Large-span inspection system and synchronous control method thereof

Abstract

The invention provides a large-span inspection system and a synchronous control method thereof. A main cabin front walking wheel and a main cabin rear walking wheel are arranged in a main cabin, an auxiliary cabin front walking wheel and an auxiliary cabin rear walking wheel are arranged in an auxiliary cabin, a beam A is in rigid connection with the main cabin and the auxiliary cabin, and a beam B is arranged between the main cabin and the auxiliary cabin. A laser distance measuring sensor is arranged on the beam B; wherein the main cabin front walking wheel, the main cabin rear walking wheel, the auxiliary cabin front walking wheel and the auxiliary cabin rear walking wheel are respectively in transmission connection with a steering motor and a straight motor. In the system driving process, it is guaranteed that main and auxiliary cabins move by the same distance, and middle beams are prevented from being damaged.

Description

Technical Field

[0001] The invention relates to the technical field of combined mobile inspection, and in particular to a large-span inspection system and a synchronous control method thereof. Background Art

[0002] The radiation-type cargo and vehicle inspection system mainly includes: radiation source, radiation detection and imaging system, scanning device and control system, imaging display system, safety interlock device and radiation protection facilities. According to the structural classification, the radiation-type cargo and vehicle inspection system includes: fixed inspection system, mobile inspection system (vehicle-mounted mobile inspection system and combined mobile inspection system), pass-through rapid inspection system, and aviation pallet inspection system. The present invention is mainly aimed at the combined mobile inspection system.

[0003] Combined mobile inspection systems were previously placed on laid tracks and driven by motors to achieve reciprocating motion of the system. The disadvantage of this structure is that it requires a fixed site and is not convenient for transfer. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to solve the technical problem that the existing inspection system requires a fixed site and is inconvenient to transfer.

[0005] The present invention provides a long-span inspection system, the system comprising:

[0006] A main cabin, wherein the main cabin is provided with a main cabin front running wheel and a main cabin rear running wheel;

[0007] Auxiliary compartment, wherein the auxiliary compartment is provided with auxiliary compartment front running wheels and auxiliary compartment rear running wheels;

[0008] An A beam is disposed between the main cabin and the auxiliary cabin, and the A beam is rigidly connected to the main cabin and the auxiliary cabin respectively; and

[0009] A B beam is arranged between the main cabin and the auxiliary cabin, and a laser ranging sensor is arranged on the B beam;

[0010] Among them, the front running wheels of the main cabin, the rear running wheels of the main cabin, the front running wheels of the auxiliary cabin and the rear running wheels of the auxiliary cabin are all drivingly connected to the steering motor and the straight-moving motor respectively.

[0011] Furthermore, an electron linear accelerator and an electrical cabinet are arranged in the main cabin.

[0012] Furthermore, a generator, an electrical cabinet and a network cabinet are provided in the auxiliary cabin.

[0013] Furthermore, the A-beam includes an A-beam main cabin arm connected to the main cabin, an A-beam cross arm connected to the A-beam main cabin arm, and an A-beam auxiliary cabin arm connected to the A-beam cross arm.

[0014] Furthermore, the B beam includes a B beam main arm, a B beam cross arm and a B beam vertical arm.

[0015] The present invention also provides a synchronous control method for a large-span inspection system, the method comprising:

[0016] The distance in front and behind the channel is detected by a laser ranging sensor. When the distance in front of the channel is less than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn outward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero.

[0017] When the distance in front of the passage is greater than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn inward by an angle θ until the distance in front of the passage reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero;

[0018] When the distance behind the passage is less than the deviation correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn outward by an angle θ until the passage distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero;

[0019] When the distance behind the channel is greater than the correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn inward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero.

[0020] The present invention provides a large-span inspection system and a synchronous control method thereof, wherein the main cabin is provided with front running wheels and rear running wheels of the main cabin, the auxiliary cabin is provided with front running wheels and rear running wheels of the auxiliary cabin, the A beam is rigidly connected with the main cabin and the auxiliary cabin respectively, and the B beam is provided between the main cabin and the auxiliary cabin, and the B beam is provided with a laser ranging sensor; wherein the front running wheels of the main cabin, the rear running wheels of the main cabin, the front running wheels of the auxiliary cabin and the rear running wheels of the auxiliary cabin are respectively connected with the steering motor and the straight-moving motor. The problem is to ensure that the main cabin and the auxiliary cabin move the same distance during the driving process of the system to prevent damage to the middle crossbeam. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the assembly of a large-span inspection system according to one embodiment of the present invention;

[0022] Figure 2 A bottom view of a large-span inspection system according to an embodiment of the present invention.

[0023] 1. A beam, 2. B beam, 3. main cabin, 4. auxiliary cabin, 100. front running wheel of main cabin, 101. rear running wheel of main cabin, 102. front running wheel of auxiliary cabin, 103. rear running wheel of auxiliary cabin, 104. steering motor, 105. straight running motor, 106. laser ranging sensor. DETAILED DESCRIPTION

[0024] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It will be appreciated that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only portions related to the relevant inventions are shown in the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0025] See also Figure 1 A large-span inspection system, the system includes: a main cabin, in which the main cabin is provided with front running wheels and rear running wheels of the main cabin; an auxiliary cabin, in which the auxiliary cabin is provided with front running wheels and rear running wheels of the auxiliary cabin; an A beam arranged between the main cabin and the auxiliary cabin, and the A beam is rigidly connected to the main cabin and the auxiliary cabin respectively; and a B beam arranged between the main cabin and the auxiliary cabin, and the B beam is provided with a laser ranging sensor; wherein the main cabin front running wheels, the main cabin rear running wheels, the auxiliary cabin front running wheels and the auxiliary cabin rear running wheels are respectively connected to the steering motor and the straight-moving motor in a transmission manner.

[0026] The main cabin is equipped with an electron linear accelerator and an electrical cabinet; the auxiliary cabin is equipped with a generator, an electrical cabinet and a network cabinet; the A beam includes an A beam main cabin arm connected to the main cabin, an A beam cross arm connected to the A beam main cabin arm, and an A beam auxiliary cabin arm connected to the A beam cross arm; the B beam includes a B beam arm, a B beam cross arm and a B beam vertical arm.

[0027] The distance in front and behind the channel is detected by a laser ranging sensor. When the distance in front of the channel is less than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn outward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero.

[0028] When the distance in front of the passage is greater than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn inward by an angle θ until the distance in front of the passage reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero;

[0029] When the distance behind the passage is less than the deviation correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn outward by an angle θ until the passage distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero;

[0030] When the distance behind the channel is greater than the correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn inward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero.

[0031] In a specific embodiment, the inspection system includes a main cabin, a secondary cabin, a beam A, a beam B, front walking wheels of the main cabin, rear walking wheels of the main cabin, front walking wheels of the secondary cabin, rear walking wheels of the secondary cabin, 4 linear servo controllers, 4 steering servo controllers, a PLC controller, and a tablet computer. The beam A is in the front and the beam B is in the rear.

[0032] The main cabin mainly contains an electron linear accelerator for generating X-rays. The dimensions of the main cabin are: length 5400 * width 1650 * height 2800

[0033] The secondary cabin mainly contains auxiliary equipment such as a generator. The dimensions of the secondary cabin are: length 5400 * width 1350 * height 2800

[0034] The beam A mainly includes a large arm of the main cabin of the beam A, a cross arm of the beam A, and a large arm of the secondary cabin of the beam A

[0035] The beam B mainly includes a large arm of the beam B, a cross arm of the beam B, and a vertical arm of the beam B

[0036] The four walking wheels have the same structure, including: a walking motor and a reducer, a steering motor and a reducer, a tire, etc.

[0037] The four linear servo controllers are used to control and receive the torque and position signals of the linear motors, and at the same time have the function of braking.

[0038] The four steering servo controllers are used to control and receive the torque and position signals of the steering motors.

[0039] The PLC controller is the control core of the entire device, and all control algorithms are completed here.

[0040] The tablet computer is installed with data communication and display software, which is used to monitor and display all parameters.

[0041] For the system configuration synchronization control network. In order to make the displacements of the four tires in the same direction at the same time, position synchronization control is adopted.

[0042] Due to mechanical errors and processing and installation accuracy problems of the device, we cannot guarantee that the channel distance is achieved according to our design results. At the same time, due to the certain flexibility of the mechanical equipment, there is a deviation correction range L for this channel distance, and the tires require a certain steering angle θ.

[0043] The channel distance is detected by a laser ranging sensor for the distances in the front and rear of the channel. When the distance in the front of the channel is less than the deviation correction range L, the front wheels of the main and secondary cabins turn outward by the angle θ. At this time, the channel distance gradually becomes larger until it reaches a reasonable range, and the steering angles of the front wheels of the main and secondary cabins return to zero. The whole process adopts synchronous control, ensuring the same displacement in the forward direction of the main and secondary cabins and preventing the beam A from being pulled.

[0044] Similarly, when the distance in front of the channel is greater than the deviation correction range L, the inner turning angle θ of the front wheels of the main and auxiliary cabins is adjusted. At this time, the channel distance gradually decreases until it reaches a reasonable range, and the front turning angles of the main and auxiliary cabins return to zero.

[0045] Similarly, the distance behind the channel is adjusted by the rear wheels of the main and auxiliary cabins, using the same control logic.

[0046] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. A long-span inspection system, characterized in that: The system comprises: A main cabin, wherein the main cabin is provided with a main cabin front running wheel and a main cabin rear running wheel; Auxiliary compartment, wherein the auxiliary compartment is provided with auxiliary compartment front running wheels and auxiliary compartment rear running wheels; An A beam is disposed between the main cabin and the auxiliary cabin, and the A beam is rigidly connected to the main cabin and the auxiliary cabin respectively; and A B beam is arranged between the main cabin and the auxiliary cabin, and a laser ranging sensor is arranged on the B beam; Among them, the front running wheels of the main cabin, the rear running wheels of the main cabin, the front running wheels of the auxiliary cabin and the rear running wheels of the auxiliary cabin are all drivingly connected to the steering motor and the straight-moving motor respectively.

2. A long-span inspection system according to claim 1, characterized in that: An electron linear accelerator and an electrical cabinet are arranged in the main cabin.

3. A long-span inspection system according to claim 1, characterized in that: A generator, an electrical cabinet and a network cabinet are arranged in the auxiliary cabin.

4. A long-span inspection system according to claim 1, characterized in that: The A-beam comprises an A-beam main cabin arm connected to the main cabin, an A-beam cross arm connected to the A-beam main cabin arm, and an A-beam auxiliary cabin arm connected to the A-beam cross arm.

5. The long-span inspection system according to claim 1, characterized in that: The B beam comprises a B beam main arm, a B beam cross arm and a B beam vertical arm.

6. A synchronous control method for a long-span inspection system according to any one of claims 1 to 5, characterized in that: The method comprises: The distance in front and behind the channel is detected by a laser ranging sensor. When the distance in front of the channel is less than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn outward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero. When the distance in front of the passage is greater than the deviation correction range L, the front running wheels of the main cabin and the front running wheels of the auxiliary cabin turn inward by an angle θ until the distance in front of the passage reaches the preset range, at which point the steering angles of the front running wheels of the main cabin and the front running wheels of the auxiliary cabin return to zero; When the distance behind the passage is less than the deviation correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn outward by an angle θ until the passage distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero; When the distance behind the channel is greater than the correction range L, the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin turn inward by an angle θ until the channel distance reaches the preset range, at which point the steering angles of the rear running wheels of the main cabin and the rear running wheels of the auxiliary cabin return to zero.

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