Inspection device

Abstract

The present disclosure relates to an inspection device, comprising: a first vehicle body (100) and a radiation source arranged in the first vehicle body (100); a second vehicle body (200) and a protective wall arranged on the second vehicle body (200); and an arm frame (400) and a plurality of detectors arranged on the arm frame (400); wherein the arm frame (400) is rotatably connected to the first vehicle body (100) and the second vehicle body (200), respectively, and is used to form an inspection channel together with the first vehicle body (100) and the second vehicle body (200). The embodiments of the present disclosure can improve adaptability.

Description

Technical Field

[0001] The present disclosure relates to the field of detection technology, and in particular to an inspection device. Background Art

[0002] In some related technologies, when inspecting the inspected goods / vehicles, the combined cargo / vehicle inspection system needs to move longitudinally along the track to complete the overall scanning of the goods / vehicles with a certain width. This inspection system requires laying tracks on the site, so there are civil engineering requirements for the site, which limits the scope of application and the construction cost is relatively high. In addition, this inspection system is relatively large in size and is not easy to transfer and transport.

[0003] In other related technologies, when a vehicle-mounted cargo / vehicle inspection system inspects the inspected cargo / vehicle, the vehicle carrying the inspection equipment moves longitudinally under control to complete the overall scanning of the cargo / vehicle with a certain width. This inspection system is limited by the vehicle's own movement ability and is difficult to adjust in some space-constrained environments (such as narrow venues, etc.), so it also has certain adaptability issues. Summary of the invention

[0004] In view of this, an embodiment of the present disclosure provides an inspection device that can improve adaptability.

[0005] In one aspect of the present disclosure, there is provided an inspection device, comprising:

[0006] A first vehicle body and a radiation source disposed in the first vehicle body;

[0007] A second vehicle body and a protective wall disposed on the second vehicle body; and

[0008] An arm and a plurality of detectors arranged on the arm;

[0009] Wherein, the arm is rotatably connected to the first vehicle body and the second vehicle body respectively, and is used to form an inspection channel together with the first vehicle body and the second vehicle body.

[0010] In some embodiments, the inspection device further comprises:

[0011] A first driving wheel is provided on the first vehicle body and is used to realize the steering and movement of the first vehicle body; and / or

[0012] The second driving wheel is arranged on the second vehicle body and is used for realizing the steering and moving of the second vehicle body.

[0013] In some embodiments, the arm comprises:

[0014] A first vertical arm, connected to the first vehicle body and rotatable around a vertical axis;

[0015] A second vertical arm, connected to the second vehicle body and rotatable around a vertical axis;

[0016] A connecting arm, both ends of which are respectively connected to the first vertical arm and the second vertical arm, and at least one end of which is rotatably connected;

[0017] A first detection arm, fixedly connected to the connecting arm; and

[0018] A second detection arm, rotatably connected to the connecting arm or the first detection arm, and configured to be extended toward a side close to the second vertical arm or retracted toward a side close to the connecting arm or the second detection arm according to working conditions;

[0019] Wherein, the multiple detectors are respectively installed on the first detection arm and the second detection arm.

[0020] In some embodiments, a scanning plane from the radiation source to the plurality of detectors rotates with the arm relative to the first vehicle body and the second vehicle body.

[0021] In some embodiments, the boom is liftable relative to the first vehicle body and the second vehicle body.

[0022] In some embodiments, the switching of different operating states of the inspection device is achieved by adjusting the height and rotational position of the arm relative to the first vehicle body and the second vehicle body.

[0023] In some embodiments, the operating state includes a scanning inspection state and a non-scanning inspection state, and the arm is configured to be at a first height h1 in the scanning inspection state and at a second height h2 in the non-scanning inspection state, and the first height h1 is greater than the second height h2.

[0024] In some embodiments, the scanning inspection state includes a first scanning inspection state and a second scanning inspection state. In the first scanning inspection state, the plane where the arm is located is perpendicular to the surfaces on the opposite sides of the first vehicle body and the second vehicle body to achieve vertical scanning, and in the second scanning inspection state, the plane where the arm is located forms a preset first acute angle α1 with the surfaces on the opposite sides of the first vehicle body and the second vehicle body to achieve scanning at a preset angle.

[0025] In some embodiments, the non-scanning inspection state includes a transition state and a transport state. In the transition state, the plane where the arm is located is perpendicular to the surfaces on the opposite sides of the first vehicle body and the second vehicle body, and in the transport state, it forms a preset second acute angle α2 with the surfaces on the opposite sides of the first vehicle body and the second vehicle body.

[0026] In some embodiments, the plane where the arm is located forms a preset second acute angle α2 with the surfaces on the opposite sides of the first vehicle body and the second vehicle body in the transport state, and the first acute angle α1 is greater than the second acute angle α2, and the distance D3 between the first vehicle body and the second vehicle body in the transport state is smaller than the distance D1 between the first vehicle body and the second vehicle body in the transfer state.

[0027] In some embodiments, the first drive wheel is rotatably disposed on the first vehicle body via a first swing shaft, and the first drive wheel can rotate freely around the first swing shaft; the second drive wheel is rotatably disposed on the second vehicle body via a second swing shaft, and the second drive wheel can rotate freely around the second swing shaft.

[0028] In some embodiments, an energy supply mechanism is provided in the first vehicle body and / or the second vehicle body for supplying energy to the inspection device.

[0029] In some embodiments, the inspection device further comprises:

[0030] A first rotation driving mechanism is provided between the arm and the first vehicle body, and is used for driving the arm to rotate relative to the first vehicle body; and / or

[0031] The second rotation driving mechanism is arranged between the arm and the second vehicle body, and is used for driving the arm to rotate relative to the second vehicle body.

[0032] In some embodiments, the inspection device further comprises:

[0033] a first lifting drive mechanism, disposed between the arm and the first vehicle body, and configured to drive the arm to rise and fall relative to the first vehicle body; and / or

[0034] The second lifting drive mechanism is arranged between the arm and the second vehicle body, and is used for driving the arm to rise and fall relative to the second vehicle body.

[0035] In some embodiments, the connecting arm includes a telescopic device for driving the connecting arm to change its length through a telescopic movement.

[0036] In some embodiments, a connecting bracket is provided between the connecting arm and at least one of the first vertical arm and the second vertical arm, and the connecting bracket can form at least one fitting gap with the connecting arm, the first vertical arm and / or the second vertical arm.

[0037] Therefore, according to the embodiment of the present disclosure, a radiation source and a protective wall are respectively provided on the first vehicle body and the second vehicle body, and a plurality of detectors are provided on the arm frame rotatably connected to the first vehicle body and the second vehicle body, so that the arm frame and the first vehicle body and the second vehicle body together form an inspection channel. By rotating the arm frame relative to the first vehicle body and the second vehicle body, the relative position between the first vehicle body and the second vehicle body can be adjusted to meet different environmental requirements and working conditions, thereby improving adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0040] Figure 1 (a) and Figure 1 (b) are schematic structural diagrams of some embodiments of the inspection device according to the present disclosure at a front viewing angle and a top viewing angle;

[0041] Figure 2 is a schematic structural diagram of some embodiments of the inspection device according to the present disclosure when in a transition state;

[0042] Figure 3 (a) and Figure 3 (b) are schematic structural diagrams of some embodiments of the inspection device of the present disclosure in a small-angle scanning inspection state at a front viewing angle and a top viewing angle, respectively;

[0043] Figure 4 (a) and Figure 4 (b) are schematic structural diagrams of some embodiments of the inspection device of the present disclosure in a transport state from a front perspective and a top perspective, respectively.

[0044] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0045] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps described in these embodiments should be interpreted as being merely exemplary and not as a limitation.

[0046] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other device without an intermediate device, or may not be directly connected to the other device but have an intermediate device.

[0048] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0050] like Figure 1 (a) and Figure 1 (b) are schematic diagrams of the structures of some embodiments of the inspection device according to the present disclosure at a front view angle and a top view angle. Figure 1 (a) and Figure 1 (b), in some embodiments, the inspection device includes: a first vehicle body 100, a second vehicle body 200, an arm 400, a radiation source, a protective wall, and a plurality of detectors. The radiation source is disposed in the first vehicle body 100. The protective wall is disposed on the second vehicle body 200. A plurality of detectors are disposed on the arm 400. The arm 400 is rotatably connected to the first vehicle body 100 and the second vehicle body 200, respectively, and is used to form an inspection channel together with the first vehicle body 100 and the second vehicle body 200.

[0051] The radiation source in the inspection device emits radiation toward one side of the second vehicle body, and the detector can receive the radiation passing through the inspected object. By scanning multiple consecutive cross sections of the inspected object, a scanned image of the inspected object can be formed, which can be used in scenarios such as security inspection or internal quality inspection. The inspected vehicle or cargo can be stationary, and the inspection device moves relative to the inspected vehicle or cargo so that the inspected vehicle or cargo passes through the inspection channel formed by the arm and the first vehicle body and the second vehicle body. Alternatively, the inspection device is stationary, and the inspected vehicle or cargo passes through the inspection channel formed by the arm and the first vehicle body and the second vehicle body by itself.

[0052] In this embodiment, the relative position between the first vehicle body 100 and the second vehicle body 200 can be adjusted by rotating the boom 400 relative to the first vehicle body 100 and the second vehicle body 200 to meet different environmental requirements and working conditions, thereby improving adaptability. In order to realize the rotation of the boom 400 relative to the first vehicle body 100 and the second vehicle body 200, a first rotation drive mechanism can be provided between the boom 400 and the first vehicle body 100 to drive the boom 400 to rotate relative to the first vehicle body. The second vehicle body 200 can rotate relative to the boom 400 as the boom 400 rotates. In other embodiments, a second rotation drive mechanism can also be provided between the boom 400 and the second vehicle body 200 to drive the boom 400 to rotate relative to the second vehicle body 200. The first vehicle body 100 can rotate relative to the boom 400 as the boom 400 rotates. In some other embodiments, a first rotation drive mechanism may be provided between the arm 400 and the first vehicle body 100, and a second rotation drive mechanism may be provided between the arm 400 and the second vehicle body 200. Each of the above rotation drive mechanisms may be an electric motor, a hydraulic motor or a pneumatic motor.

[0053] refer to Figure 1 (a), in some embodiments, in order to realize the walking and turning of the first vehicle body 100, the inspection device may further include a first driving wheel 310. The first driving wheel 310 is arranged on the first vehicle body 100, and is used to realize the turning and walking of the first vehicle body 100. In addition to being able to rotate around its own rotation axis to realize the travel of the first vehicle body 100, the first driving wheel 310 can also be rotatably arranged on the first vehicle body 100 through a first swing axis, and freely rotate around the first swing axis to realize 360-degree all-round turning. In this way, by driving the first driving wheel 310 to swing around the first swing axis, the turning of the first vehicle body 100 can be realized.

[0054] Similarly, in order to realize the walking and turning of the second vehicle body 200, the inspection device may further include a second driving wheel 320. The second driving wheel 320 is arranged on the second vehicle body 200, and is used to realize the turning and walking of the second vehicle body 200. In addition to being able to rotate around its own rotation axis to realize the travel of the second vehicle body 200, the second driving wheel 320 can also be rotatably arranged on the second vehicle body 200 through a second swing axis, and freely rotate around the second swing axis to realize 360-degree all-round turning. In this way, by driving the second driving wheel 320 to swing around the second swing axis, the turning of the second vehicle body 200 can be realized.

[0055] The first driving wheel 310 and the second driving wheel 320 can be running wheels that can move freely on the road, so as to realize convenient transfer operation and save the cost of civil engineering. In other embodiments, the first driving wheel 310 and the second driving wheel 320 can also be track wheels that move on tracks.

[0056] The first driving wheel 310 and / or the second driving wheel 320 can be disassembled relative to the first vehicle body 100 and the second vehicle body 200, respectively, so as to reduce the height during transportation, or replace the driving wheel as needed. In other embodiments, the first driving wheel 310 and / or the second driving wheel 320 can also be non-detachable relative to the first vehicle body 100 and the second vehicle body 200, respectively, to simplify the installation or transportation process. In addition, the inspection device can also include only the first driving wheel 310 or the second driving wheel 320. The inspection device can also include a driven wheel that is not directly driven, etc.

[0057] exist Figure 1 In (a), the arm 400 may include: a first vertical arm 410, a second vertical arm 420, a connecting arm 430, a first detection arm 440 and a second detection arm 450. The first vertical arm 410 is connected to the first vehicle body 100 and is rotatable around an axis in a vertical direction. The second vertical arm 420 is connected to the second vehicle body 200 and is rotatable around an axis in a vertical direction. In this way, the first vertical arm 410 and the second vertical arm 420 can each rotate to different angular positions relative to the first vehicle body 100 and the second vehicle body 200.

[0058] The two ends of the connecting arm 430 are respectively connected to the first vertical arm 410 and the second vertical arm 420, and at least one end is connected in a rotatable manner. Through the rotatable connection of the connecting arm 430, the first vehicle body 100 and the second vehicle body 200 can achieve relative translation as the connecting arm 430 swings, or the connecting arm 430 swings as the first vehicle body 100 and the second vehicle body 200 move relative to each other.

[0059] The first detection arm 440 is fixedly connected to the connecting arm 430. The second detection arm 450 is rotatably connected to the connecting arm 430 or the first detection arm 440, and is used to be deployed toward the side close to the second vertical arm 420 or to be retracted toward the side close to the connecting arm 430 or the second detection arm 450 according to the working conditions. The multiple detectors are respectively mounted on the first detection arm 440 and the second detection arm 450. For example, when inspection is required, the second detection arm 450 can be deployed to the side of the second vertical arm 420 so as to receive the radiation emitted by the radiation source together with the first detection arm 440; and when transfer or overall transportation is required, the detection arm 440 can be retracted to the side of the first detection arm 440 so as not to interfere with the lifting and lowering movement of the arm frame 400.

[0060] In some embodiments, the connecting arm 430 includes a telescopic device for driving the connecting arm 430 to change its length through telescopic motion. The telescopic device can be a hydraulic cylinder, a pneumatic cylinder, a pulley set, a ball screw, etc. By extending the telescopic device, the distance between the two ends of the connecting arm 430 can be increased, so that the distance between the vehicle bodies to which the first vertical arm 410 and the second vertical arm 420 are respectively connected is increased, thereby meeting the detection requirements of wider objects to be inspected. Conversely, the distance between the two ends of the connecting arm 430 can be reduced by retracting the telescopic device, so that the distance between the vehicle bodies to which the first vertical arm 410 and the second vertical arm 420 are respectively connected is reduced, thereby reducing the space occupied by the inspection device.

[0061] In addition, in order to enable the inspection device to adapt to uneven ground conditions during travel, a connecting bracket may be provided between the connecting arm 430 and at least one of the first vertical arm 410 and the second vertical arm 420. The connecting bracket can form at least one matching gap with the connecting arm 430, and can also form at least one matching gap with the first vertical arm 410 or the second vertical arm 420. If the connecting arm 430 and both the first vertical arm 410 and the second vertical arm 420 are provided with a connecting bracket, at least one matching gap may be formed between the connecting bracket and each of the first vertical arm 410 and the second vertical arm 420. When one side of the wheel of the inspection device tilts up or sinks during travel, the matching gap may absorb the force caused by the different heights of the wheels on both sides, protect the arm in the inspection device, and ensure the imaging quality.

[0062] In other embodiments of the inspection device disclosed herein, the arm 400 can not only rotate relative to the first vehicle body 100 and the second vehicle body 200, but can also be raised and lowered relative to the first vehicle body 100 and the second vehicle body 200. In this way, the switching of different operating states of the inspection device can be achieved by adjusting the height and rotation position of the arm 400 relative to the first vehicle body 100 and the second vehicle body 200.

[0063] In order to realize the lifting and lowering of the boom 400 relative to the first vehicle body 100 and the second vehicle body 200, a first lifting drive mechanism may be further provided between the boom 400 and the first vehicle body 100, for driving the boom 400 to be lifted and lowered relative to the first vehicle body 100. The second vehicle body 200 can adjust the distance relative to the boom 400 as the boom 400 is lifted and lowered. In other embodiments, a second lifting drive mechanism may be further provided between the boom 400 and the second vehicle body 200, for driving the boom 400 to be lifted and lowered relative to the second vehicle body 200. The first vehicle body 100 can adjust the distance relative to the boom 400 as the boom 400 is lifted and lowered. In addition, in other embodiments, a first lifting drive mechanism may be provided between the boom 400 and the first vehicle body 100, and a second lifting drive mechanism may be provided between the boom 400 and the second vehicle body 200. Each of the above lifting drive mechanisms may adopt a pulley block, a cylinder, an oil cylinder or a linear motor.

[0064] For example, the operating state of the inspection device may include a scanning inspection state and a non-scanning inspection state. Figure 1 In the scanning inspection state, the arm 400 can be at a first height h1 to allow the vehicle or cargo to be inspected to pass through. In the non-scanning inspection state, the arm 400 can be lowered to a second height h2. Here, the first height h1 is greater than the second height h2. In this way, the inspection device can be transferred or loaded for transportation at a lower height.

[0065] like Figure 3 (a) and Figure 3 (b) are schematic diagrams of the structure of some embodiments of the inspection device of the present disclosure in a small-angle scanning inspection state at a front view and a top view. Figure 3 (b), the scanning plane from the radiation source to the plurality of detectors rotates with the arm 400 relative to the first vehicle body 100 and the second vehicle body 200. In this way, when the scanning angle needs to be adjusted, the driving arm 400 can be rotated by a preset angle relative to the first vehicle body 100 and the second vehicle body 200.

[0066] For example, the scanning inspection state may include a first scanning inspection state and a second scanning inspection state. In the first scanning inspection state, the plane where the arm 400 is located may be perpendicular to the surfaces of the opposite sides of the first vehicle body 100 and the second vehicle body 200 (reference Figure 1 (b)) to achieve vertical scanning. In the second scanning inspection state, the plane where the arm 400 is located can form a preset first acute angle α1 with the surface of the opposite side of the first vehicle body 100 and the second vehicle body 200 to achieve scanning at a preset angle. By combining vertical scanning and scanning at a preset angle, scanning images of the inspected object at different angles can be obtained, thereby facilitating identification by the staff.

[0067] As the rotation angle of the arm 400 relative to the first vehicle body 100 and the second vehicle body 200 changes, the distance between the first vehicle body 100 and the second vehicle body 200 can be changed from the larger distance D1 to D2. Both the distances D1 and D2 can allow the inspected object to pass through.

[0068] For the inspection device, the non-scanning inspection state includes the transition state and the transportation state. In the transition state, the inspection device can move within the site or between different sites through its own walking mechanism (such as the first driving wheel and the second driving wheel respectively provided on the first vehicle body and the second vehicle body). In the transportation state, the inspection device can be loaded into a transport vehicle, a ship or an aircraft for transportation.

[0069] refer to Figure 2 When the inspection device is in the transfer state, the plane where the arm 400 is located can be perpendicular to the surfaces of the opposite sides of the first vehicle body 100 and the second vehicle body 200, so that the inspection device can be more balanced when walking and is not prone to tilting. At this time, the arm 400 can also be lowered to a lower height h2 to increase the passing capacity of the inspection device during the transfer.

[0070] refer to Figure 4 (a) and Figure 4 (b), when preparing to transport the inspection device, the plane where the arm 400 is located and the surface on the opposite side of the first car body 100 and the second car body 200 can form a preset second acute angle α2, and the second acute angle α2 is smaller than the first acute angle α1 between the plane where the arm 400 is located and the surface on the opposite side of the first car body 100 and the second car body 200 in the second scanning inspection state of the inspection device. In addition, in the transportation state, the distance D3 between the first car body 100 and the second car body 200 can be smaller than the distance D1 between the first car body 100 and the second car body 200 in the transfer state. In this way, the first car body 100 is closer to the second car body 200, thereby reducing the space occupied by the inspection device in the width direction. At this time, the arm 400 can also be lowered to a lower height h2 to reduce the space occupied by the inspection device in the height direction.

[0071] In the above-mentioned embodiment of the inspection device, the rotation of the arm frame 400 relative to the first vehicle body 100 and the second vehicle body 200 can be achieved by driving the arm frame 400 to rotate. For example, the first vehicle body 100 is kept stationary, and the first vertical arm 410 is driven to rotate forward. The second vertical arm 410 drives the connecting arm 430 to rotate, and the end of the connecting arm 430 close to the second vertical arm 420 moves with the rotation of the connecting arm 430, and drives the second vertical arm 420 and the second vehicle body 200 to move forward. In other embodiments of the inspection device, it can also be achieved by driving the relative movement between the first vehicle body 100 and the second vehicle body 200. For example, the first vehicle body 100 is kept stationary, and the second vehicle body 200 is moved forward, thereby driving the arm frame 400 to rotate.

[0072] In order to simplify the inspection device and realize rapid transition, in some embodiments, the inspection device may not be connected to an external power supply. Accordingly, an energy supply mechanism may be provided in the first vehicle body 100 and / or the second vehicle body 200 to realize energy supply of the inspection device. The energy supply mechanism may include a battery or a generator to realize power supply in the inspection device. The energy supply mechanism may also include a supply device using fuel or steam as an energy source.

[0073] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0074] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An inspection device, characterized in that: include: A first vehicle body (100) and a radiation source arranged in the first vehicle body (100); A second vehicle body (200) and a protective wall provided on the second vehicle body (200); and An arm (400) and a plurality of detectors arranged on the arm (400); The arm frame (400) is rotatably connected to the first vehicle body (100) and the second vehicle body (200) respectively, and is used to form an inspection channel together with the first vehicle body (100) and the second vehicle body (200); the arm frame (400) comprises: A first vertical arm (410) connected to the first vehicle body (100) and rotatable around an axis in a vertical direction; A second vertical arm (420) connected to the second vehicle body (200) and rotatable around an axis in a vertical direction; The connecting arm (430) has two ends respectively connected to the first vertical arm (410) and the second vertical arm (420), and at least one end is connected in a rotatable manner.

2. The inspection device according to claim 1, characterized in that: Also includes: a first driving wheel (310), arranged on the first vehicle body (100), and used to realize the steering and movement of the first vehicle body (100); and / or The second driving wheel (320) is arranged on the second vehicle body (200) and is used to realize the steering and movement of the second vehicle body (200).

3. The inspection device according to claim 1, characterized in that: The arm (400) further comprises: A first detection arm (440) is fixedly connected to the connecting arm (430); and a second detection arm (450) rotatably connected to the connecting arm (430) or the first detection arm (440), and configured to be extended toward a side close to the second vertical arm (420) or folded toward a side close to the connecting arm (430) or the second detection arm (450) according to working conditions; Wherein, the plurality of detectors are respectively mounted on the first detection arm (440) and the second detection arm (450).

4. The inspection device according to claim 1, characterized in that: The scanning plane from the ray source to the plurality of detectors rotates with the arm (400) relative to the first vehicle body (100) and the second vehicle body (200).

5. The inspection device according to claim 1, characterized in that: The arm (400) is liftable relative to the first vehicle body (100) and the second vehicle body (200).

6. The inspection device according to claim 5, characterized in that: The switching of different operating states of the inspection device is achieved by adjusting the height and rotational position of the arm (400) relative to the first vehicle body (100) and the second vehicle body (200).

7. The inspection device according to claim 6, characterized in that: The operating state comprises a scanning inspection state and a non-scanning inspection state, the arm (400) is configured to be at a first height h1 in the scanning inspection state and at a second height h2 in the non-scanning inspection state, the first height h1 being greater than the second height h2.

8. The inspection device according to claim 7, characterized in that: The scanning inspection state comprises a first scanning inspection state and a second scanning inspection state, wherein in the first scanning inspection state, the plane where the arm (400) is located is perpendicular to the surfaces on the opposite sides of the first vehicle body (100) and the second vehicle body (200) to achieve vertical scanning, and in the second scanning inspection state, the plane where the arm (400) is located forms a preset first acute angle α1 with the surfaces on the opposite sides of the first vehicle body (100) and the second vehicle body (200) to achieve scanning at a preset angle.

9. The inspection device according to claim 7, characterized in that: The non-scanning inspection state includes a transition state and a transport state. In the transition state, the plane where the arm (400) is located is perpendicular to the surfaces of the opposite sides of the first vehicle body (100) and the second vehicle body (200), and in the transport state, the plane where the arm (400) is located is at a preset second acute angle α2 with the surfaces of the opposite sides of the first vehicle body (100) and the second vehicle body (200).

10. The inspection device according to claim 9, characterized in that: The scanning inspection state comprises a second scanning inspection state, in which the plane where the arm (400) is located forms a preset first acute angle α1 with surfaces on opposite sides of the first vehicle body (100) and the second vehicle body (200), and the first acute angle α1 is greater than the second acute angle α2, and in the transport state, a distance D3 between the first vehicle body (100) and the second vehicle body (200) is less than a distance D1 between the first vehicle body (100) and the second vehicle body (200) in the transfer state.

11. The inspection device according to claim 2, characterized in that: The first driving wheel (310) is rotatably disposed on the first vehicle body (100) via a first swing axis, and the first driving wheel (310) is capable of freely rotating around the first swing axis; the second driving wheel (320) is rotatably disposed on the second vehicle body (200) via a second swing axis, and the second driving wheel (320) is capable of freely rotating around the second swing axis.

12. The inspection device according to claim 1, characterized in that: An energy supply mechanism is provided in the first vehicle body (100) and / or the second vehicle body (200) for supplying energy to the inspection device.

13. The inspection device according to claim 1, characterized in that: Also includes: a first rotation driving mechanism, disposed between the arm (400) and the first vehicle body (100), and used for driving the arm (400) to rotate relative to the first vehicle body (100); and / or A second rotation drive mechanism is arranged between the arm frame (400) and the second vehicle body (200), and is used to drive the arm frame (400) to rotate relative to the second vehicle body (200).

14. The inspection device according to claim 5, characterized in that: Also includes: a first lifting drive mechanism, arranged between the arm (400) and the first vehicle body (100), and used for driving the arm (400) to lift and lower relative to the first vehicle body (100); and / or A second lifting drive mechanism is arranged between the arm (400) and the second vehicle body (200), and is used for driving the arm (400) to lift and lower relative to the second vehicle body (200).

15. The inspection device according to claim 3, characterized in that: The connecting arm (430) comprises a telescopic device, which is used to drive the connecting arm (430) to change its length through a telescopic movement.

16. The inspection device according to claim 1 or 3, characterized in that: A connecting bracket is provided between the connecting arm (430) and at least one of the first vertical arm (410) and the second vertical arm (420), and the connecting bracket is capable of forming at least one matching gap with the connecting arm (430), the first vertical arm (410) and / or the second vertical arm (420).

Images