Swing arm structure motion control method and swing device

The invention relates to the technical field of swing structures and container inspection equipment, in particular to a swing arm structure motion control method and a swing device. The motion control method for the swing arm structure comprises the following steps of: uniformly dividing a track; a time calculation step; a function relation obtaining step; a detection head coordinate acquisition step; acquiring the speed of the detection head; obtaining the speed of a lead screw seat; and a lead screw seat control step. The detection head serves as an empty container detection device to check a container, the average speed Vcn of the current section of the lead screw base is obtained through the method, the lead screw base moves along the guide rail at the average speed Vcn of the current section of the lead screw base so as to drive the detection head to swing, and therefore the purpose that the detection head is driven to be close to the container is achieved. 本发明涉及摆动结构及集装箱检查设备技术领域，尤其涉及一种摆臂结构运动控制方法及摆动装置。其中，