Automatic debugging method and device for X-ray energy board of security inspection instrument

Abstract

The invention discloses an automatic debugging method and device for an X-ray energy board card of a security inspection instrument, which can realize automatic debugging of the board card, and the debugging operation is convenient and fast, and the debugging accuracy and debugging efficiency can be improved. The method includes a fuzzy control method, the board card is fixed to the execution end of a manipulator, and a controller controls a rotation drive device and a transverse drive device to drive the manipulator to drive the board card to move and rotate. The moving distance and rotation angle of the board card are obtained by the fuzzy control method. The fuzzy control method refers to using a fuzzy controller, a membership function, and a defuzzification method to calculate the relative displacement of the board card. The defuzzification method includes a centroid method. A debugging device using the method includes a manipulator and a controller. The manipulator is used to grab the board card. The controller is used to control the manipulator to drive the board card to move. The manipulator includes a fixed plate, a movable plate, a transmission mechanism, a drive device, and a positioning pin fixed to the bottom end of the movable plate.

Description

Technical Field

[0001] The invention relates to the technical field of security inspection instruments, and in particular to an automatic debugging method for an X-ray energy board card of a security inspection instrument and a device applying the method. Background Art

[0002] Intelligent security inspection instrument, also known as safety inspection instrument, is an electronic device with computer control and image processing as the core, which uses a conveyor belt to send the inspected items into the X-ray inspection channel to complete the inspection. It uses the different penetration rates of X-rays to different substances, and uses a specific algorithm to calculate the signals of N receiving plates arranged in an array with different X-ray energies by a computer to display and distinguish the shape and properties of the inspected object, so as to achieve the purpose of detecting dangerous contraband. The intelligent security inspection instrument includes corresponding energy receiving plates (also called X-ray receiving plates or boards) 1-1, inspected channels 1-2, X-ray slits 1-3, X-ray secondary collimators 1-4, X-ray primary collimators 1-5, and X-ray generators (X-ray sources) 1-6, see Figure 1 .

[0003] Before the security scanner is put into use, it needs to be debugged using the security scanner energy debugging system. The debugging of the security scanner energy system is one of the most critical processes in the manufacturing process of the security scanner. It adjusts the relative positions of the X-ray light source, primary collimator, secondary collimator, collimation cap and each X-ray receiving board (due to different models, each security scanner has 11 to 18 X-ray receiving boards, which are also called boards) in four directions so that the energy received by each X-ray receiving board meets the technical requirements.

[0004] Since the difference in X-ray transmittance to various liquids and powders is not very obvious, the requirements for debugging the energy system of intelligent security inspection machines are many times higher than those of ordinary security inspection machines. However, the existing energy debugging system of intelligent security inspection machines has problems such as inconvenient debugging, low debugging accuracy, and slow debugging efficiency. The reasons are: X-rays are harmful to the human body. When debugging the board, it must be done in a lead room with separation between man and machine. The original manufacturing process must be "offline and blindly adjusted". The so-called "offline and blindly adjusted" means that the power of the security inspection machine must be turned off when adjusting the board. The debugging personnel enter the lead room and adjust it by feeling. After the adjustment, the debugging personnel leave the lead room, turn on the power of the security inspection machine, and observe the adjustment effect. This must be repeated dozens or even hundreds of times to debug a barely qualified security inspection machine. Therefore, the debugging position is the biggest focus, difficulty and "bottleneck" in the manufacturing process of security inspection machines in the industry.

[0005] A qualified commissioning staff can only commission 1-2 units a day, and it is difficult to achieve good technical parameters. This puts high demands on the skills of commissioning staff, and it takes several months to train a qualified commissioning staff; secondly, due to "offline, blind commissioning", it is difficult to achieve a fine level of commissioning accuracy; at the same time, it restricts the improvement of adjustment efficiency. Summary of the invention

[0006] Aiming at the problems that the X-ray energy debugging system of the intelligent security scanner in the prior art has inconvenient debugging, low debugging accuracy, slow debugging efficiency, etc., the present invention provides an automatic debugging device for X-ray energy of the security scanner, which can realize the automatic debugging of the X-ray energy board of the intelligent security scanner, and the debugging operation is convenient and fast, which can improve the debugging accuracy and debugging efficiency.

[0007] To achieve the above object, the present invention adopts the following technical solution:

[0008] A method for adjusting the position of an X-ray energy board of a security inspection instrument includes a fuzzy control method, characterized in that the board is fixed to the execution end of a manipulator, and the manipulator is controlled by a controller to drive the board to move and rotate. The movement distance and rotation angle of the board are obtained by the fuzzy control method. The fuzzy control method refers to using a fuzzy controller, a membership function, and a defuzzification method to calculate the relative displacement of the board. The controller controls the manipulator to drive the board to move and rotate according to the obtained movement distance and rotation angle, and the defuzzification method includes a centroid method.

[0009] It is further characterized in that the fuzzy control method comprises:

[0010] S1, collecting the actual output power of the board and the flatness K of the output power mean, collecting the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction, determining the input variables and output variables of the membership function, and calculating the output power mean V of the board, the output power mean V is the ratio of the difference to the number of collection times, and the difference refers to the difference between the actual measured output power of the board and the standard power value; the input variables include the output power mean V of the board and the flatness K of the output power mean, and the output variables include the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction;

[0011] S2, determining the membership ranges of the input variables and the output variables, wherein the memberships are: output power mean V membership V1, flatness K membership K1, X-axis displacement x membership x1, Y-axis rotation angle θ membership θ1;

[0012] S3, draw a membership function curve, and use fuzzy language to divide the domain, the domain refers to the fuzzy set of the output power mean V membership V1, flatness K membership K1, X-axis displacement x membership x1, and Y-axis rotation angle θ membership θ1;

[0013] S4, according to the domain of the output power mean value V and the flatness K of the output power mean value of the board, determine the fuzzy reasoning rules of the fuzzy control method, the fuzzy reasoning rules include the fuzzy reasoning rules of the X-axis displacement x and the Y-axis rotation angle θ, the fuzzy reasoning rules refer to obtaining the domain of the X-axis displacement x and the Y-axis rotation angle θ according to the domain of the output power mean value V and the flatness K membership degree K1 and the logical reasoning method, and the controller drives the manipulator to drive the board to move within the corresponding domain according to the domain of the X-axis displacement x and the Y-axis rotation angle θ;

[0014] S5, using the centroid method to perform defuzzification processing, according to the membership function curve, the domain, and the fuzzy inference rule, the domain element value corresponding to the centroid of the area surrounded by the membership function curve and the horizontal coordinate is used as the output value to obtain the final X-axis displacement x and rotation angle θ. The calculation formula is as follows:

[0015] ,

[0016] Wherein, x represents the output power mean V of the board, the flatness K of the output power mean, the displacement x in the X-axis direction, and the rotation angle θ, μ(x) represents the output power mean membership V1, the output power mean flatness membership K1, the displacement x in the X-axis direction membership x1, and the rotation angle θ membership θ1, μ(x) is obtained according to the membership function, and output represents the final output displacement x in the X-axis direction and the rotation angle θ;

[0017] In step S1, the output power mean V is in the range of [-4, 4], the flatness K is in the range of [-1.5, 1.5]; the X-axis displacement x is in the range of [-10, 10], and the rotation angle θ is in the range of [-5, 5];

[0018] In step S2, the output power mean membership V1, the output power mean flatness membership K1, the X-axis displacement x membership x1, and the rotation angle θ membership θ1 of the board are all 0≤V1≤1;

[0019] In step S3, the fuzzy set of the output power mean membership V1 is: L, LM, M, RM, R, corresponding to: small, relatively small, medium, relatively large, large, respectively;

[0020] The fuzzy set of the flatness membership K1 of the output power mean is: LF, LMF, MF, RMF, RF, corresponding to: left-leaning, left-leaning, middle, right-leaning, right-leaning, respectively;

[0021] The fuzzy set of the membership degree x1 of the displacement x in the X-axis direction is: RRX, RX, RMX, MX, LMX, LX, LLX, corresponding to: large right shift, right shift, partial right shift, fine adjustment, partial left shift, left shift, large left shift respectively;

[0022] The fuzzy set of the membership degree θ1 of the rotation angle θ is: AAT, AT, AMT, MT, CMT, CT, CCT, corresponding to: large counterclockwise rotation, counterclockwise rotation, counterclockwise adjustment, fine adjustment, clockwise adjustment, clockwise rotation, large clockwise rotation;

[0023] In step S4, the fuzzy inference rule of the X-axis displacement x is shown in Table 5, and the fuzzy inference rule of the Y-axis rotation angle θ is shown in Table 6.

[0024] Table 5, fuzzy reasoning rules for displacement x in the X-axis direction

[0025]

[0026] In Table 5, the first column is the domain of the output power mean V of the board, the second column is the logical relationship of the domain value of the flatness K of the output power mean of the board, where "or" represents the logical relationship "or", and the third column is the domain of the X-axis direction displacement x;

[0027] Table 6. Fuzzy inference rules for Y-axis rotation angle θ

[0028]

[0029] In Table 6, the first column is the domain of the mean output power V of the board, the second column is the logical relationship of the domain value of the flatness K of the mean output power of the board, where "or" represents the logical relationship "or", and the third column is the domain of the rotation angle θ in the Y-axis direction.

[0030] An automatic debugging device using the above-mentioned security inspection instrument X-ray energy board position adjustment method comprises the above-mentioned manipulator and a controller, wherein the above-mentioned manipulator is used to grab the board, and the above-mentioned controller is used to control the above-mentioned manipulator to drive the above-mentioned board to move, characterized in that the above-mentioned manipulator comprises a fixed plate, a movable plate, a transmission mechanism, a driving device, and a positioning pin fixed to the bottom end of the above-mentioned movable plate;

[0031] The transmission mechanism comprises a rotation transmission mechanism and a transverse transmission mechanism, and the movable plate is connected to the driving device via the rotation transmission mechanism and the transverse transmission mechanism;

[0032] The driving device comprises a rotation driving device and a transverse driving device, and the rotation driving device and the transverse driving device are fixed to the fixed plate;

[0033] The rotation driving device drives the rotation transmission mechanism to drive the movable plate to rotate, and the transverse driving device drives the transverse transmission mechanism to drive the movable plate to move in the X-axis direction;

[0034] The positioning pins include at least two, and the board is provided with positioning holes corresponding to the positioning pins; the board is positioned by the positioning pins and the positioning holes;

[0035] It also includes a communication module, a display, and a host computer. The controller is electrically connected to the rotation drive device and the transverse drive device. The controller is connected to the host computer through the communication module, and the host computer is electrically connected to the display.

[0036] It is further characterized in that the rotary transmission mechanism includes a bearing, a first rotating shaft, a first worm gear mechanism, and a first slide, the first worm gear mechanism includes a first worm and a first worm wheel, the first worm is connected to the driving shaft of the rotary drive device, the first slide is a dovetail slide, including a first fixed platform and a concave first sliding platform, the top end of the first fixed platform is fixed to the bottom end of the fixed plate, the bottom end of the first fixed platform is slidably connected to the inner side surface of the first sliding platform, the bottom end of the first sliding platform is fixed to one side of the bottom end of the movable plate, one end of the first worm wheel is fixed to the side end surface of the sliding platform, the other end of the first turbine is meshed with the first worm, the other side of the top end of the movable plate is fixed to the first rotating shaft, and the first rotating shaft is rotatably mounted on the bearing;

[0037] The traverse transmission mechanism includes a second worm gear mechanism and a second slide, the second worm gear mechanism includes a second worm and a second worm wheel, the second worm is fixedly connected to the driving shaft of the traverse driving device, the second slide includes a second fixed platform and a second sliding platform, the bottom end of the second sliding platform is fixed to the other side of the top end of the movable plate, the bearing is embedded in the second sliding platform, the top end of the second sliding platform is slidably connected to the bottom end of the second fixed platform, the top end of the second fixed platform is fixed to the bottom end of the fixed plate, the second worm wheel is rotatably installed on one side of the second fixed platform and meshes with the second worm, the second worm wheel drives the second sliding platform and the movable plate to move through the second transmission rod and the second slider, the second transmission rod and the second slider are embedded in the second fixed platform, and the top end of the second sliding platform is fixed to the second slider;

[0038] The rotation drive device and the lateral drive device are both stepper motors, which are respectively: a first stepper motor and a second stepper motor;

[0039] A first proximity switch is installed on one side of the rotation drive device, and a second proximity switch is installed on one side of the transverse drive device, and the first proximity switch and the second proximity switch are both fixed to the fixing plate;

[0040] The controller comprises a controller, wherein the first proximity switch, the second proximity switch, the first stepper motor and the second stepper motor are all electrically connected to the controller;

[0041] It also includes a fixing plate bracket, and the fixing plate bracket is fixed to two sides of the fixing plate;

[0042] A magnetic steel is provided on one side of the fixing plate bracket, the magnetic steel is fixed to one side of the fixing plate bracket, and the magnetic steel is attracted to the linear array box on one side of the security inspection instrument, so as to realize the fixing of the manipulator to the linear array box on one side of the security inspection instrument;

[0043] A support rod fixing mechanism is provided on the other side of the fixing plate bracket, and the support rod fixing mechanism corresponds to the linear array box on the other side of the security scanner, and is used to fix the manipulator to the linear array box on the other side of the security scanner;

[0044] The support rod fixing device comprises a first support rod, a second support rod, and a tension spring stretched and fixed between the first support rod and the second support rod, one end of the first support rod is threadedly connected to the middle part of the fixing plate, and the other end is fixed to one end of the tension spring, the other end of the tension spring is fixed to one end of the second support rod, and the middle part of the second support rod is rotatably mounted on the fixing plate bracket;

[0045] A U-shaped hole is opened on the other side of the fixed plate bracket, and a second rotating shaft is fixedly installed at the top of the U-shaped hole. The middle part of the second support rod is rotatably connected to the second rotating shaft; the manipulator is fixed to the linear array box on the other side of the security scanner through the rotation of the second support rod and the pulling action of the tension spring.

[0046] The above structure of the present invention can achieve the following beneficial effects: (1) The board is positioned by the positioning pin and the board is fixed to the bottom end of the movable plate. The rotating drive device drives the rotating transmission mechanism to drive the movable plate and the board to rotate. The lateral drive device drives the lateral transmission mechanism to drive the movable plate and the board to move in the X-axis direction, thereby realizing automatic adjustment of the board position. It does not require the debugging personnel to manually move the board for position adjustment, thus saving time and effort and greatly improving the debugging efficiency. The debugging personnel can view the information on the display and send corresponding signals to the controller through the host computer. The controller controls the lateral drive device and the rotating drive device to adjust the position of the board. The host computer and the controller communicate remotely through the communication module, thereby realizing remote control of the board position adjustment, reducing the number and time of the debugging personnel entering the lead plate room, further improving the debugging efficiency, and greatly improving the debugging accuracy.

[0047] (2) The X-axis displacement x and Y-axis rotation angle θ of the board are obtained through the fuzzy control method. Compared with the existing method of adjusting the board displacement and rotation angle through observation by the debugging personnel, the relative displacement information of the board obtained by this method through the membership function and defuzzification method is more accurate. Therefore, the relative position information of the board obtained by the fuzzy control method is used to control the robot, which greatly improves the debugging accuracy of the board. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the detection principle structure of an existing intelligent security inspection instrument;

[0049] Figure 2 This is a flow chart of the method for adjusting the position of the X-ray energy board of the security inspection instrument of the present invention;

[0050] Figure 3 It is a membership function diagram of the mean value of the output power of the board card of the present invention;

[0051] Figure 4 It is a membership function diagram of the flatness of the board of the present invention;

[0052] Figure 5 It is the membership function diagram of the displacement x in the X-axis direction of the present invention;

[0053] Figure 6 It is the membership function diagram of the rotation angle θ in the Y-axis direction of the present invention.

[0054] Figure 7 It is a schematic diagram of the main structure of the present invention;

[0055] Figure 8 It is a side view structural schematic diagram of the present invention;

[0056] Fig. 9This is a system structure block diagram of the present invention. DETAILED DESCRIPTION

[0057] A method for adjusting the position of an X-ray energy board of a security inspection instrument includes a fuzzy control method, wherein the board 1 is fixed to the execution end of a manipulator, and a controller controls a rotation drive device and a lateral drive device to drive the manipulator to drive the board 1 to move and rotate. The moving distance and rotation angle of the board 1 are obtained by the fuzzy control method. The fuzzy control method refers to using a fuzzy controller, a membership function, and a defuzzification method to calculate the relative displacement of the board. The controller controls the manipulator to drive the board 1 to move and rotate according to the obtained moving distance and rotation angle. The defuzzification method includes a centroid method.

[0058] See Figure 2 ,The specific steps of fuzzy control method include:

[0059] S1, collect the actual output power of the board, calculate the flatness K (in dB) of the average output power, collect the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction, determine the input variables and output variables of the membership function, calculate the average output power V of the board, the average output power V is the ratio of the difference to the number of collections, the difference refers to the difference between the actual measured output power of the board and the standard power value; the flatness K of the average output power refers to the output power values ​​of multiple points of the board collected, and the output power is uniformly fitted to a linear equation, the slope of the equation curve is the flatness K; the input variables include the average output power V of the board, the flatness K of the average output power, the output variables include the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction, the range of the average output power V is [-4, 4], the range of the flatness K is [-1.5, 1.5], the range of the displacement x in the X-axis direction is [-10, 10], and the range of the rotation angle θ is [-5, 5];

[0060] Before using the device to actually debug the X-energy debugging board of the security scanner, fuzzy reasoning rules are established. During the fuzzy reasoning rule establishment process, the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction of the board are still acquired through manual adjustment. The actual output power of the board is acquired through the existing power acquisition equipment. The flatness K of the output power mean is the difference between the maximum output power mean and the minimum output power mean in a certain frequency band.

[0061] S2, determine the membership range of the input variable and the output variable, wherein the memberships are: output power mean value V membership V1, flatness K membership K1, X-axis displacement x membership x1, Y-axis rotation angle θ membership θ1. In this embodiment, the range of the output power mean value V1, the flatness membership K1 of the output power mean, the X-axis displacement x membership x1, and the rotation angle θ membership θ1 of the board are all [0, 1]. The membership range is obtained through multiple tests according to the existing manual adjustment method;

[0062] S3, drawing a membership function diagram according to the output power mean value V and the output power mean value V membership degree V1 determined in the above S1 and S2,

[0063] S31, see Figure 3 , Figure 3 The horizontal axis represents the output power mean V of the board, the vertical axis represents the membership V1 of the output power mean V, and the curve represents the membership function curve of the output power mean V. The peak value of the membership of the board output power mean is 1. When the output power mean V is -4, -2, 0, 2, and 4 respectively, the corresponding membership is 1.

[0064] Similarly, the membership function diagram is drawn according to the output power flatness K and the output power flatness K membership K1, see Figure 4 , Figure 4 The horizontal axis represents the output power flatness K of the board, the vertical axis represents the output power flatness K membership K1, the curve represents the membership function curve of the output power flatness K, the output power flatness membership peak is 1, when the output power flatness K is -1.5~-1, -0.5, 0, 0.5, 1~1.5 respectively, the corresponding membership is 1;

[0065] Similarly, the membership function diagram is drawn according to the displacement in the X-axis direction and the membership x1 of the displacement in the X-axis direction, see Figure 5 , Figure 5 The horizontal axis represents the displacement x in the X-axis direction, the vertical axis represents the displacement membership x1 in the X-axis direction, and the curve represents the membership function curve of the displacement x in the X-axis direction. The peak value of the displacement membership in the X-axis direction is 1. When the output power flatness V is -10, -6, -3, 0, 3, 6, and 10 respectively, the corresponding membership is 1.

[0066] Similarly, the membership function graph is plotted based on the rotation angle θ in the Y-axis direction and the membership degree θ1 of the rotation angle θ in the Y-axis direction, see Figure 6 , Figure 6The horizontal axis represents the rotation angle θ in the Y-axis direction, the vertical axis represents the rotation angle membership θ1 in the Y-axis direction, and the curve represents the rotation angle membership function curve in the Y-axis direction. The rotation angle membership peak value in the Y-axis direction is 1. When the rotation angles in the Y-axis direction are -5, -3, -1.5, 0, 1.5, 3, and 5, respectively, the corresponding memberships are all 1.

[0067] S32, using fuzzy language to divide the domain, and determining the fuzzy sets of the output power mean V membership V1, the flatness K membership K1, the X-axis displacement x membership x1, and the Y-axis rotation angle θ membership θ1 respectively;

[0068] According to the peak value 1 of the output power mean membership of the board and the corresponding values ​​of the output power mean V -4, -2, 0, 2, 4, the fuzzy set of the output power mean V membership V1 is determined. The fuzzy sets corresponding to the values ​​of the output power mean V -4, -2, 0, 2, 4 are small, relatively small, medium, relatively large, and large, respectively, and are represented by the letters L, LM, M, RM, and R, respectively. The corresponding value ranges are shown in Table 1;

[0069] Table 1. Fuzzy set of membership of board output power

[0070]

[0071] Same as S32, the fuzzy set of the flatness membership K1 of the output power mean value is determined as left-leaning, left-leaning, middle, right-leaning, and right-leaning, which are represented by letters LF, LMF, MF, RMF, and RF, respectively, and the corresponding value ranges are shown in Table 2;

[0072] Table 2. Fuzzy sets of flatness membership K1

[0073]

[0074] The fuzzy set of the membership degree x1 of the displacement x in the X-axis direction is determined as a large amount of right shift, right shift, partial right shift, slight adjustment, partial left shift, left shift, and a large amount of left shift, which are represented by the letters RRX, RX, RMX, MX, LMX, LX, and LLX, respectively, and the corresponding value ranges are shown in Table 3;

[0075] Table 3, fuzzy set of membership degree x1 of displacement x in the X-axis direction (the unit of displacement x in the X-axis direction is mm)

[0076]

[0077] The fuzzy set that determines the membership degree θ1 of the rotation angle θ is counterclockwise rotation with a large angle, counterclockwise rotation, counterclockwise adjustment, fine adjustment, clockwise adjustment, clockwise rotation, and clockwise rotation with a large angle, which are represented by the letters AAT, AT, AMT, MT, CMT, CT, and CCT, respectively. The corresponding value ranges are shown in Table 4, and the unit is degree;

[0078] Table 4. Fuzzy sets of membership degree θ1 of rotation angle θ (the unit of rotation angle θ is degree)

[0079]

[0080] S4, according to the domain of the output power mean value V and the flatness K of the output power mean value of the board, determine the fuzzy reasoning rules of the fuzzy control method, the fuzzy reasoning rules include the fuzzy reasoning rules of the X-axis displacement x, see Table 1, and the fuzzy reasoning rules of the Y-axis rotation angle θ, see Table 5;

[0081] Table 5, fuzzy reasoning rules for displacement x in the X-axis direction

[0082]

[0083] In Table 5, the first column is the domain of the output power mean value V of the board, the second column is the logical relationship of the domain value of the flatness K of the output power mean value of the board, where "or" represents the logical relationship "or", and the third column is the domain of the displacement x in the X-axis direction. For example, when it is detected that the domain of the output power mean value V of the board is L (small), and the domain of the output power flatness V is LF or LMF or MF (left-leaning, left-leaning or middle), the displacement x in the X-axis direction is in the domain RRX, that is, the board moves right in a large amount in the X-axis direction. The controller obtains the signal and controls the manipulator to drive the board to perform a large amount of right movement. The specific value of the large amount of right movement is obtained according to the centroid method formula in S5;

[0084] Table 6. Fuzzy inference rules for Y-axis rotation angle θ

[0085]

[0086] In Table 6, the first column is the domain of the output power mean value V of the board, the second column is the logical relationship of the domain value of the flatness K of the output power mean value of the board, where "or" represents the logical relationship "or", and the third column is the domain of the Y-axis rotation angle θ. For example, when it is detected that the domain of the board output power flatness K1 is LF (left-leaning), and the domain of the output power mean value V is L or LMor M (small, relatively small or medium), the Y-axis rotation angle θ is in the domain AAT, that is, the board needs to rotate counterclockwise at a large angle in the Y-axis direction. The controller obtains the signal and controls the manipulator to drive the board to perform a large number of right-shift operations. The specific angle of the large counterclockwise rotation is obtained according to the centroid method formula in S5.

[0087] S5, using the centroid method to perform defuzzification processing, according to the membership function curve, domain, and fuzzy reasoning rules, the domain element value corresponding to the centroid of the area surrounded by the membership function curve and the horizontal coordinate is used as the output value to obtain the X-axis displacement x and rotation angle θ of the board actually used for debugging. The calculation formula is as follows:

[0088] ,

[0089] Where x represents the output power mean V of the board, the flatness of the output power mean K, the displacement in the X-axis direction x, and the rotation angle θ. μ(x) represents the membership of the output power mean V1, the membership of the flatness of the output power mean K1, the displacement in the X-axis direction x membership x1, and the rotation angle θ membership θ1. μ(x) is obtained according to the membership function. Output represents the final output displacement in the X-axis direction x and the rotation angle θ.

[0090] In this embodiment, step S6 is further included, wherein the values ​​of the X-axis displacement x and the rotation angle θ of the board during the actual debugging obtained in step S5 are sent to the controller, and the controller controls the manipulator (or the automatic debugging described below) to adjust the displacement of the board accordingly according to the values ​​obtained in step S5;

[0091] The above-mentioned security inspection instrument X-ray energy board position adjustment method is applied to the automatic debugging device, see Figure 7 , Figure 8 The automatic debugging device includes a manipulator and a controller. The manipulator is used to grab the board 1. The controller is used to control the manipulator to drive the board 1 to move. The manipulator includes a fixed plate 2, a movable plate 3, a transmission mechanism, a driving device, and a positioning pin 4 fixed to the bottom end of the movable plate 3. In this embodiment, the positioning pin 4 includes two. The board 1 is provided with a positioning hole corresponding to the positioning pin 4. The board is positioned by the positioning pin 4 and the positioning hole 1.

[0092] The transmission mechanism includes a rotating transmission mechanism 5 and a transverse transmission mechanism 6. The movable plate 3 is connected to the driving device through the rotating transmission mechanism 5 and the transverse transmission mechanism 6. The rotating transmission mechanism 5 includes a bearing 51, a first rotating shaft 52, a first worm gear mechanism, and a first slide. The first worm gear mechanism includes a first worm 53 and a first worm wheel 54. The first worm 53 is connected to the driving shaft of the rotating driving device 7. The first slide is a dovetail slide, including a first fixed platform 55 and a concave first sliding platform 56. The first fixed platform 5 The top end of the first fixed platform 55 is fixed to the bottom end of the fixed plate 2, the bottom end of the first fixed platform 55 is slidably connected to the inner side surface of the first sliding platform 56, the bottom end of the first sliding platform 56 is fixed to one side of the bottom end of the movable plate 3, one end of the first worm wheel 54 is fixed to the side end surface of the first sliding platform 56, the other end of the first turbine 54 is meshed with the first worm 53, the other side of the top end of the movable plate 3 is fixed to the first rotating shaft 52, the first rotating shaft 52 is rotatably mounted on the bearing 51, and the first worm gear mechanism can also adopt an existing rotating and moving module;

[0093] The transverse transmission mechanism 6 includes a second worm gear mechanism and a second slide. The second worm gear mechanism includes a second worm 61 and a second worm wheel 62. The second worm 61 is fixedly connected to the driving shaft of the transverse driving device 8. The second slide includes a second fixed platform 63 and a second sliding platform 64. The bottom end of the second sliding platform 64 is fixed to the other side of the top of the movable plate 3. The bearing 57 is embedded in the second sliding platform 64. The top of the second sliding platform 64 is slidably connected to the bottom end of the second fixed platform 63. The top of the second fixed platform 63 is fixed to the bottom end of the fixed plate 2. The second worm wheel 62 is rotatably installed on one side of the second fixed platform 63 and meshes with the second worm 61. The second worm wheel 62 drives the second sliding platform 64 and the movable plate 3 to move through the second transmission rod and the second slider. The second transmission rod and the second slider are embedded in the second fixed platform 63. The top of the second sliding platform 64 is fixed to the second slider. The second worm gear mechanism can also adopt the existing transverse movement module.

[0094] The driving device includes a rotation driving device 7 and a transverse driving device 8, and the rotation driving device 7 and the transverse driving device 8 are fixed to the fixed plate 2; the rotation driving device 7 and the transverse driving device 8 are both stepping motors, which are respectively: a first stepping motor and a second stepping motor;

[0095] The rotation driving device 7 drives the rotation transmission mechanism 5 to drive the movable plate 3 to rotate, and the transverse driving device 8 drives the transverse transmission mechanism 6 to drive the movable plate 3 to move in the X-axis direction;

[0096] See Fig. 9, which also includes a communication module 9, a display 10, and a host computer 11. The controller 12 is electrically connected to the rotation drive device 7 and the lateral drive device 8. The controller 12 is connected to the host computer 11 through the communication module 9. The host computer 11 is electrically connected to the display 10. The communication module 9 can adopt existing WIFI wireless communication or ZIGBEE communication, etc.;

[0097] A first proximity switch 71 is installed on one side of the rotation drive device 7, and a second proximity switch 81 is installed on one side of the lateral drive device 8. The first proximity switch 71 and the second proximity switch 81 are both fixed to the fixed plate 2. The first proximity switch 71, the second proximity switch 81, the first stepper motor, and the second stepper motor are all electrically connected to the controller 12.

[0098] It also includes a fixed plate bracket 13, the fixed plate bracket 13 is fixed to both sides of the fixed plate 2, a magnetic steel 14 is provided on one side of the fixed plate bracket 13, the magnetic steel 14 is fixed to one side of the fixed plate bracket 13, the magnetic steel 14 is attracted with the linear array box on one side of the security inspection instrument (the security inspection instrument and the linear array box are both based on the existing technology, not shown in the figure), and is used to realize the fixation of the manipulator and the linear array box on one side of the security inspection instrument;

[0099] A support rod fixing mechanism is provided on the other side of the fixed plate bracket 13, and the support rod fixing mechanism corresponds to the linear array box on the other side of the security scanner, and is used to fix the manipulator to the linear array box on the other side of the security scanner. The support rod fixing device includes a first support rod 15, a second support rod 16, and a tension spring 17 stretched and fixed between the first support rod 15 and the second support rod 16. One end of the first support rod 15 is threadedly connected to the middle part of the fixed plate 2, and the other end is fixed to one end of the tension spring 17. The other end of the tension spring 17 is fixed to one end of the second support rod 16, and the middle part of the second support rod 16 is rotatably mounted on the fixed plate bracket 13;

[0100] A U-shaped hole 18 is opened on the other side of the fixed plate bracket 13, and a second rotating shaft 19 is fixedly installed at the top of the U-shaped hole 18. The middle part of the second support rod 16 is rotatably connected to the second rotating shaft 19; the manipulator is fixed to the linear array box on the other side of the security scanner through the rotation of the second support rod 16 and the pulling action of the tension spring 17.

[0101] When the board 1 of the security inspection instrument is debugged by the method and the device of the present application, the board 1 is positioned by the positioning pin 4, and the board 1 is fixed to the bottom end of the movable plate 3. The first stepper motor drives the rotating transmission mechanism to drive the movable plate 3 and the board 1 to rotate, and the second stepper motor drives the lateral transmission mechanism to drive the movable plate 3 and the board 1 to move in the X-axis direction, thereby realizing automatic adjustment of the position of the board 1. The debugging personnel can view the information in the display 10 and send corresponding signals to the controller 12 through the host computer 11. The controller 12 controls the first stepper motor and the second stepper motor to adjust the position of the board 1. The host computer 11 and the controller 12 communicate remotely through the communication module, thereby realizing remote control of the position adjustment of the board 1.

[0102] In the actual debugging process, 11 to 18 of the above automatic adjustment devices can be placed in parallel, and a corresponding number of boards can be installed in each automatic adjustment device. In this embodiment, 11 boards are connected to the control system in parallel, and the relative position adjustment of the 11 boards is realized at the same time, which greatly improves the adjustment efficiency.

[0103] The board and card adjusted by the above-mentioned X-ray energy adjustment method and debugging device are tested, that is, the actual output power value of the adjusted board and card is obtained again. If the power value is within the standard range (the standard can be a national standard), it means that the adjustment accuracy meets the requirements, otherwise it does not meet the standard requirements. After adopting the method and device of the present application, the board and card can be accurately positioned within 10 seconds without any tools. The theoretical accuracy of the mechanical control combination of the automatic debugging device is 0.0005mm, and the actual measurement accuracy is ±0.01mm. Compared with the method in the prior art where the debugging personnel enter the lead room for manual adjustment, the adjustment accuracy is greatly improved, and the adjustment efficiency is also improved.

[0104] The above are only preferred embodiments of the present application, and the present invention is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included in the protection scope of the present invention.

Claims

1. A method for adjusting the position of an X-ray energy board of a security inspection instrument, comprising a fuzzy control method, characterized in that: The board is fixed to the execution end of the manipulator, and the controller controls the rotation drive device and the lateral drive device to drive the manipulator to move and rotate the board. The moving distance and the rotation angle of the board are obtained by the fuzzy control method. The fuzzy control method refers to using a fuzzy controller, a membership function, and a defuzzification method to calculate the relative displacement of the board. The controller controls the manipulator to move and rotate the board according to the obtained moving distance and the rotation angle. The defuzzification method includes a centroid method. The fuzzy control method comprises: Collect the actual output power of the board and the flatness K of the average output power, collect the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction, determine the input variables and output variables of the membership function, and calculate the output power average V of the board; determine the membership range of the input variables and output variables; draw the membership function curve, and divide the domain using fuzzy language; determine the fuzzy reasoning rules of the fuzzy control method; The centroid method is used for defuzzification. According to the membership function curve, domain, and fuzzy inference rules, the domain element value corresponding to the centroid of the area enclosed by the membership function curve and the horizontal coordinate is used as the output value to obtain the final X-axis displacement x and rotation angle θ.

2. The method for adjusting the position of the X-ray energy board of the security inspection instrument according to claim 1 is characterized in that: The input variables include the output power mean value V and the flatness K of the output power mean value, and the output variables include the displacement x in the X-axis direction and the rotation angle θ in the Y-axis direction; The memberships are: output power mean value V membership V1, flatness K membership K1, X-axis displacement x membership x1, rotation angle θ membership θ1; The domain refers to the fuzzy set of the output power mean V membership V1, flatness K membership K1, X-axis displacement x membership x1, and Y-axis rotation angle θ membership θ1; The fuzzy reasoning rules include fuzzy reasoning rules for X-axis displacement x and Y-axis rotation angle θ. The fuzzy reasoning rules refer to obtaining the domain to which the X-axis displacement x and the Y-axis rotation angle θ belong based on the domain to which the output power mean V, flatness K membership degree K1 belong and the logical reasoning method.

3. The method for adjusting the position of the X-ray energy board of the security inspection instrument according to claim 2, characterized in that: The output power mean V is [-4, 4], and the flatness K is [-1.5, 1.5]; the X-axis displacement x is [-10, 10], and the rotation angle θ is [-5, 5]. The ranges of the output power mean membership V1, the output power mean flatness membership K1, the X-axis displacement x membership x1, and the rotation angle θ membership θ1 of the board are all [0,1].

4. The method for adjusting the position of the X-ray energy board of the security inspection instrument according to claim 3 is characterized in that: The fuzzy sets L, LM, M, RM, and R of the output power mean membership V1 correspond to: small, relatively small, medium, relatively large, and large, respectively; The fuzzy sets LF, LMF, MF, RMF, and RF of the flatness membership K1 of the output power mean value correspond to: left-leaning, left-leaning, middle, right-leaning, and right-leaning, respectively; The fuzzy sets RRX, RX, RMX, MX, LMX, LX, and LLX of the X-axis displacement x membership degree x1 correspond to: large right shift, right shift, partial right shift, fine adjustment, partial left shift, left shift, and large left shift, respectively; The fuzzy sets AAT, AT, AMT, MT, CMT, CT, and CCT of the rotation angle θ membership degree θ1 correspond respectively to: large counterclockwise rotation, counterclockwise rotation, counterclockwise adjustment, fine adjustment, clockwise adjustment, clockwise rotation, and large clockwise rotation.

5. The method for adjusting the position of the X-ray energy board of the security inspection instrument according to claim 4, characterized in that: The fuzzy reasoning rules for the X-axis displacement x are shown in Table 5, and the fuzzy reasoning rules for the Y-axis rotation angle θ are shown in Table 6. Table 5, fuzzy reasoning rules for displacement x in the X-axis direction In Table 5, the first column is the domain of the output power mean V of the board, the second column is the logical relationship of the domain value of the flatness K of the output power mean of the board, where "or" represents the logical relationship "or", and the third column is the domain of the X-axis direction displacement x; Table 6. Fuzzy inference rules for Y-axis rotation angle θ In Table 6, the first column is the domain of the output power mean V of the board, the second column is the logical relationship of the domain value of the flatness K of the output power mean of the board, where "or" represents the logical relationship "or", and the third column is the domain of the rotation angle θ in the Y-axis direction.

6. An automatic debugging device using the method for adjusting the position of the X-ray energy board of the security inspection instrument according to any one of claims 1 to 5, comprising the manipulator and a controller, wherein the manipulator is used to grab the board, and the controller is used to control the manipulator to drive the board to move, characterized in that: The manipulator comprises a fixed plate, a movable plate, a transmission mechanism, a driving device, and a positioning pin fixed to the bottom end of the movable plate; The transmission mechanism comprises a rotation transmission mechanism and a transverse transmission mechanism, and the movable plate is connected to the driving device via the rotation transmission mechanism and the transverse transmission mechanism; The driving device comprises a rotation driving device and a transverse driving device, and the rotation driving device and the transverse driving device are fixed to the fixed plate; The rotation driving device drives the rotation transmission mechanism to drive the movable plate to rotate, and the transverse driving device drives the transverse transmission mechanism to drive the movable plate to move in the X-axis direction; The positioning pins include at least two, and the board is provided with positioning holes corresponding to the positioning pins; It also includes a communication module, a display, and a host computer. The controller is electrically connected to the rotation drive device and the transverse drive device. The controller is connected to the host computer through the communication module, and the host computer is electrically connected to the display.

7. The automatic debugging device according to claim 6, characterized in that: The rotary transmission mechanism includes a bearing, a first rotating shaft, a first worm gear mechanism, and a first slide. The first worm gear mechanism includes a first worm and a first worm wheel. The first worm is connected to the driving shaft of the rotary drive device. The first slide is a dovetail slide, including a first fixed platform and a concave first sliding platform. The top end of the first fixed platform is fixed to the bottom end of the fixed plate. The bottom end of the first fixed platform is slidably connected to the inner side surface of the first sliding platform. The bottom end of the first sliding platform is fixed to one side of the bottom end of the movable plate. One end of the first worm wheel is fixed to the side end surface of the sliding platform. The other end of the first worm wheel is meshed with the first worm. The other side of the top end of the movable plate is fixed to the first rotating shaft. The first rotating shaft is rotatably mounted on the bearing. The transverse transmission mechanism includes a second worm gear mechanism and a second slide. The second worm gear mechanism includes a second worm and a second worm wheel. The second worm is fixedly connected to the driving shaft of the transverse driving device. The second slide includes a second fixed platform and a second sliding platform. The bottom end of the second sliding platform is fixed to the other side of the top end of the movable plate. The bearing is embedded in the second sliding platform. The top end of the second sliding platform is slidably connected to the bottom end of the second fixed platform. The top end of the second fixed platform is fixed to the bottom end of the fixed plate. The second worm wheel is rotatably installed on one side of the second fixed platform and meshes with the second worm.

8. The automatic debugging device according to claim 7, characterized in that: A first proximity switch is installed on one side of the rotation drive device, and a second proximity switch is installed on one side of the transverse drive device. The first proximity switch and the second proximity switch are both fixed to the fixed plate. The first proximity switch, the second proximity switch, the first stepper motor, and the second stepper motor are all electrically connected to the controller.

9. The automatic debugging device according to claim 8, characterized in that: It also includes a fixed plate bracket, which is fixed on both sides of the fixed plate. A magnetic steel is arranged on one side of the fixed plate bracket, and the magnetic steel is fixed on one side of the fixed plate bracket. The magnetic steel is attracted to the linear array box on one side of the security inspection instrument.

10. The automatic debugging device according to claim 9, characterized in that: A strut fixing mechanism is provided on the other side of the fixed plate bracket, and the strut fixing mechanism corresponds to the linear array box on the other side of the security scanner. The strut fixing device includes a first strut, a second strut, and a tension spring stretched and fixed between the first strut and the second strut. One end of the first strut is threadedly connected to the middle part of the fixed plate, and the other end is fixed to one end of the tension spring. The other end of the tension spring is fixed to one end of the second strut. The middle part of the second strut is rotatably installed on the fixed plate bracket. A U-shaped hole is opened on the other side of the fixed plate bracket, and a second rotating shaft is fixed on the top end of the U-shaped hole. The middle part of the second strut is rotatably connected to the second rotating shaft.

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