Vehicle-mounted inspection equipment and control method thereof

Abstract

The embodiment of the invention provides vehicle-mounted inspection equipment and a control method thereof, and the vehicle-mounted inspection equipment comprises a drive-by-wire chassis vehicle (2) which comprises a vehicle body controller (21) and is configured to enable a vehicle to execute actions; the scanning equipment (1) comprises a control device and an automatic guiding controller (12), and the control device is configured to send a vehicle action instruction to the vehicle body controller (21), receive vehicle state information fed back by the vehicle body controller (21) and send the vehicle state information to the automatic guiding controller (12); the automatic guiding controller (12) is configured to determine steering adjustment information of the vehicle according to the vehicle state information and send the steering adjustment information to the vehicle body controller (21) through the control device to adjust the steering walking state of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the technical field of safety inspection, and in particular to a vehicle-mounted inspection device and a control method thereof. Background Art

[0002] The vehicle-mounted inspection equipment is installed on the vehicle, and uses the movement of the vehicle to perform safety inspections on the inspected object (such as a container). In the vehicle-mounted scanning mode, the vehicle-mounted inspection equipment needs to run along a predetermined moving trajectory. In the existing automatic guidance technology, the direction of the wheel is generally corrected in the following two ways.

[0003] First, a steering push rod is installed in the cab of the chassis vehicle. This push rod is connected to the steering wheel, and the steering wheel is driven to turn when the push rod is extended or retracted. This steering push rod solution requires the installation of a steering push rod and a control box in the cab, which occupies the cab space. Whenever the vehicle-mounted inspection equipment is working, the operator needs to install it manually, and the push rod occupies the driver's position. When the vehicle-mounted equipment is driving on the road, the push rod needs to be manually retracted before the driver can drive.

[0004] Second, add a second hydraulic power steering system independent of the chassis. The solution of adding a hydraulic power steering system is complex and requires the addition of a hydraulic pump station and a drive motor. It requires a professional chassis modification factory to modify it, which is costly and makes equipment maintenance more difficult. Summary of the invention

[0005] The present disclosure provides a vehicle-mounted inspection device and a control method thereof, which optimizes the automatic guidance function of the vehicle-mounted inspection device.

[0006] A first aspect of the present disclosure provides a vehicle-mounted inspection device, comprising:

[0007] A chassis-by-wire vehicle, including a body controller configured to cause the vehicle to perform an action; and

[0008] The scanning device includes a control device and an automatic guidance controller, wherein the control device is configured to send vehicle action instructions to the body controller, and receive vehicle status information fed back by the body controller and send it to the automatic guidance controller; the automatic guidance controller is configured to determine the vehicle's steering adjustment information based on the vehicle status information, and send the steering adjustment information to the body controller through the control device to adjust the vehicle's steering and walking state.

[0009] In some embodiments, the control device comprises:

[0010] A main controller configured to receive an external vehicle action instruction; and

[0011] The body controller is configured to receive vehicle action instructions sent by the main controller and send them to the body controller, and at the same time receive vehicle status information fed back by the body controller and send it to the main controller and the automatic guidance controller.

[0012] In some embodiments, the upper body controller is configured to determine whether the vehicle action command is correct based on the current vehicle status information, and if so, send the vehicle action command to the body controller; if not, return the vehicle action command to the main controller.

[0013] In some embodiments, the body controller is configured to send a life count and a checksum obtained based on the message content and the life count while sending a message corresponding to a vehicle action instruction to the body controller; the body controller is configured to check the instruction content after receiving it, and execute it only after the vehicle action instruction is correct.

[0014] In some embodiments, the upper body controller is further configured to send fault information of the vehicle to the main controller, the fault information including first fault information of the wire-controlled chassis vehicle and second fault information of the automatic guidance controller;

[0015] The main controller is configured to display at least one of vehicle status information and fault information, and / or determine whether the vehicle is ready based on at least one of the vehicle status information and fault information.

[0016] In some embodiments, the vehicle status information sent by the upper-mounted controller to the automatic steering controller includes: steering angle, vehicle speed and travel direction, and the automatic steering controller is configured to send the upper-mounted controller with second fault information of adjusting the steering angle, adjusting the direction and the automatic steering controller.

[0017] In some embodiments, the vehicle-mounted inspection device further includes a remote control component, and the remote control component includes:

[0018] a transmitting component configured to issue a vehicle action instruction; and

[0019] The receiving component is provided in the scanning device and is configured to receive the vehicle action instruction and send it to the control device.

[0020] In some embodiments, the vehicle has a switchable driver mode and a remote mode. In the driver mode, the body controller is configured to receive a driver operation to enable the vehicle to perform an action; in the remote mode, the body controller is configured to receive an instruction from a control device to enable the vehicle to perform an action;

[0021] Among them, the maximum speed limit of the vehicle in remote mode is lower than the maximum speed limit of the vehicle in driver mode.

[0022] In some embodiments, the vehicle body controller has a dual-path parking brake interface and a remote control enabling interface, the dual-path parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle, and the remote control enabling interface is used to control the remote control enabling;

[0023] The on-board inspection equipment includes a system emergency stop circuit, which is connected to the dual-way parking brake interface and the remote control enable interface. The system emergency stop circuit is configured to power off the remote control enable interface and disable the remote control function after receiving a manual emergency stop signal, and to make the dual-way parking brake interface exchange the on-off state to enter the braking mode and automatically pull the handbrake.

[0024] In some embodiments, the system emergency stop circuit includes:

[0025] A first circuit, two ends of which are respectively connected to a power interface and a first parking brake interface, and a first normally closed contact is provided on the first circuit;

[0026] A second circuit, two ends of which are respectively connected to the power interface and the remote control enabling interface, and a second normally closed contact is provided on the second circuit; and

[0027] A third circuit, two ends of which are respectively connected to the power interface and the second parking brake interface, and a first normally open contact is provided on the third circuit;

[0028] The vehicle-mounted inspection equipment also includes an emergency stop element configured to control the first normally closed contact, the second normally closed contact and the first normally open contact in linkage to send out a manual emergency stop signal.

[0029] In some embodiments, a second normally open contact connected in series with the first normally closed contact is provided on the first circuit, a third normally open contact connected in series with the second normally closed contact is provided on the second circuit, and a third normally closed contact connected in series with the first normally open contact is provided on the third circuit;

[0030] Among them, the second normally open contact, the third normally open contact and the third normally closed contact are linked and controlled by the automatic emergency stop signal sent by the control device.

[0031] A second aspect of the present disclosure provides a control method for the vehicle-mounted inspection device according to the above embodiment, comprising:

[0032] Action and status feedback step: the control device sends the vehicle action command to the body controller, and receives the vehicle status information fed back by the body controller and sends it to the automatic guidance controller;

[0033] Steering state adjustment step: The automatic steering controller determines the vehicle's steering adjustment information based on the vehicle state information, and sends the steering adjustment information to the body controller through the control device to adjust the vehicle's steering and running state.

[0034] In some embodiments, the action and status feedback steps include:

[0035] The main controller receives external vehicle action instructions;

[0036] The body controller receives the vehicle action instructions and sends them to the body controller. It also receives the vehicle status information fed back by the body controller and sends it to the main controller and the automatic guidance controller.

[0037] In some embodiments, the action and status feedback step further includes:

[0038] The upper body controller determines whether the vehicle action command is correct according to the current vehicle status information. If it is correct, the vehicle action command is sent to the body controller. If it is incorrect, the vehicle action command is returned to the main controller.

[0039] In some embodiments, the control method further comprises:

[0040] Sending the fault information of the vehicle to the main controller through the upper-mounted controller, the fault information including the first fault information of the wire-controlled chassis vehicle and the second fault information of the automatic steering controller;

[0041] At least one of the vehicle status information and the fault information is displayed through the main controller, and / or whether the vehicle is ready is determined based on at least one of the vehicle status information and the fault information.

[0042] In some embodiments, the control method further comprises:

[0043] Sending vehicle motion instructions remotely via the transmitting component;

[0044] The vehicle action command is received by the receiving component and sent to the main controller.

[0045] In some embodiments, the vehicle body controller has a dual-way parking brake interface and a remote control enable interface, the dual-way parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle, the remote control enable interface is used to control the remote control enable, and the system emergency stop circuit in the vehicle-mounted inspection equipment is connected to the dual-way parking brake interface and the remote control enable interface; the control method also includes:

[0046] After the system emergency stop circuit receives the manual emergency stop signal, the remote control enable interface is powered off to disable the remote control function, and the dual-channel parking brake interface switches the on and off states to enter the braking mode;

[0047] Automatic handbrake.

[0048] In some embodiments, the control method further comprises:

[0049] In the event of a vehicle failure, an automatic emergency stop signal is sent out through the control device to de-energize the remote control enable interface to disable the remote control function, and to cause the dual-channel parking brake interface to switch the on and off states to enter the braking mode.

[0050] In the vehicle inspection equipment of the disclosed embodiment, the control device can send the vehicle status information fed back by the body controller to the automatic guidance controller. The automatic guidance controller calculates the steering adjustment information of the vehicle according to the vehicle status information, and automatically adjusts the steering and walking state of the vehicle through the body controller accordingly, so that the vehicle inspection equipment can run along the predetermined moving trajectory to ensure the scanning reliability and safety. Moreover, it does not occupy the driver's seat space at all, there are no tedious steps to install and disassemble the steering push rod, and there is no need to install a complex hydraulic system additionally, which reduces the complexity of the structure, reduces the system failure points, and improves stability. In addition, the electronically controlled steering device equipped with the wire-controlled chassis vehicle can directly control the steering angle of the steering wheel, and the wheel steering control accuracy is higher, which is convenient for adjusting the wheel steering speed, and can greatly improve the control accuracy and response speed of the automatic guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0052] Figure 1 The present invention is a schematic diagram of the module composition of some embodiments of the vehicle-mounted inspection equipment disclosed herein.

[0053] Figure 2 The schematic diagram is a circuit diagram of some embodiments of the system emergency stop circuit in the vehicle-mounted inspection equipment disclosed in the present invention.

[0054] Figure 3 It is a top view of some embodiments of the vehicle-mounted inspection equipment disclosed in the present invention. Description of Reference Numerals

[0055] 1. Scanning device; 11. Upper controller; 12. Automatic guide controller; 13. Main controller; 14. Receiving component; 15. Control cabin; 16. Equipment cabin; 17. Arm;

[0056] 2. Wire-controlled chassis vehicle; 21. Body controller;

[0057] 3. Launching components;

[0058] 4. System emergency stop circuit; 41. Power interface module; 42. Chassis interface module; 43. Emergency stop element; 44. First normally closed contact; 45. Second normally closed contact; 46. First normally open contact; 47. Second normally open contact; 48. Third normally open contact; 49. Third normally closed contact;

[0059] 5. Automatic guidance sensor;

[0060] 6. Automatic guide baffle. DETAILED DESCRIPTION

[0061] The following detailed description and drawings of the embodiments of the present disclosure are used to illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure, that is, the present disclosure is not limited to the described embodiments.

[0062] In the description of the embodiments of the present disclosure, the term "plurality" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two).

[0063] The present disclosure adopts descriptions of directions or positional relationships indicated by “upper”, “lower”, “top”, “bottom”, “front”, “back”, “inside” and “outside”, etc., which are only for the convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the scope of protection of the present disclosure.

[0064] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the tolerance range. "Parallel" is not strictly parallel, but is within the tolerance range. The directional words appearing in the following description are all directions shown in the figures, and are not intended to limit the specific structure of the present disclosure.

[0065] In the description of the present disclosure, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0066] Reference to "embodiments" herein means that the particular features, structures, or characteristics described in conjunction with the embodiments may be included in at least some embodiments of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] like Figure 1 and Figure 2 As shown, in some embodiments, the vehicle-mounted inspection device of the present disclosure includes:

[0068] The chassis-by-wire vehicle 2 includes a vehicle body controller 21 configured to cause the vehicle to perform an action; and

[0069] The scanning device 1 includes a control device and an automatic guidance controller 12. The control device is configured to send a vehicle action instruction (hereinafter sometimes referred to as an action instruction) to the body controller 21, and receive vehicle status information fed back by the body controller 21 and send it to the automatic guidance controller 12; the automatic guidance controller 12 is configured to determine the steering adjustment information of the vehicle according to the vehicle status information, and send the steering adjustment information to the body controller 21 through the control device to adjust the steering and walking state of the vehicle.

[0070] Specifically, the body controller 21 may cause the vehicle to perform actions including causing the vehicle to realize various functional actions, such as walking, steering, braking, gear adjustment, lighting control, etc. The body controller 21 also adjusts the steering and walking state of the vehicle according to the steering adjustment information sent by the control device, which means that the steering and walking state of the vehicle is automatically changed according to the steering adjustment information during the vehicle's movement, such as the steering angle, speed or direction, so that the vehicle can walk along a preset track to realize the guidance correction of the vehicle-mounted inspection equipment.

[0071] For example, when transferring short distances, the control device can send a walking action instruction to the body controller 21 to make the vehicle perform a straight-line walking action, or turn along a preset trajectory to reach the destination to perform walking and turning actions. During this process, the steering walking state can be adjusted by the automatic guidance controller 12, that is, the steering angle can be fine-tuned to walk according to the predetermined trajectory.

[0072] Among them, the wire-controlled chassis vehicle 2 has a higher-level control interface and can interact through bus communication or IO signals. The body controller 21 in the wire-controlled chassis vehicle 2 is used to receive vehicle action instructions sent by the control device to realize the steering control function of the wire-controlled chassis vehicle 2. On this basis, the start, throttle, brake, gear, handbrake and light switching functions of the wire-controlled chassis vehicle 2 can also be realized.

[0073] For example, the wire-controlled chassis vehicle 2 may include at least three subsystems: wire-controlled throttle, wire-controlled steering, and wire-controlled brake. The power type of the wire-controlled chassis vehicle 2 may be fuel-powered, hybrid, or pure electric, and the chassis vehicle that uses electrical signals to replace the traditional mechanical, hydraulic, or pneumatic connection may be, for example, a truck chassis.

[0074] For example, vehicle status information may include steering angle, vehicle speed, and direction of travel.

[0075] This embodiment has at least the following advantages:

[0076] First, through the wire-controlled chassis vehicle 2, the walking motor in the scanning device 1 can be eliminated, and the power of the wire-controlled chassis vehicle 2 can be directly used for walking, such as the engine of a fuel vehicle or the motor of an electric vehicle, and the body controller 21 in the wire-controlled chassis vehicle 2 can exchange information with the control device in the scanning device 1, and exchange information with the automatic guidance controller 12 through the control device, obtain and process system-level control instructions, and realize the vehicle's walking and automatic steering functions.

[0077] Secondly, the control device can send the vehicle status information fed back by the body controller 21 to the automatic guidance controller 12, and the automatic guidance controller 12 calculates the steering adjustment information of the vehicle according to the vehicle status information, and automatically adjusts the steering and walking state of the vehicle through the body controller 21. As a result, the vehicle-mounted inspection equipment can run along a predetermined moving trajectory. For example, during the scanning process, the vehicle-mounted inspection equipment needs to move in a straight line. In fact, due to factors such as uneven road surface or control errors, the vehicle will deviate. By adjusting according to the vehicle status information of the vehicle during the walking process, the vehicle can run along the predetermined moving trajectory to ensure the reliability and safety of the scanning.

[0078] Third, compared with the steering push rod solution, this embodiment does not occupy the driver's seat space at all, and there is no cumbersome step of installing and removing the steering push rod. The maximum steering angle controlled by the control device (such as the upper mounted controller described below) is the same as when the driver manually turns the wheel, and is not limited by the travel of the steering push rod. Compared with the solution of adding an external power steering system, there is no need to install an additional complex hydraulic system, which reduces procurement and maintenance costs, reduces system failure points, and improves stability.

[0079] Fourthly, the automatic steering function is realized through the automatic steering controller 12. The steering gear equipped with the control-by-wire chassis vehicle 1 can directly control the steering angle of the steering wheel. Optionally, an angle sensor can be set on the steering wheel. The actual angle of the steering wheel is fed back to the automatic steering controller 12 to perform closed-loop control of the steering angle. It can adapt to different steering corrections, and the wheel steering control accuracy is higher. It is also convenient to adjust the wheel steering speed, which can greatly improve the control accuracy and response speed of the automatic steering. The steering push rod solution requires the installation of a distance sensor on the push rod, and the steering wheel angle is indirectly calculated by measuring the push rod stroke. In addition, there is an empty stroke at the connection between the steering wheel and the push rod, and the steering control accuracy is poor.

[0080] In commercial use, the wire-controlled chassis vehicle 2 is generally used for cargo transportation within a specific site, or multi-vehicle long-distance cargo transportation on open highways, which are high-speed driving application scenarios (greater than 10km / h) relative to the scanning equipment. In order to ensure the quality of the scanned image, the on-board inspection equipment generally travels at a low speed in the speed range of 0.2m / s~0.6m / s. During the scanning process, the object to be inspected must pass through the arm, and the distance between the object to be inspected and the on-board inspection equipment is very close, generally not exceeding 300mm. Due to the flatness of the site, the center of gravity of the on-board inspection equipment, the degree of tire wear and other reasons, the on-board inspection equipment cannot be kept in a straight line during multiple reciprocating scanning movements, which will cause the on-board inspection equipment to collide with the object to be inspected. The present disclosure controls the wire-controlled chassis vehicle 2 through the automatic guidance function, which can improve the automatic guidance accuracy when the on-board inspection equipment scans for a long time, so that the scanning path is close to a straight line, and prevents the scanning equipment from colliding with the object to be inspected.

[0081] Fifth, due to the limited travel of the push rod, only the steering angle can be fine-tuned, and the large-angle steering of the scanning equipment cannot be achieved. Therefore, it can only be used in the above-mentioned straight-line correction scenario. Using the wire-controlled chassis vehicle 2, large-angle turns can be achieved, so unmanned transfer scheduling of vehicle-mounted inspection equipment can be realized. For example, in closed sites such as ports and yards, the vehicle-mounted inspection equipment can be automatically moved from one site to another through the scheduling system to complete remote deployment control. For example, the scheduling system can be a master control console, which can directly send walking control instructions to the control device of the vehicle-mounted inspection equipment, or the master control console can send walking control instructions to the control device of the vehicle-mounted inspection equipment through equipment other than the transmitting component 3 mentioned below.

[0082] In some embodiments, Figure 1 As shown, the control device includes:

[0083] A main controller 13, configured to receive an external vehicle action instruction; and

[0084] The body controller 11 is configured to receive vehicle motion instructions sent by the main controller 13 and send them to the body controller 21 , and at the same time receive vehicle status information fed back by the body controller 21 and send it to the main controller 13 and the automatic steering controller 12 .

[0085] The main controller 13 may receive remote control commands for operating the vehicle, commands sent by an operator through operating elements such as buttons, or commands sent by other controllers, and generate commands that enable the vehicle body controller 21 to perform actions.

[0086] The upper body controller 11 can receive the vehicle action command sent by the main controller 13 and send it to the body controller 21 to make the vehicle perform the action. At the same time, the body controller 21 feeds back the vehicle status information to the upper body controller 11 in real time, and then the upper body controller 11 sends it to the main controller 13 and the automatic steering controller 12. The automatic steering controller 12 can automatically adjust the steering parameters according to the vehicle status information, such as performing body posture detection and steering angle calculation, so that the vehicle runs according to the predetermined moving trajectory. The main controller 13 can adjust the command signal sent according to the vehicle status information and fault information, or perform operations such as displaying the vehicle status information.

[0087] In addition, the main controller 13 can also exchange information with the automatic guide controller 12. The upper body controller 11 can communicate with the main controller 13 and the automatic guide controller 12 through bus technology.

[0088] This embodiment divides the control device into an independent main controller 13 and a superstructure controller 11. The superstructure controller 11 is equivalent to a signal relay controller, which can send the vehicle action command sent by the main controller 13 to the body controller 21 to enable the vehicle to perform the action, and send the steering adjustment information sent by the automatic steering controller 12 to the body controller 21 to correct the vehicle, and can also transmit the vehicle status information sent by the body controller 21 to the main controller 13 and the automatic steering controller 12 to perform corresponding walking control or other functions.

[0089] Therefore, the upper body controller 11 serves as a bridge for data information exchange between the wire-controlled chassis vehicle 2 and the main controller 13 of the scanning device 1, which can reduce the impact on the running speed of the body controller 21 and the automatic guidance controller 12, and is functionally independent of each other to prevent mutual influence, thereby improving the reliability of the execution function of each controller.

[0090] In some application scenarios, the operator can use the scheduling system to make the accelerator in the scanning device 1 emit a beam of radiation. After the beam is stable, the operator sends a walking action instruction to the main controller 13 through the scheduling system. During the walking process of the vehicle-mounted inspection device, the main controller 13 wakes up the automatic guidance controller 12, so that the automatic guidance controller 12 guides and corrects the vehicle-mounted inspection device. If the deviation angle exceeds the preset angle threshold, it can be reported to the main controller 13 as fault information. For example, the main controller 13 can send a stop walking action instruction to improve the safety of the walking process.

[0091] In some specific embodiments, the upper body controller 11 is a newly added controller, which may adopt a PLC, ARM or X86 architecture controller, and the controller is equipped with an IO module or board, and communicates with the gateway of the wire-controlled chassis vehicle 2 using a CAN2.0B bus that complies with SAE J1939, or using vehicle Ethernet communication. The control instructions issued by the upper body controller 11 may include the following:

[0092] Table 1 Control instructions of the upper body controller 11

[0093] In some embodiments, the upper body controller 11 is configured to determine whether the action instruction is correct based on the current vehicle status information. If correct, the action instruction is sent to the body controller 21; if incorrect, the action instruction is returned to the main controller 13. At this time, there is no need to send signals or instructions to the body controller 21.

[0094] For example, when the main controller 13 sends a walking motion instruction to the upper mounted controller 11, if the upper mounted controller 11 receives that the vehicle handbrake is not released or the vehicle gear is not successfully switched to the driving gear, it means that the walking conditions are not met, and the upper mounted controller 11 returns the walking motion instruction to the main controller 13.

[0095] After receiving the action instruction sent by the main controller 13, the upper body controller 11 of this embodiment adds a step of judging whether the action instruction is correct. Only when the action instruction matches the current state of the vehicle is it sent to the body controller 21 for execution. If it is not correct, the instruction is returned to the main controller 13. This can prevent the vehicle from executing wrong instructions, improve the reliability of the vehicle-mounted inspection equipment, and especially improve safety through automated judgment when realizing remote unmanned operation.

[0096] In some embodiments, the upper body controller 11 is configured to send a life count and a checksum obtained based on the message content and the life count while sending a message corresponding to the action instruction to the body controller 21; the body controller 21 is configured to check the instruction content after receiving it, and execute the action instruction after it is correct. Specifically, the body controller 21 receives the message, the life count and the checksum, and the message is the sending form of each action instruction in Table 1, for example, it can be a hexadecimal number.

[0097] For example, the upper body controller 11 requires to send the relevant count value and checksum while sending the throttle signal and the direction signal. The count value is 0~15 and is sent in a cycle. Each time a signal message is sent, the count value is +1. And the checksum is calculated according to the preset formula. After that, the count value, checksum, throttle or direction signal are sent to the body controller 21 as a group of messages at the same time. The body controller 21 itself also has a counter and performs a check calculation. After receiving the message, it will compare its own counter value with the count value in the received message to see if it is the same, and perform a checksum calculation based on the message content and the count value. The calculated checksum must be the same as the checksum in the received message. If the calculated checksum result does not match the received checksum, the body controller 21 will not respond to the signal request.

[0098] This embodiment can ensure the real-time and correctness of the transmission of action instructions, avoid delays or frame losses caused by network congestion in communication, so as to prevent the vehicle from executing wrong instructions, and improve the reliability and safety of the vehicle-mounted inspection equipment.

[0099] In some embodiments, the upper body controller 11 is also configured to send vehicle fault information to the main controller 13, the fault information including first fault information of the wire-controlled chassis vehicle 2 and second fault information of the automatic guidance controller 12; the main controller 13 is configured to display at least one of the vehicle status information and fault information, and / or determine whether the vehicle is ready based on at least one of the vehicle status information and fault information.

[0100] For example, the first fault information may be that the driving, steering or braking function of the wire-controlled chassis vehicle 2 fails, the gear position cannot be switched normally, or the light cannot be controlled as required, etc. The second fault information may be a hardware or software failure inside the automatic steering controller 12, or the automatic steering controller 12 cannot normally receive the current steering angle information due to a failure of a sensor located on the side of the vehicle for detecting the actual steering angle of the vehicle, etc. The vehicle status information and fault information may be displayed on the human-computer interaction interface.

[0101] Specifically, Figure 3 As shown, the vehicle-mounted inspection equipment includes a scanning device 1 and a wire-controlled chassis vehicle 2. The scanning device 1 is arranged on the wire-controlled chassis vehicle 2, and the scanning device 1 includes a control cabin 15, an equipment cabin 16 and an arm 17. The arm 17 is connected to the first side of the equipment cabin 16 along the width direction of the wire-controlled chassis vehicle 2. The control cabin 15 is located on one side of the equipment cabin 15 along the length direction of the wire-controlled chassis vehicle 2. The arm 17 forms an inspection channel extending in the direction of the arrow, and the inspection channel is for the object to be inspected 5 to pass through. An automatic guide sensor 5 is provided on the side of the scanning device 1 away from the arm 17 along the width direction. For example, the automatic guide sensor 5 can be a laser radar or the like. Specifically, the automatic guide sensor 5 is arranged on the side of the equipment cabin 16 away from the arm 17 along the width direction, and is used to detect the actual steering angle of the vehicle. In addition, an automatic guide baffle 6 is provided at the inspection site. The automatic guide baffle 6 is arranged parallel to the travel direction of the vehicle-mounted inspection equipment, and the automatic guide baffle 6 is arranged at a preset distance from the automatic guide sensor 5. During the movement of the vehicle-mounted inspection equipment, the automatic guidance sensor 5 emits a detection laser to form a detection laser surface. After the laser reaches the automatic guidance baffle 6, it is reflected to the automatic guidance sensor 5 for reception, thereby obtaining the distance between the automatic guidance sensor 5 and the automatic guidance baffle 6 (a type of vehicle status information), so that the automatic guidance controller 12 can determine the steering adjustment information according to the distance and send it to the body controller 21 to adjust the steering and walking state of the vehicle to correct the vehicle-mounted inspection equipment.

[0102] In some control forms, a steering wheel angle sensor is provided on the steering wheel of the wire-controlled chassis vehicle 2 to detect the turning angle of the steering wheel. After the upper body controller 11 receives the steering adjustment information (such as the steering angle) sent by the automatic steering controller 12, it sends it to the body controller 21, and the body controller 21 then sends the steering adjustment information to the steering machine of the wire-controlled chassis vehicle 2, thereby controlling the steering angle of the vehicle.

[0103] During the vehicle's travel, the automatic guidance sensor 5 provided on the vehicle body of the vehicle inspection equipment (e.g., the equipment compartment 16 of the scanning equipment 1) first detects the distance between it and the automatic guidance baffle 6, and feeds back to the automatic guidance controller 12, so that the automatic guidance controller 12 can determine the steering adjustment information (e.g., steering angle), and send it to the body controller 21 through the upper body controller 11 for guidance control. Secondly, during the guidance control process, the steering wheel angle sensor detects the steering wheel rotation angle, and feeds back to the automatic guidance controller 12, so that the automatic guidance controller 12 can adjust and correct the steering adjustment information, forming a steering angle feedback control, which can effectively improve the steering angle control accuracy of the vehicle.

[0104] For example, the upper body controller 11 may send the handbrake status, gear status, the first fault information of the wire-controlled chassis vehicle 2 and the second fault information of the automatic steering controller 12 to the main controller 13. The main controller 13 determines whether the vehicle is ready based on this information. For example, if the handbrake is released, the forward / reverse gear is engaged, and the first fault information and the second fault information do not appear, the main controller 13 determines that the vehicle is ready.

[0105] This embodiment displays vehicle status information and fault information through the main controller 13, so that the operator can conveniently observe the running status of the vehicle inspection equipment and take safety measures in time when an abnormal state occurs. In addition, the main controller 13 can determine whether the vehicle is ready based on the vehicle status information, and only issue an action command when the vehicle is ready.

[0106] In some embodiments, the vehicle status information sent by the upper-mounted controller 11 to the automatic guidance controller 12 includes: steering angle, vehicle speed and travel direction, and the automatic guidance controller 12 is configured to send steering angle adjustment, direction adjustment and second fault information to the upper-mounted controller 11.

[0107] Among them, a row of sensors can be set on the side of the vehicle body, and a reference part can be set on the side of the vehicle. For example, the reference part can be a reflector. The sensor detects the distance between the sensor and the reflector to determine whether the vehicle is offset during the movement. The steering angle and adjustment direction to be adjusted can be determined based on the detection result and the vehicle's current actual steering angle, vehicle speed and travel direction. The adjustment direction can be to turn the steering wheel clockwise or counterclockwise.

[0108] This embodiment sends vehicle status information to the automatic steering controller 12 through the upper body controller 11, so that the automatic steering controller 12 can calculate the steering angle that needs to be adjusted and the direction of adjustment according to the current status information of the vehicle. If it is determined that a vehicle fault occurs, it will also be fed back to the upper body controller 11 so that the upper body controller 11 can report the fault information to the main controller 13.

[0109] In some embodiments, Figure 1 As shown, the vehicle-mounted inspection equipment also includes a remote control component, which includes:

[0110] A transmitting component 3, configured to issue a vehicle action instruction; and

[0111] The receiving component 14 is provided in the scanning device 1 and is configured to receive the vehicle action instruction and send it to the control device.

[0112] Among them, the transmitting component 3 can be a handheld remote control, and the remote control can be equipped with a steering knob to control the vehicle steering function. The receiving component 14 can be a remote control receiver, and the receiving component 14 sends the vehicle action command to the main controller 13 after receiving it.

[0113] This embodiment can realize the remote walking function of the vehicle-mounted inspection equipment by remote control, and realize remote steering, so as to facilitate the adjustment of the placement of the vehicle-mounted inspection equipment in the scanning site, or the short-distance transfer function. Moreover, the upper-mounted controller 11 serves as a data exchange bridge between the wire-controlled chassis vehicle 2 and the main controller 13 of the scanning device 1, and can send the status of the wire-controlled chassis vehicle 2 (fuel consumption, power, speed, vehicle-mounted GPS information, door status, etc.) to the handheld remote control. The handheld remote control has a display screen to display the status of the wire-controlled chassis vehicle 2, which is conducive to the remote and unmanned operation of the vehicle-mounted inspection equipment.

[0114] In some embodiments, the vehicle has a switchable driver mode and a remote mode. In the driver mode, the body controller 21 is configured to receive driver operations to cause the vehicle to perform actions; in the remote mode, the body controller 21 is configured to receive instructions from a control device to cause the vehicle to perform actions; wherein, the maximum speed limit of the vehicle in the remote mode is lower than the maximum speed limit of the vehicle in the driver mode.

[0115] For example, driver mode and remote mode can be switched through the human-machine interaction interface.

[0116] In the driver mode, the operator can drive the vehicle inspection equipment normally to achieve highway driving. The automatic steering controller 12 does not need to participate in steering control. The movement of the vehicle depends only on the driver's operation on the vehicle. The body controller 21 does not need to feedback the vehicle status information to the upper-mounted controller 11, or according to special needs, the vehicle status information can be fed back to the upper-mounted controller 11 for display through the main controller 13. At this time, the driver directly controls the body controller 21. For example, the driver's actions such as stepping on the accelerator and pulling the handbrake will be converted into vehicle action instructions and sent to the body controller 21. The driver's operation is used to generate the "external vehicle action instructions" mentioned above.

[0117] In the remote control mode, the upper body controller 11 obtains the control right over the wire-controlled chassis vehicle 2, and can realize the control functions in Table 1. In the remote control mode, the maximum driving speed of the wire-controlled chassis vehicle 2 is limited to a maximum of 7km / h, which can be adjusted between 1-7km / h. For example, in the remote control mode, the operator can send a travel instruction to the main controller 13 by remote control through the transmitting component 3, and the main controller 13 then sends the travel instruction to the body controller 21 through the upper body controller 11 to make the vehicle move. At this time, the operator's operation of the transmitting component 3 is used to generate the "external vehicle motion instruction" mentioned above. During the movement of the vehicle, the operator can control the movement of the vehicle without any operation, and adjust the steering and walking state of the vehicle through the automatic guidance controller 12 to automatically control the vehicle to move along a preset trajectory.

[0118] The vehicle-mounted inspection equipment of this embodiment is provided with two operation modes, and a suitable operation mode can be selected according to actual needs. The driver mode is mainly used for highway driving to achieve a higher driving speed, which is conducive to rapid transition, and manual driving can improve highway driving safety; the remote mode is adopted to facilitate security scanning and inspection of objects, adjustment of the placement of the vehicle-mounted inspection equipment in the scanning site, or short-distance transition functions. For example, when scanning and inspection are achieved by movement, the automatic steering control function can make the vehicle move along the preset trajectory with higher accuracy, and the driving safety can be improved by limiting the maximum driving speed in the remote mode.

[0119] In some embodiments, Figure 2 As shown, the vehicle body controller 21 has a dual-way parking brake interface and a remote control enabling interface B, the dual-way parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle 2, and the remote control enabling interface B is used to control the remote control enabling;

[0120] The on-vehicle inspection equipment includes a system emergency stop circuit 4, which is connected to the dual-way parking brake interface and the remote control enable interface B. It is configured to cut off the power to the remote control enable interface B and disable the remote control function after receiving a manual emergency stop signal, so that the dual-way parking brake interface exchanges the on-off state to enter the braking mode, and automatically pulls the handbrake.

[0121] For example, the system emergency stop circuit 4 may be a system-level hardware emergency stop circuit, which does not require logic judgment by the main controller, and the manual emergency stop signal may be a total interlocking signal.

[0122] This embodiment connects the system emergency stop circuit 4 in series to the hardware interface of the vehicle body controller 21, that is, the system emergency stop circuit 4 is connected to the dual-path parking brake interface and the remote control enable interface B of the vehicle body controller 21 itself. After the system emergency stop circuit 4 receives the manual emergency stop signal, it indicates that there is an abnormality or fault in the vehicle. The remote control function is disabled through linkage control, and the braking function of the vehicle is started at the same time, and the handbrake is automatically pulled. These safety protection mechanisms can ensure the safe and smooth operation of the wire-controlled chassis vehicle 2.

[0123] In some embodiments, Figure 2 As shown, the system emergency stop circuit 4 includes:

[0124] The first line L1 has two ends connected to the power interface D and the first parking brake interface A respectively, and a first normally closed contact 44 is provided on the first line L1;

[0125] A second line L2, two ends of which are respectively connected to the power interface D and the remote control enabling interface B, and a second normally closed contact 45 is provided on the second line L2; and

[0126] The third line L3 has two ends connected to the power interface D and the second parking brake interface C respectively, and a first normally open contact 46 is provided on the third line L3.

[0127] The vehicle-mounted inspection device further includes an emergency stop element 43 configured to control the first normally closed contact 44 , the second normally closed contact 45 and the first normally open contact 46 in linkage to issue a manual emergency stop signal.

[0128] Among them, the power interface D of the system emergency stop circuit 4 can be connected to the power interface module 41 of the body controller 11, and the body controller 21 includes a chassis interface module 42, in which the first parking brake interface A, the remote control enable interface B and the second parking brake interface C are provided.

[0129] Optionally, the system emergency stop circuit 4 is provided with one or more, and a corresponding number of emergency stop elements 43 are provided. When the vehicle is in a normal running state, the first normally closed contact 44 is closed, the second normally closed contact 45 is closed, and the first normally open contact 46 is disconnected, that is, the first parking brake interface A is energized, the second parking brake interface C is disconnected, and the remote control enable interface B is energized; when an abnormal situation or failure occurs in the vehicle, when any emergency stop element 43 is pressed, the first normally closed contact 44 is disconnected and the first normally open contact 46 is closed, the dual-way parking brake interface switches the on-off state to enter the braking mode, the second normally closed contact 45 is disconnected, and the remote control enable interface B is powered off to disable the remote control function.

[0130] In this embodiment, corresponding contacts are respectively arranged in series for the first parking brake interface A, the remote control enabling interface B and the second parking brake interface C, and the three contacts are controlled in linkage through the emergency stop element 43. When an abnormality or failure occurs in the vehicle, the operator can press the emergency stop element 43 to apply a safety protection mechanism to the wire-controlled chassis vehicle 2 to ensure safe and smooth operation of the vehicle.

[0131] In some embodiments, Figure 2 As shown, the first line L1 is provided with a second normally open contact 47 connected in series with the first normally closed contact 44, the second line L2 is provided with a third normally open contact 48 connected in series with the second normally closed contact 45, and the third line L3 is provided with a third normally closed contact 49 connected in series with the first normally open contact 46;

[0132] The second normally open contact 47 , the third normally open contact 48 and the third normally closed contact 49 are controlled in linkage by an automatic emergency stop signal issued by a control device, for example, an automatic emergency stop signal is issued by the upper mounted controller 11 .

[0133] This embodiment adds a contact switch for automatic emergency stop on the basis of setting a manual emergency stop function in the system emergency stop circuit 4 to realize the automatic emergency stop function. When only one of the emergency stop functions works, the safety protection mechanism is activated, the remote control function is disabled, and the vehicle's braking function is activated at the same time, and the handbrake is automatically pulled. By setting the manual and automatic dual emergency stop functions, the safety of the vehicle-mounted inspection equipment can be further improved.

[0134] Taking the chassis of a certain vehicle model as an example, the total interlocking signal of the system emergency stop circuit 4 should be connected to the first parking brake interface A, the remote control enable interface B and the second parking brake interface C of the body controller 21, and another one can be connected to the upper body controller 11. The first parking brake interface A and the second parking brake interface C can receive the electrical circuit signal of the handbrake control of the wire-controlled chassis vehicle 2. Among them, the electrical circuit refers to a physical electrical circuit connected by wires, which is different from the logical circuit in the software control program.

[0135] The output of the upper controller 11 can be connected to the relay KA1, which has more than three contacts, and each relay contact is connected in series to the above-mentioned system emergency stop circuit 4 to achieve automatic emergency stop.

[0136] When any emergency stop element 43 of the device is pressed, the remote control hard circuit will be cut off, and the handbrake of the wire-controlled chassis vehicle 2 will be pulled up through the IO signal. When the remote control conditions are ready, the digital output port of the upper controller 11 outputs, and the relay KA1 is automatically attracted. Correspondingly, the second normally open contact 47 is closed, the third normally open contact 48 is closed, and the third normally closed contact 49 is disconnected, and the vehicle can run normally. When the program has an emergency stop, communication failure, or program logic failure, DO1 = 0, KA1 loses power, and correspondingly, the second normally open contact 47 is disconnected, the third normally open contact 48 is disconnected, and the third normally closed contact 49 is closed, the remote control hard circuit is cut off, and the handbrake is automatically pulled up.

[0137] Secondly, the present disclosure provides a control method for a vehicle-mounted inspection device based on the above-mentioned embodiment, which, in some embodiments, includes:

[0138] Action and status feedback step: sending the vehicle action command to the body controller 21 through the control device, and receiving the vehicle status information fed back by the body controller 21 and sending it to the automatic guidance controller 12;

[0139] Steering state adjustment step: the automatic steering controller 12 determines the vehicle's steering adjustment information according to the vehicle state information, and sends the steering adjustment information to the body controller 21 through the control device to adjust the vehicle's steering and traveling state.

[0140] In the control method of this embodiment, the control device can send the vehicle state information fed back by the body controller 21 to the automatic guidance controller 12, and the automatic guidance controller 12 calculates the steering adjustment information of the vehicle according to the vehicle state information, and automatically adjusts the steering and walking state of the vehicle through the body controller 21. As a result, the vehicle-mounted inspection equipment can run along a predetermined moving track. For example, during the scanning process, the vehicle-mounted inspection equipment needs to walk in a straight line. In fact, due to factors such as uneven road surface or control errors, the vehicle will deviate. By adjusting according to the vehicle state information of the vehicle during the walking process, the vehicle can run according to the predetermined moving track to ensure the reliability and safety of the scanning.

[0141] Moreover, the electronically controlled steering device equipped with the control-by-wire chassis can directly control the steering angle of the steering wheel. Optionally, an angle sensor can be set on the steering wheel, and the actual angle of the steering wheel is fed back to the automatic steering controller 12 to perform closed-loop control of the steering angle, which can adapt to different steering angles and deviation correction speeds, and the wheel steering control accuracy is higher. It is also convenient to adjust the wheel steering speed, which can greatly improve the control accuracy and response speed of the automatic guidance. The steering push rod solution requires the installation of a distance sensor on the push rod, and indirectly calculates the steering wheel angle by measuring the push rod stroke. In addition, there is an empty stroke at the connection between the steering wheel and the push rod, and the steering control accuracy is poor.

[0142] In some embodiments, the action and status feedback steps include:

[0143] Receiving external vehicle motion instructions through the main controller 13;

[0144] The vehicle action instructions are received by the upper body controller 11 and sent to the body controller 21 , while the vehicle status information fed back by the body controller 21 is received and sent to the main controller 13 and the automatic guidance controller 12 .

[0145] This embodiment enables the main controller 13 and the upper body controller 11 to realize independent control functions. The upper body controller 11 is equivalent to a signal relay controller, which can send the vehicle action command sent by the main controller 13 to the body controller 21 to enable the vehicle to perform the action, and send the steering adjustment information sent by the automatic steering controller 12 to the body controller 21 to correct the vehicle, and can also transmit the vehicle status information sent by the body controller 21 to the main controller 13 and the automatic steering controller 12 to perform corresponding walking control or other functions.

[0146] Therefore, the upper body controller 11 serves as a bridge for data information exchange between the wire-controlled chassis vehicle 2 and the main controller 13 of the scanning device 1, which can reduce the impact on the running speed of the body controller 21 and the automatic guidance controller 12, and is functionally independent of each other to prevent mutual influence, thereby improving the reliability of the execution function of each controller.

[0147] In some embodiments, the action and status feedback step further includes:

[0148] The upper body controller 11 determines whether the action instruction is correct according to the current vehicle state information. If it is correct, the action instruction is sent to the body controller 21 . If it is incorrect, the action instruction is returned to the main controller 13 .

[0149] After receiving the action instruction sent by the main controller 13, the upper controller 11 of this embodiment adds a step of judging whether the action instruction is correct. Only when the action instruction matches the current state of the vehicle will it be sent to the body controller 21 for execution. If it is incorrect, the instruction will be returned to the main controller 13. This can prevent the vehicle from executing wrong instructions and improve the reliability of the on-board inspection equipment. In particular, when realizing remote unmanned operation, safety can be improved through automated judgment.

[0150] In some embodiments, the control method of the present disclosure further includes:

[0151] The vehicle fault information is sent to the main controller 13 via the upper mounted controller 11;

[0152] At least one of the vehicle status information and the fault information is displayed by the main controller 13, and / or whether the vehicle is ready is determined based on at least one of the vehicle status information and the fault information.

[0153] This embodiment displays vehicle status information and fault information through the main controller 13, so that the operator can conveniently observe the running status of the vehicle inspection equipment and take safety measures in time when an abnormal state occurs. In addition, the main controller 13 can determine whether the vehicle is ready based on the vehicle status information, and only issue an action command when the vehicle is ready.

[0154] In some embodiments, the control method further comprises:

[0155] The vehicle movement command is remotely issued through the transmitting component 3;

[0156] The vehicle action command is received by the receiving component 14 and sent to the main controller 13 .

[0157] This embodiment uses remote control to realize the remote walking function of the vehicle-mounted inspection equipment and realizes remote steering, which is convenient for adjusting the placement of the vehicle-mounted inspection equipment in the scanning site, or short-distance transfer function. In addition, the upper controller 11 serves as a data exchange bridge between the wire-controlled chassis vehicle 2 and the main controller 13 of the scanning device 1, and can send the status of the wire-controlled chassis vehicle 2 to the remote control terminal, which is conducive to the remote and unmanned operation of the vehicle-mounted inspection equipment.

[0158] In some embodiments, the vehicle body controller 21 has a dual-way parking brake interface and a remote control enable interface B, the dual-way parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle 2, the remote control enable interface B is used to control the remote control enable, and the system emergency stop circuit 4 in the vehicle-mounted inspection equipment is connected to the dual-way parking brake interface and the remote control enable interface B; the control method also includes:

[0159] After the system emergency stop circuit 4 receives the manual emergency stop signal, the remote control enable interface B is powered off to disable the remote control function, and the dual-channel parking brake interface switches the on and off states to enter the braking mode;

[0160] Automatic handbrake.

[0161] Among them, disabling the remote control function and entering the braking mode are synchronized, and automatic handbrake application can be executed thereafter, or can also be executed simultaneously with the above two steps.

[0162] This embodiment connects the system emergency stop circuit 4 in series to the hardware interface of the vehicle body controller 21, that is, the system emergency stop circuit 4 is connected to the dual-path parking brake interface and the remote control enable interface B of the vehicle body controller 21 itself. After the system emergency stop circuit 4 receives the manual emergency stop signal, it indicates that there is an abnormality or fault in the vehicle. The remote control function is disabled through linkage control, and the braking function of the vehicle is started at the same time, and the handbrake is automatically pulled. These safety protection mechanisms can ensure the safe and smooth operation of the wire-controlled chassis vehicle 2.

[0163] In some embodiments, the control method of the present disclosure further includes:

[0164] In the event of a vehicle failure, an automatic emergency stop signal is sent out through the control device to cut off the power to the remote control enable interface B to disable the remote control function, and to switch the on and off states of the dual-channel parking brake interface to enter the braking mode.

[0165] This embodiment is based on the manual emergency stop function set in the system emergency stop circuit 4, and an automatic control emergency stop contact switch is added to realize the automatic emergency stop function. Only one of the emergency stop functions works, the safety protection mechanism is activated, the remote control function is disabled, and the braking function of the vehicle is activated at the same time, and the handbrake is automatically pulled. By setting manual and automatic dual emergency stop functions, the safety of the vehicle-mounted inspection equipment can be further improved. The controller mentioned in the above embodiments can be a general processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components or any appropriate combination thereof for executing the functions described in the present disclosure.

[0166] Although the present disclosure has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present disclosure. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A vehicle-mounted inspection device, characterized in that: include: A controlled-by-wire chassis vehicle (2) comprises a vehicle body controller (21) configured to cause the vehicle to perform an action; and A scanning device (1) comprises a control device and an automatic guidance controller (12), wherein the control device is configured to send a vehicle motion instruction to the body controller (21), and receive vehicle status information fed back by the body controller (21) and send the information to the automatic guidance controller (12); the automatic guidance controller (12) is configured to determine steering adjustment information of the vehicle according to the vehicle status information, and send the steering adjustment information to the body controller (21) via the control device to adjust the steering and walking state of the vehicle.

2. The vehicle-mounted inspection device according to claim 1, characterized in that: The control device comprises: A main controller (13) configured to receive an external vehicle action instruction; and The body controller (11) is configured to receive the vehicle motion command sent by the main controller (13) and send it to the body controller (21), and simultaneously receive the vehicle status information fed back by the body controller (21) and send it to the main controller (13) and the automatic steering controller (12).

3. The vehicle-mounted inspection equipment according to claim 2, characterized in that: The upper body controller (11) is configured to determine whether the vehicle action instruction is correct based on current vehicle status information, and if so, send the vehicle action instruction to the body controller (21); if not, return the vehicle action instruction to the main controller (13).

4. The vehicle-mounted inspection equipment according to claim 3, characterized in that: The upper body controller (11) is configured to send a life count and a checksum obtained based on the message content and the life count while sending a message corresponding to the vehicle action instruction to the body controller (21); the body controller (21) is configured to check the instruction content after receiving it and execute it only after the vehicle action instruction is correct.

5. The vehicle-mounted inspection equipment according to claim 2, characterized in that: The upper body controller (11) is further configured to send vehicle fault information to the main controller (13), the fault information comprising first fault information of the controlled-by-wire chassis vehicle (2) and second fault information of the automatic steering controller (12); The main controller (13) is configured to display at least one of the vehicle status information and the fault information, and / or to determine whether the vehicle is ready based on at least one of the vehicle status information and the fault information.

6. The vehicle-mounted inspection equipment according to claim 2, characterized in that: The vehicle status information sent by the bodywork controller (11) to the automatic steering controller (12) comprises: steering angle, vehicle speed and travel direction, and the automatic steering controller (12) is configured to send information on adjusting the steering angle, adjusting the direction and second fault information of the automatic steering controller (12) to the bodywork controller (11).

7. The vehicle-mounted inspection equipment according to any one of claims 1 to 6, characterized in that: Also included is a remote control component, the remote control component comprising: A transmitting component (3) configured to issue the vehicle action instruction; and A receiving component (14) is provided in the scanning device (1) and is configured to receive the vehicle action instruction and send it to the control device.

8. The vehicle-mounted inspection equipment according to any one of claims 1 to 6, characterized in that: The vehicle has a switchable driver mode and a remote mode. In the driver mode, the body controller (21) is configured to receive a driver operation to enable the vehicle to perform an action; in the remote mode, the body controller (21) is configured to receive an instruction from the control device to enable the vehicle to perform an action; The maximum speed limit of the vehicle in the remote mode is lower than the maximum speed limit of the vehicle in the driver mode.

9. The vehicle-mounted inspection equipment according to any one of claims 1 to 6, characterized in that: The vehicle body controller (21) has a dual-channel parking brake interface and a remote control enabling interface (B), the dual-channel parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle (2), and the remote control enabling interface (B) is used to control remote control enabling; The vehicle-mounted inspection device comprises a system emergency stop circuit (4), the system emergency stop circuit (4) being connected to the dual-channel parking brake interface and the remote control enabling interface (B), and being configured to, after receiving a manual emergency stop signal, power off the remote control enabling interface (B) to disable the remote control function, and to cause the dual-channel parking brake interface to switch between on and off states to enter a braking mode, and to automatically apply the handbrake.

10. The vehicle-mounted inspection equipment according to claim 9, characterized in that: The system emergency stop circuit (4) comprises: A first line (L1), two ends of which are respectively connected to a power interface (D) and a first parking brake interface (A), and a first normally closed contact (44) is provided on the first line (L1); a second line (L2), two ends of which are respectively connected to the power interface (D) and the remote control enabling interface (B), and a second normally closed contact (45) is provided on the second line (L2); and A third line (L3), two ends of which are respectively connected to the power interface (D) and the second parking brake interface (C), and a first normally open contact (46) is provided on the third line (L3); The vehicle-mounted inspection equipment further comprises an emergency stop element (43) configured to control the first normally closed contact (44), the second normally closed contact (45) and the first normally open contact (46) in a linkage manner so as to issue the manual emergency stop signal.

11. The vehicle-mounted inspection device according to claim 10, characterized in that: The first line (L1) is provided with a second normally open contact (47) connected in series with the first normally closed contact (44), the second line (L2) is provided with a third normally open contact (48) connected in series with the second normally closed contact (45), and the third line (L3) is provided with a third normally closed contact (49) connected in series with the first normally open contact (46); The second normally open contact (47), the third normally open contact (48) and the third normally closed contact (49) are controlled in linkage via an automatic emergency stop signal issued by the control device.

12. A control method based on the vehicle-mounted inspection equipment according to any one of claims 1 to 11, characterized in that: include: Action and state feedback step: the control device sends a vehicle action instruction to the vehicle body controller (21), and receives vehicle state information fed back by the vehicle body controller (21) and sends it to the automatic guidance controller (12); Steering state adjustment step: the automatic steering controller (12) determines the steering adjustment information of the vehicle according to the vehicle state information, and sends the steering adjustment information to the vehicle body controller (21) through the control device to adjust the steering running state of the vehicle.

13. The control method according to claim 12, characterized in that: The action and status feedback steps include: The main controller (13) receives external vehicle action instructions; The upper body controller (11) receives the vehicle motion instruction and sends it to the body controller (21), and simultaneously receives the vehicle status information fed back by the body controller (21) and sends it to the main controller (13) and the automatic steering controller (12).

14. The control method according to claim 13, characterized in that: The action and state feedback steps also include: The upper body controller (11) determines whether the vehicle action instruction is correct based on the current vehicle status information; if correct, the vehicle action instruction is sent to the body controller (21); if incorrect, the vehicle action instruction is returned to the main controller (13).

15. The control method according to claim 13, characterized in that: Also includes: Sending vehicle fault information to the main controller (13) via the upper body controller (11), the fault information comprising first fault information of the controlled-by-wire chassis vehicle (2) and second fault information of the automatic steering controller (12); At least one of the vehicle status information and the fault information is displayed by the main controller (13), and / or whether the vehicle is ready is determined based on at least one of the vehicle status information and the fault information.

16. The control method according to claim 13, characterized in that: Also includes: remotely issuing the vehicle motion command via a transmitting component (3); The vehicle action instruction is received by a receiving component (14) and sent to the main controller (13).

17. The control method according to any one of claims 12 to 16, characterized in that: The vehicle body controller (21) has a dual-way parking brake interface and a remote control enabling interface (B), the dual-way parking brake interface is used to control the parking brake of the wire-controlled chassis vehicle (2), the remote control enabling interface (B) is used to control remote control enabling, and the system emergency stop circuit (4) in the vehicle-mounted inspection equipment is connected to the dual-way parking brake interface and the remote control enabling interface (B); the control method further comprises: After the system emergency stop circuit (4) receives a manual emergency stop signal, the remote control enabling interface (B) is powered off to disable the remote control function, and the dual-channel parking brake interface switches the on and off states to enter a braking mode; Automatic handbrake.

18. The control method according to claim 17, characterized in that: Also includes: In the event of a vehicle failure, the control device sends an automatic emergency stop signal to disconnect the remote control enabling interface (B) and disable the remote control function, and to switch the on and off states of the dual-channel parking brake interface to enter the braking mode.

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