A movable scanning device

Abstract

The present invention discloses a movable scanning device, comprising: a portal frame including a horizontal beam at the top and two vertical beams located on either side of the horizontal beam and connected to the horizontal beam; an object detection assembly based on radiation imaging, at least partially disposed on the portal frame and capable of detecting objects passing through the portal frame; wheeled ground running devices, respectively disposed at the lower ends of the two vertical beams, capable of causing the movable scanning device to move and turn relative to the ground through its own running motion; and a connecting bracket, connected to the upper end of at least one of the two vertical beams for supporting and connecting the horizontal beam, the connecting bracket being capable of forming at least one mating gap with each of the two vertical beams and / or the horizontal beam. The movable scanning device provided by the present invention can adapt to uneven ground conditions and ensure the imaging quality of the objects to be inspected.

Description

Technical Field

[0001] The present invention relates to the field of security detection, and in particular to a movable scanning device. Background Art

[0002] Currently, security inspections of objects are mostly based on the principle of radiation imaging, which obtains information such as the internal structure and density of an object without damaging it. This method is widely used in various security inspection scenarios, such as stations, airports, and docks. Radiation imaging-based scanning devices offer two scanning methods: one in which the inspection device is stationary while the object being inspected moves through the scanning area, scanning the object. The other in which the object being inspected is stationary while the inspection device moves, scanning the object through the scanning area.

[0003] Using mobile scanning equipment for security inspections overcomes site limitations and allows for flexible relocation of the entire inspection system, offering greater adaptability. However, since the inspection equipment must remain mobile while scanning and imaging the objects being inspected, surface conditions can significantly impact image quality. Images are often poor on bumpy or gravelly surfaces, making it difficult for inspectors to accurately determine the composition of the objects being inspected. Furthermore, prolonged security inspections on poorly maintained surfaces can even cause varying degrees of damage to the scanning equipment. Summary of the Invention

[0004] At least one object of the present invention is to provide a mobile scanning device that can adapt to uneven ground conditions and ensure the quality of imaging of the object to be inspected. The various technical effects that can be produced by the preferred technical solution among the various technical solutions provided by the present invention are described in detail below.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] The present invention provides a movable scanning device, comprising: a portal frame, comprising a horizontal beam located at the top, and two vertical beams located on both sides of the horizontal beam and connected to the horizontal beam; an article detection component based on radiation imaging, at least partially arranged on the portal frame, capable of detecting articles passing through the portal frame; a wheeled ground walking device, respectively arranged at the lower ends of the two vertical beams, capable of making the movable scanning device walk and turn relative to the ground through its own walking movement; and a connecting bracket, connected to the upper end of at least one of the two vertical beams, for supporting and connecting the horizontal beam, and the connecting bracket can form at least one matching gap with the two vertical beams and / or the horizontal beam respectively.

[0007] As an optimization of any technical solution or any optimized technical solution provided above or below the present invention, the connecting bracket includes: a fixing portion, which forms a fixed connection with the horizontal beam; and a snap-fit ​​portion, which is arranged at the lower end of the fixing portion and can form a snap-fit ​​connection with the two vertical beams respectively.

[0008] As an optimization of any technical solution or any optimized technical solution provided above or below in the present invention, the fitting gap includes: a first gap formed in the horizontal direction between the outer surface of the vertical beam and the inner surface of the locking portion.

[0009] As an optimization of any technical solution or any optimized technical solution provided in the foregoing or later parts of the present invention, a first through hole is provided on the locking portion, and the opening direction of the first through hole is parallel to the length direction of the horizontal beam; a second through hole is provided at the upper end of the vertical beam, and the opening direction of the second through hole is parallel to the opening direction of the first through hole; the connecting bracket includes: a connecting through shaft, which is used to pass through the first through hole and the second through hole when the vertical beam is in a locked connection state with the locking portion.

[0010] As an optimization of any technical solution or any optimized technical solution provided above or below in the present invention, the fitting gap includes: a second gap formed between the second through hole and the fitting surface of the connecting through shaft.

[0011] As an optimization of any technical solution or any optimized technical solution provided above or below in the present invention, the fitting gap includes: a third gap formed in the vertical direction between the vertical beam and the engaging interface.

[0012] As an optimization of any technical solution or any optimized technical solution provided above or below in the present invention, the third gap is determined by the size of the wheeled ground walking device and the state of the ground on which the movable scanning device walks.

[0013] As an optimization of any technical solution or any optimized technical solution provided in the foregoing or later texts of the present invention, a first through hole is provided on the locking portion, and the opening direction of the first through hole is parallel to the length direction of the horizontal beam; two connecting holes are provided on the two side surfaces of the upper end of the vertical beam, and the opening directions of the two connecting holes are parallel to the opening direction of the first through hole; the connecting bracket includes: two connecting short shafts, which are used to pass through the first through hole and be connected to one of the two connecting holes when the vertical beam is in a locked connection state with the locking portion.

[0014] As an optimization of any technical solution or any optimized technical solution provided in the foregoing or later parts of the present invention, the ground walking device includes: a wheel frame; at least two wheels, which are respectively arranged on the front and rear sides of the wheel frame relative to the crossbeam; and a walking drive device, which can drive the at least two wheels to rotate around the wheel axle to realize the walking of the wheeled ground walking device, and can also drive the wheels to swing relative to the wheel frame to realize the steering of the wheeled ground walking device.

[0015] As an optimization of any technical solution or any optimized technical solution provided above or below the present invention, the article detection component includes: a ray cabin, arranged on one of the two vertical beams, the ray cabin including a ray source, capable of emitting detection rays to scan articles passing through the portal frame; a detector, arranged on at least one of the two vertical beams and / or the horizontal beam, capable of detecting the transmission signal or scattered signal of the detection ray on the article for scanning and imaging; and a protective wall, arranged on the other of the two vertical beams.

[0016] Based on the above technical solution, the embodiment of the present invention forms at least one gap between the connecting bracket and the horizontal beam and / or the two vertical beams, so that the movable scanning device provided by the present invention can adapt to uneven ground conditions and ensure the imaging quality of the object to be inspected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a movable scanning device provided by an embodiment of the present invention from a front view angle;

[0019] Figure 2 A schematic diagram of the side view structure of the movable scanning device provided by an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the movable scanning device connection bracket provided by an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of a movable scanning device connecting bracket provided by another embodiment of the present invention.

[0022] Figure numerals: 1. horizontal beam, 2. vertical beam, 21. second through hole, 3. connecting bracket, 31. fixing part, 32. engaging part, 321. first through hole, 4. object detection component, 5. wheeled ground walking device, 6. through shaft, 71. first gap, 72. second gap, 73. third gap, 8. connecting short shaft. DETAILED DESCRIPTION

[0023] The following drawings and text can be used to understand the content of the present invention and the differences between the present invention and the prior art. The following is a further detailed description of the technical solutions of the present invention (including preferred technical solutions) by means of drawings and listing some optional embodiments of the present invention.

[0024] It should be noted that any technical feature and any technical solution in this embodiment are one or more of multiple optional technical features or optional technical solutions. For the sake of brevity, this document cannot list all the alternative technical features and alternative technical solutions of the present invention, nor is it convenient to emphasize that the implementation method of each technical feature is one of the multiple optional implementation methods. Therefore, those skilled in the art should know that any technical means provided by the present invention can be replaced or any two or more technical means or technical features provided by the present invention can be combined with each other to obtain a new technical solution.

[0025] Any technical features and any technical solutions in this embodiment do not limit the scope of protection of the present invention. The scope of protection of the present invention should include any alternative technical solutions that can be thought of by those skilled in the art without creative work, as well as new technical solutions obtained by those skilled in the art by combining any two or more technical means or technical features provided by the present invention.

[0026] The following is combined with Figures 1 to 4 The technical solution provided by the present invention is described in more detail.

[0027] like Figure 1 、 2 As shown, the present invention provides a movable scanning device, which is characterized in that it includes: a portal frame, including a horizontal beam 1 located at the top, and two vertical beams 2 located on both sides of the horizontal beam 1 and connected to the horizontal beam 1; an article detection component 4 based on radiation imaging, which is at least partially arranged on the portal frame and can detect articles passing through the portal frame; a wheeled ground walking device 5, which is respectively arranged at the lower ends of the two vertical beams 2 and can make the movable scanning device walk and turn relative to the ground through its own walking movement; and a connecting bracket 3, which is connected to the upper end of at least one of the two vertical beams and is used to support and connect the horizontal beam 1, and the connecting bracket 3 can form at least one matching gap with the two vertical beams 2 and / or the horizontal beam 1 respectively.

[0028] The radiation imaging-based object detection assembly 4 utilizes radiation to observe the interior of an object. This assembly can obtain information such as the internal structure and density of an object without damaging it, and is currently widely used for security checks at stations, docks, and airports. This embodiment of the present invention, through a portal frame and the object detection assembly 4, forms an inspection channel for scanned objects. This can be applied to both movable objects to be inspected, such as vehicle-mounted cargo or objects to be measured, and stationary objects to be inspected.

[0029] For items to be scanned that are difficult to move, such as dock containers, the embodiment of the present invention can use the wheeled ground walking device 5 to enable the portal frame to move through the items to be scanned, and simultaneously perform scanning and imaging to determine whether there are dangerous substances or other items that do not comply with legal regulations in the items to be scanned.

[0030] In the embodiment of the present invention, the crossbeam 1 needs to be higher than the object to be inspected, so it has a high height and is farther from the ground, making it more susceptible to the impact of ground conditions. Even slight unevenness of the ground or small pieces of gravel can cause the crossbeam to shake or deflect significantly, significantly affecting the imaging quality of the object to be scanned. To address this issue, the embodiment of the present invention provides a connecting bracket 3 that connects the crossbeam 1 and the vertical beam 2, respectively. The connecting bracket 3 forms at least one matching gap with the two vertical beams 2 and / or the crossbeam 1, thereby changing the rigid connection method between the crossbeam and the vertical beam of the relevant object detection assembly. By absorbing the impact of uneven ground or small obstacles on the crossbeam through more than one gap, the crossbeam maintains stability during the travel of the wheeled ground walking device 5, thereby ensuring the imaging quality of the object to be scanned.

[0031] As an optimization of any technical solution or any optimized technical solution provided above or below the present invention, the connecting bracket 3 includes: a fixing portion 31, which forms a fixed connection with the horizontal beam 1; and a snap-fit ​​portion 32, which is arranged at the lower end of the fixing portion 31 and can form a snap-fit ​​connection with the two vertical beams 2 respectively.

[0032] The snap connection refers to inserting the upper end of the vertical beam 2 into the snap-fit ​​portion 32 of the connecting bracket 3 in a plug-in manner, and the snap-fit ​​portion 32 forms a surrounding limit for the upper end of the vertical beam 2. Furthermore, the surrounding limit formed by the snap-fit ​​portion 32 on the upper end of the vertical beam 2 can be a full horizontal limit, or a semi-enclosed limit between a pair of side surfaces.

[0033] The connecting bracket in this embodiment of the present invention is provided with a fixing portion 31 and a snap-fit ​​portion 32. The fixing portion 31 secures the horizontal beam 1 (which requires support) and the snap-fit ​​portion 32 snaps the vertical beam 2 (which does not require support). By separating the support function and the impact reduction function, the connecting bracket 3 maintains a stable support connection for the horizontal beam 1 while forming a snap-fit ​​connection with the vertical beam.

[0034] Compared to a rigid connection, the snap-fit ​​connection allows for greater relative positional tolerance between the connectors. This means that by providing snap-fit ​​connections with varying degrees of tightness, varying clearances can be achieved between the vertical beam and the connecting bracket. For example, for mobile scanning equipment, which is often used to secure objects to be inspected and travel on poor road conditions, the snap-fit ​​connection can accommodate the greater sway and jolt of the vertical beam during travel.

[0035] like Figure 3 As shown, as an optimization of any technical solution or any optimized technical solution provided above or below the present invention, the fitting gap includes: a first gap 71 formed in the horizontal direction between the outer surface of the vertical beam 1 and the inner surface of the locking portion 32.

[0036] Due to gravity, the upper end of the vertical beam is tightly fitted against the engaging portion due to the snap-fit ​​connection between the vertical beam and the engaging portion, forming a first gap 71 between the outer circumference of the vertical beam and the inner circumference of the engaging portion. This first gap 71 allows the inner circumference of the engaging portion to abut against the upper end of the vertical beam when the vertical beam shakes, thereby absorbing the impact of the shaking of the vertical beam on the horizontal beam to a certain extent.

[0037] As an optimization of any technical solution or any optimized technical solution provided in the foregoing or later parts of the present invention, a first through hole is provided on the locking portion, and the opening direction of the first through hole is parallel to the length direction of the horizontal beam; a second through hole is provided at the upper end of the vertical beam, and the opening direction of the second through hole is parallel to the opening direction of the first through hole; the connecting bracket includes: a connecting through shaft, which is used to pass through the first through hole and the second through hole when the vertical beam is in a locked connection state with the locking portion.

[0038] Based on the snap-fit ​​connection between the connecting bracket 3 and the vertical beam 2, the vertical beam 2 and the connecting bracket 3 are hingedly connected via a through-shaft 6, providing a vertical downward restraining force for the connecting bracket 3, further stabilizing the connection between the vertical beam and the horizontal beam. Furthermore, the hinged connection between the vertical beam 2 and the connecting bracket 3 via the through-shaft 6 maintains rotational freedom perpendicular to the plane of the inspection passage formed by the portal frame, meaning that the vertical beam 2 and the connecting bracket 3 can swing in the forward or backward direction of the movable scanning device.

[0039] The technical effect produced by connecting the vertical beam and the engaging portion by means of a through shaft 6 parallel to the length direction of the cross beam 1 is that when the wheeled ground walking device encounters an uneven ground condition, for example, when a small stone raises a corner of the wheeled ground walking device on one side of the movable scanning device, the vertical beam 2 on the same side is bound to produce a corresponding deflection. At this time, under the connecting action of the through shaft 6, the deflection of the vertical beam 2 relative to the vertical direction cannot be transmitted to the cross beam 1 through the through shaft 6 parallel to the length direction of the cross beam 1, causing the cross beam 1 to twist accordingly.

[0040] As an optimization of any of the above or below technical solutions or any optimized technical solutions provided herein, the mating gap includes a second gap formed between the second through hole and the mating surface of the connecting through-shaft. The second gap 72 can effectively absorb the impact of uneven road conditions on the crossbeam 1, absorbing bumps and vibrations transmitted by the vertical beam 1 in the second gap 72 without affecting the crossbeam 1.

[0041] As an optimization of any technical solution or any optimized technical solution provided above or below in the present invention, the fitting gap includes: a third gap formed in the vertical direction between the vertical beam and the engaging interface.

[0042] Through the connection of the through shaft 6, the connecting bracket is no longer tightly fitted with the upper end of the vertical beam 2 under the action of the gravity of the horizontal beam 1, but can selectively have a certain gap. The third gap 73 can accommodate a certain degree of deflection of the vertical beam 2 in the locking portion 32 of the connecting bracket 3, so that the horizontal beam 1 continues to remain stable.

[0043] As an optimization of any of the technical solutions or optimized technical solutions provided above or below in the present invention, the third gap 73 is determined by the size of the wheeled ground running device 5 and the conditions of the ground on which the movable scanning device is traveling. Taking the ground running device 5 as an example, when the ground running device 5 is small, uneven ground conditions can cause the vertical beam 2 mounted thereon to have a larger deflection angle. In this case, to absorb the impact of this deflection on the horizontal beam, the third gap 73 should be selectively set to a larger range. Accordingly, when ground conditions are poor, the third gap 73 should also be set to a larger value to cope with the frequent deflection, i.e., vibration, of the vertical beam 3.

[0044] like Figure 4As shown, as an optimization of any technical solution or any optimized technical solution provided above or below the present invention, a first through hole is provided on the locking portion, and the opening direction of the first through hole is parallel to the length direction of the horizontal beam; two connecting holes are provided on the two side surfaces of the upper end of the vertical beam, and the opening directions of the two connecting holes are parallel to the opening direction of the first through hole; the connecting bracket includes: two connecting short shafts 8, which are used to pass through the first through hole and be connected to one of the two connecting holes when the vertical beam is in a locked connection state with the locking portion.

[0045] The connecting stub shaft 8, as an alternative to the through shaft, only requires a pair of connecting holes to be machined at the upper end of the vertical beam, which reduces the machining difficulty and the cost of the connecting shaft. In addition to the stub shaft, those skilled in the art will appreciate that the vertical beam and the engaging portion can also be hingedly connected by other shaft-like components. It is only necessary to continue to form a corresponding gap between the connecting bracket and the cross beam and / or the vertical beam to absorb the impact of uneven ground on the cross beam and ensure the stability of the cross beam.

[0046] As an optimization of any technical solution or any optimized technical solution provided in the foregoing or later parts of the present invention, the ground walking device includes: a wheel frame; at least two wheels, which are respectively arranged on the front and rear sides of the wheel frame relative to the crossbeam; and a walking drive device, which can drive the at least two wheels to rotate around the wheel axle to realize the walking of the wheeled ground walking device, and can also drive the wheels to swing relative to the wheel frame to realize the steering of the wheeled ground walking device.

[0047] The wheeled traveling device 5 can be configured as a wheeled mechanism capable of autonomous movement, or as a pulley mechanism assembly that mates with a pre-set slide rail. The wheeled traveling device 5 enables the mobile scanning device to be mobile, thereby facilitating the mobile scanning device's transfer, position adjustment, and detection of stationary objects to be inspected.

[0048] The wheeled walking device 5, as the component of the portal frame that contacts the ground, should be highly stable during detection. Therefore, it may be equipped with fixed legs or other components to provide stability when the object detection device is stationary. Furthermore, it may be equipped with cushioning and shock-absorbing components, such as shock-absorbing springs, to reduce the impact of road conditions on the portal frame.

[0049] As an optimization of any technical solution or any optimized technical solution provided above or below the present invention, the article detection component includes: a ray cabin, arranged on one of the two vertical beams, the ray cabin including a ray source, capable of emitting detection rays to scan articles passing through the portal frame; a detector, arranged on at least one of the two vertical beams and / or the horizontal beam, capable of detecting the transmission signal or scattered signal of the detection ray on the article for scanning and imaging; and a protective wall, arranged on the other of the two vertical beams.

[0050] The detector is set in three positions: on the same vertical beam as or opposite to the vertical beam where the ray source is located, and on the horizontal beam. Correspondingly, when the detector is set on a vertical beam opposite to the vertical beam where the ray source is located and / or on the horizontal beam, the signal detected by the detector is mainly a projected signal; and when the detector is set on the same vertical beam as the vertical beam where the ray source is located, the signal detected by the detector is mainly a scattered signal. The projected signal and the scattered signal can reflect different information about the object to be detected, and thus have different imaging principles and detection focuses, and can be selectively set according to the type of object to be detected or the working scenario of the object detection device.

[0051] Based on the above technical solution, the embodiment of the present invention forms at least one gap between the connecting bracket and the horizontal beam and / or the two vertical beams, so that the movable scanning device provided by the present invention can adapt to uneven ground conditions and ensure the imaging quality of the object to be inspected.

[0052] At the same time, if the above-mentioned invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, using bolts or screws to connect), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by a casting process) (except where it is obviously impossible to use an integrated forming process).

[0053] In addition, unless otherwise stated, terms used in any of the technical solutions disclosed herein to represent positional relationships or shapes include states or shapes that are similar, analogous, or approximate. Any component provided by the present invention may be assembled from multiple separate components or may be a single component manufactured using an integral molding process.

[0054] If the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are used in the description of the present invention, the orientation or position relationship indicated by the above terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device, mechanism, component or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention. They should all be included in the scope of the technical solution for protection of the present invention.

Claims

1. A movable scanning device, characterized in that: include: The portal frame comprises a horizontal beam at the top and two vertical beams located on both sides of the horizontal beam and connected to the horizontal beam; an article detection assembly based on radiation imaging, at least partially disposed on the portal frame and capable of detecting articles passing through the portal frame; Wheeled ground walking devices, respectively provided at the lower ends of the two vertical beams, capable of causing the movable scanning device to move and turn relative to the ground through its own walking motion; as well as a connecting bracket connected to the upper end of at least one of the two vertical beams, for supporting and connecting the horizontal beam, wherein the connecting bracket can form at least one matching gap with the two vertical beams and / or the horizontal beam respectively; The connecting bracket includes: a fixing portion, a connecting shaft and a clamping portion, wherein the fixing portion is fixedly connected to the horizontal beam; the clamping portion is provided at the lower end of the fixing portion and can be clamped and connected to the vertical beam; wherein the engaging portion is provided with a first through hole, the opening direction of the first through hole being parallel to the length direction of the horizontal beam; a second through hole is provided at the upper end of the vertical beam, the opening direction of the second through hole being parallel to the opening direction of the first through hole; the connecting shaft is used to pass through the first through hole and the second through hole when the vertical beam is engaged with the engaging portion, so as to hinge the vertical beam to the connecting bracket through the connecting shaft, so that the vertical beam and the connecting bracket can swing in the forward direction or the backward direction of the movable scanning device; the fitting gap includes a second gap formed between the fitting surface of the second through hole and the connecting shaft; Wherein, the object detection component includes: a ray cabin, disposed on one of the two vertical beams, the ray cabin comprising a ray source capable of emitting detection rays to scan objects passing through the portal frame; and The detector is arranged on at least one of the two vertical beams and / or the horizontal beam, and can detect the transmission signal or scattered signal of the detection ray on the object so as to perform scanning imaging.

2. The scanning device according to claim 1, wherein: The fitting clearance also includes: A first gap is formed in a horizontal direction between the outer surface of the vertical beam and the inner surface of the engaging portion.

3. The scanning device according to claim 1, wherein: The fitting clearance includes: The third gap is formed in the vertical direction between the vertical beam and the engaging interface.

4. The scanning device according to claim 3, characterized in that The third gap is determined by the size of the wheeled ground running device and the condition of the ground on which the movable scanning device is running.

5. The scanning device according to claim 1, wherein: The ground running device comprises: wheel frame; at least two wheels, respectively disposed at the front and rear sides of the wheel frame relative to the crossbeam; and The travel drive device can drive the at least two wheels to rotate around the wheel axle to achieve the travel of the wheeled ground travel device, and can also drive the wheels to swing relative to the wheel frame to achieve the steering of the wheeled ground travel device.

6. The scanning device according to claim 1, wherein: The object detection component further includes: A protective wall is arranged on the other of the two vertical beams.

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