Vehicle-mounted inspection device and control method therefor

Abstract

A vehicle-mounted inspection device and a control method therefor. The vehicle-mounted inspection device comprises: a drive-by-wire chassis platform (2), comprising a vehicle body controller (21) configured for causing a vehicle to perform a maneuver; and a scanning device (1), comprising a control unit and an automatic guidance controller (12), wherein the control unit is configured for sending a vehicle maneuver instruction to the vehicle body controller (21), receiving vehicle state information fed back by the vehicle body controller (21), and sending same to the automatic guidance controller (12); and the automatic guidance controller (12) is configured for determining steering adjustment information of the vehicle according to the vehicle state information, and sending the steering adjustment information to the vehicle body controller (21) by means of the control unit, so as to adjust a steering and travel state of the vehicle.

Description

Vehicle-mounted inspection equipment and its control method

[0001] Horizontal citation of related applications

[0002] This disclosure is based on and claims priority to Chinese application No. 202411890704.0, filed on December 20, 2024, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of security inspection technology, and in particular to a vehicle-mounted inspection device and its control method. Background Technology

[0004] Vehicle-mounted inspection equipment is installed on a vehicle and uses the vehicle's movement to perform security checks on the inspected items (such as containers). In vehicle-mounted scanning mode, the equipment needs to run along a predetermined trajectory. Existing automatic guidance technologies generally use the following two methods to correct the direction of the wheels.

[0005] One option is to install a steering pushrod in the chassis vehicle's cab. This pushrod is connected to the steering wheel, and its extension or retraction causes the steering wheel to turn. This steering pushrod solution requires the installation of the steering pushrod and control box in the cab, occupying cab space. Whenever the on-board inspection equipment is in operation, the operator needs to manually install it, at which point the pushrod occupies the driver's position. When the on-board equipment is traveling on the road, the pushrod needs to be manually retracted before the driver can drive.

[0006] Secondly, a second, independent hydraulic power steering system could be added to the chassis. This additional system would be structurally complex, requiring a separate hydraulic pump station and drive motor. It would necessitate a specialized chassis modification shop, resulting in high costs and increased maintenance complexity. Summary of the Invention

[0007] This disclosure provides a vehicle-mounted inspection device and its control method, which optimizes the automatic guidance function of the vehicle-mounted inspection device.

[0008] The first aspect of this disclosure provides an on-board inspection device, comprising:

[0009] A drive-by-wire chassis vehicle, including a body controller, is configured to cause the vehicle to perform actions; and

[0010] The scanning device includes a control unit and an automatic guidance controller. The control unit is configured to send vehicle motion commands 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 unit to adjust the vehicle's steering and driving state.

[0011] In some embodiments, the control device includes:

[0012] The main controller is configured to receive external vehicle movement commands; and

[0013] The upper body controller is configured to receive vehicle action commands 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.

[0014] In some embodiments, the superstructure controller is configured to determine whether the vehicle action command is correct based on the current vehicle status information. If correct, the vehicle action command is sent to the body controller; if incorrect, the vehicle action command is returned to the main controller.

[0015] In some embodiments, the superstructure controller is configured to send a life count and a checksum derived from the message content and the life count at the same time as sending the corresponding message for the vehicle action command to the body controller; the body controller is configured to verify the command content after receiving the message and execute it only after confirming that the vehicle action command is correct.

[0016] In some embodiments, the superstructure controller is further configured to send vehicle fault information to the main controller, the fault information including first fault information of the drive-by-wire chassis vehicle and second fault information of the automatic guidance controller;

[0017] 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.

[0018] In some embodiments, the vehicle status information sent by the superstructure controller to the automatic guidance controller includes: steering angle, vehicle speed, and direction of travel. The automatic guidance controller is configured to send the steering angle adjustment, direction adjustment, and a second fault information of the automatic guidance controller to the superstructure controller.

[0019] In some embodiments, the vehicle-mounted inspection equipment further includes a remote control component, which includes:

[0020] The transmitting component is configured to issue vehicle movement commands; and

[0021] The receiving component, located in the scanning device, is configured to receive vehicle movement commands and send them to the control device.

[0022] In some embodiments, the vehicle has a switchable driver mode and a remote mode. In driver mode, the body controller is configured to receive driver input to cause the vehicle to perform actions; in remote mode, the body controller is configured to receive instructions from a control device to cause the vehicle to perform actions.

[0023] In remote mode, the maximum speed limit for vehicles is lower than that in driver mode.

[0024] In some embodiments, the body controller has a dual-channel parking brake interface and a remote control enable interface. The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis vehicle, and the remote control enable interface is used to control remote control enable.

[0025] The vehicle-mounted inspection equipment includes a system emergency stop circuit, which is connected to a dual-channel parking brake interface and a remote control enable interface. It is configured to de-energize the remote control enable interface and disable the remote control function after receiving a manual emergency stop signal, switch the power on / off state of the dual-channel parking brake interface to enter the braking mode, and automatically engage the handbrake.

[0026] In some embodiments, the system emergency stop circuit includes:

[0027] The first circuit has a power interface and a first parking brake interface connected to its two ends respectively, and a first normally closed contact is provided on the first circuit.

[0028] The second circuit has a power interface and a remote control enable interface connected to its two ends, respectively, and a second normally closed contact is provided on the second circuit; and

[0029] The third circuit has a power interface and a second parking brake interface connected to its two ends respectively, and a first normally open contact is provided on the third circuit.

[0030] 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 a coordinated manner to issue a manual emergency stop signal.

[0031] In some embodiments, the first line is provided with a second normally open contact connected in series with the first normally closed contact, the second line is provided with a third normally open contact connected in series with the second normally closed contact, and the third line is provided with a third normally closed contact connected in series with the first normally open contact.

[0032] The second normally open contact, the third normally open contact, and the third normally closed contact are controlled in conjunction with an automatic emergency stop signal issued by the control device.

[0033] A second aspect of this disclosure provides a control method for the vehicle-mounted inspection equipment described in the above embodiments, comprising:

[0034] Action and status feedback steps: The control device sends vehicle action commands to the body controller, and receives vehicle status information from the body controller and sends it to the automatic guidance controller.

[0035] Steering status adjustment steps: The automatic steering controller determines the vehicle's steering adjustment information based on the vehicle status information and sends the steering adjustment information to the body controller through the control device to adjust the vehicle's steering and driving status.

[0036] In some embodiments, the control device includes a main controller and an upper-mount controller, and the action and status feedback steps include:

[0037] Receive external vehicle action commands through the main controller;

[0038] The upper structure controller receives vehicle action commands and sends them to the body controller. At the same time, it receives vehicle status information from the body controller and sends it to the main controller and the automatic guidance controller.

[0039] In some embodiments, the action and status feedback step further includes:

[0040] The upper-mount controller determines whether the vehicle action command is correct based on 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.

[0041] In some embodiments, the control method further includes:

[0042] The upper structure controller sends the vehicle's fault information to the main controller. The fault information includes the first fault information of the drive-by-wire chassis vehicle and the second fault information of the automatic guidance controller.

[0043] The main controller displays at least one of vehicle status information and fault information, and / or determines whether the vehicle is ready based on at least one of the vehicle status information and fault information.

[0044] In some embodiments, the control method further includes:

[0045] The vehicle movement commands are remotely transmitted via a transmitter.

[0046] The receiving component receives vehicle action commands and sends them to the main controller.

[0047] In some embodiments, the body controller has a dual-channel parking brake interface and a remote control enable interface. The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis, and the remote control enable interface is used to control remote control enable. The system emergency stop circuit in the on-board inspection equipment is connected to the dual-channel parking brake interface and the remote control enable interface. The control method further includes:

[0048] After the system emergency stop circuit receives a manual emergency stop signal, it de-energizes the remote control enable interface to disable the remote control function and switches the power on / off states of the dual parking brake interfaces to enter the braking mode.

[0049] Automatic handbrake.

[0050] In some embodiments, the control method further includes:

[0051] In the event of a vehicle malfunction, an automatic emergency stop signal is issued through the control device to de-energize the remote control enable interface, disable the remote control function, and switch the power on / off states of the dual parking brake interfaces to enter braking mode.

[0052] In this embodiment of the vehicle-mounted inspection equipment, the control device can send vehicle status information fed back from the body controller to the automatic guidance controller. The automatic guidance controller calculates the vehicle's steering adjustment information based on the vehicle status information and automatically adjusts the vehicle's steering and walking state accordingly through the body controller, enabling the vehicle-mounted inspection equipment to run along a predetermined movement trajectory, ensuring scanning reliability and safety. Furthermore, it does not occupy any driver's seat space, eliminates the cumbersome steps of installing and removing steering push rods, and does not require the additional installation of a complex hydraulic system, reducing structural complexity, minimizing system failure points, and improving stability. In addition, the electric steering device equipped on the drive-by-wire chassis can directly control the steering wheel angle, resulting in higher wheel steering control precision and easier adjustment of steering speed, significantly improving the control accuracy and response speed of the automatic guidance system. Attached Figure Description

[0053] 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.

[0054] Figure 1 is a schematic diagram of the module composition of some embodiments of the vehicle-mounted inspection equipment disclosed herein.

[0055] Figure 2 is a circuit diagram of some embodiments of the emergency stop circuit in the vehicle-mounted inspection equipment of this disclosure.

[0056] Figure 3 is a top view of some embodiments of the vehicle-mounted inspection equipment disclosed herein.

[0057] Explanation of reference numerals in the attached drawings: 1. Scanning equipment; 11. Upper structure controller; 12. Automatic guidance controller; 13. Main controller; 14. Receiving component; 15. Control compartment; 16. Equipment compartment; 17. Boom; 2. Wire-controlled chassis vehicle; 21. Body controller; 3. Transmitting component; 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; 5. Automatic guidance sensor; 6. Automatic guidance baffle. Detailed Implementation

[0058] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure, that is, this disclosure is not limited to the described embodiments.

[0059] In the description of embodiments of this disclosure, the term "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two).

[0060] This disclosure uses terms such as "upper," "lower," "top," "bottom," "front," "back," "inner," and "outer" to indicate orientation or positional relationships. This is only for the convenience of describing this disclosure and is not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this disclosure.

[0061] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" does not mean strictly vertical, but rather within the permissible range of error. "Parallel" does not mean strictly parallel, but rather within the permissible range of error. The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this disclosure.

[0062] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances.

[0063] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least some of the embodiments disclosed herein. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0064] As shown in Figures 1 and 2, in some embodiments, the vehicle-mounted inspection device of this disclosure includes:

[0065] The drive-by-wire chassis 2, including a body controller 21, is configured to cause the vehicle to perform actions; and

[0066] The scanning device 1 includes a control unit and an automatic guidance controller 12. The control unit is configured to send vehicle action commands (hereinafter sometimes referred to as action commands) to the body controller 21, and to 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 vehicle's steering adjustment information based on the vehicle status information, and send the steering adjustment information to the body controller 21 through the control unit to adjust the vehicle's steering and driving state.

[0067] Specifically, the vehicle body controller 21 enables the vehicle to perform various functions, such as driving, steering, braking, gear shifting, and light control. The vehicle body controller 21 also adjusts the vehicle's steering and driving state based on steering adjustment information sent by the control device. This means that during vehicle movement, the vehicle's steering and driving state, such as steering angle, speed, or direction, is automatically changed according to the steering adjustment information to ensure the vehicle follows a preset trajectory, thus guiding and correcting the onboard inspection equipment.

[0068] For example, during short-distance transfers, the control device can send a walking action command to the vehicle body controller 21 to make the vehicle perform a straight-line walking action, or turn along a preset trajectory to reach the destination and perform walking and turning actions. During this process, the steering and walking state can be adjusted by the automatic guidance controller 12, that is, the steering angle can be finely adjusted to walk along the predetermined trajectory.

[0069] Among them, the drive-by-wire chassis vehicle 2 has a host control interface, which can communicate via bus or IO signals. The body controller 21 in the drive-by-wire chassis vehicle 2 is used to receive vehicle action commands sent by the control device to realize the steering control function of the drive-by-wire chassis vehicle 2. On this basis, it can also realize the start, throttle, brake, gear, handbrake and headlight on / off functions of the drive-by-wire chassis vehicle 2.

[0070] For example, the drive-by-wire chassis 2 may include at least three subsystems: drive-by-wire throttle, drive-by-wire steering, and drive-by-wire braking. The power type of the drive-by-wire chassis 2 may be fuel-powered, hybrid, or pure electric, etc., replacing the traditional mechanical, hydraulic, or pneumatic connection methods with electrical signals. For example, it may be a truck chassis.

[0071] For example, vehicle status information may include steering angle, vehicle speed, and direction of travel.

[0072] This embodiment has at least the following advantages:

[0073] Firstly, by using the drive-by-wire chassis vehicle 2, the walking motor in the scanning device 1 can be eliminated, and the drive-by-wire chassis vehicle 2 can be driven directly by its own power source, such as a fuel vehicle engine or an electric vehicle motor. Furthermore, the body controller 21 in the drive-by-wire chassis vehicle 2 can interact with the control device in the scanning device 1, and interact with the automatic guidance controller 12 through the control device to obtain and process system-level control commands, thereby realizing the vehicle's driving and automatic steering functions.

[0074] Secondly, the control device can send the vehicle status information fed back by the body controller 21 to the automatic guidance controller 12. The automatic guidance controller 12 calculates the vehicle's steering adjustment information based on the vehicle status information, and automatically adjusts the vehicle's steering and walking state accordingly through the body controller 21. Thus, the on-board inspection equipment can run along a predetermined trajectory. For example, during scanning, the on-board inspection equipment needs to travel in a straight line. In reality, due to uneven road surfaces or control errors, the vehicle may deviate. By adjusting according to the vehicle's status information during travel, the vehicle can be made to run along the predetermined trajectory, ensuring the reliability and safety of the scanning.

[0075] Thirdly, compared to the pushrod steering solution, this embodiment does not occupy any driver's seat space and eliminates the cumbersome steps of installing and removing the pushrod. The maximum steering angle controlled by the control device (such as the superstructure controller described below) is the same as when the driver manually turns the wheel, and is not limited by the pushrod travel. Compared to the solution with an external power steering system, it does not require the installation of an additional complex hydraulic system, reducing procurement and maintenance costs, reducing system failure points, and improving stability.

[0076] Fourth, the automatic guidance function is achieved through the automatic guidance controller 12. The steering gear equipped in the drive-by-wire chassis 1 can directly control the steering angle of the steering wheel. Optionally, an angle sensor can be installed on the steering wheel. The actual angle of the steering wheel is fed back to the automatic guidance controller 12 for closed-loop control of the steering angle. This can adapt to different guidance corrections, resulting in higher wheel steering control accuracy and easier adjustment of steering speed. This can significantly improve the control accuracy and response speed of automatic guidance. In contrast, the steering pushrod solution requires the installation of a distance measuring sensor on the pushrod to indirectly calculate the steering wheel angle by measuring the pushrod travel. Moreover, there is a free play at the connection between the steering wheel and the pushrod, resulting in poor steering control accuracy.

[0077] In commercial applications, the drive-by-wire chassis 2 is generally used for cargo transportation within specific sites or for long-distance multi-vehicle freight transport on open highways, both of which are high-speed applications (greater than 10 km / h) compared to scanning equipment. However, to ensure image quality, vehicle-mounted inspection equipment typically operates at low speeds within the range of 0.2 m / s to 0.6 m / s. During scanning, the object being inspected must pass through the boom, and the distance between the object and the vehicle-mounted inspection equipment is very close, generally no more than 300 mm. Due to factors such as site flatness, the center of gravity of the vehicle-mounted inspection equipment, and tire wear, the equipment cannot maintain a straight line during repeated scanning movements, potentially leading to collisions. This disclosure addresses this issue by controlling the drive-by-wire chassis 2 with an automatic guidance function. This improves the automatic guidance accuracy during prolonged scanning by the vehicle-mounted inspection equipment, ensuring a near-straight scanning path and preventing collisions between the scanning equipment and the object.

[0078] Fifth, due to its limited stroke, the push rod can only make minor adjustments to the steering angle and cannot achieve large-angle steering of the scanning equipment. Therefore, it can only be used in the aforementioned straight-line correction scenarios. Using the drive-by-wire chassis 2, large-angle turns can be achieved, thus enabling unmanned relocation and scheduling of vehicle-mounted inspection equipment. For example, in enclosed areas such as ports and storage yards, the vehicle-mounted inspection equipment can be automatically moved from one location to another through a scheduling system, completing remote deployment control. For example, the scheduling system can be a central control station, which can directly send travel control commands to the control device of the vehicle-mounted inspection equipment, or the central control station can send travel control commands to the control device of the vehicle-mounted inspection equipment through a device other than the transmitting component 3 mentioned below.

[0079] In some embodiments, as shown in FIG1, the control device includes:

[0080] The main controller 13 is configured to receive external vehicle motion commands; and

[0081] The upper body controller 11 is configured to receive vehicle action commands 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 guidance controller 12.

[0082] The main controller 13 can receive remote control commands to make the vehicle move, commands sent by the operator through buttons or other operating elements, or commands sent by other controllers, and generate commands that enable the vehicle body controller 21 to perform actions.

[0083] The superstructure controller 11 can receive vehicle action commands sent by the main controller 13 and send them to the body controller 21 to make the vehicle perform actions. At the same time, the body controller 21 feeds back the vehicle status information to the superstructure controller 11 in real time, and then the superstructure controller 11 sends it to the main controller 13 and the automatic guidance controller 12. The automatic guidance controller 12 can automatically adjust the steering parameters according to the vehicle status information, such as performing vehicle posture detection and steering angle calculation, so that the vehicle runs according to the predetermined movement trajectory. The main controller 13 can adjust the sent command signals or perform operations such as displaying vehicle status information according to vehicle status information and fault information.

[0084] Furthermore, the main controller 13 and the automatic guidance controller 12 can also exchange information. The superstructure controller 11 can communicate with the main controller 13 and the automatic guidance controller 12 via bus technology.

[0085] In this embodiment, the control device is divided into an independent main controller 13 and an upper body controller 11. 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 make the vehicle perform the action, and send the steering adjustment information sent by the automatic guidance controller 12 to the body controller 21 to make the vehicle correct its course. It can also transmit the vehicle status information sent by the body controller 21 to the main controller 13 and the automatic guidance controller 12 to perform corresponding driving control or other functions.

[0086] Therefore, the superstructure controller 11 serves as a data information exchange bridge between the drive-by-wire chassis vehicle 2 and the main controller 13 of the scanning equipment 1. It can reduce the impact on the operating speed of the body controller 21 and the automatic guidance controller 12. Functionally, they are independent of each other, preventing mutual interference and improving the reliability of the functions executed by each controller.

[0087] In some application scenarios, the operator can use a scheduling system to make the accelerator in the scanning device 1 emit a beam of X-rays. After the beam is stabilized, the operator sends a walking action command to the main controller 13 through the scheduling system. During the movement of the vehicle-mounted inspection equipment, the main controller 13 wakes up the automatic guidance controller 12, which then guides and corrects the vehicle-mounted inspection equipment. If the deviation angle exceeds a preset angle threshold, it can be reported to the main controller 13 as a fault. For example, the main controller 13 can send a stop walking action command to improve the safety of the walking process.

[0088] In some specific embodiments, the superstructure controller 11 is a newly added controller, which can be a PLC, ARM, or x86 architecture controller. This controller is equipped with I / O modules or boards, and communicates with the drive-by-wire chassis vehicle 2 gateway via a CAN 2.0B bus conforming to SAE J1939, or via in-vehicle Ethernet communication. The control commands issued by the superstructure controller 11 may include the following:

[0089] Table 1 shows the control commands for the upper-mounted controller 11.

[0090] In some embodiments, the superstructure controller 11 is configured to determine whether the action command is correct based on the current vehicle status information. If it is correct, the action command is sent to the body controller 21. If it is incorrect, the action command is returned to the main controller 13. In this case, there is no need to send a signal or command to the body controller 21.

[0091] For example, when the main controller 13 sends a walking action command to the superstructure controller 11, if the superstructure controller 11 receives a message that the vehicle has not released the handbrake or has not successfully switched to driving gear, it means that the conditions for walking are not met, and the superstructure controller 11 returns the walking action command to the main controller 13.

[0092] In this embodiment, after receiving the action command sent by the main controller 13, the upper-body controller 11 adds a step to determine whether the action command is correct. Only if the action command matches the current state of the vehicle is it sent to the body controller 21 for execution; otherwise, the command is returned to the main controller 13. This prevents the vehicle from executing incorrect commands and improves the reliability of the on-board inspection equipment. In particular, when realizing remote unmanned operation, the automated judgment method can improve safety.

[0093] In some embodiments, the superstructure controller 11 is configured to send a life count and a checksum derived from the message content and life count simultaneously with sending the corresponding action command message to the body controller 21; the body controller 21 is configured to verify the command content upon receipt and execute the action command only after confirming that it is correct. Specifically, the body controller 21 receives the message, life count, and checksum. The message is the transmission format of each action command in Table 1, for example, it can be a hexadecimal number.

[0094] For example, when sending throttle and direction signals, the upper body controller 11 requests the transmission of relevant counter values ​​and checksums. The counter values ​​are sent cyclically from 0 to 15, incrementing by 1 with each signal message transmission. The checksum is calculated according to a preset formula. Then, the counter value, checksum, and throttle or direction signal are sent as a single message to the body controller 21. The body controller 21 also has its own counter and performs checksum calculations. Upon receiving a message, it compares its own counter value with the counter value in the received message and performs checksum calculation based on the message content and counter value. The calculated checksum must match the checksum in the received message. If the calculated checksum does not match the received checksum, the body controller 21 will not respond to the signal request.

[0095] This embodiment can ensure the real-time and correct transmission of action commands, and avoid delays or frame drops caused by network congestion during communication, so as to prevent the vehicle from executing incorrect commands and improve the reliability and safety of the vehicle inspection equipment.

[0096] In some embodiments, the superstructure controller 11 is further configured to send vehicle fault information to the main controller 13, the fault information including first fault information of the drive-by-wire chassis 2 and second fault information of the automatic guidance controller 12; the main controller 13 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.

[0097] For example, the first fault information could be a failure of the drive-by-wire chassis 2's walking, steering, or braking functions, inability to shift gears properly, or inability to control lights as needed. The second fault information could be an internal hardware or software fault in the automatic steering controller 12, or a malfunction in the sensor located on the side of the vehicle used to detect the actual steering angle, preventing the automatic steering controller 12 from receiving the current steering angle information. Vehicle status information and fault information can be displayed on the human-machine interface.

[0098] Specifically, as shown in Figure 3, the vehicle-mounted inspection equipment includes a scanning device 1 and a drive-by-wire chassis 2. The scanning device 1 is mounted on the drive-by-wire chassis 2 and includes a control compartment 15, an equipment compartment 16, and a boom 17. The boom 17 is connected to the first side of the equipment compartment 16 along the width direction of the drive-by-wire chassis 2. The control compartment 15 is located on one side of the equipment compartment 15 along the length direction of the drive-by-wire chassis 2. The boom 17 forms an inspection channel extending in the direction of the arrow, through which the object to be inspected 5 passes. An automatic guidance sensor 5 is provided on the side of the scanning device 1 away from the boom 17 along the width direction. For example, the automatic guidance sensor 5 can be a lidar. Specifically, the automatic guidance sensor 5 is located on the side of the equipment compartment 16 away from the boom 17 along the width direction and is used to detect the actual steering angle of the vehicle. In addition, an automatic guidance baffle 6 is provided in the inspection area. The automatic guidance baffle 6 is arranged parallel to the travel direction of the vehicle-mounted inspection equipment, and the automatic guidance baffle 6 is set at a preset distance from the automatic guidance 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 back 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). The automatic guidance controller 12 then determines the steering adjustment information based on this distance and sends it to the body controller 21 to adjust the vehicle's steering and driving status in order to correct the vehicle-mounted inspection equipment.

[0099] In some control configurations, a steering wheel angle sensor is installed on the steering wheel of the drive-by-wire chassis 2 to detect the steering wheel's rotation angle. After the superstructure controller 11 receives steering adjustment information (e.g., steering angle) from the automatic steering controller 12, it sends it to the body controller 21, which then sends the steering adjustment information to the steering gear of the drive-by-wire chassis 2, thereby controlling the vehicle's steering angle.

[0100] During vehicle movement, the distance between the onboard inspection equipment (e.g., the equipment compartment 16 of the scanning equipment 1) and the automatic guidance baffle 6 is first detected by the automatic guidance sensor 5 installed on the vehicle body (e.g., the equipment compartment 16 of the scanning equipment 1). This information is then fed back to the automatic guidance controller 12, which determines the steering adjustment information (e.g., steering angle) and sends it to the body controller 21 via the superstructure controller 11 for guidance control. Secondly, during guidance control, the steering wheel angle sensor detects the steering wheel rotation angle and feeds it back to the automatic guidance controller 12. This allows the automatic guidance controller 12 to adjust and correct the steering adjustment information, forming steering angle feedback control, which effectively improves the accuracy of vehicle steering angle control.

[0101] For example, the upper body controller 11 can send the handbrake status, gear status, first fault information of the drive-by-wire chassis 2 and second fault information of the automatic guidance 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 and second fault information do not appear, it is determined that the vehicle is ready.

[0102] This embodiment displays vehicle status and fault information through the main controller 13, allowing the operator to easily observe the movement status of the vehicle inspection equipment and take timely safety measures in case of abnormal conditions. Furthermore, the main controller 13 can determine whether the vehicle is ready based on the vehicle status information, and only issues action commands when the vehicle is ready.

[0103] In some embodiments, the vehicle status information sent by the superstructure controller 11 to the automatic guidance controller 12 includes: steering angle, vehicle speed and direction of travel. The automatic guidance controller 12 is configured to send steering angle adjustment, direction adjustment and second fault information to the superstructure controller 11.

[0104] The vehicle can be equipped with a row of sensors on its side and a reference component, such as a reflector, on its side. The distance between the sensors and the reflector can be used to determine whether the vehicle is deviating from its course. Based on the detection results and the vehicle's current actual steering angle, speed, and direction of travel, the steering angle and direction to be adjusted can be determined. The direction of adjustment can be to turn the steering wheel clockwise or counterclockwise.

[0105] In this embodiment, the upper body controller 11 sends vehicle status information to the automatic guidance controller 12, so that the automatic guidance controller 12 can calculate the steering angle that needs to be adjusted and the direction of adjustment based on the current vehicle status information. If a vehicle malfunction is detected, it will also be fed back to the upper body controller 11 so that the upper body controller 11 can report the malfunction information to the main controller 13.

[0106] In some embodiments, as shown in FIG1, the vehicle-mounted inspection equipment further includes a remote control component, which includes:

[0107] The transmitting component 3 is configured to issue vehicle movement commands; and

[0108] The receiving component 14, located in the scanning device 1, is configured to receive vehicle movement commands and send them to the control device.

[0109] Among them, the transmitting component 3 can be a handheld remote control, which can be equipped with a steering knob to control the vehicle's steering function. The receiving component 14 can be a remote control receiver, which sends the vehicle's action command to the main controller 13 after receiving it.

[0110] This embodiment can use remote control to realize the remote movement function of the vehicle-mounted inspection equipment and remote steering, which facilitates the adjustment of the placement of the vehicle-mounted inspection equipment in the scanning site or the short-distance relocation function. Moreover, the upper-mounted controller 11 acts as a data interaction bridge between the wire-controlled chassis vehicle 2 and the main controller 13 of the scanning equipment 1. It can send the status of the wire-controlled chassis vehicle 2 (fuel consumption, power, speed, vehicle GPS information, door status, etc.) to the handheld remote controller. The handheld remote controller has a display screen to display the status of the wire-controlled chassis vehicle 2, which is conducive to realizing remote and unmanned operation of the vehicle-mounted inspection equipment.

[0111] In some embodiments, the vehicle has a switchable driver mode and a remote mode. In driver mode, the body controller 21 is configured to receive driver input to cause the vehicle to perform actions. In remote mode, the body controller 21 is configured to receive instructions from a control device to cause the vehicle to perform actions. The maximum speed limit of the vehicle in remote mode is lower than the maximum speed limit of the vehicle in driver mode.

[0112] For example, driver mode and remote mode can be switched through the human-machine interface.

[0113] In driver mode, the operator can drive the onboard inspection equipment normally on the road. The automatic guidance controller 12 does not need to participate in steering control; the vehicle's movement depends solely on the driver's actions on the vehicle. The body controller 21 does not need to feed vehicle status information back to the upper controller 11, although it can, according to special needs, feed vehicle status information back to the upper controller 11 for display through the main controller 13. In this mode, the driver directly controls the body controller 21. For example, actions such as pressing the accelerator or pulling the handbrake are converted into vehicle action commands and sent to the body controller 21. The driver's actions are used to generate the "external vehicle action commands" mentioned above.

[0114] In remote control mode, the superstructure controller 11 gains control of the drive-by-wire chassis 2, enabling the control functions listed in Table 1. In remote mode, the maximum speed of the drive-by-wire chassis 2 is limited to 7 km / h, but can be adjusted between 1 and 7 km / h. For example, in remote control mode, the operator can remotely send a travel command to the main controller 13 via the transmitter 3. The main controller 13 then sends the travel command to the body controller 21 via the superstructure controller 11 to move the vehicle. At this time, the operator's operation of the transmitter 3 generates the "external vehicle action command" mentioned above. During vehicle movement, the operator can control the vehicle's movement without manual intervention, adjusting the vehicle's steering and travel status via the automatic guidance controller 12 to automatically control the vehicle to travel along a preset trajectory.

[0115] The vehicle-mounted inspection equipment in this embodiment has two operating modes. The appropriate operating 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 site transfer. Manual driving can improve highway driving safety. The remote mode is convenient for security scanning and inspection of items, adjusting the placement of the vehicle-mounted inspection equipment in the scanning site, or short-distance site transfer. For example, when scanning and inspection by moving, the automatic steering control function can make the vehicle travel along the preset trajectory with high accuracy. Moreover, the remote mode can improve walking safety by limiting the maximum driving speed.

[0116] In some embodiments, as shown in FIG2, the body controller 21 has a dual-channel parking brake interface and a remote control enable interface B. The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis vehicle 2, and the remote control enable interface B is used to control the remote control enable.

[0117] The vehicle inspection equipment includes a system emergency stop circuit 4, which is connected to a dual-channel parking brake interface and a remote control enable interface B. It is configured to de-energize the remote control enable interface B and disable the remote control function after receiving a manual emergency stop signal, switch the power on / off state of the dual-channel parking brake interface to enter the braking mode, and automatically engage the handbrake.

[0118] For example, system emergency stop circuit 4 can be a system-level hardware emergency stop circuit that does not require logical judgment through the main controller, and the manual emergency stop signal can be the total interlock signal.

[0119] In this embodiment, the system emergency stop circuit 4 is connected in series to the hardware interface of the body controller 21. That is, the system emergency stop circuit 4 is connected to the dual parking brake interface and remote control enable interface B of the body controller 21 itself. After the system emergency stop circuit 4 receives a manual emergency stop signal, it indicates that there is an abnormal situation or malfunction in the vehicle. The remote control function is disabled through linkage control, and the vehicle's braking function is activated and the handbrake is automatically applied. These safety protection mechanisms can ensure the safe and stable operation of the drive-by-wire chassis vehicle 2.

[0120] In some embodiments, as shown in FIG2, the system emergency stop circuit 4 includes:

[0121] The first line L1 is connected to the power interface D and the first parking brake interface A at its two ends respectively. The first line L1 is provided with a first normally closed contact 44.

[0122] The second circuit L2 is connected to the power interface D and the remote control enable interface B at its two ends, respectively. The second circuit L2 is equipped with a second normally closed contact 45.

[0123] The third line L3 is connected to the power interface D and the second parking brake interface C at its two ends, and the third line L3 is equipped with a first normally open contact 46.

[0124] The vehicle-mounted inspection equipment also includes an emergency stop element 43, which is configured to control the first normally closed contact 44, the second normally closed contact 45 and the first normally open contact 46 in conjunction to issue a manual emergency stop signal.

[0125] Among them, the power interface D of the system emergency stop circuit 4 can be connected to the power interface module 41 of the superstructure controller 11. The body controller 21 includes a chassis interface module 42, which is provided with a first parking brake interface A, a remote control enable interface B, and a second parking brake interface C.

[0126] 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 normal driving 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 open, that is, the first parking brake interface A is energized, the second parking brake interface C is open, and the remote control enable interface B is energized; when the vehicle experiences an abnormal situation or malfunction, pressing any emergency stop element 43 will cause the first normally closed contact 44 to open and the first normally open contact 46 to close, the dual parking brake interfaces will switch on / off states to enter braking mode, the second normally closed contact 45 will open, and the remote control enable interface B will be de-energized to disable the remote control function.

[0127] This embodiment sets corresponding contacts in series with the first parking brake interface A, the remote control enable interface B, and the second parking brake interface C, and links the three contacts together through the emergency stop element 43. When the vehicle malfunctions or fails, the operator can press the emergency stop element 43 to apply a safety protection mechanism to the drive-by-wire chassis 2 to ensure the safe and stable operation of the vehicle.

[0128] In some embodiments, as shown in FIG2, 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.

[0129] The second normally open contact 47, the third normally open contact 48, and the third normally closed contact 49 are controlled by an automatic emergency stop signal issued by a control device, for example, by an automatic emergency stop signal issued by the upper controller 11.

[0130] This embodiment, based on the manual emergency stop function in the system's emergency stop circuit 4, adds an automatic emergency stop contact switch to achieve an automatic emergency stop function. When only one emergency stop function is active, the safety protection mechanism is activated, the remote control function is disabled, the vehicle's braking function is activated, and the handbrake is automatically engaged. By setting up both manual and automatic emergency stop functions, the safety of the vehicle-mounted inspection equipment during movement can be further improved.

[0131] Taking a certain vehicle chassis as an example, the main interlock 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. An additional line can be connected to the superstructure controller 11. The first parking brake interface A and the second parking brake interface C can receive electrical circuit signals from the handbrake control of the drive-by-wire chassis 2. Here, the electrical circuit refers to a physical electrical circuit connected by wires, distinct from the logic circuits in the software control program.

[0132] The output of the upper controller 11 can be connected to a relay KA1, which has three or more contacts. Each relay contact is connected in series with the emergency stop circuit 4 of the above system to achieve automatic emergency stop.

[0133] When any emergency stop element 43 of the device is pressed, the remote control hard circuit will be cut off, and the handbrake will be pulled up via the IO signal to control the drive-by-wire chassis 2. After the remote control conditions are ready, the digital output port of the superstructure controller 11 outputs, the relay KA1 automatically engages, and correspondingly, the second normally open contact 47 closes, the third normally open contact 48 closes, and the third normally closed contact 49 opens, allowing the vehicle to move normally. When an emergency stop, communication failure, or program logic failure occurs, DO1 = 0, KA1 loses power, and correspondingly, the second normally open contact 47 opens, the third normally open contact 48 opens, and the third normally closed contact 49 closes, cutting off the remote control hard circuit and automatically pulling up the handbrake.

[0134] Secondly, this disclosure provides a control method for an on-board inspection device based on the above embodiments, which in some embodiments includes:

[0135] Action and status feedback steps: The vehicle action command is sent to the body controller 21 through the control device, and the vehicle status information fed back by the body controller 21 is received and sent to the automatic guidance controller 12.

[0136] Steering status adjustment steps: The automatic guidance controller 12 determines the vehicle's steering adjustment information based on the vehicle status information, and sends the steering adjustment information to the body controller 21 through the control device to adjust the vehicle's steering and driving status.

[0137] In the control method of this embodiment, the control device can send the vehicle status information fed back by the body controller 21 to the automatic guidance controller 12. The automatic guidance controller 12 calculates the vehicle's steering adjustment information based on the vehicle status information, and automatically adjusts the vehicle's steering and walking state accordingly through the body controller 21. Thus, the vehicle-mounted inspection equipment can run along a predetermined movement trajectory. For example, during the scanning process, the vehicle-mounted inspection equipment needs to travel in a straight line. In reality, due to factors such as uneven road surfaces or control errors, the vehicle may deviate. By adjusting according to the vehicle's status information during the movement, the vehicle can run along the predetermined movement trajectory, ensuring the reliability and safety of the scanning.

[0138] Furthermore, the steer-by-wire chassis is equipped with an electronically controlled steering system that can directly control the steering wheel angle. Optionally, an angle sensor can be installed on the steering wheel, and the actual steering wheel angle is fed back to the automatic steering controller 12 for closed-loop control of the steering angle. This allows it to adapt to different steering angles and correction speeds, resulting in higher wheel steering control precision and easier adjustment of steering speed, significantly improving the control accuracy and response speed of the automatic steering system. In contrast, the pushrod steering solution requires a distance sensor installed on the pushrod to indirectly calculate the steering wheel angle by measuring the pushrod travel. Moreover, there is a free play at the connection between the steering wheel and the pushrod, leading to poorer steering control precision.

[0139] In some embodiments, the control device includes a main controller 13 and an upper-mount controller 11, and the action and status feedback steps include:

[0140] The main controller 13 receives external vehicle action commands.

[0141] The upper body controller 11 receives vehicle action commands and sends them to the body controller 21. At the same time, it receives vehicle status information fed back by the body controller 21 and sends it to the main controller 13 and the automatic guidance controller 12.

[0142] This embodiment enables the main controller 13 and the superstructure controller 11 to perform independent control functions. The superstructure controller 11 is equivalent to a signal relay controller, which can send the vehicle action commands sent by the main controller 13 to the body controller 21 to make the vehicle perform actions, and send the steering adjustment information sent by the automatic guidance controller 12 to the body controller 21 to make the vehicle correct its course. It can also transmit the vehicle status information sent by the body controller 21 to the main controller 13 and the automatic guidance controller 12 to perform corresponding driving control or other functions.

[0143] Therefore, the superstructure controller 11 serves as a data information exchange bridge between the drive-by-wire chassis vehicle 2 and the main controller 13 of the scanning equipment 1. It can reduce the impact on the operating speed of the body controller 21 and the automatic guidance controller 12. Functionally, they are independent of each other, preventing mutual interference and improving the reliability of the functions executed by each controller.

[0144] In some embodiments, the action and status feedback step further includes:

[0145] The upper controller 11 determines whether the action command is correct based on the current vehicle status information. If it is correct, the action command is sent to the body controller 21. If it is incorrect, the action command is returned to the main controller 13.

[0146] In this embodiment, after receiving the action command sent by the main controller 13, the upper body controller 11 adds a step to determine whether the action command is correct. Only when the action command matches the current state of the vehicle will it be sent to the body controller 21 for execution. If it is incorrect, the command will be returned to the main controller 13. This can prevent the vehicle from executing incorrect commands and improve the reliability of the on-board inspection equipment. In particular, when realizing remote unmanned operation, safety can be improved through automated judgment.

[0147] In some embodiments, the control method of this disclosure further includes:

[0148] The vehicle's fault information is sent to the main controller 13 via the upper controller 11;

[0149] The main controller 13 displays at least one of vehicle status information and fault information, and / or determines whether the vehicle is ready based on at least one of the vehicle status information and fault information.

[0150] This embodiment displays vehicle status and fault information through the main controller 13, allowing the operator to easily observe the movement status of the vehicle inspection equipment and take timely safety measures in case of abnormal conditions. Furthermore, the main controller 13 can determine whether the vehicle is ready based on the vehicle status information, and only issues action commands when the vehicle is ready.

[0151] In some embodiments, the control method further includes:

[0152] The vehicle movement command is remotely issued via transmitter 3;

[0153] The receiving component 14 receives vehicle action commands and sends them to the main controller 13.

[0154] This embodiment uses remote control to realize the remote movement function of the vehicle-mounted inspection equipment and remote steering, which facilitates the adjustment of the placement of the vehicle-mounted inspection equipment in the scanning area or the short-distance relocation function. Moreover, the upper-mounted controller 11 acts as a data interaction bridge between the wire-controlled chassis 2 and the main controller 13 of the scanning equipment 1, and can send the status of the wire-controlled chassis 2 to the remote control terminal, which is conducive to realizing remote and unmanned operation of the vehicle-mounted inspection equipment.

[0155] In some embodiments, the body controller 21 has a dual-channel parking brake interface and a remote control enable interface B. The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis 2, and the remote control enable interface B is used to control remote control enable. The system emergency stop circuit 4 in the on-board inspection equipment is connected to the dual-channel parking brake interface and the remote control enable interface B. The control method further includes:

[0156] After receiving a manual emergency stop signal, the system emergency stop circuit 4 de-energizes the remote control enable interface B to disable the remote control function and switches the power on / off states of the dual parking brake interfaces to enter the braking mode.

[0157] Automatic handbrake.

[0158] The process of disabling the remote control function and entering the braking mode is synchronized. The automatic handbrake can be applied after the automatic handbrake is applied, or it can be applied simultaneously with the two steps mentioned above.

[0159] In this embodiment, the system emergency stop circuit 4 is connected in series to the hardware interface of the body controller 21. That is, the system emergency stop circuit 4 is connected to the dual parking brake interface and remote control enable interface B of the body controller 21 itself. After the system emergency stop circuit 4 receives a manual emergency stop signal, it indicates that there is an abnormal situation or malfunction in the vehicle. The remote control function is disabled through linkage control, and the vehicle's braking function is activated and the handbrake is automatically applied. These safety protection mechanisms can ensure the safe and stable operation of the drive-by-wire chassis vehicle 2.

[0160] In some embodiments, the control method of this disclosure further includes:

[0161] In the event of a vehicle malfunction, an automatic emergency stop signal is issued through the control device to de-energize the remote control enable interface B, disabling the remote control function, and to switch the on / off states of the dual parking brake interfaces to enter braking mode.

[0162] This embodiment, based on the manual emergency stop function in the system's emergency stop circuit 4, adds an automatic emergency stop contact switch to achieve an automatic emergency stop function. Only when one of the emergency stop functions is active will the safety protection mechanism be activated, the remote control function be disabled, the vehicle's braking function be activated, and the handbrake be automatically engaged. By setting both manual and automatic 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-purpose 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 gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.

[0163] While this disclosure has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this disclosure. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This 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, comprising: The drive-by-wire chassis vehicle (2) includes a body controller (21) configured to cause the vehicle to perform actions; and The scanning device (1) includes a control device and an automatic guidance controller (12). The control device is configured to send vehicle action commands 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 vehicle's steering adjustment information based on the vehicle status information and send the steering adjustment information to the body controller (21) through the control device to adjust the vehicle's steering and driving state.

2. The vehicle-mounted inspection device according to claim 1, wherein, The control device includes: The main controller (13) is configured to receive external vehicle motion commands; and The superstructure controller (11) is configured to receive vehicle action commands 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 guidance controller (12).

3. The vehicle-mounted inspection device according to claim 2, wherein, The superstructure controller (11) is configured to determine whether the vehicle action command is correct based on the current vehicle status information. If it is correct, the vehicle action command is sent to the body controller (21). If it is incorrect, the vehicle action command is returned to the main controller (13).

4. The vehicle-mounted inspection device according to claim 3, wherein, The superstructure controller (11) is configured to send a life count and a checksum derived from the message content and the life count while sending the corresponding message to the body controller (21) for the vehicle action command; the body controller (21) is configured to verify the command content after receiving the command and execute it only after the vehicle action command is confirmed to be correct.

5. The vehicle-mounted inspection device according to any one of claims 2 to 4, wherein, The superstructure controller (11) is also configured to send vehicle fault information to the main controller (13), the fault information including first fault information of the drive-by-wire 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 the fault information, and / or 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 device according to any one of claims 2 to 5, wherein, The vehicle status information sent by the superstructure controller (11) to the automatic guidance controller (12) includes: steering angle, vehicle speed and direction of travel. The automatic guidance controller (12) is configured to send the superstructure controller (11) information on adjusting the steering angle, adjusting the direction and the second fault information of the automatic guidance controller (12).

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

8. The vehicle-mounted inspection device according to any one of claims 1 to 7, wherein, The vehicle has a switchable driver mode and a remote mode. In the driver mode, the body controller (21) is configured to receive driver input to cause the vehicle to perform actions. In the remote mode, the body controller (21) is configured to receive instructions from the control device to cause the vehicle to perform actions. The maximum speed limit of the vehicle in remote mode is lower than that in driver mode.

9. The vehicle-mounted inspection device according to any one of claims 1 to 8, wherein, The body controller (21) has a dual-channel parking brake interface and a remote control enable interface (B). The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis (2), and the remote control enable interface (B) is used to control the remote control enable. The vehicle-mounted inspection equipment includes a system emergency stop circuit (4), which is connected to the dual-path parking brake interface and the remote control enable interface (B). It is configured to de-energize the remote control enable interface (B) and disable the remote control function after receiving a manual emergency stop signal, and to switch the power on / off state of the dual-path parking brake interface to enter the braking mode and automatically engage the handbrake.

10. The vehicle-mounted inspection device according to claim 9, wherein, The system emergency stop circuit (4) includes: The first line (L1) is connected to the power interface (D) and the first parking brake interface (A) at its two ends respectively. The first line (L1) is provided with a first normally closed contact (44). The second line (L2) is connected at both ends to the power interface (D) and the remote control enable interface (B), respectively. The second line (L2) is provided with a second normally closed contact (45). The third line (L3) is connected to the power interface (D) and the second parking brake interface (C) at its two ends respectively, and the third line (L3) is provided with a first normally open contact (46); The vehicle-mounted inspection equipment also 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 conjunction to issue the manual emergency stop signal.

11. The vehicle-mounted inspection device according to claim 10, wherein, 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 by an automatic emergency stop signal issued by the control device.

12. A control method for the vehicle-mounted inspection equipment according to any one of claims 1 to 11, comprising: Action and status feedback steps: The vehicle action command is sent to the body controller (21) through the control device, and the vehicle status information fed back by the body controller (21) is received and sent to the automatic guidance controller (12); Steering status adjustment steps: The automatic guidance controller (12) determines the vehicle's steering adjustment information based on the vehicle status information, and sends the steering adjustment information to the body controller (21) through the control device to adjust the vehicle's steering and driving status.

13. The control method according to claim 12, wherein, The control device includes a main controller (13) and an upper-mount controller (11), and the action and status feedback steps include: The main controller (13) receives external vehicle action commands. The upper body controller (11) receives the vehicle action command and sends it to the body controller (21). At the same time, it receives the vehicle status information fed back by the body controller (21) and sends it to the main controller (13) and the automatic guidance controller (12).

14. The control method according to claim 13, wherein, The action and status feedback steps also include: The superstructure controller (11) determines whether the vehicle action command is correct based on the current vehicle status information. If it is correct, the vehicle action command is sent to the body controller (21). If it is incorrect, the vehicle action command is returned to the main controller (13).

15. The control method according to claim 13 or 14, further comprising: The vehicle's fault information is sent to the main controller (13) through the superstructure controller (11). The fault information includes the first fault information of the drive-by-wire chassis vehicle (2) and the second fault information of the automatic guidance controller (12). The main controller (13) displays at least one of the vehicle status information and the fault information, and / or determines whether the vehicle is ready based on at least one of the vehicle status information and the fault information.

16. The control method according to any one of claims 13 to 15, further comprising: The vehicle movement command is remotely transmitted via the transmitting component (3); The receiving component (14) receives the vehicle action command and sends it to the main controller (13).

17. The control method according to any one of claims 12 to 16, wherein, The vehicle body controller (21) has a dual-channel parking brake interface and a remote control enable interface (B). The dual-channel parking brake interface is used to control the parking brake of the drive-by-wire chassis (2), and the remote control enable interface (B) is used to control remote control enable. The system emergency stop circuit (4) in the on-board inspection equipment is connected to the dual-channel parking brake interface and the remote control enable interface (B). The control method further includes: After the system emergency stop circuit (4) receives a manual emergency stop signal, the remote control enable interface (B) is powered off to disable the remote control function, and the dual-path parking brake interface switches between power on and off states to enter the braking mode. Automatic handbrake.

18. The control method according to claim 17, further comprising: In the event of a vehicle malfunction, the control device sends an automatic emergency stop signal to de-energize the remote control enable interface (B) and disable the remote control function, and to switch the power on / off states of the dual-path parking brake interface to enter braking mode.

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