposed in the inspection channel; the radiographic inspection system, wherein the path of at least a portion of the ray of the radiographic inspection system passes through a spacing portion between the first drag device and the second drag device.
  • a radiographic inspection system includes: a radiation source disposed at one of an upper portion and a lower portion of a spacing portion between the first dragging device and the second dragging device, and at least partially disposed The other of the upper and lower portions of the spacing portion between the first drag device and the second drag device for receiving a radiation from a radiation source that passes through the vehicle under inspection.
  • a radiographic inspection system includes a slip ring, a radiation source mounted to the slip ring, and a detector mounted to the slip ring for receiving radiation emitted by the radiation source and passing through the inspected vehicle.
  • the slip ring drives the ray source and the detector to rotate around the inspection channel.
  • the slit is formed on the spacing portion so that the radiation of the radiographic inspection system passes through the spacing portion without obstruction.
  • the spacing portion is provided with a platform, the upper surface of the platform and the ground plane in the inspection passage are at the same height, and a slit is provided in the middle of the platform.
  • a uniform thickness of the same material is provided in the gap to provide closure of the vehicle inspection system.
  • the vehicle drag system and the vehicle inspection system according to an embodiment of the present invention can alleviate or eliminate the influence of the drag device on the scanned image.
  • FIG. 1 is a front elevational view of one embodiment of an inspection system in accordance with an embodiment of the present invention
  • Figure 2 is a top plan view of one embodiment of an inspection system in accordance with the present invention.
  • FIG. 3 is a schematic diagram of a vehicle inspection system in accordance with an embodiment of the present invention, wherein the vehicle drag system includes two drag devices;
  • FIG. 4 is a schematic diagram of a vehicle inspection system in accordance with another embodiment of the present invention, wherein the vehicle drag system includes two drag devices;
  • Figure 5 is a schematic diagram of measurement by two photographs
  • Figure 6 is a positional relationship diagram when a pusher such as a roller is in contact with a wheel
  • Figure 7 is a speed-time curve of a pusher such as a roller
  • FIG 8 is a schematic illustration of a vehicle inspection system in accordance with yet another embodiment of the present invention, wherein the vehicle drag system includes two drag devices;
  • FIG. 9 is a schematic illustration of a control pusher in accordance with another embodiment of the present invention.
  • Figure 10 is a schematic diagram of a speed-time curve of a pusher such as a roller;
  • FIG. 11 is a schematic diagram of a vehicle inspection system employing a CT system, wherein the vehicle drag system includes two drag devices, in accordance with another embodiment of the present invention
  • FIG. 12 is a schematic view of a pusher of a vehicle inspection system in accordance with an embodiment of the present invention, wherein the pusher is provided with detecting means for detecting whether the pusher is in contact with the wheel of the vehicle, and a feedback means;
  • Figure 13 is a schematic view of a pusher of a vehicle inspection system in accordance with an embodiment of the present invention, showing a position detecting device for detecting whether a pusher has reached a predetermined position;
  • FIG. 14 is a schematic plan view of a vehicle drag system of a vehicle inspection system in which a drag device of a vehicle drag system includes a plate chain, in accordance with an embodiment of the present invention
  • FIG. 15 is a schematic side view of a vehicle drag system of a vehicle inspection system in which a drag device of a vehicle drag system includes a plate chain, in accordance with an embodiment of the present invention
  • Figure 16 is a schematic side view of a vehicle inspection system in accordance with an embodiment of the present invention.
  • FIG. 17 is a schematic plan view of a vehicle inspection system in accordance with an embodiment of the present invention.
  • Figure 18 is a schematic front view of a vehicle inspection system showing a radiation source disposed on one of a left side and a right side of an inspection passage, in accordance with an embodiment of the present invention
  • Figure 19 is a schematic front elevational view of a vehicle inspection system showing a source of radiation disposed above an inspection passage, in accordance with an embodiment of the present invention
  • FIG. 20 is a schematic structural view of a plate chain of a drag device of a vehicle drag system of a vehicle inspection system according to an embodiment of the present invention, wherein (A) is a front view and (B) is a plan view;
  • 21 is a schematic plan view of a vehicle drag system of a vehicle inspection system including a push roller in accordance with an embodiment of the present invention
  • FIG. 22 is a schematic side view of a vehicle drag system of a vehicle inspection system in which a drag device of a vehicle drag system includes a push roller, in accordance with an embodiment of the present invention.
  • a vehicle inspection system includes an inspection passage 101, a vehicle drag system 100, and a radiation inspection system 151.
  • the vehicle drag system 100 includes: a first drag device 111 and a second drag device 112 arranged in sequence along a direction E of dragging the vehicle, in the direction E of dragging the vehicle, the first A drag device 111 is disposed upstream of the second drag device 112 and a spacing portion 113 is disposed between the first drag device 111 and the second drag device 112 such that the direction E of the dragging vehicle
  • the first dragging device 111 and the second dragging device 112 are spaced apart by a predetermined distance.
  • the first drag device 111 and the second drag device 112 are disposed in the inspection channel 101.
  • a path of at least a portion of the ray of the radiographic inspection system 151 passes through the spacing portion 113 between the first drag device 111 and the second drag device 112.
  • the radiographic inspection system 151 includes a spacer portion 113 disposed between the first drag device 111 and the second drag device 112. And a radiation source 152 of one of the lower sides, and the other of the upper and lower portions of the spacing portion 113 at least partially disposed between the first drag device 111 and the second drag device 112 A detector 153 that receives the radiation from the source 152 and passes through the illuminated vehicle.
  • Radiation source 152 can be an X-ray source, or other suitable source of radiation.
  • a protective wall 70 is disposed on both sides of the inspection passage 101, and a scanning device frame 80 is disposed in the range of the inspection passage 101, and the radiation source 152 is disposed at the top of the scanning device frame 80.
  • the radiation source 152 is disposed at the top of the scanning device frame 80.
  • the radiographic inspection system 151 may include a slip ring 154, a radiation source 152 mounted to the slip ring 154, and a detector 153 mounted to the slip ring 154, the detector 153 is for receiving radiation emitted by the radiation source 152 and passing through the vehicle under inspection.
  • the slip ring 154 is driven to rotate by the drive mechanism, thereby driving the radiation source 152 and the detector 153 to rotate around the vehicle under test.
  • the first drag device 111 includes a first support plate 1111, a first chain 114 (an example of an elongated traction member), and the first chain 114
  • the first pushing member 1141 is connected, and the first pushing member 1141 is operated around the first supporting plate 1111 for pushing the wheel to move along the first supporting plate 1111 to advance the vehicle.
  • the second drag device 112 includes a second support plate 1121, a second chain 114 (an example of an elongated traction member), and the second The second pushing member 1141 is connected to the chain 114, and the second pushing member 1141 is operated around the second supporting plate 1121 for pushing the wheel to move along the second supporting plate 1121 to advance the vehicle.
  • the vehicle drag system further includes a controller (not shown) that controls the first pusher 1141 to push the first wheel of the vehicle at a first speed,
  • the second wheel of the vehicle reaches the predetermined position A of the predetermined distance of the distance interval portion 113 of the second drag device 112
  • the second chain 114 is moved, thereby being the second pusher on the lower side of the second support plate 1121.
  • the 1141 moves to contact the second wheel of the vehicle at a second speed and pushes the second wheel of the vehicle to maintain the running state of the vehicle, and the second wheel is located on the downstream side of the first wheel in the direction E of the dragged vehicle.
  • the second speed may be greater than or equal to the first speed, and the second speed and the first speed may be substantially constant.
  • the second pusher 1141 is in contact with the second wheel before the first pusher 1141 is separated from the first wheel.
  • the vehicle drag system further includes: a sensor 118 for signaling when the second wheel of the vehicle travels to the predetermined position A, the distance between the sensors 118 in the distance of the second drag device 112 113 is at a predetermined position A of the predetermined distance.
  • the controller receives the signal of the sensor 118, the second chain 114 is accelerated to move the second pushing member 1141 on the lower side of the second supporting plate 1121 for a predetermined time, and contacts the second wheel of the vehicle at the second speed. And push the second wheel of the vehicle.
  • the sensor 118 may be a pressure sensor, a photoelectric sensor, or a piezoelectric sensor or the like, which is disposed at the predetermined position A of the second drag device 112.
  • the vehicle moves from left to right, and the pusher 1141 of the first drag device 111 pushes the rear wheel of the vehicle to move the vehicle to the right at the first speed V.
  • the pushing member 1141 on the second drag device 112 is stopped at the point S.
  • the second chain 114 is accelerated and then decelerated to the second speed.
  • the acceleration motion may be a uniform acceleration motion
  • the deceleration motion may be a uniform deceleration motion.
  • the pusher 1141 of the second drag device 112 accelerates the motion, accelerates to the speed V2 (V2 > V), and maintains the speed V2, and then pushes the front wheel motion of the vehicle.
  • V2 the speed of the X-ray generating device 3
  • the outgoing frequency of the X-ray generating device 3 is changed (or the stretching factor of the partial image is changed).
  • the ratio of the vehicle speed to the outgoing frequency is kept constant.
  • the system uses the speed measuring device to track the speed of the vehicle when the vehicle is moved from the first drag device 111 to the second drag device 112 and is driven by the second drag device 112, and when the vehicle speed changes, the X-ray generating device 3 is changed.
  • the acceleration motion of the pushing member 1141 may be a uniform acceleration motion.
  • the source 152 comprises an X-ray generating device 3 and a ray collimator 4, the ray beaming range being indicated by the dashed line indicated by reference numeral 5.
  • the radiation generating device comprises an electron linear accelerator (such as a 1.5 MeV electron linear accelerator) or an X-ray machine.
  • the inspection passage 101 is set to have a width of 3.5 m and a height of 4 m.
  • the vehicle roof that can be inspected by the present invention has a roof width of not more than 1.8 m, a vehicle bottom width of not more than 2.4 m, and a height of not more than 2 m.
  • the radiation generating device 3 is disposed at the top of the scanning device frame 80, and a ray collimator 4 is disposed below.
  • the X-rays scan the vehicle, and the detector 153 disposed under the ground receives the X-rays.
  • the detector 153 employed herein is a 5 mm * 2.5 mm cadmium tungsten hydride array detector, and a top view image of the inspected vehicle is obtained by a vertical transmission imaging technique.
  • the scanning speed is 0.1 m/s or 0.2 m/s.
  • the vehicle to be inspected may be a small vehicle, for example, the vehicle may be a passenger car or a passenger car.
  • the vehicle inspection system of the present invention can be integrated with a highway toll station for security inspection of important transportation hubs, and reference numeral 81 denotes a safety island on both sides of the security inspection passage, which can be more clearly seen in FIG. See the safety island 81.
  • the vehicle inspection system of the present invention can also be applied to security inspection work in important construction, important activity areas, or land border ports and other fields.
  • the first drag device 111 and the second drag device 112 are disposed on one side of the inspection channel 101, which is capable of dragging a vehicle passing through the inspection channel 101
  • the channel 101 is examined.
  • the first drag device 111 pushes the rear wheel of the vehicle, and then the second drag device 112 pushes the front wheel of the vehicle, thereby providing a space between the first drag device 111 and the second drag device 112 Part 113.
  • Radiation from source 152 to detector 153 The path passes through the spacing portion 113 to avoid the influence of the first drag device 111 and the second drag device 112 on the scanned image.
  • the width of the inspection channel 101 is set such that the vehicle can be dragged through the inspection channel 101 via the vehicle drag system 100 while the vehicle is also able to pass the inspection along the ground where no drag device is provided Channel 101.
  • the direction E is the traveling direction of the vehicle.
  • the vehicle shown in broken lines represents a situation in which the vehicle drag system 100 is towed to the exit of the inspection passage 101, and the vehicle is subjected to a security check, in which case the driverless mode is employed, the driver When the vehicle 6 enters the starting point of the first drag device 111, the vehicle exits, and the passage 10 walks to the end of the second drag device 112, waiting for the vehicle to be checked.
  • the passage 10 is disposed on the rear side of the protective wall 70 to prevent the driver from being exposed to X-rays. Fig.
  • the vehicle passes through the inspection channel 101 in the above three manners. That is, different vehicles can be classified. For vehicles that do not need to be inspected, the vehicle can pass through the inspection channel 101 without passing through the vehicle drag system 100, and the vehicle with low safety risk can be driven without the vehicle.
  • the single drag device here can adopt the drag device in the car washer industry, that is, the single-side wheel drag device, which can be used as a mature technology in the field of vehicle safety inspection because the drag device is widely used in the car wash industry.
  • the drag device is widely used in the car wash industry.
  • the use of such a drag device is the most labor-saving, energy-saving and environmentally friendly; the small wheel only contacts the wheel, and the wear and touch of the vehicle are minimal, and it is easy to be accepted by the owner and the driver.
  • the vehicle inspection system provided by the present invention can be directly constructed on the safety island of the existing toll station, and the civil work is small and the floor space is small. Moreover, similar to the small-object luggage X-ray security inspection machine, as the vehicle passes through the X-ray beam flow surface, the scanned image is automatically obtained in real time, which greatly improves the security efficiency and accuracy.
  • FIG. 3 shows a vehicle inspection system including a first drag device 111 and a second drag device 112. Schematic diagram of the system. A spacing portion 113 is provided between the first drag device 111 and the second drag device 112, from which the ray 5 is incident on the detector 153.
  • the spacing portion 113 between the first drag device 111 and the second drag device 112 is provided with a platform 12 that facilitates the vehicle in the first drag device 111 and the second drag device The travel of the interval portion 113 between 112.
  • the upper surface of the platform 12 is at the same level as the ground plane within the inspection channel.
  • a gap 115 can be opened in the middle of the platform 12 so as to be unobstructed from the collimator 4 to the ray path between the detectors 153, so that the entire drag device can be unobstructed from scanning.
  • the slit 15 may be provided on the spacing portion 32.
  • the same material of the same thickness may be provided in the slit 115 of the platform 12 in order to improve the sealing of the system. This has little effect on the scanned image, since the same thickness of the same material is equivalent to adding a uniform background to the image.
  • the selection of materials should be based on the consideration of radiation penetration loss, physical strength of materials, and price, such as aluminum, iron, plastic and carbon fiber.
  • the flap 13 facilitates the passage of the vehicle wheel, and the push member 1141 on the second drag device 112 can also pass, and the flap 13 can be pivoted.
  • the pivot is perpendicular to the direction or direction E of the second drag device 112.
  • the scanning vehicle passes through the scanning area at a constant speed, which brings great convenience to the scanning control and the data processing.
  • the purpose of this embodiment is to make the vehicle pass the first dragging device 111 and the second dragging device 112 at a constant speed. Interval portion 113.
  • the system structure of this embodiment is also shown in FIG. 1 and FIG. 2, and the drag device is as shown in FIG. 4. 4 and FIG. 3 mainly differ in that the image capturing device 14 is disposed on the side of the inspection channel 101 (near the first drag device 111), and the position is near the predetermined position D.
  • the vehicle drag system further includes: a sensor 118 for signaling when the second wheel of the vehicle travels to the predetermined position A, the distance between the sensors 118 in the distance of the second drag device 112 113 is at a predetermined position A of the predetermined distance.
  • the controller receives the signal of the sensor 118, the second chain 114 is accelerated to move the second pushing member 1141 on the lower side of the second supporting plate 1121 for a predetermined time, and contacts the second wheel of the vehicle at the second speed. And push the second wheel of the vehicle.
  • the sensor 118 can be a pressure sensor, a photoelectric sensor or a pressure An electric sensor or the like, the pressure sensor, the photosensor or the piezoelectric sensor or the like is disposed at the predetermined position A of the second drag device 112.
  • the vehicle drag system further includes: a wheel diameter acquiring device for measuring a diameter of the second wheel of the vehicle, and a calculating device that is based on the diameter of the second wheel acquired by the wheel diameter acquiring device and The position of the second pusher 1141 on the lower side of the second support plate 1121 calculates the distance traveled by the second pusher 1141 to catch up with the second wheel and contact the second wheel.
  • the wheel diameter acquisition device may include an image acquisition device that obtains two images including the second wheel at predetermined time intervals, according to the distance of the vehicle displacement in the two images, the first speed of the vehicle, and the vehicle in the image The diameter of the second wheel and the time interval calculate the diameter of the second wheel of the vehicle.
  • the image capturing device may be a camera or a camera 14, and is disposed at a predetermined position D of the first drag device 111 at a predetermined distance from the interval portion 113, and is located at one side of the first drag device 111.
  • the vehicle moves from left to right, and the pusher 1141 of the first drag device 111 pushes the rear wheel of the vehicle to move the vehicle to the right at the first speed V.
  • the pusher 1141 on the second drag device 112 is docked at the S point position, and the camera or camera 14 is activated to take a picture of the vehicle. After a short time t, the vehicle is photographed again.
  • the camera or camera 14 can take a clear picture of the front wheel of the vehicle and its vicinity.
  • the camera or camera 14 takes a picture of the inspected vehicle and takes a photo at intervals t.
  • the vehicle moves at speed V, and the vehicle advances by a distance of Vt during time t.
  • the outer diameter of the front wheel of the vehicle can be measured, and the measurement of the outer diameter of the front wheel is important for the second pusher 1141 of the second drag device 112 of the present embodiment to contact the wheel of the vehicle at a predetermined speed.
  • the driving speed can be measured in turn.
  • the time interval is measured using this technique, with known front wheel outer diameter and driving speed.
  • the method can be easily extended to various measurement sizes, speed measurement, measurement time and the like, and the measurement object is not limited to vehicles and wheels.
  • Improve the accuracy of each parameter measurement select multiple data measurement points or multiple shots to achieve the purpose of improving accuracy.
  • the vehicle identification or other method of measuring the diameter of the front wheel can replace the above-described photogrammetry to complete the front wheel diameter measuring step of the present invention.
  • this photogrammetry method has the characteristics of low cost, mature equipment technology, and small footprint.
  • the pushing member 1141 is a roller
  • the relative distance a between the pushing members 1141 of the second drag device 112 when the front wheel is pushed can be accurately calculated. It is known that the diameter 2R of the front wheel and the radius r of the pushing member 1141 can be obtained.
  • the pusher 1141 of the second drag device 112 accelerates, accelerates to the speed V3 (V3>V), then gradually decelerates to the speed V, and then pushes the vehicle. Front wheel movement.
  • the movement rate-time relationship of the pusher 1141 of the second drag device 112 is preferably as shown in Fig. 7(A).
  • the pusher 1141 accelerates from the stationary elapsed time t1 to the rate V3, and then decelerates to V after the time t2.
  • the pitch of the position S to A is L.
  • the pushing member 1141 catches up with the front wheel and needs to run L-a more than the vehicle in the time t1+t2.
  • the pushing member 1141 moves according to the rate-time curve shown in FIG.
  • V3, t1, t2 can be flexibly designed as needed, but before the rear wheel reaches the platform 12 of Figure 4, the pusher 1141 must keep up with the front wheel at speed V.
  • the measurement of L can be calculated by the exact size of the second drag device 112, or can be estimated by the time interval at which the pusher 1141 is uniformly passed through the position S and the position A, which can be used as a parameter of the system.
  • the acceleration and deceleration motions of the pusher 1141 are uniform acceleration and deceleration motion.
  • the pusher 1141 can catch up with the front wheel in other rate-time curves, such as in Figure 7(B).
  • the pushing member 1141 accelerates to the speed V3, then advances at a constant speed V3, then decelerates to V and catches up to the front wheel of the vehicle.
  • the kinematics formula can be written in the foregoing manner, and will not be described.
  • a specific rate-time curve can be used to design various catch-up methods, including variable acceleration catch-up, as long as the catch-up distance of L-a is satisfied.
  • the vehicle movement speed is maintained at V, and the X-ray generating device does not need to be changed.
  • the beaming frequency of 3 reduces the complexity of beam and detection system control.
  • Embodiment 2 realizes that the vehicle passes through the spacing portion 113 at a constant speed, and realizes that the drag device does not block the scanning rays.
  • the method of measuring the outer diameter of the wheel is also given.
  • the system is somewhat complicated, including the need to measure the distance L of Figure 4.
  • This embodiment 3 will continue to keep the vehicle moving at a constant speed based on the measurement of the outer diameter of the wheel, and does not need to measure the L value.
  • the system deployment main modification is to change the image acquiring device 14 from the predetermined position D to the vicinity of the predetermined position A and to the side of the drag device as shown in FIG.
  • the vehicle drag system may further include distance acquiring means for measuring a distance between the second wheel of the vehicle and the second pusher 1141, the second wheel of the vehicle traveling to the second drag
  • the distance obtaining means acquires the distance between the second wheel and the second pushing member 1141 as the second pushing member 1141 catches up with the second wheel and the second wheel The distance traveled to contact.
  • the distance acquiring means may include an image obtaining means 14 which can obtain two images including the second wheel and the second pushing member 1141 at predetermined time intervals, according to vehicle displacement in the two images.
  • the distance between the second wheel and the second pusher 1141, the first speed of the vehicle, and the time interval calculate the distance between the second wheel and the second pusher 1141.
  • the image acquisition device may be a camera or a video camera, and may be disposed at a predetermined position A of a predetermined distance from the distance interval portion 113 of the second drag device 112, and located at one side of the second drag device 112.
  • the image acquisition device can not only obtain the diameter of the second wheel of the vehicle, but also obtain the distance between the second wheel and the second pushing member 1141, which is to calculate the second pushing member 1141 to catch up with the second wheel.
  • the vehicle drag system further includes a sensor 118 for signaling when the second wheel of the vehicle travels to the predetermined position A of the distance interval portion 113 of the second drag device 112 by a predetermined distance, After receiving the signal from the sensor 118, the controller operates the distance acquiring device to obtain the distance between the second wheel and the second pusher 1141.
  • the sensor 118 can be pressurized A force sensor, a photosensor or a piezoelectric sensor or the like is disposed at the predetermined position A of the second drag device 112.
  • the vehicle moves from left to right, and the pusher 1141 of the first drag device 111 pushes the rear wheel of the vehicle to move the vehicle to the right at the first speed V.
  • the pusher 1141 on the second drag device 112 stops at the S point position and starts to start to the speed V4 (V4 > V).
  • the front wheel of the vehicle reaches the second sensor 118 (photosensor or piezoelectric sensor) at the second predetermined position A, the vehicle and its front wheel are photographed as shown in FIG. 9A.
  • the distance between the pusher 1141 and the front wheel of the vehicle is also measured on the photograph. Then the actual distance b of the pushing member 1141 to the front wheel of the vehicle satisfies the formula:
  • the pushing member 1141 catches up with the distance that the front wheel of the vehicle needs to catch up with b-a (substituting the R calculated by Equation 4 into Equation 2 yields a).
  • the pushing member 1141 When the pushing member 1141 reaches the predetermined position A, the pushing member 1141 starts to decelerate to the speed V, takes time t3, and catches up with the front wheel of the vehicle (as shown in FIG. 9C).
  • the speed-time curve is as shown in FIG. 10A, and it can be seen that:
  • the distance of the vehicle movement is equal to V(t'+t3).
  • the distance from the edge of the first drag device 111 to the predetermined position A is g.
  • Equation 6-8 System parameters and control parameters are designed according to Equation 6-8: acceleration p, velocity V4, time interval t', t3, and intermediate calculations are completed using Equations 4-5. This makes it possible to achieve a uniform and smooth passage of the vehicle through the space portion 113.
  • the speed-time curve of the pushing member 1141 can be changed from FIG. 10A to FIG. 10B, that is, after the pushing member 1141 reaches the predetermined position A, the constant driving time t4 is continued, then the deceleration time t5 is reached again, the speed V is reached, and the vehicle is kept up. Front wheel.
  • This approach helps speed up the catch-up process.
  • Its multiple adjustable time parameters add flexibility to the system design.
  • this scheme is slightly more complicated than the scheme of Figure 10A.
  • the pusher 1141 can follow the front wheel according to various speed-time curves, including the variable acceleration motion, and the speed of the pusher 1141 is equal to the vehicle speed as long as the catching of the front wheel is satisfied.
  • the positioning of the predetermined position D and the predetermined position S in this embodiment need not be particularly precise, which can further reduce the system cost.
  • the pedal 15 can be provided in the system for the vehicle to smoothly pass through the spacing portion 113 between the first drag device 111 and the second drag device 112.
  • the pedal 15 is extended so that the front wheel smoothly passes. After passing, the pedal 15 is retracted.
  • the pedal 15 can be omitted in the case where the requirement for smooth running of the vehicle is not particularly high or the diameter of the pushing member 1141 is sufficiently small.
  • the speed of the vehicle can be arbitrarily controlled by the first drag device 111 and the second drag device 112 to meet various application requirements.
  • the drag system of the foregoing embodiments 1, 2, 3 is applied to a see-through scanning imaging system, achieving unobstructed ray.
  • the radiographic inspection system of the present invention can include a CT scanning system, as shown in FIG. A source 152 and a detector 153 are mounted on the slip ring 154.
  • the MRI system can also employ the drag system of the present invention to circumvent the effects of the drag device on imaging.
  • the vehicle drag system further includes a sensor 81 disposed on the second pusher 1141 for detecting whether the second pusher 1141 has been associated with the second wheel of the vehicle. (eg front wheel) contact.
  • the sensor may be a contact sensor, a pressure sensor, a piezoelectric sensor or the like.
  • the vehicle drag system also includes a feedback device 82. The sensor detects whether the second pusher 1141 is in contact with the front wheel, and notifies the controller of the vehicle inspection system via the connected feedback device 82.
  • the controller of the vehicle inspection system receives a signal that the second pushing member 1141 has contacted the second wheel (eg, the front wheel) of the vehicle, and can control the second drag device 112 to push the vehicle at a pushing speed greater than the first drag device 111. go ahead.
  • the vehicle inspection system receives a signal that the second pusher 1141 has contacted the second wheel of the vehicle (eg, the front wheel), and may control the second drag device 112 to be equal to the first drag device 111.
  • the driving speed pushes the vehicle forward, that is, achieves a uniform drag of the vehicle.
  • the present solution can omit the image acquisition device 14 of Fig. 8, even eliminating the sensor 117 of the predetermined position D shown in Fig. 8, the sensor 118 of the predetermined position A.
  • sensor 81 is a piezoelectric sensor.
  • the feedback device comprises a wireless signal transmitting unit that transmits a signal to a controller of the vehicle inspection system.
  • the vehicle inspection system provided by the present invention, it can be integrated with a highway toll station to quickly check the vehicle online; by setting a protective wall, it is possible to avoid accidental radiation to pedestrians or drivers; By checking the passage 101 under the condition of unmanned driving, the small vehicle can be quickly passed through the inspection passage 101 without using the drag device, so that different vehicles can be classified and processed, which is beneficial to alleviate the traffic pressure.
  • the vehicle can be dragged or driven through the inspection channel to obtain a scanned image without occlusion of the ray.
  • a vehicle inspection system includes an inspection passage 101 through which a vehicle passes, a vehicle drag system 100 provided in the inspection passage 101, and a radiographic inspection system 151 for inspecting the vehicle. .
  • the radiographic inspection system 151 includes a radiation source 152 for emitting radiation, for example, providing X-rays for scanning the vehicle, and a detector 153 for receiving and passing through the radiation source.
  • the rays of the inspected vehicle for example, are used to receive X-rays emitted from the source 152.
  • a protective wall 70 is disposed on both sides of the inspection passage 101, and a scanning device frame 80 is disposed in the range of the inspection passage 101, and a radiation source 152 is disposed above the inspection passage 101.
  • the radiation source 152 is disposed on top of the scanning device frame 80 to align the vehicle passing through the inspection channel 101. Scanning is performed, and the detector 153 is disposed at a position corresponding to the radiation source 152.
  • the vehicle drag system 100 includes a drag device 111, 112 that is disposed on a ground on one side of the range of the inspection channel 101, which is capable of dragging a vehicle that enters the inspection channel 101 through the Check channel 101.
  • the vehicle drag system 100 may include one drag device or two drag devices.
  • the width of the inspection channel 101 is set such that the vehicle can be dragged through the inspection channel 101 via the drag device while the vehicle is also able to pass the inspection channel 101 along the ground where no drag device is provided. That is, a travel passage for the vehicle to pass by itself is provided in the inspection passage 101, and the travel passage and the drag device are disposed substantially in parallel.
  • the vehicle inspection system further includes a pedestrian passage disposed at the rear of the protective wall 70 for the driver to walk from the start of the vehicle entering the inspection passage 101 to the end of the vehicle ready to exit the inspection passage 101.
  • the drag devices 111, 112 include a chain 114, and a pusher 1141 coupled to the chain 114 for propelling wheel motion to cause the vehicle to travel.
  • the pusher 1141 of the drag device may only push the left or right wheel of the vehicle.
  • the first support plate 1111 and the second support plate 1121 are disconnected, two-stage at the spacing portion 113, and no support plate is disposed on the spacing portion 113. While the first chain 114 and the second chain 114 are continuous, one-piece, the chain 114 and the pusher 1141 are continuously extended on the first drag device 111, the spacing portion 113, and the second drag device 112.
  • the vehicle inspection system further includes: a controller that corrects an image obtained by the inspection vehicle according to the scanned image obtained by the vehicle inspection system when the drag device is idling to remove the drag device from the image obtained by the inspection vehicle
  • a controller that corrects an image obtained by the inspection vehicle according to the scanned image obtained by the vehicle inspection system when the drag device is idling to remove the drag device from the image obtained by the inspection vehicle
  • An image for example, the controller corrects an image obtained by the inspection vehicle according to a scanned image obtained by the vehicle inspection system when the drag device is idling to remove an image of at least one of the chain and the pusher from the image obtained by the inspection vehicle .
  • the controller may correct an image obtained by the inspection vehicle according to a positional relationship of the inspected vehicle with at least one of the chain and the pusher in a direction in which the vehicle is conveyed to remove the chain and push from the image obtained by the inspection vehicle. An image of at least one of the pieces.
  • the pusher of the drag device contacts the wheel of the vehicle and pushes the wheel, thereby determining the vehicle along the at least one of the inspected vehicle and the chain and the pusher.
  • the positional relationship of the direction of transmission
  • the vehicle inspection system further includes: a position detecting device 119 for detecting whether the pushing member 1141 reaches a predetermined position, and a pushing member when the pushing member or the drag device of the wheel of the vehicle is being idling
  • a signal is sent to the controller to activate the radiology inspection system to scan the vehicle or the drag device at no load.
  • the position detecting device 119 may be an optical transceiver.
  • the optical transceiver is disposed on one side of the drag device and emits a light beam to the side of the drag device.
  • the optical transceiver transmits and receives the light. The light beam is received from the reflector 120 at the end of the pusher 1141, thereby determining that the pusher 1141 reaches a predetermined position.
  • the vehicle drag system 100 includes: a first drag device 111 and a second drag device that are sequentially arranged in a direction E of dragging the vehicle 112.
  • the first dragging device 111 is disposed upstream of the second dragging device 112 and between the first dragging device 111 and the second dragging device 112
  • the spacing portion 113 is provided such that the first drag device 111 and the second drag device 112 are spaced apart by a predetermined distance in the direction E of dragging the vehicle.
  • the first drag device 111 and the second drag device 112 are disposed in the inspection channel 101.
  • the first drag device 111 includes a first support plate 1111, a first chain 114, and a first pusher 1141 coupled to the first chain 114,
  • the first pusher 1141 operates around the first support plate 1111 for urging the wheel to move along the first support plate 1111 to cause the vehicle to travel.
  • the second dragging device 112 includes a second supporting plate 1121, a second chain 114, and a second pushing member 1141 connected to the second chain 114.
  • the second pushing member 1141 is operated around the second supporting plate 1121. The vehicle is pushed to move along the second support plate 1121 to advance the vehicle.
  • the vehicle may pass through the inspection passage 101 in the first mode, the second mode, or the third mode, in which the vehicle passes the inspection passage 101 by itself, and the radiographic inspection system The vehicle is not inspected.
  • the second mode the vehicle passes through the inspection channel 101 by itself, and the radiographic inspection system checks the vehicle with a dose lower than the first predetermined value, which may be harmless to the human body.
  • the maximum dose may also be a dose below the maximum dose; and in the third mode, the vehicle drag system drags the vehicle through the inspection channel 101 and the radiographic inspection system uses a greater than or equal to a second predetermined value Dose
  • the second predetermined value may be the same as or different from the first predetermined value, preferably the second predetermined value is greater than the first predetermined value.
  • the vehicle inspection system further includes a travel passage provided in the inspection passage 101 for the vehicle to pass by itself, the travel passage and the drag device are disposed substantially in parallel, and in the first mode, the vehicle is self-propelled on the travel passage. Passed by.
  • the vehicle may be a passenger car or a passenger car.
  • the vehicle inspection system can be integrated with the highway toll bayonet.
  • a spacing portion 113 may be disposed between the first dragging device 111 and the second dragging device 112 to avoid interference of the ray by the dragging device, or obtained by inspecting the vehicle.
  • the image is corrected to obtain an accurate image of the inspected vehicle in a manner of removing an image of at least one of the chain and the pusher from the image obtained by the inspection vehicle.
  • it is also possible to remove images of other (stationary or moving) components of the drag device from images obtained by the inspection vehicle, or other (stationary or moving) components of the vehicle drag system or vehicle inspection system. Image.
  • a vehicle inspection system includes an inspection passage 101, a vehicle drag system 100 disposed in an inspection passage, and a radiation inspection system 151.
  • the vehicle drag system 100 includes: a first drag device 111 and a second drag device 112 arranged in sequence along the direction E of the dragging vehicle, in the direction of dragging the vehicle, the first drag
  • the moving device 111 is disposed upstream of the second drag device 112 and is provided with a spacing portion 113 between the first drag device 111 and the second drag device 112 such that in the direction E of dragging the vehicle
  • the first drag device 111 and the second drag device 112 are spaced apart by a predetermined distance.
  • the first drag device 111 and the second drag device 112 are disposed in the inspection channel 101.
  • a path of at least a portion of the ray of the radiographic inspection system 151 passes through the spacing portion 113 between the first drag device 111 and the second drag device 112.
  • the beam center 106 is located at the spacing portion 113.
  • the radiographic inspection system 151 includes: a radiation source 152 disposed at one of upper and lower portions of the spacing portion 113 between the first drag device 111 and the second drag device 112, and at least partially disposed on the first drag device The other of the upper and lower portions of the spacing portion 113 between the 111 and the second drag device 112 is for receiving a detector 153 that emits light from the source 152 and passes through the inspected vehicle.
  • Radiation source 152 can be an X-ray source.
  • the first drag device 111 includes a first support plate 1111, a first chain 114, and a first pusher 1141 coupled to the first chain 114,
  • the first pusher 1141 operates around the first support plate 1111 for urging the wheel to move along the first support plate 1111 to cause the vehicle to travel.
  • the second dragging device 112 includes a second supporting plate 1121, a second chain 114, and a second pushing member 1141 connected to the second chain 114.
  • the second pushing member 1141 is operated around the second supporting plate 1121. The vehicle is pushed to move along the second support plate 1121 to advance the vehicle.
  • the radiographic inspection system comprises:
  • a first radiation source 1521 disposed at one of upper and lower portions of the spacing portion 113 between the first drag device 111 and the second drag device 112, and at least partially disposed on the first drag
  • a second detector 1532 that emits and passes through the rays of the inspected vehicle.
  • the first ray source 1521 and the second ray source 1522 are X-ray accelerators or X-ray machines, or one of the first ray source 1521 and the second ray source 1522 is an X-ray accelerator, and the first ray source 1521 and the second ray are The other of the sources 1522 is an X-ray machine.
  • the radiographic inspection system comprises:
  • a first radiation source 1521 disposed at one of upper and lower portions of the spacing portion 113 between the first drag device 111 and the second drag device 112, and at least partially disposed on the first drag Above the spacing portion 113 between the moving device 111 and the second drag device 112
  • a first detector 1531 for receiving the radiation emitted by the first radiation source 1521 and passing through the inspected vehicle, the first radiation source 1521 being an X-ray accelerator or an X-ray machine, and/or
  • the radiology inspection system includes:
  • a second detector 1532 that emits and passes through the rays of the inspected vehicle, the second source 1522 being an X-ray accelerator or an X-ray machine.
  • the vehicle inspection system further includes: a transition device 235 disposed at a spacing portion 113 between the first drag device 111 and the second drag device 112, the transition The device 235 is for supporting the vehicle as the vehicle moves from the first drag device 111 to the second drag device 112.
  • the transition device 235 can include a platform 12, a flap 13, a pedal 15, or other suitable support device or bracket.
  • the vehicle inspection system further includes: a linear boom structure disposed as a first detector boom structure 116 near the ground of the inspection passage 101, the first detector 1531 being disposed at A linear boom structure; and at least a portion of the linear boom structure is disposed near the ground of the spacing portion 113 between the first drag device 111 and the second drag device 112.
  • the linear boom structure may all be located below the inspection passage floor or the linear boom structure may be disposed below the transition device 235.
  • the vehicle inspection system further includes a U-shaped boom structure as the first detector boom structure 116, the U-arm structure including a generally horizontal arm A frame structure 1161 and two substantially vertical boom structures 1162 extending upwardly from opposite ends of the substantially horizontal boom structure, a substantially horizontal boom structure disposed adjacent the ground of the inspection channel 101, the first detector 1531 being disposed substantially a horizontal boom structure and a substantially vertical boom structure; and at least a portion of the substantially horizontal boom structure is disposed at a spaced portion between the first drag device 111 and the second drag device 112 113 near the ground.
  • the generally horizontal boom structure can be disposed below the transition device 235 or below the floor of the inspection channel.
  • the substantially vertical boom structure can be perpendicular to the inspection channel floor and located on either side of the inspection channel.
  • the vehicle inspection system further includes: L as the second detector boom 126.
  • a boom structure comprising a substantially horizontal boom structure and a generally vertical boom structure extending upwardly from an end of the substantially horizontal boom structure, the substantially horizontal boom structure being disposed in the inspection passage 101 Near the ground, a generally horizontal boom structure can be placed below the transition device 235 or below the floor of the inspection channel.
  • a second detector 1532 is disposed on the substantially horizontal boom structure and the substantially vertical boom structure; and at least a portion of the substantially horizontal boom structure is disposed on the first drag device 111 and the second drag The vicinity of the ground portion of the space portion 113 between the moving devices 112.
  • the substantially vertical boom structure can be perpendicular to the inspection channel floor and on the inspection channel side.
  • the vehicle inspection system further includes: an inverted L-shaped boom structure as a second detector boom structure 126, the inverted L-shaped boom structure including a substantially horizontal boom structure 1261 and substantially horizontal A generally vertical boom structure 1262 extending downwardly from the end of the boom structure, a generally horizontal boom structure 1261 disposed above the inspection channel 101, and a second detector 1532 disposed in the generally horizontal boom structure and generally perpendicular The boom structure.
  • a generally horizontal boom structure can be placed over the transition device 253.
  • the substantially vertical boom structure can be perpendicular to the inspection channel floor and on the inspection channel side.
  • the first detector 1531 and the second detector 1532 may also be in other arrangements, and the boom structure may take other shapes.
  • the vehicle may pass through the inspection passage 101 in the first mode, the second mode, or the third mode, in which the vehicle passes the inspection passage 101 by itself, and the radiographic inspection system is applied to the vehicle Without checking, in the second mode, the vehicle passes through the inspection channel 101 by itself, and the radiographic inspection system checks the vehicle with a dose lower than the first predetermined value, which may be the largest harm to the human body.
  • the dose may also be a dose below the maximum dose; and in the third mode, the vehicle drag system drags the vehicle through the inspection channel 101 and the radiation inspection system employs a dose pair greater than or equal to a second predetermined value
  • the second predetermined value may be the same as or different from the first predetermined value, and preferably, the second predetermined value is greater than the first predetermined value.
  • wheels of at least one side of the vehicle pass over the first drag device 111 and the second drag device 112, or the vehicle is at the first drag device 111 And passing on the road next to the second drag device 112.
  • At least one of the first drag device 111 and the second drag device 112 includes two chains, and a pusher as a pusher 1141 connected between the two chains.
  • a roller that is used to push the wheel of the vehicle to pass the inspection passage 101.
  • At least one of the first drag device 111 and the second drag device 112 includes a plate chain 114 (an example of an elongated traction member).
  • the plate chain 114 includes a projection as a pushing member 1141 for pushing a wheel of the vehicle to pass the inspection passage 101.
  • At least one of the first drag device 111 and the second drag device 112 passes the at least one wheel of the vehicle, causing the vehicle to travel through the inspection channel 101.
  • the pusher pushes at least one wheel of the vehicle to cause the vehicle to travel through the inspection passage 101.
  • the vehicle drag system further includes a third drag device 110 disposed substantially parallel to the first drag device 111, such that the first drag device 111 and the third drag device 110 respectively drive the left and right sides of the vehicle. wheel.
  • the end of the third drag device 110 near the spacing portion 113 may be substantially aligned with the end of the first drag device 111 near the spacing portion 113.
  • the third drag device 110 is an auxiliary drag device.
  • the vehicle inspection system may further include an inlet guide rail and a guide platform 105.
  • the first dragging device 111 and the second dragging device 112 may drag a single wheel or two wheels of the vehicle to realize transmission to the vehicle.
  • the entrance guide rail and the guide platform 105 correctly guide the traveling direction of the vehicle when the vehicle drives the first drag device 111, and realize the correcting action on the rear wheel.
  • the third drag device 110 implements an auxiliary push effect on the vehicle when the first drag device 111 transitions to the second drag device 112.
  • the vehicle inspection system may further include: a wheel blocking device 103 located on the right side of the first drag device 111, which realizes the rear wheel when the vehicle moves in a reverse direction of travel. Block.
  • the vehicle inspection system includes a top source housing 109 having a first source 1521, a side source housing 122 having a second source 1522, and a first detector boom 116.
  • the top source housing 109 is located above the boom, the first source 1521 and the power distribution device are placed; the side source housing 122 is on one side of the channel, and the second source 1522 is placed. And distribution equipment.
  • the vehicle inspection system may include a radiation monitoring system, an automatic license plate recognition system, and a chassis photographing system, which monitors whether or not there is radiation, and identifies the license plate while performing radiation imaging inspection on the vehicle.
  • the chassis takes an automatic picture and is bound to the currently generated vehicle image for traceability.
  • the vehicle drives onto the first drag device 111.
  • the system instructs the driver to stop by the traffic light, after which the driver leaves the vehicle and confirms that the driver leaves the vehicle.
  • the first dragging device 111 is activated, at which time the first dragging device 111 pushes the wheel to travel by the pushing member 1141.
  • the control source starts to emit X-rays in the detector arm. The detector receives the rays and converts them into the desired image data.
  • the first drag device 111 continues to push the vehicle forward and transmits the vehicle to the second drag device 112, which continues to push the wheel forward through the pusher 1141 so that the entire vehicle passes the beam center 106
  • the system performs a related check on the generated radiation image of the vehicle.
  • the ray source is stopped to stop the command.
  • the second drag device 112 does not stop the transmission of the vehicle until the rear wheel of the vehicle is pushed out of the second drag device 112, and the drag system returns to the initial position to wait for the entry of the next inspected vehicle.
  • the third drag device 110 will assist the first drag device 111 to achieve smooth transmission of the vehicle and smoothly transfer the vehicle to the second drag device 112.
  • the vehicle inspection system can operate in a driving pass mode. Radiation imaging in this mode can be achieved with local law.
  • the traffic light indicates that the driver can drive into the passage.
  • the vehicle speed is measured by the speed sensor to determine the beaming frequency of the radiation sources 1521 and 1522 or the sampling frequency of the detector.
  • the radiation sources 1521 and 1522 are separately controlled to beam, and the vehicle is scanned to generate an X-ray image of the vehicle.
  • the system issues a stop beam source command and the source stops.
  • the exit frequency of the accelerator is determined by the measured vehicle speed.
  • the sampling frequency of the detector is determined by the measured vehicle speed.
  • the vehicle inspection system may further include: a vehicle identification system, The type of vehicle is identified to take a corresponding scan check strategy depending on the type of vehicle. Further, according to an embodiment of the present invention, the vehicle inspection system may further include: a license plate recognition system 129 for identifying a license plate number of the vehicle. According to an embodiment of the invention, the vehicle inspection system may further include a chassis photographing system 128 for photographing the chassis of the vehicle. The chassis photographing system is installed on the ground of the inspection channel 101 or below the ground of the inspection channel 101.
  • the vehicle inspection system may be provided with a radiation detection system and a license plate number identification system, and the system monitors the radiation monitoring system 127 and the license plate on both sides of the inspection passage 101 while performing radiation imaging inspection on the vehicle.
  • the identification system 129 and the chassis photographing system 128 installed on or below the ground surface of the inspection channel 101 simultaneously detect whether or not there is radiation in the vehicle 111, automatically recognize the license plate of the vehicle, and automatically take a picture of the chassis of the vehicle and process the same. The result is tied to the image generated by the current radiation scan for traceability.
  • the elongated traction members of the present invention can be any suitable elongated traction member, such as a belt or the like.

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Abstract

车辆拖动***和相关车辆检查***，该车辆拖动***包括：沿拖动车辆的方向依次排列的第一拖动装置（111）和第二拖动装置（112），在拖动车辆的方向上，所述第一拖动装置（111）设置在所述第二拖动装置（112）的上游，且所述第一拖动装置（111）和第二拖动装置（112）之间设有间隔部分，使得在拖动车辆的方向上所述第一拖动装置（111）和第二拖动装置（112）间隔开预定距离。所述第一拖动装置（111）和第二拖动装置（112）分别包括支撑板（1111，1121），细长牵引件（114），与所述细长牵引件连接的推动件（1141），所述推动件（1141）围绕所述支撑板（1111，1121）运行，用于推动车轮沿所述支撑板（1111，1121）运动，使车辆行进。

Description

车辆拖动***和车辆检查*** 技术领域
本发明涉及一种车辆拖动***和车辆检查***。
背景技术
车辆检查***，通常采用链条式拖动装置，但是在扫描图像上出现链条和链条上的部件，严重影响了图像质量，且容易掩盖图像细节。
发明内容
本发明的目的是提供一种车辆拖动***和车辆检查***，由此减轻或消除拖动设备对扫描图像的影响。
根据本发明的一方面，本发明提供了一种车辆拖动***，该车辆拖动***包括：沿拖动车辆的方向依次排列的第一拖动装置和第二拖动装置，在拖动车辆的方向上，所述第一拖动装置设置在所述第二拖动装置的上游并且所述第一拖动装置和所述第二拖动装置之间设有间隔部分，使得在拖动车辆的方向上所述第一拖动装置和所述第二拖动装置间隔开预定距离；所述第一拖动装置包括第一支撑板，第一细长牵引件，以及与所述第一细长牵引件连接的第一推动件，该第一推动件围绕第一支撑板运行用于推动车轮沿第一支撑板运动，使车辆行进；所述第二拖动装置包括第二支撑板，第二细长牵引件，以及与所述第二细长牵引件连接的第二推动件，该第二推动件围绕第二支撑板运行用于推动车轮沿第二支撑板运动，使车辆行进。
根据本发明的一方面，所述车辆拖动***还包括：控制器，该控制器控制所述第一推动件以第一速度推动车辆的第一车轮，当车辆的第二车轮到达所述第二拖动装置的距离间隔部分预定距离的预定位置时，使第二细长牵引件移动，由此处于第二支撑板下侧的第二推动件移动而以第二速度与车辆的第二车轮接触并推动车辆的第二车轮，以保持车辆的运行状态，在拖动车辆的方向上第二车轮位于第一车轮的下游侧。
根据本发明的一方面，第二速度大于或等于第一速度，并且第二速度 和第一速度基本上恒定。
根据本发明的一方面，在第一推动件与第一车轮分离前，第二推动件与第二车轮接触。
根据本发明的一方面，所述车辆拖动***还包括：用于在车辆的第二车轮行进到所述预定位置时发出信号的传感器，在控制器收到传感器的信号后，使第二细长牵引件加速运动，使处于第二支撑板下侧的第二推动件移动预定时间，并以第二速度与车辆的第二车轮接触并推动车辆的第二车轮。
根据本发明的一方面，所述传感器是压力传感器，该压力传感器设置在所述第二拖动装置的所述预定位置处。
根据本发明的一方面，所述车辆拖动***还包括：用于测量车辆的第二车轮的直径的车轮直径获取装置，以及计算装置，该计算装置根据车轮直径获取装置获取的第二车轮的直径以及处于第二支撑板下侧的第二推动件的位置计算出第二推动件追赶上第二车轮而与第二车轮接触所需要行进的距离。
根据本发明的一方面，车轮直径获取装置包括图像获取装置，该图像获取装置通过以预定的时间间隔获得两个包含第二车轮的图像，根据两个图像中车辆位移的距离、车辆的第一速度、图像中车辆的第二车轮的直径以及所述时间间隔计算出车辆的第二车轮的直径。
根据本发明的一方面，在控制器收到所述传感器的信号后，使第二细长牵引件加速运动，然后再减速运动到第二速度。
根据本发明的一方面，所述加速运动是匀加速运动。
根据本发明的一方面，所述减速运动是匀减速运动。
根据本发明的一方面，所述图像获取装置是照相机或摄像机，并且设置在所述第一拖动装置的距离间隔部分预定距离的预定位置处，且位于第一拖动装置的一侧。
根据本发明的一方面，所述车辆拖动***还包括：用于测量车辆的第二车轮与第二推动件之间的距离的距离获取装置，在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时，该距离获取装置获取第二车轮与第二推动件之间的距离作为第二推动件追赶上第二 车轮而与第二车轮接触所需要行进的距离。
根据本发明的一方面，所述车辆拖动***还包括：用于在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时发出信号的第二传感器，在控制器收到第二传感器的信号后，使距离获取装置操作以获取第二车轮与第二推动件之间的距离。
根据本发明的一方面，所述距离获取装置包括图像获取装置，该图像获取装置通过以预定的时间间隔获得两个包含第二车轮和第二推动件的图像，根据两个图像中车辆位移的距离、图像中第二车轮与第二推动件的距离、车辆的第一速度以及所述时间间隔计算出第二车轮与第二推动件之间的距离。
根据本发明的一方面，该图像获取装置在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时获得一个包含第二车轮和第二推动件的图像，并且在推动件行进到所述第二拖动装置的预定位置处时获得另一个包含第二车轮和第二推动件的图像。
根据本发明的一方面，所述图像获取装置是照相机或摄像机，并且设置在所述第二拖动装置的距离间隔部分预定距离的预定位置处，且位于第二拖动装置的一侧。
根据本发明的一方面，所述车辆拖动***还包括：传感器，该传感器设置在第二推动件上，用于检测第二推动件是否已经与车辆的第二车轮接触。
根据本发明的一方面，所述传感器包括接触传感器。
根据本发明的一方面，所述细长牵引件是链条或板链。
根据本发明的一方面，所述传感器为在所述预定位置处位于第二拖动装置一侧的光收发器，用于向第二拖动装置发射光束，在接收由位于第二推动件的端部的反射器反射回的光束时确定第二推动件到达所述预定位置。
根据本发明的一方面，该车辆拖动***还包括与第一拖动装置大致平行设置的第三拖动装置，使得第一拖动装置和第三拖动装置分别驱动车辆的左右车轮。
根据本发明的一方面，本发明提了一种车辆检查***，该车辆检查系 统包括：检查通道；上述的车辆拖动***，其中第一拖动装置和第二拖动装置设置在检查通道中；射线检查***，其中所述射线检查***的射线的至少一部分的路径穿过所述第一拖动装置和所述第二拖动装置之间的间隔部分。
根据本发明的一方面，射线检查***包括：设置在所述第一拖动装置和所述第二拖动装置之间的间隔部分的上方和下方中的一方的射线源，以及至少部分地设置在所述第一拖动装置和所述第二拖动装置之间的间隔部分的上方和下方中的另一方的用于接收射线源发出并穿过被检查车辆的射线的探测器。
根据本发明的一方面，射线检查***包括：滑环，安装于滑环的射线源，以及安装于滑环的探测器，该探测器用于接收射线源发出并穿过被检查车辆的射线。CT扫描时，滑环带动射线源和探测器绕检查通道旋转。
根据本发明的一方面，缝隙形成在间隔部分上，以便射线检查***的射线无遮挡地穿过间隔部分。
根据本发明的一方面，间隔部分设置有平台，平台的上表面和检查通道内的地平面在同一高度，平台中间设有缝隙。
根据本发明的一方面，缝隙中设有厚度均匀的同种材料，以便提供车辆检查***的封闭性。
根据本发明的实施例的车辆拖动***和车辆检查***能够减轻或消除拖动设备对扫描图像的影响。
附图说明
图1是根据本发明的实施例的检查***的一个实施方式的主视图；
图2是根据本发明的检查***的一个实施方式的俯视图；
图3是根据本发明的实施例的车辆检查***的示意图，其中车辆拖动***包括两个拖动装置；
图4是根据本发明的另一个实施例的车辆检查***的示意图，其中车辆拖动***包括两个拖动装置；
图5是通过两次拍照进行测量的示意图；
图6是诸如辊子的推动件与车轮接触时的位置关系图；
图7是诸如辊子的推动件的速度-时间曲线；
图8是根据本发明的又一个实施例的车辆检查***的示意图，其中车辆拖动***包括两个拖动装置；
图9是根据本发明的另一种实施例的控制推动件的示意图；
图10是诸如辊子的推动件的速度-时间曲线示意图；
图11是根据本发明的另一种实施例的采用CT***的车辆检查***的示意图，其中车辆拖动***包括两个拖动装置；
图12是根据本发明的实施例的车辆检查***的推动件的示意图，其中推动件设有检测推动件是否与车辆的车轮接触的检测装置以及反馈装置；
图13是根据本发明的实施例的车辆检查***的推动件的示意图，其中示出了用于检测推动件是否到达预定位置的位置检测装置；
图14是根据本发明的实施例的车辆检查***的车辆拖动***的示意俯视图，其中车辆拖动***的拖动装置包括板链；
图15是根据本发明的实施例的车辆检查***的车辆拖动***的示意侧视图，其中车辆拖动***的拖动装置包括板链；
图16是根据本发明的实施例的车辆检查***的示意侧视图；
图17是根据本发明的实施例的车辆检查***的示意俯视图；
图18是根据本发明的实施例的车辆检查***的示意主视图，其中示出了设置在检查通道的左侧和右侧中的一侧的射线源；
图19是根据本发明的实施例的车辆检查***的示意主视图，其中示出了设置在检查通道的上方的射线源；
图20是根据本发明的实施例的车辆检查***的车辆拖动***的拖动装置的板链的结构示意图，其中(A)是主视图，(B)是俯视图；
图21是根据本发明的实施例的车辆检查***的车辆拖动***的示意俯视图，其中车辆拖动***的拖动装置包括推辊；以及
图22是根据本发明的实施例的车辆检查***的车辆拖动***的示意侧视图，其中车辆拖动***的拖动装置包括推辊。
具体实施方式
实施例1
如图1所示，根据本发明的实施例的车辆检查***包括：检查通道101、车辆拖动***100、射线检查***151。
如图2所示，车辆拖动***100包括：沿拖动车辆的方向E依次排列的第一拖动装置111和第二拖动装置112，在拖动车辆的方向E上，所述第一拖动装置111设置在所述第二拖动装置112的上游并且所述第一拖动装置111和所述第二拖动装置112之间设有间隔部分113，使得在拖动车辆的方向E上所述第一拖动装置111和所述第二拖动装置112间隔开预定距离。第一拖动装置111和第二拖动装置112设置在检查通道101中。所述射线检查***151的射线的至少一部分的路径穿过所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113。
在本发明的一些实施例中，如图1和2所示，射线检查***151包括：设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的一方的射线源152，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的另一方的用于接收射线源152发出并穿过被检查车辆的射线的探测器153。射线源152可以是X射线源，或其它合适的射线源。
例如，如图1和2所示，在所述检查通道101两侧设置防护墙70，在所述检查通道101范围内设置扫描装置框架80，所述射线源152设置于扫描装置框架80的顶部，以对通过检查通道101的车辆进行扫描，所述探测器153设置在与射线源152相对应的地面下。
在本发明的一些实施例中，如图11所示，射线检查***151可以包括：滑环154，安装于滑环154的射线源152，以及安装于滑环154的探测器153，该探测器153用于接收射线源152发出并穿过被检查车辆的射线。滑环154通过驱动机构驱动而转动，由此带动射线源152以及探测器153围绕被检车辆转动。
如图14、15、20、21、22所示，所述第一拖动装置111包括第一支撑板1111，第一链条114(细长牵引件的示例)，以及与所述第一链条114连接的第一推动件1141，该第一推动件1141围绕第一支撑板1111运行用于推动车轮沿第一支撑板1111运动，使车辆行进。所述第二拖动装置112包括第二支撑板1121，第二链条114(细长牵引件的示例)，以及与所述第二 链条114连接的第二推动件1141，该第二推动件1141围绕第二支撑板1121运行用于推动车轮沿第二支撑板1121运动，使车辆行进。
参见图3、7、8、9、10、11，车辆拖动***还包括控制器(未示出)，该控制器控制所述第一推动件1141以第一速度推动车辆的第一车轮，当车辆的第二车轮到达所述第二拖动装置112的距离间隔部分113预定距离的预定位置A时，使第二链条114移动，由此处于第二支撑板1121下侧的第二推动件1141移动而以第二速度与车辆的第二车轮接触并推动车辆的第二车轮，以保持车辆的运行状态，在拖动车辆的方向E上第二车轮位于第一车轮的下游侧。第二速度可以大于或等于第一速度，并且第二速度和第一速度可以基本上恒定。在第一推动件1141与第一车轮分离前，第二推动件1141与第二车轮接触。
如图3所示，车辆拖动***还包括：用于在车辆的第二车轮行进到所述预定位置A时发出信号的传感器118，传感器118在所述第二拖动装置112的距离间隔部分113预定距离的预定位置A处。在控制器收到传感器118的信号后，使第二链条114加速运动，使处于第二支撑板1121下侧的第二推动件1141移动预定时间，并以第二速度与车辆的第二车轮接触并推动车辆的第二车轮。所述传感器118可以是压力传感器、光电传感器或压电传感器等，该压力传感器、光电传感器或压电传感器等设置在所述第二拖动装置112的所述预定位置A处。
例如，如图3所示，车辆从左向右运动，第一拖动装置111的推动件1141推动车辆的后轮，使车辆以第一速度V向右运动。当车辆前轮到达设置于所述预定位置D处的所述传感器117时，第二拖动装置112上的推动件1141停靠在S点。
根据本发明的一种实施方式，在控制器收到车辆前轮到达预定位置A时由传感器118发出的信号后，使第二链条114加速运动，然后再减速运动到第二速度。所述加速运动可以是匀加速运动，而所述减速运动可以是匀减速运动。第二拖动装置112的推动件1141加速运动，加速到速度V2(V2＞V)，并保持速度V2，然后推动车辆前轮运动。优选地，当车辆运动速度变成第二速度V2，改变X射线发生装置3的出束频率(或改变局部图像的拉伸因子)。比如，使车辆速度与出束频率的比值保值恒定。优选地， ***使用测速装置跟踪车辆从第一拖动装置111运动到第二拖动装置112上并由第二拖动装置112上驱动时车辆的速度，当车辆速度发生改变时，改变X射线发生装置3的出束频率。推动件1141的加速运动可以是匀加速运动。
在图1中示出的实施方式中，射线源152包括X射线发生装置3以及射线准直器4，射线出束范围由附图标记5所指示的虚线示出。根据本发明的优选的实施方式，射线发生装置包括电子直线加速器(如1.5MeV电子直线加速器)或X光机。优选地，检查通道101设置成宽度为3.5m，高度为4m，相应的，可以利用本发明进行检查的车辆的车顶宽度不大于1.8m，车底宽度不大于2.4米，高度不大于2m。优选的，如图1所示，射线发生装置3设置在扫描装置框架80的顶部，下方设置有射线准直器4。当车辆驶入检查通道101进入射线主束范围5后，X射线对车辆进行扫描，设置在地面下的探测器153接收X射线。优选的，这里采用的探测器153是5mm＊2.5mm钨酸镉阵列探测器，通过垂直透射成像技术获取被检车辆的俯视图像。优选的，扫描速度为0.1m/s或0.2m/s。
被检查车辆可以是小型车辆，例如车辆可以是乘用车或客车。
上述具体的设置参数以及选用的器件仅仅是为了说明本发明的方案进行了示例性的说明而不是对本发明的技术方案的限定，本领域技术人员可以根据实际需要选用其他参数和器件，这些变形或修改都在本发明的保护范围内。
如图1所示，本发明的车辆检查***可以与高速公路收费站集成在一起进行重要交通枢纽的安全检查工作，附图标记81表示安检通道两侧的安全岛，在附图2中可以更清晰的看出该安全岛81。本发明的车辆检查***也可以应用在重要建筑、重要活动地区，或陆路边境口岸等各领域场所进行安全检查工作。
根据本发明优选的实施方式，所述第一拖动装置111和所述第二拖动装置112设置在所述检查通道101内的一侧，其能够拖动驶入检查通道101的车辆通过所述检查通道101。所述第一拖动装置111推动车辆的后轮，接着所述第二拖动装置112推动车辆的前轮，由此通过第一拖动装置111和第二拖动装置112之间设有间隔部分113。从射线源152到探测器153的射线 路径通过间隔部分113，以避免第一拖动装置111和第二拖动装置112对扫描图像的影响。
根据本发明的一些实施例，所述检查通道101的宽度设置成车辆能够经车辆拖动***100拖动通过检查通道101，同时车辆也能够沿着不设置拖动装置的地面驶过所述检查通道101。
具体而言，参见图2，方向E为车辆行驶方向。根据本发明优选的实施方式，以虚线示出的车辆表示利用车辆拖动***100拖到检查通道101出口的情形，并且对车辆进行安全检查，该情形下采用的是无人驾驶模式，驾驶员在车辆6进入到第一拖动装置111起始点处离开车辆，经通道10步行至第二拖动装置112的终点，等候检查结束的车辆。通道10设置在防护墙70后侧，从而避免驾驶员受到X射线的辐射。图2还示出了另外一种情形，即，车辆不通过车辆拖动***100拖动，而是由驾驶员快速驶离检查通道101，检查***可选择采用对驾驶员安全的辐射剂量进行扫描，或者选择不扫描。换而言之，根据本发明所提出的技术方案，车辆通过检查通道101有上述三种方式。即，可以对不同的车辆进行分类，对于不需要进行安检的车辆可以不经过车辆拖动***100通过，而是快速行驶通过检查通道101；对于安全风险低的车辆，可以不经过车辆拖动***100拖动，在快速行驶通过检查通道101过程中接受低辐射剂量的扫描；对于安全风险高的车辆通过车辆拖动***100拖动经过检查通道101接受标准辐射剂量的扫描，这样可以大大提高安检工作效率，缓解了交通拥堵。
优选的，这里的单个拖动装置可以采用洗车机行业中的拖动装置，即，单侧车轮拖动装置，由于该拖动装置在洗车行业普遍应用可以作为成熟的技术引用到车辆安全检查领域，从而，避免了对于车辆移动装置的重复研发。采用此种拖动装置，最省力，节能环保；小轮只与车轮接触，对车辆的磨损和触碰最小，容易获得车主和司机的接受。
除了上述优点之外，利用本发明所提供的车辆检查***，其可以直接构建在现有收费站的安全岛上，土建工作量小，占地面积小。并且，与小型物品行李X射线安检机类似，随着车辆通过X射线束流面，自动实时的得到扫描图像，大大提高了安检效率和准确性。
图3显示了包含第一拖动装置111和第二拖动装置112的车辆检查系 统的示意图。第一拖动装置111和第二拖动装置112之间设有间隔部分113，射线5从此穿过照射到探测器153上。
优选地，如图2、3所示，第一拖动装置111和第二拖动装置112之间的间隔部分113设置平台12，其便于车辆在第一拖动装置111和第二拖动装置112之间的间隔部分113的行驶。平台12的上表面和检查通道内的地平面在同一高度。平台12中间可以开一缝隙115，以便从准直器4到探测器153之间的射线路径上无遮挡，真正实现整个拖动装置对扫描的无遮挡。另外，缝隙15也可以设在间隔部分32上。
作为选择，平台12的缝隙115中可以设有厚度相同的同种材料，以便提高***的封闭性。这样对扫描图像也几乎没有影响，因为相同厚度的同种材料相当于在图像上加上了均匀背景。当然材料的选取要综合考虑射线穿透性损失、材料物理强度、价格来选取，比如铝、铁、塑料和炭纤维等材料。
如图3所示，翻板13便于车辆车轮通过，也能让第二拖动装置112上的推动件1141通过，翻板13可以绕枢轴转动。枢轴垂直于第二拖动装置112的延伸方向或方向E。
实施例2
被扫描车辆匀速通过扫描区，会使扫描控制和数据处理带来极大的便利，本实施例的目的在于使车辆匀速通过所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113。
本实施例的***结构同样如图1和图2所示，拖动装置如图4所示。图4与图3主要区别在于检查通道101的(靠近第一拖动装置111)一侧设置图像获取装置14，位置在预定位置D附近。
如图4所示，车辆拖动***还包括：用于在车辆的第二车轮行进到所述预定位置A时发出信号的传感器118，传感器118在所述第二拖动装置112的距离间隔部分113预定距离的预定位置A处。在控制器收到传感器118的信号后，使第二链条114加速运动，使处于第二支撑板1121下侧的第二推动件1141移动预定时间，并以第二速度与车辆的第二车轮接触并推动车辆的第二车轮。所述传感器118可以是压力传感器、光电传感器或压 电传感器等，该压力传感器、光电传感器或压电传感器等设置在所述第二拖动装置112的所述预定位置A处。
如图4所示，车辆拖动***还包括：用于测量车辆的第二车轮的直径的车轮直径获取装置，以及计算装置，该计算装置根据车轮直径获取装置获取的第二车轮的直径以及处于第二支撑板1121下侧的第二推动件1141的位置计算出第二推动件1141追赶上第二车轮而与第二车轮接触所需要行进的距离。车轮直径获取装置可以包括图像获取装置，该图像获取装置通过以预定的时间间隔获得两个包含第二车轮的图像，根据两个图像中车辆位移的距离、车辆的第一速度、图像中车辆的第二车轮的直径以及所述时间间隔计算出车辆的第二车轮的直径。所述图像获取装置可以是照相机或摄像机14，并且设置在所述第一拖动装置111的距离间隔部分113预定距离的预定位置D处，且位于第一拖动装置111的一侧。
例如，如图4所示，车辆从左向右运动，第一拖动装置111的推动件1141推动车辆的后轮，使车辆以第一速度V向右运动。当车辆前轮到达设置于预定位置D(地面)处的传感器117时，第二拖动装置112上的推动件1141停靠在S点位置，并启动照相机或摄像机14对车辆拍照。间隔短时间t，再次对车辆拍照。照相机或摄像机14能对车辆的前轮及其附近区域清晰拍照。
如图5所示，照相机或摄像机14拍下被检查车辆的照片，间隔时间t再拍照片。车辆以速度V运动，时间t内车辆前进了Vt的距离。在照片上测量车辆前轮的外径，并测量两张照片上车辆移动的距离，这两个测量可以人工在照片上测量，也可以用图像处理算法自动处理。车辆前轮外径：
Figure PCTCN2014094610-appb-000001
这样可以测量车辆前轮的外径，前轮外径的测量对本实施例的所述第二拖动装置112的第二推动件1141以预定速度与车辆的车轮接触是重要的。当然，已知前轮外径的情形下，反过来可以测量行车速度。或者在已知前轮外径和行车速度，用本技术测量时间间隔。本方法很容易扩展到各种测量尺寸、测速、测时间等领域，测量对象不限于车辆和车轮。另外， 提高每个参量测量精度、选用多个数据测量点或多次拍摄均可达到提高精度的目的。
当然，车型识别或其他测前轮直径的方法，可以替代上述拍照测量法，完成本发明的前轮直径测量步骤。只是本拍照测量法具有成本低、设备技术成熟、占地少等特点。
如图6所示，在推动件1141为辊子的情况下，测量好前轮直径后，可以较精确算出第二拖动装置112的推动件1141推动前轮时，两者间的相对距离a。已知前轮的直径2R和推动件1141的半径r，可以得到
Figure PCTCN2014094610-appb-000002
例如，当车辆前轮到达预定位置A处的传感器118处时，第二拖动装置112的推动件1141加速运动，加速到速度V3(V3＞V)，再逐渐减速到速度V，然后推动车辆前轮运动。第二拖动装置112的推动件1141运动速率-时间关系优选地如图7(A)所示。推动件1141从静止经过时间t1加速到速率V3，然后经过时间t2减速到V。如图4所示，位置S到A的间距为L。推动件1141追赶前轮，在t1+t2时间内需比车辆多跑L-a的距离。推动件1141按图7所示速率-时间曲线运动，
L-a＝0.5×[V3×t1+(V3+V)×t2]-V×(t1+t2)  (3)
V3、t1、t2可以根据需要灵活设计，但在后轮到达图4的平台12之前，推动件1141必须以速度V跟上前轮。顺便提及的是，L的测量可以用第二拖动装置112的精确尺寸来计算，也可以通过推动件1141匀速通过位置S和位置A的时间间隔来推算，可以作为***的参数。
优选地，推动件1141的加速和减速运动是匀加速和匀减速运动。
显然推动件1141追赶前轮可以按其他速率-时间曲线来进行，比如按图7(B)。当车辆前轮到达预定位置A，推动件1141加速运动到速度V3，然后以速度V3匀速前进，再减速到V并追赶到车辆前轮。可以按前述方式，写出运动学公式，不赘述。实际上只要根据电机的特性，采用特定的速率-时间曲线，可以设计出各种追赶方式，包括变加速追赶，只要满足L-a的追赶距离即可。
本实施例方案中，车辆运动速度保持V，不需要改变X射线发生装置 3的出束频率，减少了出束和探测***控制的复杂性。
实施例3
实施例2实现了车辆匀速通过间隔部分113，并实现了拖动装置对扫描射线不遮挡。也给出了车轮外径测量方法。但***略显复杂，包括需要测量图4的距离L。本实施例3将继续基于车轮外径测量，保持车辆匀速运动，并不需要测量L值。
相对实施例2，***部署主要改动：将图像获取装置14从预定位置D变更到预定位置A附近且靠近拖动装置一侧，如图8所示。
如图8所示，车辆拖动***还可以包括用于测量车辆的第二车轮与第二推动件1141之间的距离的距离获取装置，在车辆的第二车轮行进到所述第二拖动装置112的距离间隔部分113预定距离的预定位置A处时，该距离获取装置获取第二车轮与第二推动件1141之间的距离作为第二推动件1141追赶上第二车轮而与第二车轮接触所需要行进的距离。
参见图8，所述距离获取装置可以包括图像获取装置，该图像获取装置14可以通过以预定的时间间隔获得两个包含第二车轮和第二推动件1141的图像，根据两个图像中车辆位移的距离、第二车轮与第二推动件1141的距离、车辆的第一速度以及所述时间间隔计算出第二车轮与第二推动件1141之间的距离。所述图像获取装置可以是照相机或摄像机，并且可以设置在所述第二拖动装置112的距离间隔部分113预定距离的预定位置A处，且位于第二拖动装置112的一侧。
这样，所述图像获取装置不仅可以获取车辆的第二车轮的直径，同时可以获得第二车轮与第二推动件1141之间的距离，该距离是计算第二推动件1141追赶上第二车轮而与第二车轮接触所需要行进的距离的基础。不难理解，精确的追赶距离应该是该距离减去第二车轮与第二推动件接触时，两者在车辆行进方向的距离(对于推辊等圆形推动件，就是公式2的a)。
如图8所示，车辆拖动***还包括用于在车辆的第二车轮行进到所述第二拖动装置112的距离间隔部分113预定距离的预定位置A处时发出信号的传感器118，在控制器收到传感器118的信号后，使距离获取装置操作以获取第二车轮与第二推动件1141之间的距离。所述传感器118可以是压 力传感器、光电传感器或压电传感器等，该压力传感器、光电传感器或压电传感器等设置在所述第二拖动装置112的所述预定位置A处。
优选地，如图8所示，车辆从左向右运动，第一拖动装置111的推动件1141推动车辆的后轮，使车辆以第一速度V向右运动。当车辆前轮到达设置于预定位置D处的第一传感器117时，第二拖动装置112上的推动件1141停靠在S点位置，并开始启动到速度V4(V4＞V)。当车辆的前轮到达第二预定位置A处的第二传感器118(光电传感器或压电传感器)时，对车辆及其前轮拍照，如图9A所示。当第二拖动装置112上的推动件1141到达预定位置A的第二传感器118时，再次对车辆及前轮拍照，如图9B所示。***计时器(未示出)记录两次拍照的时间间隔t′。类似于前述测量前轮外径2R的原理，容易得到：
Figure PCTCN2014094610-appb-000003
第二次拍照时，也在照片上测量推动件1141和车辆前轮的距离。那么推动件1141到车辆前轮的实际距离b满足公式：
Figure PCTCN2014094610-appb-000004
此时推动件1141追赶上车辆前轮需要追赶b-a的距离(将公式4计算的R代入公式2即得a)。
当推动件1141达到预定位置A时，推动件1141开始匀减速到速度V，耗时t3，并追赶上车辆前轮(如图9C)，速度-时间曲线如图10A，可知：
b-a＝0.5×(V4-V)t3  (6)
加速度等于
p＝(V-V4)/t3  (7)
从前轮到达预定位置A，到推动件1141赶上前轮，车辆运动的距离等于V(t′+t3)。如图8所示，从第一拖动装置111的边缘到预定位置A的间距为g。为保证在第一拖动装置111的第一推动件1141与第一车轮(例如后轮)分离前，第二拖动装置112的第二推动件1141与第二车轮(例如前轮)接触，假定所有常用车辆的前后两轮间距最小值等于M，则
V(t′+t3)+g＜M  (8)
***设计必须满足这个条件。
根据公式6-8来设计***参数和控制参数：加速度p、速度V4、时间间隔t′、t3，并利用公式4-5完成中间计算。如此可以实现车辆匀速平稳的通过间隔部分113。
当然，推动件1141的速度-时间曲线可以从图10A变为图10B，即推动件1141到达预定位置A后，继续匀速行驶时间t4，然后再匀减速时间t5，到达速度V，并跟上车辆前轮。这种方式有利于加快追赶进程。其多一项可调节时间参数，为***设计增加了灵活性。当然这个方案较图10A方案控制略复杂一点。事实上推动件1141可以按照各种速度-时间曲线来追赶前轮，包括变加速运动，只要满足追赶上前轮时，推动件1141速度等于车辆速度。
本实施例对预定位置D、预定位置S的定位不必特别精确，这可以进一步降低***成本。
如图8所示，为车辆平稳通过所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113，可以在***中设置踏板15。当前轮到达预定位置D时，踏板15伸出来，以便前轮平稳通过。通过后，踏板15收回去。当然踏板15在对车辆平稳行驶要求不特别高或推动件1141直径足够小的情形下可以省略。
实际上，通过速度-时间曲线，借助本发明的技术，可以任意控制所述第一拖动装置111和所述第二拖动装置112推动车辆的速度，满足各种各样应用需求。
实施例4
前述实施例1、2、3中的拖动***运用于透视扫描成像***，实现了对射线的无遮挡。如上所述，本发明的射线检查***可以包括CT扫描***，如图11所示。射线源152和探测器153安装于滑环154上。核磁共振成像***亦可以采用本发明的拖动***，来规避拖动装置对成像的影响。
如图12所示，车辆拖动***还包括传感器81，该传感器81设置在第二推动件1141上，用于检测第二推动件1141是否已经与车辆的第二车轮 (例如前车轮)接触。所述传感器可以是接触传感器、压力传感器、压电传感器等。车辆拖动***还包括反馈装置82。传感器检测该第二推动件1141与前轮是否接触上，通过连接的反馈装置82通知车辆检查***的控制器。车辆检查***的控制器接到第二推动件1141已经与车辆的第二车轮(例如前车轮)接触的信号，可以控制第二拖动装置112按大于第一拖动装置111的推动速度推动车辆前进。作为选择的另一优选方案，车辆检查***接到第二推动件1141已经与车辆的第二车轮(例如前车轮)接触的信号，可以控制第二拖动装置112按等于第一拖动装置111的推动速度推动车辆前进，即实现车辆的匀速拖动。显然地，本方案可以省去图8的图像获取装置14，甚至省去图8所示的预定位置D的传感器117、预定位置A的传感器118。
优先地，传感器81是压电传感器。优选地，反馈装置包含无线信号发射单元，其将信号发送给车辆检查***的控制器。
根据本发明所提供的车辆检查***，其可以与高速公路收费站集成，从而对车辆在线快速安检；通过设置了防护墙可以避免意外对行人或驾驶员造成辐射；可以利用拖动装置使车辆在无人驾驶的条件下通过检查通道101，也可以不利用拖动装置，使小型车辆自行快速通过检查通道101，从而可以对不同的车辆进行分类处理，有利于缓解交通压力。
这样车辆被拖动或驾驶通过检查通道均可以使射线无遮挡的获得扫描图像。
实施例5
如图1所示，根据本发明的实施例的车辆检查***包括：供车辆通过的检查通道101、设置在检查通道101中的车辆拖动***100、用于对车辆进行检查的射线检查***151。
如图1、2所示，射线检查***151包括：射线源152，用于发出射线，例如，提供用于对车辆进行扫描的X射线；探测器153，其用于接收射线源发出并穿过被检查车辆的射线，例如用于接收从所述射线源152发射的X射线。在所述检查通道101两侧设置防护墙70，在所述检查通道101范围内设置扫描装置框架80，射线源152设置在检查通道101上方。例如，所述射线源152设置于扫描装置框架80顶部，以对通过检查通道101的车辆 进行扫描，所述探测器153设置在与射线源152相对应的位置。
该车辆拖动***100包括拖动装置111、112，所述拖动装置111、112设置在所述检查通道101范围的一侧的地面，其能够拖动驶入检查通道101的车辆通过所述检查通道101。
需要说明的是，本实施例中，车辆拖动***100可以包括一个拖动装置或两个拖动装置。
所述检查通道101的宽度设置成车辆能够经拖动装置拖动通过检查通道101，同时车辆也能够沿着不设置拖动装置的地面驶过所述检查通道101。即，在检查通道101中设置用于车辆自行通过的行驶通道，行驶通道和拖动装置大致平行设置。
车辆检查***还包括行人通道，所述行人通道设置在防护墙70后部，以供驾驶员从车辆驶入该检查通道101的起点步行至车辆准备驶离该检查通道101的终点。
参见图14、20、21、22，拖动装置111、112包括链条114，以及与所述链条114连接的推动件1141，该推动件1141用于推动车轮运动，使车辆行进。拖动装置的推动件1141可以仅仅推动车辆的左车轮或右车轮。
根据本发明的一些实施例，第一支撑板1111和第二支撑板1121在间隔部分113处是断开的、二段式的，在间隔部分113上没有设置支撑板。而第一链条114和第二链条114是连续的、一段式的，因此链条114和推动件1141在第一拖动装置111、间隔部分113和第二拖动装置112上是连续地延伸的。车辆检查***还包括：控制器，该控制器根据拖动装置空载时车辆检查***获得的扫描图像对检查车辆所获得的图像进行校正，以从检查车辆所获得的图像中除去拖动装置的图像，例如该控制器根据拖动装置空载时车辆检查***获得的扫描图像对检查车辆所获得的图像进行校正，以从检查车辆所获得的图像中除去链条和推动件中的至少一个的图像。该控制器可以根据被检查车辆与链条和推动件中的至少一个的、沿车辆被传送方向的位置关系，对检查车辆所获得的图像进行校正，以从检查车辆获得的图像中除去链条和推动件中的至少一个的图像。
根据本发明的一些实施方式，拖动装置的推动件与车辆的车轮接触并推动车轮，由此确定被检查车辆与链条和推动件中的至少一个的、沿车辆 被传送方向的位置关系。
如图13所示，所述车辆检查***还包括：位置检测装置119，用于检测推动件1141是否到达预定位置，并且在正推动车辆的车轮的推动件或拖动装置空载时的推动件到达预定位置时向控制器发送信号，以启动射线检查***对车辆或空载时的拖动装置进行扫描。位置检测装置119可以是光收发器，光收发器设置在拖动装置的一侧，并向拖动装置一侧发射光束，在光束照射到推动件1141的端部的反射器120时，光收发器收到从推动件1141的端部的反射器120反射的光束，由此确定推动件1141到达预定位置。
在车辆拖动***包括两个拖动装置的情况下，如图2所示，车辆拖动***100包括：沿拖动车辆的方向E依次排列的第一拖动装置111和第二拖动装置112，在拖动车辆的方向上，所述第一拖动装置111设置在所述第二拖动装置112的上游并且所述第一拖动装置111和所述第二拖动装置112之间设有间隔部分113，使得在拖动车辆的方向E上所述第一拖动装置111和所述第二拖动装置112间隔开预定距离。第一拖动装置111和第二拖动装置112设置在检查通道101中。所述射线检查***151的射线的至少一部分的路径穿过所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113。如图14、15、20、21、22所示，所述第一拖动装置111包括第一支撑板1111，第一链条114，以及与所述第一链条114连接的第一推动件1141，该第一推动件1141围绕第一支撑板1111运行用于推动车轮沿第一支撑板1111运动，使车辆行进。所述第二拖动装置112包括第二支撑板1121，第二链条114，以及与所述第二链条114连接的第二推动件1141，该第二推动件1141围绕第二支撑板1121运行用于推动车轮沿第二支撑板1121运动，使车辆行进。
在根据本发明的实施例的车辆检查***中，车辆可以在第一模式、第二模式或第三模式下通过检查通道101，在第一模式下，车辆自行通过检查通道101，并且射线检查***对车辆不进行检查，在第二模式下，车辆自行通过检查通道101，并且射线检查***采用低于第一预定值的剂量对车辆进行检查，该第一预定值的剂量可以是对人体无伤害的最大剂量，也可以是在该最大剂量之下的某一剂量；以及在第三模式下，车辆拖动***拖动车辆通过检查通道101，并且射线检查***采用大于或等于第二预定值的剂量 对车辆进行检查，该第二预定值可以与所述第一预定值相同也可以不同，优选地，第二预定值大于第一预定值。
在第一模式和第二模式下，车辆的至少一侧的车轮在所述第一拖动装置和所述第二拖动装置上驶过，或车辆在所述第一拖动装置和所述第二拖动装置旁边的道路上驶过。如上所述，所述车辆检查***还包括在检查通道101中设置的用于车辆自行通过的行驶通道，行驶通道和拖动装置大致平行设置，并且在第一模式下，车辆自行在行驶通道上驶过。
根据一些实施例，车辆可以是乘用车或客车。车辆检查***可以与高速公路收费卡口集成在一起。
根据本发明的实施例，可以采用所述第一拖动装置111和所述第二拖动装置112之间设有间隔部分113来避免拖动装置对射线的干扰，或采用对检查车辆所获得的图像进行校正，以从检查车辆获得的图像中除去链条和推动件中的至少一个的图像的方式，获得被检查车辆的精确图像。此外，根据本发明的实施方式，也可以从检查车辆获得的图像中除去拖动装置的其它(静止或运动)部件的图像，或车辆拖动***或车辆检查***的其它(静止或运动)部件的图像。
实施例6
如图1所示，根据本发明的实施例的车辆检查***包括：检查通道101、设置在检查通道中的车辆拖动***100、射线检查***151。
如图2所示，车辆拖动***100包括：沿拖动车辆的方向E依次排列的第一拖动装置111和第二拖动装置112，在拖动车辆的方向上，所述第一拖动装置111设置在所述第二拖动装置112的上游并且所述第一拖动装置111和所述第二拖动装置112之间设有间隔部分113，使得在拖动车辆的方向E上所述第一拖动装置111和所述第二拖动装置112间隔开预定距离。第一拖动装置111和第二拖动装置112设置在检查通道101中。所述射线检查***151的射线的至少一部分的路径穿过所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113。如图14所示，束流中心106位于间隔部分113。
在本发明的一些实施例中，如图1和2所示，射线检查***151包括： 设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的一方的射线源152，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的另一方的用于接收射线源152发出并穿过被检查车辆的射线的探测器153。射线源152可以是X射线源。
如图14、15、20、21、22所示，所述第一拖动装置111包括第一支撑板1111，第一链条114，以及与所述第一链条114连接的第一推动件1141，该第一推动件1141围绕第一支撑板1111运行用于推动车轮沿第一支撑板1111运动，使车辆行进。所述第二拖动装置112包括第二支撑板1121，第二链条114，以及与所述第二链条114连接的第二推动件1141，该第二推动件1141围绕第二支撑板1121运行用于推动车轮沿第二支撑板1121运动，使车辆行进。
参见图16、17、18和19，射线检查***包括：
设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的一方的第一射线源1521，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的另一方的用于接收第一射线源1521发出并穿过被检查车辆的射线的第一探测器1531；以及
设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的、在与上下方向和拖动车辆的方向E大致垂直的横向方向上的一侧的第二射线源1522，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的横向方向上的另一侧的用于接收第二射线源1522发出并穿过被检查车辆的射线的第二探测器1532。第一射线源1521和第二射线源1522是X射线加速器或X光机，或第一射线源1521和第二射线源1522中的一个是X射线加速器，并且第一射线源1521和第二射线源1522中的另一个是X光机。
作为选择，参见图16、17、18和19，射线检查***包括：
设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方和下方中的一方的第一射线源1521，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的上方 和下方中的另一方的用于接收第一射线源1521发出并穿过被检查车辆的射线的第一探测器1531，第一射线源1521是X射线加速器或X光机，和/或
射线检查***包括：
设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的、在与上下方向和拖动车辆的方向E大致垂直的横向方向上的一侧的第二射线源1522，以及至少部分地设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的横向方向上的另一侧的用于接收第二射线源1522发出并穿过被检查车辆的射线的第二探测器1532，第二射线源1522是X射线加速器或X光机。
如图14、15、21、22所示，车辆检查***还包括：设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的过渡装置235，该过渡装置235用于在车辆从第一拖动装置111向第二拖动装置112运动时支撑车辆。参见图2、3、4、8，过渡装置235可以包括平台12、翻板13、踏板15或其它合适的支撑装置或支架。
参见图14、15、19、21、22，车辆检查***还包括：设置在检查通道101的地面附近的作为第一探测器臂架结构116的直线型臂架结构，第一探测器1531设置在直线型臂架结构上；并且至少所述直线型臂架结构的一部分设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的地面附近。直线型臂架结构可以全部位于检查通道地面下方或直线型臂架结构可以设置在过渡装置235下方。
作为选择，参见图14、15、19、21、22，所述车辆检查***还包括：作为第一探测器臂架结构116的U型臂架结构，该U型臂架结构包括大致水平的臂架结构1161和两个从大致水平的臂架结构的两端向上延伸的大致垂直的臂架结构1162，大致水平的臂架结构设置在检查通道101的地面附近，第一探测器1531设置在大致水平的臂架结构和大致垂直的臂架结构上；并且至少所述大致水平的臂架结构的一部分设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的地面附近。大致水平的臂架结构可以设置在过渡装置235下方或检查通道的地面下方。大致垂直的臂架结构可以垂直于检查通道地面且位于检查通道两侧。
参见图18，所述车辆检查***还包括：作为第二探测器臂架126的L 型臂架结构，该L型臂架结构包括大致水平的臂架结构和从大致水平的臂架结构的端部向上延伸的大致垂直的臂架结构，大致水平的臂架结构设置在检查通道101的地面附近，大致水平的臂架结构可以设置在过渡装置235下方或检查通道的地面下方。第二探测器1532设置在大致水平的臂架结构和大致垂直的臂架结构上；并且至少所述大致水平的臂架结构的一部分设置在所述第一拖动装置111和所述第二拖动装置112之间的间隔部分113的地面附近。大致垂直的臂架结构可以垂直于检查通道地面且位于检查通道一侧。
作为选择，参见图18，车辆检查***还包括：作为第二探测器臂架结构126的倒L型臂架结构，该倒L型臂架结构包括大致水平的臂架结构1261和从大致水平的臂架结构的端部向下延伸的大致垂直的臂架结构1262，大致水平的臂架结构1261设置在检查通道101的上方，第二探测器1532设置在大致水平的臂架结构和大致垂直的臂架结构上。大致水平的臂架结构可以设置在过渡装置253上方。大致垂直的臂架结构可以垂直于检查通道地面且位于检查通道一侧。
根据本发明的一些实施方式，第一探测器1531和第二探测器1532也可以采用其它的排列方式，以及臂架结构也可以采用其它的形状。
在根据本实施例的车辆检查***中，车辆可以在第一模式、第二模式或第三模式下通过检查通道101，在第一模式下，车辆自行通过检查通道101，并且射线检查***对车辆不进行检查，在第二模式下，车辆自行通过检查通道101，并且射线检查***采用低于第一预定值的剂量对车辆进行检查，该第一预定值的剂量可以是对人体无伤害的最大剂量，也可以是在该最大剂量之下的某一剂量；以及在第三模式下，车辆拖动***拖动车辆通过检查通道101，并且射线检查***采用大于或等于第二预定值的剂量对车辆进行检查，该第二预定值可以与所述第一预定值相同也可以不同，优选地，第二预定值大于第一预定值。在第一模式和第二模式下，车辆的至少一侧的车轮在所述第一拖动装置111和所述第二拖动装置112上驶过，或车辆在所述第一拖动装置111和所述第二拖动装置112旁边的道路上驶过。
如图21、22所示，所述第一拖动装置111和第二拖动装置112中的至少一个包括两条链条，以及连接在两条链条之间的作为推动件1141的推动 辊，该推动辊用于推动车辆的车轮，使车辆行进而通过检查通道101。
如图14、15、20所示，所述第一拖动装置111和第二拖动装置112中的至少一个包括板链114(细长牵引件的示例)。所述板链114包括作为推动件1141的凸起，该推动件用于推动车辆的车轮，使车辆行进而通过检查通道101。
根据本发明的实施方式，所述第一拖动装置111和第二拖动装置112中的至少一个通过车辆的至少一个车轮，使车辆行进而通过检查通道101。所述推动件推动车辆的至少一个车轮，使车辆行进而通过检查通道101。
如图14所示，该车辆拖动***还包括与第一拖动装置111大致平行设置的第三拖动装置110，使得第一拖动装置111和第三拖动装置110分别驱动车辆的左右车轮。该第三拖动装置110的靠近间隔部分113的端部可以与第一拖动装置111的靠近间隔部分113的端部大致对齐。第三拖动装置110是辅助拖动装置。
如图14所示，根据本发明的实施例的车辆检查***还可以包括：入口导向轨和导向平台105。所述第一拖动装置111和所述第二拖动装置112可对车辆的单轮或双轮进行拖动，实现对车辆的传输。入口导向轨和导向平台105在车辆驶上第一拖动装置111时，对车辆行进方向进行正确的引导，并实现对后轮的纠偏作用。
如图14所示，第三拖动装置110实现车辆在所述第一拖动装置111过渡到第二拖动装置112时，对车辆的辅助推动作用。
如图14所示，根据本发明的实施例的车辆检查***还可以包括：挡轮装置103，位于第一拖动装置111的右侧，实现当车辆在逆向于行进方向动作时对后轮的阻挡。
如图16、17、18、19所示，车辆检查***包括设有第一射线源1521的顶部射线源舱109、设有第二射线源1522的侧射线源舱122，第一探测器臂架116、第二探测器臂架126、放射物检测***127、防护墙70、电脑、电控设备、成像软件和传感器。
如图16、17、18、19所示，顶部射线源舱109位于臂架上方，放置第一射线源1521及配电设备；侧射线源舱122于通道的一侧，放置第二射线源1522及配电设备。
如图17所示，根据本发明的车辆检查***可包括放射物监测***和车牌自动识别***及底盘拍照***，在对车辆进行辐射成像检查的同时监测是否有放射物，以及对车牌进行识别及底盘进行自动拍照，并与当前生成的车辆图像绑定在一起，以便追溯。
当对车辆进行扫描时，车辆驶上第一拖动装置111，当车辆后轮也驶上第一拖动装置111后，***通过交通灯指示司机停车，之后司机离开车辆，在确认司机离开车辆后，启动第一拖动装置111，此时第一拖动装置111通过推动件1141推动车轮行进，当车辆接近射线束的束流中心106时，控制射线源开始发射X射线，探测器臂里的探测器接收射线，并转化成所需的图像数据。第一拖动装置111继续推动车辆向前行进，并将车辆传输到第二拖动装置112，第二拖动装置112通过推动件1141继续推动车轮向前行进，从而整个车辆通过束流中心106，此时***对车辆生成辐射图像进行相关检查。当检测到车辆完全通过束流中心后，发出射线源停止出束命令。但此时第二拖动装置112并没有停止传输车辆，直到将车辆后轮推出第二拖动装置112后，拖动***回到初始位置等待下一辆被检车辆的驶入。
为保证车辆在传输过程中的速度平稳，第三拖动装置110将辅助第一拖动装置111实现对车辆的平稳传输及将车辆平稳的传送到第二拖动装置112上。
根据本发明的车辆检查***可以在驾车通过模式下运行。在当地法律允许的前提下可以实现此模式下的辐射成像。当***就绪后，交通灯指示司机可以驾车进入通道，此时司机驾驶车辆进入检查通道101后，通过速度传感器测量车速，从而确定射线源1521和1522的出束频率或探测器的采样频率。当车辆接近射线源1521或1522的射线束的束流中心106时，分别控制射线源1521和1522出束，对车辆进行扫描，生成车辆的X光图像。当车辆离开束流中心106后，***发出停止射线源出束命令，射线源停止出束。
对于加速器为射线源的成像***，通过测得的车辆速度确定加速器的出束频率。对于X光机为射线源的成像***，通过测得的车辆速度确定探测器的采样频率。
根据本发明的实施例，车辆检查***还可以包括：车辆识别***，用 于识别车辆的类型，以根据车辆的类型采取相应的扫描检查策略。此外，根据本发明的实施例，车辆检查***还可以包括：车牌识别***129，用于识别车辆的车牌号。根据本发明的实施例，所述车辆检查***还可以包括：底盘拍照***128，用于对车辆的底盘进行拍照。所述底盘拍照***安装在检查通道101地面上或检查通道101地面以下。
具体而言，根据本发明的车辆检查***可以设有放射物检测***和车牌号识别***，***在对车辆进行辐射成像检查的同时，安装在检查通道101两侧的放射物监测***127和车牌识别***129以及安装在检查通道101地面表面或以下的底盘拍照***128同时对车辆111中是否存在放射物进行探测，对车辆的车牌进行自动识别，以及对车辆的底盘进行自动拍照，并把处理结果与当前辐射扫描生成的图像绑定在一起，以便追溯。
虽然以链条和板链作为细长牵引件进行了描述，但是本发明的细长牵引件可以是任何合适的细长牵引件，例如皮带等。
虽然本总体专利构思的一些实施例已被显示和说明，本领域普通技术人员将理解，在不背离本总体专利构思的原则和精神的情况下，可对这些实施例做出改变，本发明的范围以权利要求和它们的等同物限定。

Claims (20)

  1. 一种车辆拖动***，包括：
    沿拖动车辆的方向依次排列的第一拖动装置和第二拖动装置，在拖动车辆的方向上，所述第一拖动装置设置在所述第二拖动装置的上游并且所述第一拖动装置和所述第二拖动装置之间设有间隔部分，使得在拖动车辆的方向上所述第一拖动装置和所述第二拖动装置间隔开预定距离；
    所述第一拖动装置包括第一支撑板，第一细长牵引件，以及与所述第一细长牵引件连接的第一推动件，该第一推动件围绕第一支撑板运行用于推动车轮沿第一支撑板运动，使车辆行进；
    所述第二拖动装置包括第二支撑板，第二细长牵引件，以及与所述第二细长牵引件连接的第二推动件，该第二推动件围绕第二支撑板运行用于推动车轮沿第二支撑板运动，使车辆行进。
  2. 根据权利要求1所述的车辆拖动***，还包括：
    控制器，该控制器控制所述第一推动件以第一速度推动车辆的第一车轮，当车辆的第二车轮到达所述第二拖动装置的距离间隔部分预定距离的预定位置时，使第二细长牵引件移动，由此处于第二支撑板下侧的第二推动件移动而以第二速度与车辆的第二车轮接触并推动车辆的第二车轮，以保持车辆的运行状态，在拖动车辆的方向上第二车轮位于第一车轮的下游侧，第二速度大于或等于第一速度，并且第二速度和第一速度基本上恒定，在第一推动件与第一车轮分离前，第二推动件与第二车轮接触。
  3. 根据权利要求2所述的车辆拖动***，还包括用于在车辆的第二车轮行进到所述预定位置时发出信号的传感器，在控制器收到传感器的信号后，使第二细长牵引件加速运动，使处于第二支撑板下侧的第二推动件移动预定时间，并以第二速度与车辆的第二车轮接触并推动车辆的第二车轮。
  4. 根据权利要求3所述的车辆拖动***，其中：所述传感器是压力传感器，该压力传感器设置在所述第二拖动装置的所述预定位置处。
  5. 根据权利要求2所述的车辆拖动***，还包括用于测量车辆的第二车轮的直径的车轮直径获取装置，以及计算装置，该计算装置根据车轮直径获取装置获取的第二车轮的直径以及处于第二支撑板下侧的第二推动件的位置计算出第二推动件追赶上第二车轮而与第二车轮接触所需要行进的 距离。
  6. 根据权利要求5所述的车辆拖动***，其中：车轮直径获取装置包括图像获取装置，该图像获取装置通过以预定的时间间隔获得两个包含第二车轮的图像，根据两个图像中车辆位移的距离、车辆的第一速度、图像中车辆的第二车轮的直径以及所述时间间隔计算出车辆的第二车轮的直径。
  7. 根据权利要求3所述的车辆拖动***，其中：控制器在收到所述传感器的信号后，使第二细长牵引件加速运动，然后再减速运动到第二速度。
  8. 根据权利要求6所述的车辆拖动***，其中：所述图像获取装置是照相机或摄像机，并且设置在所述第一拖动装置的距离间隔部分预定距离的预定位置处，且位于第一拖动装置的一侧。
  9. 根据权利要求2所述的车辆拖动***，还包括用于测量车辆的第二车轮与第二推动件之间的距离的距离获取装置，在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时，该距离获取装置获取第二车轮与第二推动件之间的距离作为第二推动件追赶上第二车轮而与第二车轮接触所需要行进的距离。
  10. 根据权利要求9所述的车辆拖动***，还包括用于在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时发出信号的第二传感器，在控制器收到第二传感器的信号后，使距离获取装置操作以获取第二车轮与第二推动件之间的距离。
  11. 根据权利要求9所述的车辆拖动***，其中：所述距离获取装置包括图像获取装置，该图像获取装置通过以预定的时间间隔获得两个包含第二车轮和第二推动件的图像，根据两个图像中车辆位移的距离、图像中第二车轮与第二推动件的距离、车辆的第一速度以及所述时间间隔计算出第二车轮与第二推动件之间的距离。
  12. 根据权利要求11所述的车辆拖动***，其中：该图像获取装置在车辆的第二车轮行进到所述第二拖动装置的距离间隔部分预定距离的预定位置处时获得一个包含第二车轮和第二推动件的图像，并且在推动件行进到所述第二拖动装置的预定位置处时获得另一个包含第二车轮和第二推动件的图像。
  13. 根据权利要求11所述的车辆拖动***，其中：所述图像获取装置是照相机或摄像机，并且设置在所述第二拖动装置的距离间隔部分预定距离的预定位置处，且位于第二拖动装置的一侧。
  14. 根据权利要求3所述的车辆拖动***，其中，所述传感器为在所述预定位置处位于第二拖动装置一侧的光收发器，用于向第二拖动装置发射光束，在接收由位于第二推动件的端部的反射器反射回的光束时确定第二推动件到达所述预定位置。
  15. 根据权利要求1所述的车辆拖动***，其中，该车辆拖动***还包括与第一拖动装置大致平行设置的第三拖动装置，使得第一拖动装置和第三拖动装置分别驱动车辆的左右车轮。
  16. 一种车辆检查***，包括：
    检查通道；
    如权利要求1所述的车辆拖动***，其中第一拖动装置和第二拖动装置设置在检查通道中；
    射线检查***，其中所述射线检查***的射线的至少一部分的路径穿过所述第一拖动装置和所述第二拖动装置之间的间隔部分。
  17. 根据权利要求16所述的车辆检查***，其中：射线检查***包括：设置在所述第一拖动装置和所述第二拖动装置之间的间隔部分的上方和下方中的一方的射线源，以及至少部分地设置在所述第一拖动装置和所述第二拖动装置之间的间隔部分的上方和下方中的另一方的用于接收射线源发出并穿过被检查车辆的射线的探测器。
  18. 根据权利要求16所述的车辆检查***，其中：射线检查***包括：
    滑环，
    安装于滑环的射线源，以及
    安装于滑环的探测器，该探测器用于接收射线源发出并穿过被检查车辆的射线。
  19. 根据权利要求16所述的车辆检查***，其中：缝隙(115)形成在间隔部分上，以便射线检查***的射线无遮挡地穿过间隔部分。
  20. 根据权利要求19所述的车辆检查***，其中：缝隙(115)中设有厚度均匀的同种材料，以便提供车辆检查***的封闭性。
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RU2661299C1 (ru) 2018-07-13
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