Vehicle inspection method, device and system, storage medium and program product

Abstract

The present disclosure provides a vehicle inspection method, device and system, storage medium and program product, and relates to the field of safety inspection. The vehicle inspection method comprises: in the case that a vehicle passes through a vehicle information sensor arranged in a passage, determining the vehicle head length by using the vehicle information collected by the vehicle information sensor; selecting an area corresponding to the vehicle head length as a vehicle head avoidance area in the sensing range of an avoidance sensor arranged in the passage, wherein the avoidance sensor is located downstream of the vehicle information sensor in the passage direction; in the case that the vehicle enters the vehicle head avoidance area is detected by using the avoidance sensor, and the vehicle head passes through a ray source arranged in the passage is detected by using a position sensor arranged in the passage, controlling the ray source to enter the working state, wherein the ray source is located between the vehicle information sensor and the avoidance sensor in the passage direction.

Description

Technical Field

[0001] This disclosure relates to the field of safety inspection, and in particular to a vehicle inspection method, apparatus and system, storage medium and program product. Background Technology

[0002] During vehicle inspections, to meet the radiation protection requirements regarding the limit on the driver's single absorbed dose, the vehicle inspection system first obtains the length of the vehicle's hood through vehicle type recognition, then calculates the safe avoidance distance, and determines the set position based on this safe avoidance distance. The vehicle inspection system does not emit X-rays until the hood has passed the set position. Only after the hood has passed the set position will the vehicle inspection system emit X-rays to perform a complete scan of the vehicle compartment.

[0003] Currently, vehicle inspection systems mainly employ the following obstacle avoidance schemes.

[0004] 1) Set up multiple light curtains in the channel. During vehicle movement, use one set of light curtains to draw a side binary image. By calling the vehicle type recognition algorithm, obtain the vehicle type and hood length data, and then combine the hood position and speed information to give a hood avoidance signal at a set position.

[0005] 2) Multiple area laser scanners are used in the passageway. One area laser scanner is vertically mounted on the side of the vehicle passageway to collect depth data, thereby creating a grayscale image of the vehicle's side profile. Next, a vehicle type recognition algorithm is called to obtain the vehicle type and hood length data. Combined with the hood position and speed information, a hood avoidance signal is given at a designated location. Summary of the Invention

[0006] The inventors noted that in related technologies, a sensor called an "avoidance sensor" is installed downstream of the X-ray generator in the channel direction. This sensor can be a photoelectric sensor or a light curtain sensor, and its installation position is usually pre-set based on statistical data of common vehicle types. After the vehicle model recognition algorithm calculates the length of the vehicle's hood, the vehicle inspection system can only activate the X-ray beam to scan the vehicle compartment after determining that the rear edge of the vehicle's hood passes through the center of the X-ray beam and the avoidance sensor is triggered. The avoidance sensor is installed based on requirements such as radiation protection.

[0007] Since the distance between the obstacle avoidance sensor and the X-ray generator is fixed, and different types of vehicles have different hood lengths, when the obstacle avoidance sensor is triggered, if the hood length is long, the front of the vehicle will be within the X-ray irradiation range; if the hood length is short, part of the vehicle's interior will have passed through the X-ray irradiation range, making it impossible to scan the interior completely.

[0008] Accordingly, this disclosure provides a vehicle inspection method. By identifying the length of the vehicle's hood, within the sensing range of the avoidance sensor, an area corresponding to the hood length is selected as the hood avoidance area. When the avoidance sensor detects that the vehicle has entered the hood avoidance area and the hood of the vehicle passes the X-ray source, the X-ray source set in the channel is controlled to enter the working state. Thus, for different vehicle models, it can ensure that the vehicle driver is not exposed to X-rays while still achieving a complete scan of the vehicle's interior.

[0009] In a first aspect of this disclosure, a vehicle inspection method is provided, comprising: determining the hood length of a vehicle by utilizing vehicle information collected by a vehicle information sensor disposed in a passage when the vehicle passes through the passage; selecting an area corresponding to the hood length as a hood avoidance area within the sensing range of an avoidance sensor disposed in the passage, wherein the avoidance sensor is located downstream of the vehicle information sensor in the passage direction; and controlling the radiation source to enter an operating state when the avoidance sensor detects that the vehicle has entered the hood avoidance area and a position sensor disposed in the passage detects that the hood of the vehicle has passed through a radiation source disposed in the passage, wherein the radiation source is located between the vehicle information sensor and the avoidance sensor in the passage direction.

[0010] In some embodiments, selecting the area corresponding to the length of the vehicle front as the vehicle front avoidance area includes: dividing the sensing range into multiple areas according to a predetermined dividing direction; selecting the area corresponding to the length of the vehicle front among the multiple areas as the vehicle front avoidance area, wherein the distance between the boundary of the vehicle front avoidance area on the side closer to the ray source and the ray source is less than or equal to the length of the vehicle front, and the distance between the boundary of the vehicle front avoidance area on the side farther from the ray source and the ray source is greater than the length of the vehicle front.

[0011] In some embodiments, the predetermined division direction is perpendicular to the channel direction.

[0012] In some embodiments, before detecting that the vehicle has entered the front avoidance zone, the method further includes: if the position sensor detects that the front of the vehicle has not passed the ray source and the distance between the front of the vehicle and the ray source is a trigger distance threshold, closing the ray outlet of the ray source; and if the position sensor detects that the front of the vehicle has passed the ray source, opening the ray outlet.

[0013] In some embodiments, when the position sensor detects that the vehicle passes the ray source and the distance between the rear edge of the vehicle's cargo compartment and the ray source is a beam distance threshold, the ray source is controlled to enter a standby state.

[0014] In some embodiments, when the vehicle passes through the entrance sensor located at the entrance of the passage, it is determined whether the radiation source is activated; if the radiation source is not activated, the radiation source is activated and controlled to enter a standby state.

[0015] In some embodiments, M radiation sources are arranged along the channel, and M obstacle avoidance sensors are arranged one-to-one with each of the M radiation sources, where M is a positive integer greater than 1. The first radiation source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th radiation source and upstream of the (m+1)-th radiation source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

[0016] In some embodiments, selecting the area corresponding to the length of the vehicle's front end as the front avoidance area includes: dividing the sensing range of the nth avoidance sensor according to a predetermined division direction to obtain the nth region set. In the nth region, a region corresponding to the length of the vehicle front is selected as the nth vehicle front avoidance region. The distance between the boundary of the nth vehicle front avoidance region on the side closer to the nth radiation source and the nth radiation source is less than or equal to the length of the vehicle front, and the distance between the boundary of the nth vehicle front avoidance region on the side farther from the nth radiation source and the nth radiation source is greater than the length of the vehicle front.

[0017] In some embodiments, controlling the radiation source to enter the working state includes: controlling the nth radiation source to enter the working state when the nth obstacle avoidance sensor detects that the vehicle has entered the nth frontal obstacle avoidance area and the position sensor detects that the front of the vehicle has passed the nth radiation source.

[0018] In some embodiments, before detecting that the vehicle has entered the nth vehicle front avoidance area, the method further includes: if the position sensor detects that the front of the vehicle has not passed the nth ray source and the distance between the front of the vehicle and the nth ray source is a trigger distance threshold, closing the ray outlet of the nth ray source; and if the position sensor detects that the front of the vehicle has passed the nth ray source, opening the ray outlet.

[0019] In some embodiments, when the position sensor detects that the vehicle passes the nth ray source and the distance between the rear edge of the vehicle's cargo compartment and the nth ray source is a beam distance threshold, the nth ray source is controlled to enter a standby state.

[0020] In some embodiments, determining the hood length of a vehicle using vehicle information collected by the vehicle information sensor includes: obtaining a first candidate hood length of the vehicle based on the vehicle information; obtaining vehicle type information of the vehicle based on the vehicle information; determining whether the first candidate hood length and the vehicle type information match; and if the first candidate hood length and the vehicle type information match, then using the first candidate hood length as the hood length of the vehicle.

[0021] In some embodiments, if the first candidate length of the vehicle front does not match the vehicle type information, the vehicle front length corresponding to the vehicle type information is queried and used as the second candidate length of the vehicle front; the maximum value between the first candidate length of the vehicle front and the second candidate length of the vehicle front is used as the vehicle front length of the vehicle.

[0022] In some embodiments, if the first candidate length of the vehicle head and the vehicle type information do not match, the ray source in the channel is turned off.

[0023] In a second aspect of this disclosure, a vehicle inspection apparatus is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute instructions stored in the memory to implement the vehicle inspection method as described in any of the above embodiments.

[0024] In a third aspect of this disclosure, a vehicle inspection system is provided, comprising: a vehicle inspection device as described in any of the above embodiments; a vehicle information sensor disposed in a passageway, configured to collect vehicle information of the vehicle when a vehicle passes through; an avoidance sensor disposed in the passageway, configured to detect the location information of the vehicle within the sensing range of the avoidance sensor, wherein the avoidance sensor is located downstream of the vehicle information sensor in the passageway direction; a position sensor disposed in the passageway, configured to detect the vehicle position information of the vehicle in the passageway; and a radiation source disposed in the passageway, configured to emit a radiation beam into the passageway during operation, wherein the radiation source is located between the vehicle information sensor and the avoidance sensor in the passageway direction.

[0025] In some embodiments, the vehicle inspection system includes M radiation sources arranged along the channel, and M obstacle avoidance sensors corresponding one-to-one with each of the M radiation sources, where M is a positive integer greater than 1. The first radiation source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th radiation source and upstream of the (m+1)-th radiation source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

[0026] In some embodiments, different radiation sources have different radiation emission parameters.

[0027] In some embodiments, the vehicle inspection system further includes an entrance sensor disposed at the entrance of the passage and configured to detect whether a vehicle has entered the passage.

[0028] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle inspection method as described in any of the above embodiments.

[0029] According to a fifth aspect of the present disclosure, a computer program product is provided, including computer instructions, wherein the computer instructions, when executed by a processor, implement the vehicle inspection method as described in any of the above embodiments.

[0030] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the front of a flat-head vehicle according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the front of a long-nose vehicle according to an embodiment of this disclosure; Figure 3 This is a schematic diagram illustrating the vehicle detection system of some embodiments of this disclosure adapted to different types of vehicles; Figure 4 Schematic diagrams illustrating the vehicle detection system adapted to different types of vehicles according to other embodiments of this disclosure; Figure 5 This is a schematic flowchart of a vehicle inspection method according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of vehicle side information according to an embodiment of the present disclosure; Figure 7 This is a schematic diagram of vehicle side information according to another embodiment of the present disclosure; Figure 8 This is a schematic diagram illustrating the division of the sensing range area of ​​an obstacle avoidance sensor according to an embodiment of the present disclosure; Figures 9 to 11 This is a schematic diagram illustrating the triggering of the vehicle front avoidance zone in some embodiments of this disclosure; Figure 12 This is a schematic diagram of a channel configuration according to an embodiment of the present disclosure; Figure 13 This is a schematic flowchart of a vehicle inspection method according to another embodiment of the present disclosure; Figure 14 This is a schematic diagram of a channel configuration according to another embodiment of the present disclosure; Figure 15 This is a schematic diagram of the structure of a vehicle inspection device according to an embodiment of the present disclosure; Figure 16 This is a schematic diagram of the structure of a vehicle inspection system according to an embodiment of the present disclosure; Figure 17 This is a schematic diagram of the structure of a vehicle inspection system according to another embodiment of the present disclosure; Figure 18 This is a schematic diagram of the structure of a vehicle inspection system according to yet another embodiment of the present disclosure; Figure 19 This is a schematic diagram of the structure of a vehicle inspection system according to yet another embodiment of the present disclosure; Figure 20 This is a schematic diagram of an embodiment of an in-vehicle vehicle inspection system disclosed herein; Figure 21 This is a schematic diagram of a combined vehicle inspection system according to an embodiment of the present disclosure; Figure 22 This is a schematic diagram of an intelligent rail vehicle inspection system according to an embodiment of the present disclosure. Detailed Implementation

[0033] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0034] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0035] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0036] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0037] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0039] It should be noted that in related technologies, because the installation positions of the obstacle avoidance sensor and the X-ray generator are fixed, the distance between the sensing range of the obstacle avoidance sensor and the X-ray generator (e.g., the center of the X-ray beam) is also fixed. However, different types of vehicles have different front-end lengths. For example, Figure 1 This is a schematic diagram of a flat-head tractor unit (tractor unit). Figure 2 This is a schematic diagram of the front of a long-nose vehicle. Figure 1 and Figure 2 It can be clearly seen that the front length of a flat-nose vehicle is significantly shorter than that of a long-nose vehicle.

[0040] In this situation, because the avoidance sensor and the X-ray generator are installed in fixed positions, the vehicle inspection system cannot be adapted to different vehicle models.

[0041] 1) such as Figure 3 As shown, the installation positions of the obstacle avoidance sensor and the X-ray generator are determined according to the length of the cab of the flat-nose vehicle. The obstacle avoidance sensor is installed at position A, and the X-ray generator is installed at position B. For ease of explanation, the sensing range of the obstacle avoidance sensor at position A and the X-ray beam center of the X-ray generator at position B are indicated by dashed lines.

[0042] For example, such as Figure 3 As shown in Part (1), when the front of the flatbed truck reaches position A, the front of the truck has passed position B, that is, the rear edge of the front of the truck has passed the center of the X-ray beam. In this case, the X-ray beam is turned on, and the truck's cab can be completely scanned. At the same time, the X-ray beam will not cause any harm to the health of the driver and other personnel sitting in the cab of the flatbed truck.

[0043] It should be noted that "the front of the car reaches position A" means that the front edge of the car reaches position A. "The front of the car passes position B" means that the rear edge of the car passes position B.

[0044] For example, such as Figure 3 As shown in Part (2) of the document, when the front of the long-nose vehicle reaches position A, the rear edge of the front of the vehicle has not yet passed position B, that is, the rear edge of the front of the vehicle has not passed the center of the X-ray beam. If the X-ray beam is turned on under these circumstances, the front of the vehicle will be within the irradiation range of the X-rays, which will cause damage to the health of the driver and other personnel sitting in the cab of the vehicle.

[0045] 2) such as Figure 4 As shown, the installation positions of the obstacle avoidance sensor and the X-ray generator are set according to the length of the front of the long-nose vehicle, with the obstacle avoidance sensor installed at position A and the X-ray generator installed at position B.

[0046] For example, such as Figure 4 As shown in Part (1), when the front of the long-nose vehicle reaches position A, the front of the vehicle has passed position B, that is, the rear edge of the front of the vehicle has passed the center of the X-ray beam. In this case, the X-ray beam is turned on, and the carriage of the long-nose vehicle can be completely scanned. At the same time, the X-ray beam will not cause harm to the health of the driver and other personnel sitting in the cab of the long-nose vehicle.

[0047] For example, such as Figure 4 As shown in Part (2), when the front of the flatbed truck reaches position A, the rear edge of the front and the front edge of the carriage have passed position B, that is, part of the carriage of the flatbed truck has passed the center of the X-ray beam. In this case, turning on the X-ray beam can ensure that the X-ray beam will not harm the health of the driver and other personnel sitting in the cab of the flatbed truck, but it can only scan the remaining part of the carriage of the flatbed truck, and thus cannot obtain the scanning information of the entire carriage.

[0048] This shows that the existing vehicle inspection system cannot be adapted to different vehicle models.

[0049] Accordingly, this disclosure provides a vehicle inspection method that can perform a complete scan of different vehicle models while ensuring that the driver is not exposed to X-rays.

[0050] Figure 5 This is a schematic flowchart of a vehicle inspection method according to an embodiment of the present disclosure. In some embodiments, the vehicle inspection method is performed by a vehicle inspection device and includes steps 51-53.

[0051] In step 51, when the vehicle passes through the vehicle information sensor installed in the channel, the length of the vehicle's front end is determined using the vehicle information collected by the vehicle information sensor.

[0052] In some embodiments, the vehicle information sensor may be a region laser scanner, a photoelectric sensor, a light curtain sensor, or a vision sensor. In other embodiments, the vehicle information sensor may be a non-contact identification device such as an RFID (Radio Frequency Identification) device, a barcode identification device, or a QR code identification device.

[0053] For example, using a region laser scanner, photoelectric sensor, or light curtain sensor to collect information about the side of a vehicle yields results such as... Figure 6 As shown. To improve the accuracy of the collected data, the detection direction of the vehicle information sensor is perpendicular to the channel direction.

[0054] For example, using visual sensors (e.g., 2D or 3D cameras) to collect information about the side of a vehicle yields results such as... Figure 7 As shown.

[0055] It should be noted that the hood length of a vehicle can be determined directly through vehicle information, or the vehicle type information can be identified through vehicle information, and then the hood length of the vehicle can be queried based on the vehicle type information.

[0056] In some embodiments, the step of determining the length of the vehicle's front end using vehicle information collected by a vehicle information sensor includes steps S101-S106.

[0057] S101. Based on the vehicle information, obtain the first candidate length of the vehicle's front end.

[0058] For example, a length detection model can be used to process vehicle information to obtain the first candidate length of the vehicle's front end. The length detection model can be an object detection model such as Faster R-CNN.

[0059] S102. Based on the vehicle information, obtain the vehicle type information.

[0060] For example, a classification model can be used to process vehicle information to obtain vehicle type information. The classification module can be a YOLO series model, a Transformer architecture model, etc.

[0061] S103. Determine whether the candidate length of the first vehicle head and the vehicle type information match.

[0062] If the candidate length of the first vehicle head matches the vehicle type information, proceed to step S104; otherwise, proceed to step S105.

[0063] S104. Take the first candidate length of the vehicle's front end as the length of the vehicle's front end.

[0064] It's important to note that during vehicle operation, variations in speed and external interference can significantly impact the vehicle's cab length. This means that determining the cab length directly from collected vehicle information or by querying the identified vehicle type can easily lead to errors. If the determined cab length is too short due to errors, the driver's cab is at risk of being falsely illuminated. Conversely, if the determined cab length is too long due to errors, the entire vehicle body cannot be scanned.

[0065] To address this issue, the embodiments described above employ a cross-validation security mechanism. This involves using the collected vehicle information to obtain a first candidate length for the vehicle's front end and the vehicle type information. If the first candidate length for the front end matches the vehicle type information, it indicates that the first candidate length for the front end is accurate. In this case, the first candidate length for the front end is taken as the vehicle's front end length.

[0066] S105. If the first candidate length of the vehicle head does not match the vehicle type information, then query the length of the vehicle head corresponding to the vehicle type information and use it as the second candidate length of the vehicle head.

[0067] S106. Take the maximum value between the first candidate length of the vehicle's front end and the second candidate length of the vehicle's front end as the length of the vehicle's front end.

[0068] It should be noted that if the first candidate vehicle front length does not match the vehicle type information, it indicates that either the first candidate vehicle front length or the vehicle type information is inaccurate. In this case, the vehicle front length corresponding to the vehicle type information is used as the second candidate vehicle front length, and the maximum value between the first and second candidate vehicle front lengths is taken as the vehicle's front length. In other words, by selecting the largest possible front length, driver safety is maximized, and the risk of the driver being exposed to X-ray radiation is minimized.

[0069] It should also be noted that if the first candidate length of the vehicle's front end does not match the vehicle type information—for example, if the vehicle type information indicates that the vehicle does not have a specified front end length—then, to ensure driver safety, the X-ray source in the tunnel can be turned off to prevent X-ray inspection of the vehicle. The vehicle can then be inspected manually subsequently.

[0070] In step 52, within the sensing range of the avoidance sensor located in the channel, an area corresponding to the length of the vehicle front is selected as the vehicle front avoidance area, wherein the avoidance sensor is located downstream of the vehicle information sensor in the channel direction.

[0071] For example, the obstacle avoidance sensor is a 2D or 3D area laser scanner.

[0072] It should be noted that by selecting a front-end avoidance zone within the sensing range of the avoidance sensor, when the front of the vehicle enters the avoidance zone, it is ensured that the front of the vehicle has passed the radiation range of the radiation source, thereby effectively preventing the cab from being exposed to X-rays.

[0073] In some embodiments, the step of selecting an area corresponding to the length of the vehicle front as the vehicle front avoidance area includes steps S201-S202.

[0074] S201. Divide the sensing range of the obstacle avoidance sensor into multiple areas according to the predetermined division direction.

[0075] In some embodiments, the predetermined division direction is perpendicular to the channel direction.

[0076] For example, on a horizontal plane, if the channel direction is the x-axis direction, then the predetermined division direction is the y-axis direction, which is perpendicular to the x-axis.

[0077] S202. The area corresponding to the length of the vehicle front in multiple regions is taken as the vehicle front avoidance area, wherein the distance between the boundary of each vehicle front avoidance area on the side closer to the radiation source and the radiation source is less than or equal to the length of the vehicle front, and the boundary of the vehicle front avoidance area on the side farther from the radiation source is determined by the boundary of the next vehicle front avoidance area on the side closer to the radiation source.

[0078] It should be noted here that, as Figure 8 As shown, the sensing range of the obstacle avoidance sensor is divided into four regions, namely region R1, region R2, region R3, and region R4, in a direction perpendicular to the channel direction. The boundary of region R1 on the side closest to the radiation source is less than or equal to the distance from the radiation source to the radiation source, and the boundary of region R1 on the side furthest from the radiation source is determined by the boundary of the next region R2 on the side closest to the radiation source, and so on.

[0079] For example, such as Figure 8 As shown, a radiation source and an avoidance sensor are arranged along the channel. The avoidance sensor is located at point A, and the radiation source is located at point B, meaning the radiation source is upstream of the avoidance sensor in the channel direction. It should be noted that the distance between the aforementioned boundary and the radiation source specifically refers to the distance between the boundary and the beam center of the radiation source.

[0080] The perception range of the obstacle avoidance sensor is divided into multiple regions along a direction perpendicular to the channel direction. For example, the perception range of the obstacle avoidance sensor can be divided into four regions. Figure 8As shown, these are regions R1, R2, R3, and R4. The distance between the boundary of region R1 (closest to the radiation source) and the radiation source is Ld1, and the distance between the boundary of region R1 (farthest from the radiation source) and the radiation source is Ld2. The boundary of region R2 (closest to the radiation source) coincides with the boundary of region R1 (farthest from the radiation source), and its distance from the radiation source is also Ld2. The distance between the boundary of region R2 (farthest from the radiation source) and the radiation source is Ld3. The boundary of region R3 (closest to the radiation source) coincides with the boundary of region R2 (farthest from the radiation source), and its distance from the radiation source is also Ld3. The distance between the boundary of region R3 (farthest from the radiation source) and the radiation source is Ld4. The boundary of region R4 (closest to the radiation source) coincides with the boundary of region R3 (farthest from the radiation source), and its distance from the radiation source is also Ld4. The distance between the boundary of region R4 (farthest from the radiation source) and the radiation source is Ld5.

[0081] For example, if the length L of the vehicle's front end is greater than Ld1 and less than Ld2, then area R1 is designated as the vehicle's front-end avoidance zone. As another example, if the length L of the vehicle's front end is greater than Ld2 and less than Ld3, then area R2 is designated as the vehicle's front-end avoidance zone.

[0082] In step 53, when the avoidance sensor detects that the vehicle has entered the front avoidance area and the position sensor located in the channel detects that the front of the vehicle has passed the ray source located in the channel, the ray source is controlled to enter the working state, wherein the ray source is located between the vehicle information sensor and the avoidance sensor in the channel direction.

[0083] In some embodiments, the position sensor is located downstream of the avoidance sensor in the channel direction. Of course, the position sensor can also be located in other places, such as upstream of the avoidance sensor in the channel direction, as long as the position sensor can directly or indirectly detect the real-time position of the leading and trailing edges of the vehicle front.

[0084] For example, position sensors include vision sensors and single-line or multi-line area laser scanners.

[0085] In some embodiments, such as Figure 9 As shown, the front length of vehicle 90 is L, and the sensing range of the obstacle avoidance sensor is divided into four regions: region R1, region R2, region R3, and region R4. If the front length L of vehicle 90 is greater than Ld1 and less than Ld2, then region R1 is designated as the obstacle avoidance zone for the front of vehicle 90.

[0086] like Figure 9 As shown, since the front of vehicle 90 did not enter the front avoidance zone R1, the ray source at position B remains in standby mode.

[0087] like Figure 10 As shown, the front of vehicle 90 has entered the front avoidance zone R1, but at this time the front of vehicle 90 has not passed the radiation source, so the radiation source remains in standby mode.

[0088] like Figure 11 As shown, the front of vehicle 90 has entered the front avoidance zone R1, and at this time the front of vehicle 90 is also through the radiation source. By controlling the radiation source to enter the working state, it is ensured that the front of vehicle 90 will not be irradiated by radiation, while ensuring that the carriage of vehicle 90 is completely irradiated.

[0089] In the vehicle inspection method provided in the above embodiments of this disclosure, by identifying the length of the vehicle's front end, an area corresponding to the length of the front end is selected as the front end avoidance area within the sensing range of the avoidance sensor. This allows the X-ray source set in the channel to enter the working state when the avoidance sensor detects that the vehicle has entered the front end avoidance area and the front end of the vehicle passes the X-ray source. This ensures that a complete scan of the vehicle can be performed while ensuring that the driver is not exposed to X-rays, for different vehicle models.

[0090] In some embodiments, steps S301-S302 are further included before the avoidance sensor detects that the vehicle has entered the avoidance zone in front of the vehicle.

[0091] S301. If the position sensor detects that the front of the vehicle has not passed the radiation source and the distance between the front of the vehicle and the radiation source is the trigger distance threshold, the radiation outlet of the radiation source shall be closed.

[0092] S302. When the position sensor detects that the front of the vehicle is passing the radiation source, the radiation outlet is opened.

[0093] It should be noted that even when the radiation source is in standby mode, a certain radiation dose still exists at the radiation outlet due to the applied high voltage. Therefore, the radiation outlet of the radiation source should be closed while the front of the vehicle is passing the radiation source to ensure the driver's safety. The radiation outlet should only be opened after the front of the vehicle has passed the radiation source so that the radiation source can operate normally.

[0094] In some embodiments, when a position sensor detects that a vehicle is passing the radiation source and the distance between the rear edge of the vehicle's cargo compartment and the radiation source is a beam distance threshold, the radiation source is controlled to enter a standby state.

[0095] It should be noted that if a vehicle passes the radiation source and the distance between the rear edge of the vehicle's cargo compartment and the radiation source is within the beam distance threshold, it indicates that the scanning of the vehicle's cargo compartment has been completed. In this case, the radiation source should be put into standby mode or turned off to avoid harm to other personnel.

[0096] In some embodiments, when a vehicle passes through an entrance sensor located at the entrance of a passage, it is determined whether the radiation source is activated. If the radiation source is not activated, it is activated and controlled to enter a standby state.

[0097] For example, inlet sensors include inductive loops, photoelectric sensors, or light curtain sensors.

[0098] It should be noted that when the entrance sensor detects a vehicle entering the passage, if the X-ray source installed in the passage is already activated, there is no need to adjust its operating status to avoid affecting the inspection of other vehicles in the passage. If the X-ray source installed in the passage is not activated, then the X-ray source should be activated, for example, by applying operating voltage to the X-ray source and controlling it to enter standby mode, so that the vehicle can be inspected.

[0099] The following specific examples illustrate this disclosure.

[0100] like Figure 12 As shown, an entrance sensor is installed at the entrance of the passage, and an exit sensor is installed at the exit. Along the passage's direction, a vehicle information sensor is sequentially installed at point SQ1, a ray source at point B1, a collision avoidance sensor at point Q1, and a position sensor at point O. For ease of processing, the point where the position sensor is installed is used as the origin of the coordinate system. Vehicle 120 travels from left to right.

[0101] 1) When vehicle 120 is passing through the entrance sensor installed at the entrance of the passage, determine whether the radiation source installed in the passage is activated. If the radiation source is not activated, activate the radiation source and control the radiation source to enter standby mode.

[0102] 2) When vehicle 120 is passing the vehicle information sensor set at point SQ1, the length of the front of vehicle 120 is determined using the vehicle information collected by the vehicle information sensor.

[0103] In addition, within the sensing range of the avoidance sensor set at point Q1, the area corresponding to the front length of vehicle 120 is selected as the front avoidance area.

[0104] 3) When the front of vehicle 120 reaches point R1, that is, when the distance between the front edge of the vehicle and the radiation source set at point B1 is the trigger distance threshold, it indicates that vehicle 120 is about to enter the radiation source's irradiation area. In this case, the radiation outlet of the radiation source should be closed to avoid the radiation dose from the radiation outlet affecting the health of the driver of vehicle 120.

[0105] 4) If the front of vehicle 120 has passed point B1 when it enters the avoidance zone, i.e., the rear edge of the front of vehicle 120 has passed the radiation source, reopen the radiation outlet of the radiation source to ensure that the radiation source can work normally.

[0106] 5) Vehicle 120 continues to travel from left to right. Once the rear edge of the front of vehicle 120 has passed the X-ray source, the X-ray source is activated to scan the carriage of vehicle 120.

[0107] 6) When the rear edge of the vehicle 120 reaches point P1, that is, when the distance between the rear edge of the vehicle 120 and the radiation source is the beam distance threshold, it indicates that the vehicle 120 has passed the radiation source's irradiation area. In this case, the radiation source is controlled to enter standby mode.

[0108] 7) If there are no other vehicles in the passage when the exit sensor installed at the exit of the passage passes the rear edge of the carriage of vehicle 120, the radiation source installed in the passage shall be turned off.

[0109] It should be noted here that, Figure 12 In the illustrated embodiment, only one radiation source and one obstacle avoidance sensor are provided in the channel. Alternatively, multiple radiation sources and corresponding obstacle avoidance sensors can be provided in the channel as needed, wherein each of the multiple radiation sources and its corresponding obstacle avoidance sensor operates in the manner described in the above embodiment.

[0110] In some embodiments, M ray sources and M obstacle avoidance sensors corresponding one-to-one with each of the M ray sources are arranged along the channel, where M is a positive integer greater than 1. The first ray source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th ray source and upstream of the (m+1)-th ray source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

[0111] In some embodiments, different radiation sources have different radiation emission parameters. Therefore, different radiation sources can be used to inspect the vehicle's interior in multiple dimensions.

[0112] Figure 13 This is a schematic flowchart of a vehicle inspection method according to another embodiment of the present disclosure. In some embodiments, the vehicle inspection method is performed by a vehicle inspection device and includes steps 131-134.

[0113] In step 131, when the vehicle passes through the vehicle information sensor installed in the channel, the length of the vehicle's front end is determined using the vehicle information collected by the vehicle information sensor.

[0114] In some embodiments, the step of determining the length of the vehicle's front end using vehicle information collected by a vehicle information sensor may include the steps S101-S106 described above.

[0115] In step 132, the sensing range of the nth avoidance sensor is divided according to the predetermined division direction to obtain the nth region set. M represents the total number of avoidance sensors.

[0116] For example, the result of dividing the sensing range of each obstacle avoidance sensor can be as follows: Figure 8 As shown.

[0117] In step 133, the region corresponding to the length of the vehicle front is selected in the nth region set as the nth vehicle front avoidance region, wherein the distance between the boundary of the nth vehicle front avoidance region on the side closer to the nth radiation source and the nth radiation source is less than or equal to the length of the vehicle front, and the distance between the boundary of the nth vehicle front avoidance region on the side farther from the nth radiation source and the nth radiation source is greater than the length of the vehicle front.

[0118] In some embodiments, the step of selecting a region corresponding to the length of the vehicle front as the vehicle front avoidance region in each region set may include the steps S201-S202 described above.

[0119] In step 134, when the nth obstacle avoidance sensor detects that the vehicle has entered the nth frontal obstacle avoidance area and the position sensor detects that the front of the vehicle has passed the nth ray source, the nth ray source is controlled to enter the working state.

[0120] In some embodiments, the position sensor is located downstream of the Mth avoidance sensor in the channel direction. Of course, the position sensor can also be located in other places, as long as it can detect the leading edge and trailing edge positions of the vehicle's front.

[0121] For example, the steps to control the nth radiation source to enter the working state can be as follows: Figures 9 to 11 As shown.

[0122] In some embodiments, steps S401-S402 are further included before detecting that a vehicle has entered the nth frontal avoidance zone.

[0123] S401. If the position sensor detects that the front of the vehicle has not passed the nth ray source and the distance between the front edge of the vehicle and the nth ray source is the trigger distance threshold, the ray outlet of the nth ray source is closed.

[0124] S402. When the position sensor detects that the rear edge of the vehicle's front end passes the nth ray source, the ray outlet is opened.

[0125] It should be noted that when the nth radiation source is in standby mode, a certain radiation dose still exists at its exit point due to the high voltage applied to it. Therefore, when the front of the vehicle passes the radiation source, its exit point is closed to ensure the driver's safety. After the front of the vehicle has passed the radiation source, its exit point is reopened so that the radiation source can function normally.

[0126] In some embodiments, when the position sensor detects that the vehicle passes the nth ray source and the distance between the rear edge of the vehicle's cargo compartment and the nth ray source is a beam distance threshold, the nth ray source is controlled to enter a standby state.

[0127] It should be noted that if a vehicle passes the nth radiation source and the distance between the rear edge of the vehicle's cargo compartment and the radiation source is equal to the beam distance threshold, it indicates that the radiation source has completed scanning the cargo compartment of the vehicle. In this case, the radiation source should be put into standby mode to avoid causing harm to other personnel.

[0128] The following specific examples illustrate this disclosure.

[0129] like Figure 14 As shown, an entrance sensor is installed at the entrance of the passage, and an exit sensor is installed at the exit. Along the passage direction, a vehicle information sensor is sequentially installed at point SQ1, a ray source 1 at point B1, a collision avoidance sensor 1 at point Q1, a ray source 2 at point B2, a collision avoidance sensor 2 at point Q2, and a position sensor at point O. For ease of processing, the point where the position sensor is installed is used as the origin of the coordinate system.

[0130] For the sake of simplicity, in Figure 14 Only two radiation sources and two avoidance sensors are shown in the diagram; however, multiple radiation sources and corresponding avoidance sensors can be installed in the channel as needed.

[0131] 1) When vehicle 140 is passing through the entrance sensor installed at the entrance of the passage, determine whether the radiation source installed in the passage is activated. If the radiation source is not activated, activate the radiation source and control the radiation source to enter standby mode.

[0132] 2) When vehicle 140 is passing the vehicle information sensor set at point SQ1, the length of the front of vehicle 140 is determined using the vehicle information collected by the vehicle information sensor.

[0133] Furthermore, within the sensing range of the avoidance sensor located at point Q1, an area corresponding to the hood length of vehicle 140 is selected as the hood avoidance area 1. Within the sensing range of the avoidance sensor located at point Q2, an area corresponding to the hood length of vehicle 140 is selected as the hood avoidance area 2.

[0134] 3) When the front of vehicle 140 reaches point R1, that is, when the distance between the front edge of the vehicle and the radiation source 1 set at point B1 is the trigger distance threshold, it indicates that vehicle 140 is about to enter the irradiation area of ​​radiation source 1. In this case, the radiation outlet of radiation source 1 is closed to avoid the radiation dose of radiation outlet of radiation source 1 from affecting the health of the driver of vehicle 140.

[0135] 4) After the front of vehicle 140 has passed point B1, that is, the rear edge of the front of vehicle 140 has passed the radiation source 1, reopen the radiation outlet of radiation source 1 to ensure that radiation source 1 can work normally.

[0136] 5) When vehicle 140 enters the front clearance area 1 and the rear edge of the front of vehicle 140 has passed the X-ray source 1, control the X-ray source 1 to enter the working state so as to use the X-ray source 1 to scan the carriage of vehicle 140.

[0137] 6) When the rear edge of the carriage of vehicle 140 reaches point P1, that is, when the distance between the rear edge of the carriage of vehicle 140 and the radiation source 1 is the beam distance threshold, it indicates that vehicle 140 has passed the irradiation area of ​​radiation source 1. In this case, control radiation source 1 to enter standby state.

[0138] 7) When the front of vehicle 140 reaches point R2, that is, when the distance between the front edge of the vehicle and the radiation source 2 set at point B2 is the trigger distance threshold, it indicates that vehicle 140 is about to enter the radiation source's irradiation area. In this case, the radiation outlet of radiation source 2 is closed to avoid the radiation dose from the radiation outlet of radiation source 2 affecting the health of the driver of vehicle 140.

[0139] 8) After the front of vehicle 140 has passed point B2, that is, after the rear edge of the front of vehicle 140 has passed the radiation source 2, reopen the radiation outlet of radiation source 2 to ensure that radiation source 2 can work normally.

[0140] 9) When vehicle 140 enters the front clearance area 2 and the rear edge of the front of vehicle 140 has passed the X-ray source 2, control the X-ray source 2 to enter the working state so as to use the X-ray source 2 to scan the carriage of vehicle 140.

[0141] 10) When the rear edge of the carriage of vehicle 140 reaches point P2, that is, when the distance between the rear edge of the carriage of vehicle 140 and the radiation source 2 is the beam distance threshold, it indicates that vehicle 140 has passed the irradiation area of ​​radiation source 2. In this case, control radiation source 2 to enter standby state.

[0142] 11) When vehicle 140 passes the exit sensor set at the exit of the passage, if there are no other vehicles in the passage, turn off X-ray source 1 and X-ray source 2 set in the passage.

[0143] Figure 15 This is a schematic diagram of the structure of a vehicle inspection device according to another embodiment of the present disclosure.

[0144] like Figure 15 As shown, the vehicle inspection device 150 is presented in the form of a general-purpose computing device. The vehicle inspection device 150 includes a memory 151, a processor 152, and a bus 153 connecting different system components.

[0145] The memory 151 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for a corresponding embodiment of at least one vehicle inspection method being executed. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0146] Processor 152 can be implemented using a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the acquisition module, calculation module, and adjustment module, can be implemented by executing instructions in the central processing unit (CPU) running memory to perform the corresponding steps, or by implementing dedicated circuits that perform the corresponding steps.

[0147] For example, processor 152 is configured for memory-based instruction execution implementation such as Figure 5 , 13 The method involved in any of the embodiments.

[0148] Bus 153 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.

[0149] The interfaces 154, 155, and 156 of the vehicle inspection device 150, as well as the memory 151 and processor 152, can be connected via bus 153. Input / output interface 154 provides a connection interface for input / output devices such as monitors, mice, and keyboards. Network interface 155 provides a connection interface for various networked devices. Storage interface 156 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0150] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0151] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0152] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0153] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0154] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement... Figure 5 , 13 The method involved in any of the embodiments.

[0155] This disclosure also provides a computer program product, including computer instructions, wherein the computer instructions, when executed by a processor, implement as follows: Figure 5 , 13 The method involved in any of the embodiments.

[0156] Figure 16 This is a schematic diagram of a vehicle inspection system according to an embodiment of the present disclosure. The vehicle inspection system includes a vehicle inspection device 160, a vehicle information sensor 162, a radiation source 163, a collision avoidance sensor 164, and a position sensor 165 disposed in a channel 161. The vehicle inspection device 160 is as follows: Figure 15 The vehicle inspection device shown in any of the embodiments.

[0157] The vehicle information sensor 162 is configured to collect vehicle information as the vehicle passes by.

[0158] The avoidance sensor 164 is configured to detect the location information of the vehicle within the area of ​​perception of the avoidance sensor 164, wherein the avoidance sensor 164 is located downstream of the vehicle information sensor 162 in the channel direction.

[0159] Position sensor 165 is configured to detect vehicle position information within the lane.

[0160] In some embodiments, the position sensor 165 is located downstream of the avoidance sensor 164 in the channel direction. Of course, the position sensor can also be located in other places, as long as the position sensor can detect the leading edge and trailing edge positions of the vehicle's front end.

[0161] The X-ray source 163 is configured to emit a beam of X-rays into the channel during operation, wherein the X-ray source is located between the vehicle information sensor 162 and the avoidance sensor 164 in the channel direction.

[0162] Figure 17 This is a schematic diagram of the structure of a vehicle inspection system according to another embodiment of the present disclosure. Figure 17 and Figure 16 The difference is that, in Figure 17 In the illustrated embodiment, the vehicle inspection system also includes an entrance sensor 171 located at the entrance of the passage 161, configured to detect whether a vehicle has entered the passage 161.

[0163] In some embodiments, such as Figure 17 As shown, the vehicle inspection system also includes an exit sensor 172 located at the exit of lane 161, configured to detect whether a vehicle has left lane 161.

[0164] It should be noted here that, Figure 16 , 17 In the illustrated embodiment, only one radiation source and one obstacle avoidance sensor are installed in the channel. Alternatively, multiple radiation sources and corresponding obstacle avoidance sensors can be installed in the channel as needed.

[0165] In some embodiments, the vehicle inspection system includes M radiation sources arranged along a channel, and M obstacle avoidance sensors corresponding one-to-one with each of the M radiation sources, where M is a positive integer greater than 1. The first radiation source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th radiation source and upstream of the (m+1)-th radiation source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

[0166] For example, different radiation sources have different radiation emission parameters, which allows for inspection of the vehicle's interior in different dimensions.

[0167] Figure 18 This is a schematic diagram of the structure of a vehicle inspection system according to yet another embodiment of the present disclosure. Figure 18 and Figure 16 The difference is that, for example Figure 18 As shown, the vehicle inspection system includes M X-ray sources 1811, 1812, ..., 181M arranged along the channel, and M obstacle avoidance sensors 1821, 1822, ..., 182M corresponding to the M X-ray sources.

[0168] Figure 19 This is a schematic diagram of the structure of a vehicle inspection system according to yet another embodiment of the present disclosure. Figure 19 and Figure 18 The difference is that, in Figure 19 In the illustrated embodiment, the vehicle inspection system also includes an entrance sensor 191 located at the entrance of the passage 161, configured to detect whether a vehicle has entered the passage 161.

[0169] In some embodiments, such as Figure 19 As shown, the vehicle inspection system also includes an exit sensor 192 located at the exit of lane 161, configured to detect whether a vehicle has left lane 161.

[0170] In the above embodiments of this disclosure, by selecting an area corresponding to the length of the vehicle front as the vehicle front avoidance area within the sensing range of the avoidance sensor, the X-ray source set in the channel is controlled to enter the working state when the avoidance sensor detects that the vehicle has entered the vehicle front avoidance area and the front of the vehicle passes the X-ray source. Thus, for different models of vehicles, it can ensure that the vehicle driver is not exposed to X-rays while still achieving a complete scan of the vehicle.

[0171] It should also be noted that the vehicle inspection system provided in this disclosure can be deployed flexibly. For example, the vehicle inspection system provided in this disclosure can be deployed to, for example, Figure 20 Among the vehicle-mounted devices shown, such as Figure 21 In the combined type of devices shown, or as... Figure 22 Among the intelligent track-type devices shown.

[0172] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0173] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A vehicle inspection method, comprising: When a vehicle passes through a vehicle information sensor installed in the passage, the length of the vehicle's front end is determined using the vehicle information collected by the vehicle information sensor. Within the sensing range of the avoidance sensor located in the channel, an area corresponding to the length of the vehicle front is selected as the vehicle front avoidance area, wherein the avoidance sensor is located downstream of the vehicle information sensor in the channel direction. When the avoidance sensor detects that the vehicle has entered the front avoidance area and the position sensor located in the channel detects that the front of the vehicle has passed the ray source located in the channel, the ray source is controlled to enter the working state, wherein the ray source is located between the vehicle information sensor and the avoidance sensor in the channel direction.

2. The vehicle inspection method according to claim 1, wherein, The selection of the area corresponding to the length of the vehicle front as the vehicle front avoidance area includes: The sensing range is divided into multiple regions according to a predetermined division direction; The region corresponding to the length of the vehicle front in the plurality of regions is designated as the vehicle front avoidance region, wherein the distance between the boundary of the vehicle front avoidance region on the side closer to the radiation source and the radiation source is less than or equal to the length of the vehicle front, and the distance between the boundary of the vehicle front avoidance region on the side farther from the radiation source and the radiation source is greater than the length of the vehicle front.

3. The vehicle inspection method according to claim 2, wherein, The predetermined division direction is perpendicular to the channel direction.

4. The vehicle inspection method according to claim 1, wherein, Before detecting that the vehicle has entered the frontal avoidance zone, the method also includes: If the position sensor detects that the front of the vehicle has not passed the ray source and the distance between the front of the vehicle and the ray source is a trigger distance threshold, the ray outlet of the ray source shall be closed. When the position sensor detects that the front of the vehicle is passing the radiation source, the radiation outlet is opened.

5. The vehicle inspection method according to claim 4 further includes: When the position sensor detects that the vehicle has passed the ray source and the distance between the rear edge of the vehicle's cargo compartment and the ray source is equal to the beam distance threshold, the ray source is controlled to enter a standby state.

6. The vehicle inspection method according to claim 1 further includes: When the vehicle passes through the entrance sensor located at the entrance of the passage, it is determined whether the radiation source is activated; If the radiation source is not activated, then the radiation source is activated and controlled to enter standby mode.

7. The vehicle inspection method according to claim 1 further includes: M radiation sources are arranged along the channel, and M obstacle avoidance sensors are arranged one-to-one with each of the M radiation sources, where M is a positive integer greater than 1. The first radiation source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th radiation source and upstream of the (m+1)-th radiation source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

8. The vehicle inspection method according to claim 7, wherein, The selection of the area corresponding to the length of the vehicle's hood as the vehicle's front-end avoidance area includes: The sensing range of the nth avoidance sensor is divided according to the predetermined division direction to obtain the nth region set. ; In the nth region, a region corresponding to the length of the vehicle front is selected as the nth vehicle front avoidance region. The distance between the boundary of the nth vehicle front avoidance region on the side closer to the nth radiation source and the nth radiation source is less than or equal to the length of the vehicle front, and the distance between the boundary of the nth vehicle front avoidance region on the side farther from the nth radiation source and the nth radiation source is greater than the length of the vehicle front.

9. The vehicle inspection method according to claim 8, wherein, The process of controlling the radiation source to enter the working state includes: When the nth obstacle avoidance sensor detects that the vehicle has entered the nth frontal obstacle avoidance area, and the position sensor detects that the front of the vehicle has passed the nth radiation source, the nth radiation source is controlled to enter the working state.

10. The vehicle inspection method according to claim 9, wherein, Before detecting that the vehicle has entered the nth frontal avoidance zone, the method further includes: If the position sensor detects that the front of the vehicle has not passed the nth ray source and the distance between the front of the vehicle and the nth ray source is a trigger distance threshold, the ray outlet of the nth ray source shall be closed. When the position sensor detects that the front of the vehicle passes the nth ray source, the ray outlet is opened.

11. The vehicle inspection method according to claim 10, further comprising: If the position sensor detects that the vehicle passes the nth ray source and the distance between the rear edge of the vehicle's cargo compartment and the nth ray source is equal to the beam distance threshold, the nth ray source is controlled to enter a standby state.

12. The vehicle inspection method according to any one of claims 1-11, wherein, Determining the vehicle's front length using the vehicle information collected by the vehicle information sensor includes: Based on the vehicle information, the first candidate length of the vehicle's front end is obtained; Based on the vehicle information, the vehicle type information of the vehicle is obtained; Determine whether the first candidate length of the vehicle front matches the vehicle type information; If the first candidate length of the vehicle's front end matches the vehicle type information, then the first candidate length of the vehicle's front end is taken as the length of the vehicle's front end.

13. The vehicle inspection method according to claim 12, further comprising: If the first candidate length of the vehicle front does not match the vehicle type information, then query the vehicle front length corresponding to the vehicle type information and use it as the second candidate length of the vehicle front. The maximum value between the first candidate length of the vehicle's front end and the second candidate length of the vehicle's front end is taken as the length of the vehicle's front end.

14. The vehicle inspection method according to claim 12, further comprising: If the candidate length of the first vehicle head does not match the vehicle type information, the ray source in the channel is turned off.

15. A vehicle inspection device, comprising: Memory; A processor, coupled to a memory, is configured to implement the vehicle inspection method as described in any one of claims 1-14 based on the memory-stored instructions.

16. A vehicle inspection system, comprising: The vehicle inspection device as described in claim 15; Vehicle information sensors installed in the passage are configured to collect vehicle information as a vehicle passes through; An obstacle avoidance sensor disposed within the passage is configured to detect the vehicle's location information within the sensor's sensing range, wherein the obstacle avoidance sensor is located downstream of the vehicle information sensor in the passage direction. A position sensor installed in the passage is configured to detect the vehicle's position information within the passage. A radiation source disposed within the channel is configured to emit a radiation beam into the channel during operation, wherein the radiation source is located between the vehicle information sensor and the avoidance sensor in the direction of the channel.

17. The vehicle inspection system according to claim 16, wherein, The system includes M radiation sources arranged along the channel, and M obstacle avoidance sensors corresponding one-to-one with each of the M radiation sources, where M is a positive integer greater than 1. The first radiation source is located downstream of the vehicle information sensor in the channel direction, and the m-th obstacle avoidance sensor is located downstream of the m-th radiation source and upstream of the (m+1)-th radiation source in the channel direction. The Mth avoidance sensor is located between the Mth ray source and the position sensor in the channel direction.

18. The vehicle inspection system according to claim 17, wherein, Different radiation sources have different radiation emission parameters.

19. The vehicle inspection system according to any one of claims 16-18, further comprising: An entrance sensor installed at the entrance of the passage is configured to detect whether a vehicle is entering the passage.

20. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle inspection method as described in any one of claims 1-14.

21. A computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the vehicle inspection method as described in any one of claims 1-14.

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