Backscatter robot anti-false triggering method, backscatter robot and path planning method

Abstract

The present application discloses a method for preventing false triggering of a backscatter robot, a backscatter robot and a path planning method, the method for preventing false triggering comprising: setting a distance measuring unit on the backscatter robot; when the distance value detected by the distance measuring unit enters a preset distance range, starting a first time delay, and after the delay ends, turning on an X-ray source; when the distance measuring unit detects that the distance leaves the preset distance range, immediately turning off the X-ray source or starting a second time delay, and after the delay ends, turning off the X-ray source. The method can accurately control the opening and closing timing of the X-ray source, thereby avoiding false triggering of X-rays to the greatest extent.

Description

Technical Field

[0001] The present invention generally relates to the field of backscatter technology, and in particular to a method for preventing false triggering of a backscatter robot, a backscatter robot and a path planning method. Background Art

[0002] Due to the working nature of the backscatter robot, its X-ray transmitting and receiving ends are both located on one side of the robot. There is no protective wall in the relative direction of the X-ray output end for radiation protection. It is impossible to accurately determine the timing of turning on and off the X-rays, which can easily cause false triggering of the X-rays, thereby possibly scanning the human body and causing safety accidents. Summary of the invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a method for preventing false triggering of a backscatter robot, a backscatter robot, and a path planning method.

[0004] Specifically, the present application provides a method for preventing false triggering of a backscatter robot, the method comprising: setting a ranging unit on the backscatter robot; when the distance value detected by the ranging unit enters a preset distance range, starting a first time delay, and turning on an X-ray source after the delay ends; when the ranging unit detects that the distance leaves the preset distance range, immediately turning off the X-ray source or starting a second time delay, and turning off the X-ray source after the delay ends.

[0005] In one embodiment, the first duration or the second duration is calculated based on the distance between the X-ray source and the ranging unit, and the moving direction and moving speed of the backscatter robot.

[0006] In one embodiment, the ranging unit includes at least one ranging module arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and any one of the at least one ranging module is used to determine the start time of the first time delay;

[0007] Any one of the at least one ranging module is used to determine a start time of the second time delay.

[0008] In one embodiment, the ranging unit includes at least two ranging modules arranged in the direction of travel of the backscatter robot and in front of the X-ray source, the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source;

[0009] When the first distance measuring module detects that the distance of the object enters the preset distance range, the first time delay starts;

[0010] Then, before the second distance measuring module detects that the distance of the object enters the preset distance range and when the first distance measuring module detects that the distance of the object is not within the preset distance range, the first duration timing is canceled.

[0011] In one embodiment, the ranging unit includes at least two ranging modules arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source; when the first ranging module detects that the distance of the object enters the preset distance range, the first time delay starts; then when the second ranging module detects that the distance of the object enters the preset distance range, if the first ranging module detects that the distance of the object is not within the preset distance range, the first time delay is canceled.

[0012] In one solution, any one of the at least two ranging modules is used to determine a start time of the second time delay.

[0013] In one embodiment, the ranging unit includes at least two ranging modules, and the at least two ranging modules include a first ranging module and a second ranging module. The first ranging module is arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and the second ranging module is arranged in the direction of travel of the backscatter robot and behind the X-ray source; the first ranging module is used to determine the starting time of the first time delay; when the second ranging module detects that the distance value leaves the preset distance range, the X-ray source is immediately turned off.

[0014] In one embodiment, the at least two ranging modules are arranged at at least two different heights of the backscatter robot.

[0015] In one embodiment, the ranging module is arranged at a height of the backscatter robot that is not less than a first preset height and not greater than a second preset height.

[0016] In one embodiment, the ranging module is a ranging sensor or a navigation laser radar.

[0017] In one embodiment, the distance measuring unit includes a navigation laser radar, and uses distance data at a specific angle of the navigation laser radar to determine whether the distance of the object to be measured enters or moves away from a preset distance range.

[0018] In one embodiment, the method further includes: when the object to be measured can be parked at any position, obtaining a map constructed by the navigation lidar; and completing the travel path planning of the backscatter robot according to the map.

[0019] In one embodiment, the method further includes: when the object to be measured needs to be parked at a specified position, completing the travel path planning of the backscatter robot through a magnetic strip or a mark.

[0020] The present application also provides a method for preventing false triggering of a backscatter robot, the method comprising:

[0021] A distance measuring unit is arranged on the backscatter robot, and the distance measuring unit includes a laser radar, and the laser radar is also used for navigation of the backscatter robot; the laser radar scans the detection site and the object to be measured, constructs a map, and determines the coordinates of the object to be measured in the map, the real-time coordinates of the ray source of the backscatter robot in the map, and the outline of the object to be measured; the time to turn on and off the X-ray source is determined according to the coordinates of the object to be measured in the map obtained by the navigation laser radar, the real-time coordinates of the ray source of the backscatter robot in the map, the outline of the object to be measured, and the moving direction of the backscatter robot.

[0022] The present application also provides a backscatter robot, including a ranging unit, which executes any of the above methods.

[0023] In one embodiment, the ranging unit includes at least one ranging module, and the ranging module is a ranging sensor or a navigation laser radar.

[0024] The present application also provides a method for planning a travel path of a backscatter robot, comprising: an object to be measured needs to be parked at a designated position, and the travel path planning of the backscatter robot is completed through a magnetic strip or a mark.

[0025] In one embodiment, the path planning of the backscatter robot is completed by means of a magnetic stripe or a marker, comprising: collecting a rectangular path frame of the backscatter robot determined by the magnetic stripe or the marker; and using the rectangular path frame as the path of the backscatter robot to complete the path planning of the backscatter robot.

[0026] The present application also provides a method for planning the travel path of a backscatter robot, including: a navigation laser radar; the object to be measured can be parked at any position to obtain a map constructed by the navigation laser radar; and the travel path planning of the backscatter robot is completed according to the map.

[0027] The method of completing the travel path planning of the backscatter robot according to the map includes: identifying the object to be measured according to the navigation laser radar; constructing a virtual closed curve path box with a predetermined distance from the object to be measured according to the map and the identified object to be measured as the path of the backscatter robot, thereby completing the travel path planning of the backscatter robot.

[0028] The backscatter robot uses X-rays to continuously scan around the object to be measured. Specifically, the backscatter robot starts from the starting point of the planned path and scans around the object to be measured along the path until the backscatter robot returns to the starting point of the path and stops emitting X-rays.

[0029] The embodiments of the present application provide a backscatter robot anti-false triggering method, a backscatter robot, and a travel path planning method. According to the moment when a ranging unit detects that the distance of the object to be measured enters or leaves a preset distance range, the X-ray source is turned on or off after a certain delay. The timing of turning the X-ray source on and off can be accurately controlled, thereby avoiding false triggering of X-rays to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1 A three-dimensional diagram of a backscatter robot provided in an embodiment of the present application;

[0032] Figure 2 A top view of the object to be measured and the travel path of the backscatter robot provided in an embodiment of the present application;

[0033] Figure 3 A front view of a distance measuring sensor installed in a backscatter robot provided in an embodiment of the present application;

[0034] Figure 4 A front view of a navigation laser radar installed in a backscatter robot provided in an embodiment of the present application;

[0035] Figure 5 A front view of a backscatter robot provided in an embodiment of the present application having multiple ranging modules installed therein;

[0036] Figure 6 A stereoscopic diagram of a navigation laser radar installed in a backscatter robot provided in an embodiment of the present application;

[0037] Figure 7 A stereoscopic diagram of two navigation laser radars installed in a backscatter robot provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the installation height of the ranging unit in the backscatter robot provided in an embodiment of the present application;

[0039] Fig. 9 A schematic diagram of a flow chart of a method for preventing false triggering of a backscatter robot provided in an embodiment of the present application;

[0040] Figure 10-13 A schematic diagram of triggering a ranging sensor in a method for preventing false triggering of a backscatter robot using a ranging module as a ranging sensor as an example provided in an embodiment of the present application;

[0041] Figure 14-17 A schematic diagram of triggering a navigation laser radar in a method for preventing false triggering of a backscatter robot using a navigation laser radar as a ranging module provided in an embodiment of the present application;

[0042] Fig.18 , Fig.19 A schematic diagram of a method for preventing false triggering of a backscatter robot when there is an object other than an object to be detected provided in an embodiment of the present application;

[0043] Fig. 20 , Fig.21 The present application provides a schematic diagram of triggering a smart map in a method for preventing false triggering of a backscatter robot using a navigation laser radar as an example. DETAILED DESCRIPTION

[0044] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] The X-ray mis-triggering prevention method for a backscatter robot provided in the present application can be implemented as follows: Figure 1 and Figure 2-Figure 8 The backscatter robot is shown.

[0047] Reference Figure 1 and Figure 2-Figure 4 , which shows a schematic diagram of the structure of a backscatter robot described in accordance with an embodiment of the present application. The backscatter robot provided in the embodiment of the present application can be used to scan objects to be measured in vehicles, bags, rooms, etc. It should be understood that the object to be measured can be fixed and the backscatter robot can move to scan the object to be measured.

[0048] like Figure 1As shown, it is a three-dimensional structural diagram of a backscatter robot 10, and the backscatter robot 10 may include: an X-ray source 12 and a distance measuring unit 11 installed in the backscatter robot 10, and the distance measuring unit 11 includes at least one distance measuring module. Preferably, the X-ray source adopts an X-ray flying spot scanning system. Preferably, the light emitted by the distance measuring unit 11 is parallel to the flying spot ray scanning plane emitted by the X-ray source 12.

[0049] It should be noted that Figure 1 The accompanying drawings are for illustrative purposes only. Figure 1 The number of the distance measuring units 11 and the specific shape of the backscatter robot 10 are not limited. Figure 1 The components may also have other names without limitation.

[0050] When the backscatter robot 10 scans and detects an object to be detected, the travel path of the backscatter robot 10 can be implemented in many ways.

[0051] Reference Figure 2 , which shows a top view of the path of the object to be measured and the backscatter robot 10. Among them, Figure 2 The object to be tested is shown as a vehicle. Figure 2 The solid rectangle inside the middle box indicates the parking position for passenger cars. Figure 2 The dotted rectangle inside the middle box indicates the parking position of large trucks or container trucks, and the corresponding Figure 2 The solid rectangular box outside the middle is the path box of the passenger car. Figure 2 The dotted rectangle in the middle and outer part indicates the path box of a large truck or container truck, etc. Figure 2 The backscatter robot 10 is located in the outer dotted line frame or the outer solid line frame.

[0052] In one embodiment, the object to be tested needs to arrive at a specified location and park, for example Figure 2 If the object to be measured is large, the object to be measured needs to reach Figure 2 If the object to be measured is small, the object to be measured needs to reach Figure 2 It can be understood that in this embodiment, the size of the object to be detected can be determined according to the actual situation, and there is no limitation on this here. If the object to be detected is a large truck, in order to allow the scanning surface of the flying spot ray to cover the entire vehicle body, the backscatter robot 10 needs to move along Figure 2The backscatter robot 10 moves along the path shown in the dashed line frame outside the middle (the dashed line frame far from the object to be measured) to scan the object to be measured. It can be understood that when scanning the object to be measured, the object to be measured can be scanned in four directions, front, back, left, and right, or only the two sides of the object to be measured parallel to the length direction can be scanned. If the object to be measured is a passenger car, in order to avoid unnecessary radiation leakage and higher detection accuracy, the backscatter robot 10 moves along the path shown in the dashed line frame outside the middle (the dashed line frame far from the object to be measured) to scan the object to be measured. Figure 2 The backscatter robot 10 moves along the path frame shown in the outer solid line frame in the figure to scan the object to be measured. When the backscatter robot 10 moves to the path frame, it can first move to the vertex of the path frame, and then adjust the orientation so that the body of the backscatter robot 10 is parallel to the path frame, and then the backscatter robot 10 moves along the path frame and prepares to start scanning and detecting the object to be measured. When the backscatter robot 10 moves to the end point along one of the sides of the path frame, the backscatter robot 10 rotates 90° and prepares to enter the next side for movement and scanning. In this embodiment, the path frame can be implemented by sticking a guide magnetic strip or other guide positioning mark on the ground, and the parking position of the object to be measured can also be determined by the mark on the ground.

[0053] In one embodiment, the object to be tested does not need to arrive at the designated location, but only needs to arrive at the testing site. The backscatter robot 10 can construct a map of the testing site in advance using its own laser radar, or when there are multiple backscatter robots 10 in a testing site, one of the backscatter robots 10 can construct a map of the testing site in advance, and then send the constructed map of the testing site to other backscatter robots 10 through the control center or directly share it with other backscatter robots 10. In this embodiment, as long as the laser radar of the backscatter robot 10 scans the approximate outline of the object to be tested and determines that it meets the conditions (for example, it can detect two sides that form an approximate right angle, thereby determining that the identified outline corresponds to a vehicle and meets the conditions), the backscatter robot 10 uses the laser radar to plan a rectangular path box on the ground at a predetermined distance from the object to be tested, and then starts scanning and testing the object to be tested in four directions or only scanning and testing the two sides of the object to be tested. In this embodiment, the path box is virtual, and there is no need to stick a magnetic strip or mark on the ground.

[0054] It should be noted that the above-mentioned embodiment of the travel path of the backscatter robot 10 is only exemplary and is not limited here. In the following part of the specification, another travel path and scanning method of the backscatter robot 10 will be described.

[0055] In the embodiment of the present application, at least one ranging module is installed in front of (on the downstream side of) the traveling direction of the X-ray exit slit 13 emitted by the X-ray source 12. Figure 1As shown, a coordinate system can be established with the direction of the backscatter robot 10 as the x-axis, the direction perpendicular to the x-axis as the y-axis, and the height direction of the backscatter robot 10 as the z-axis. For example, the direction of the backscatter robot 10 when scanning the object to be measured is along Figure 1 The positive or negative direction of the x-axis in the image is determined as long as the X-ray exit slit 13 faces the object to be measured.

[0056] It should be noted that if the backscatter robot 10 is bidirectionally moving and scanning (scanning the object to be measured when moving in the positive direction of the x-axis and scanning the object to be measured when moving in the negative direction of the x-axis), the distance measuring unit 11 includes at least two distance measuring modules located at different longitudinal positions (i.e., different x-coordinates) of the robot, and at least one distance measuring module is installed on both sides of the longitudinal direction (x-axis direction) of the X-ray exit slit 13. If the backscatter robot 10 is unidirectionally moving and scanning, the distance measuring module can be installed only on one side of the longitudinal direction of the X-ray exit slit 13, and of course, the distance measuring modules can also be installed on both sides of the longitudinal direction of the X-ray exit slit 13.

[0057] Optionally, at least two ranging modules are arranged at at least two different heights of the backscatter robot 10, that is, at least two ranging modules may not be at the same horizontal height ( Figure 1 As long as the distance between the backscatter robot 10 and the object to be measured in front of the backscatter robot 10 can be measured, it will be sufficient.

[0058] For example, Figure 3 , 4 The diagram shows a front view of a distance measuring unit 11 installed on a backscatter robot 10, which includes distance measuring modules installed at one height (same z coordinate).

[0059] For example, Figure 5 The figure shows a front view of a distance measuring unit 11 installed on a backscatter robot 10, which includes a plurality of distance measuring modules (with different z coordinates) installed at three different heights.

[0060] In the embodiment of the present application, the distance measuring module may be a distance measuring sensor 111, a navigation laser radar 112, or other modules capable of measuring distance. Different types of sensors may have different characteristics, which are not limited here. Figure 3 , Figure 5 The distance measuring module is shown as a distance measuring sensor 111 with straight-line emission. Figure 4 The distance measuring module is shown as a navigation laser radar 112. The distance measuring sensor 111 may be an ultrasonic distance measuring sensor, a laser distance measuring sensor, an infrared distance measuring sensor, etc., without limitation.

[0061] Preferably, the distance measuring module adopts a laser distance measuring sensor (including a laser infrared distance measuring sensor). Due to the single directionality of the laser distance measuring sensor, it is easy to achieve accurate control of the triggering timing and the stopping timing of X-ray scanning of the object to be measured with a non-flat surface. This is because when the laser distance measuring sensor measures the object to be measured, if the distance measuring laser does not enter the surface of the object to be measured, it will enter a long distance away. At this time, the laser distance measuring sensor obtains a very large distance value (for example, Fig.11 and Fig.12 In the case of the ranging module 111, after the backscatter robot 10 travels a short distance toward the object to be measured, the ranging laser will suddenly be reflected by the surface of the object to be measured, and then the laser ranging sensor will obtain a smaller distance value (such as Fig. 9 and Fig.10 111). Therefore, the distance value measured by the laser ranging sensor will undergo a large mutation before and after it is incident on the edge of the surface of the object to be measured. If it is a laser radar or ultrasonic ranging sensor, then even if the exit slit leaves the end face of the object to be measured, the laser radar and ultrasonic ranging sensor can still measure the distance of the object to be measured in an oblique direction, so the distance value obtained is always continuously changing. At this time, it is difficult for the laser radar and ultrasonic ranging sensor to determine whether the change in distance is caused by the change in the concave and convex changes on the surface of the object or the change in the distance value caused by the exit slit leaving the end face of the object to be measured. Therefore, it is necessary to set up a complex algorithm to make a judgment. The laser radar can still judge the position of the outline of the object to be measured in the constructed map, but it is difficult for the ultrasonic ranging sensor to judge, and it is necessary to consider multiple complex factors such as its sensing angle and setting position.

[0062] If the ranging module is a laser ranging sensor or a single-line laser radar whose light emission and reception are on the same horizontal plane, the installation height (z coordinate) of the ranging module needs to be set according to the size of the object to be measured. Optionally, the height at which the ranging module is set on the backscatter robot 10 is not less than the first preset height and not greater than the second preset height. The first preset height and the second preset height can be set according to the actual scene. For example, the first preset height can be 0.1 meters, and the second preset height can be 2 meters.

[0063] In one embodiment, if the object to be measured is a vehicle, the height of the light emitting surface of the ranging module should be no lower than the lower surface of the chassis and no higher than the surface of the engine hood / motor hood and the trunk lid, that is, the ranging module must be able to detect the front and rear of the vehicle. It is understandable that in this embodiment, the height of the lower surface of the chassis can be used as the first preset height, and the height of the surface of the engine hood / motor hood and the trunk lid can be used as the second preset height. If the ranging module is a sensor of other types, the height of the light source of the ranging module can be preferably set according to the above height; of course, the height of the light source of the ranging module can also be set according to other heights. It is understandable that when the ranging module adopts a multi-line laser radar or infrared ranging or ultrasonic ranging, it is sufficient to install a ranging module at a height (same z coordinate), and the height of the ranging module can meet the scanning of the entire object to be measured. Exemplary, for example, the ranging module can be installed at a height of 0.4 meters. When the ranging module adopts other types of sensors, at least two ranging modules located at different heights (different z coordinates) can be installed. For example, the ranging modules can be installed at other heights such as 0.25 meters, 0.5 meters, and 0.75 meters.

[0064] It should be noted that when the ranging module is a navigation laser radar 112, the navigation laser radar 112 can also be installed on the side of the backscatter robot 10 away from the object to be measured, as long as the object to be measured is within the laser radiation range of the navigation laser radar 112, there is no restriction.

[0065] The distance measuring module can be used to measure the distance between the backscatter robot 10 and the object in front of the backscatter robot 10. The distance detection method of the distance measuring module can refer to the prior art and will not be described in detail. It should be noted that the object in front of the backscatter robot 10 may include an object to be measured or an object not to be measured.

[0066] Specifically, the backscatter robot 10 can be used to start a first time delay when the distance measuring unit detects that the distance of the object to be measured enters the preset distance range, and turn on the X-ray source 12 after the delay ends. And when the distance measuring unit detects that the distance of the object to be measured leaves the preset distance range, the X-ray source is immediately turned off or the second time delay is started, and the X-ray source 12 is turned off after the delay ends.

[0067] The preset distance range may be set as required. For example, the preset distance range may be set according to the size of the object to be measured and / or the type of the X-ray source, etc. In addition, the preset distance range may also be determined in combination with the height at which the ranging module is installed, etc. For ease of explanation, the boundary of the preset distance range after setting may be represented by Dmax.

[0068] When the distance measuring unit detects that the distance of the object to be measured enters the preset distance range, it can indicate that the backscatter robot 10 is about to start detecting the object to be measured. At this time, the backscatter robot 10 can determine to delay the first time length after this moment and then turn on the X-ray source 12. When the distance measuring unit detects that the distance of the object to be measured leaves the preset distance range, it can indicate that the backscatter robot 10 is about to end the detection of the object to be measured. At this time, the backscatter robot 10 can determine to delay the second time length after this moment and then turn off the X-ray source 12.

[0069] Among them, the first duration and the second duration can be determined according to the distance between the X-ray source 12 and the ranging unit 11, the moving direction and the moving speed of the backscatter robot 10. The specific determination method refers to the determination method in the following backscatter robot's X-ray anti-false triggering method, which will not be repeated here.

[0070] In one embodiment, the ranging unit 11 includes at least two ranging modules arranged in the direction of travel of the backscatter robot 10 and in front of the X-ray source 12, and the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source 12. It can be understood that there is at least one first ranging module and at least one second ranging module. The x-coordinates of the first ranging module and the second ranging module are different.

[0071] Among them, at least two ranging modules can be used to detect whether there is a false occlusion caused by an object other than the object to be measured. When the first ranging module detects that an object enters the preset distance range, the first time delay starts, and then before the second ranging module detects that the distance of the object enters the preset distance range and the first ranging module detects that the distance of the object is not within the preset distance range, the first time delay is canceled to determine that the object approached by the backscatter robot 10 at this time is not the object to be measured. Among them, the way the second ranging module detects whether the false occlusion is caused by an object other than the object to be measured refers to the detection method in the X-ray anti-false triggering method of the backscatter robot described below, which will not be repeated here.

[0072] In one embodiment, the ranging unit 11 includes at least two ranging modules, and the at least two ranging modules include a first ranging module and a second ranging module. The first ranging module is arranged in the direction of travel of the backscatter robot 10 and in front of the X-ray source, and the second ranging module is arranged in the direction of travel of the backscatter robot 10 and behind the X-ray source. It can be understood that if the ranging unit includes a first ranging module and a second ranging module, the x-coordinates of the first ranging module and the second ranging module are different. If the ranging unit includes at least two first ranging modules and at least two second ranging modules, the x-coordinates between the at least two first ranging modules are different, the x-coordinates between the at least two second ranging modules are different, and the x-coordinates of the at least two first ranging modules and the at least two second ranging modules are also different.

[0073] Wherein, at least one ranging module is respectively arranged on both sides of the X-ray source, and the first ranging module in front of the X-ray source (downstream side) can be used to determine the start time of the first time delay, and the second ranging module behind the X-ray source (upstream side) can be used to determine the start time of the second time delay. It can be understood that at least one ranging module is respectively arranged on both sides of the X-ray source, and the backscatter robot 10 can also be used to scan and detect the object to be detected in both directions.

[0074] For example, the ranging unit 11 may also include at least one navigation laser radar 113, such as Figure 6 As shown, the distance measuring unit 11 includes a stereogram of a navigation laser radar, such as Figure 7 The figure shows a perspective view of the distance measuring unit 11 including two navigation laser radars.

[0075] It should be noted that Figure 6 , 7 The accompanying drawings are for illustrative purposes only. Figure 6 , 7 The number of navigation laser radars 113 and the specific shape of the backscatter robot 10 are not limited. Figure 6 , 7 The components may also have other names without limitation.

[0076] Among them, in the embodiment of the present application, one or more navigation laser radars 113 can be installed on the backscatter robot 10, within the range covered by the height of the object to be measured. The navigation laser radar 113 can determine the coordinates of the object through intelligent mapping based on its fixed-angle signal on the backscatter robot 10. The method for the navigation laser radar 113 to determine the coordinates of the object can refer to the prior art and will not be described in detail. It should be noted that when a navigation laser radar 113 is included, the navigation laser radar 113 must meet the following requirements: the installation position of the navigation laser radar 113 can scan objects between the first predetermined height and the second predetermined height (such as Figure 6 As shown, Figure 6 where h1 is the first predetermined height, h2 is the second predetermined height); the multiple navigation laser radars 113 may not be at the same horizontal height (different z coordinates), as long as they can detect the coordinates of surrounding objects.

[0077] The navigation laser radar 113 is used to detect the coordinates of objects around the backscatter robot 10. The objects around the backscatter robot 10 may include objects to be detected or objects not to be detected, without limitation.

[0078] Specifically, the backscatter robot 10 can be used to obtain the coordinates of the object to be measured 20 according to the navigation laser radar 113, and determine the first duration of the X-ray source on and the second duration of the X-ray source off according to the coordinates, moving direction, moving speed of the backscatter robot 10 and the coordinates of the object to be measured. It should be noted that the calculation method of the first duration and the second duration can be obtained according to the existing technology, which will not be repeated here.

[0079] In one embodiment, in order to measure the distance between the backscatter robot 10 and the object to be measured / the coordinates of the object to be measured, the installation height of the distance measuring unit 11 may be less than or equal to the height of the object to be measured.

[0080] For example, Figure 8 As shown, the installation height of the distance measuring unit 11 is less than or equal to the height of the object to be measured 20, that is, the height that can be covered by the object to be measured 20. Figure 8 The object to be measured 20 is shown as a car as an example, and the installation height of the distance measuring unit 11 is the height covered by the car body.

[0081] Based on the X-ray mis-triggering prevention device of the backscatter robot shown in the above embodiment, refer to Fig. 9 , which shows a flow chart of a method for preventing false triggering of X-rays of a backscatter robot described according to an embodiment of the present application.

[0082] Fig. 9 This is a flow chart of a method for preventing false triggering of X-rays of a backscatter robot. This method can be applied to Figure 1-Figure 8 A backscatter robot, the backscatter robot comprising a ranging unit; Fig. 9 As shown, the method includes:

[0083] Step 901: Determine whether the distance of the object to be measured detected by the distance measuring unit is within a preset distance range.

[0084] Specifically, the ranging unit can measure the distance between the backscatter robot 10 and the object in front of the backscatter robot 10, and compare the distance measured by the ranging unit with a preset distance range. When the distance measured by the ranging unit is within the preset distance range, it is determined that the ranging unit detects that the distance of the object to be measured is within the preset distance range, and the process proceeds to step 902.

[0085] For example, the distance measured by the distance measuring unit is d1. If d1≤Dmax, it indicates that the distance of the object to be measured detected by the distance measuring unit is within the predicted distance range.

[0086] Step 902: When the distance measuring unit detects that the distance of the object to be measured is within the preset distance range, a first time delay is started, and after the delay ends, the X-ray source is turned on.

[0087] The first duration starts at the moment when the distance of the object to be detected is detected to be within a preset distance range.

[0088] In one embodiment, the first duration can be determined according to the distance between the X-ray source 12 and the ranging unit, and the moving direction and moving speed of the backscatter robot 10 .

[0089] For example, the distance x between the X-ray source 12 and the ranging unit, the moving speed v of the backscatter robot, and the backscatter robot 10 moving toward the direction of the object to be measured, the first time duration t can be expressed as t=f(x,v).

[0090] Step 903: Determine whether the distance of the object to be measured detected by the distance measuring unit is out of a preset distance range.

[0091] Specifically, the distance measured by the ranging unit is compared with the preset distance range. When the distance measured by the ranging unit is not within the preset distance range, it is determined that the distance of the object to be measured detected by the ranging unit is out of the preset distance range, and the process goes to step 904.

[0092] For example, the distance measured by the distance measuring unit is d2. If d2>Dmax, it indicates that the distance of the object to be measured detected by the distance measuring unit is out of the predicted distance range.

[0093] Step 904: When the distance measuring unit detects that the distance of the object to be measured is out of the preset distance range, a second time delay is started, and after the delay ends, the X-ray source is turned off.

[0094] The second duration starts at the moment when the distance of the object to be detected leaves the preset range.

[0095] It should be noted that the calculation method of the second duration is the same as that of the first duration, which will not be repeated here.

[0096] It should be noted that when the same distance detection module is used to trigger the first duration and the second duration, and the backscatter robot moves at a constant speed, the first duration and the second duration are equal, otherwise, the first duration and the second duration may not be equal.

[0097] In this embodiment, according to the moment when the distance measuring unit detects that the distance of the object to be measured enters or leaves the preset distance range, the X-ray source is turned on or off after a certain delay, so that the timing of turning on and off the X-ray source can be accurately controlled, thereby avoiding false triggering of X-rays to the greatest extent.

[0098] For example, Figure 10-13 The diagram shown is a triggering schematic diagram of the ranging sensor 111 in the X-ray false triggering prevention method of the backscatter robot, taking the ranging unit 11 as the ranging sensor 111 as an example.

[0099] like Fig.10 As shown, the backscatter robot 10 starts a first time delay timing according to the distance of the object to be measured 20 detected by the ranging sensor 111 when the distance enters a preset distance range.

[0100] like Fig.11 As shown, after the first time period is reached, the X-ray source 12 is turned on and starts to emit an X-ray beam.

[0101] like Fig.12 As shown, when the distance measuring sensor 111 detects that the distance of the object to be measured 20 is out of the preset distance range, the second time delay timing starts.

[0102] like Fig.13 As shown, after the second time period is reached, the X-ray source 12 is turned off and the beam emission is stopped.

[0103] For another example, as shown in 14-17, it is a triggering schematic diagram of the navigation laser radar 112 in the X-ray false triggering prevention method of the backscatter robot taking the ranging unit 11 as the navigation laser radar 112 as an example.

[0104] like Fig.14 As shown, the laser radar usually performs a rotation scan (for example, a rotation scan within a range of 270 degrees or 360 degrees) to obtain corresponding distance values ​​at multiple angles. In this embodiment, the backscatter robot 10 finds the specific distance data corresponding to the specific angle perpendicular to the measured surface of the object to be measured 20 in the laser radar data. When the specific distance detected by the navigation laser radar 112 enters the preset distance range, the first time delay timing starts.

[0105] like Fig.15 As shown, after the first time period is reached, the X-ray source 12 is turned on and starts to emit an X-ray beam.

[0106] like Fig.16 As shown, when the navigation laser radar 112 detects that the distance of the object to be measured 20 leaves the preset distance range, the time period from the moment when the specific distance detected by the navigation laser radar 112 enters the preset distance range to the moment when the specific distance detected by the same navigation laser radar 112 exceeds the preset distance range is calculated, thereby obtaining the distance traveled by the robot 10 in the time period, and taking this distance as the length of the object to be measured 20. The second time delay is calculated based on the length and the speed of the robot 10 and the timing is started at the same time.

[0107] like Fig.17As shown, after the second time period is reached, the X-ray source 12 is turned off and the X-ray beam is stopped. It should be noted that when the ranging module is a navigation laser radar 112, the navigation laser radar 112 installed on the side away from the backscatter robot 10 is used, and the way of triggering the X-ray source is the same as the way of triggering the navigation laser radar 112 installed on the side close to the backscatter robot 10, which will not be repeated here.

[0108] In one embodiment, the ranging unit 11 includes at least one ranging module arranged in the direction of travel of the backscatter robot and in front of the X-ray source, wherein any number of the at least one ranging module is used to determine the starting time of the first time delay; and any number of the at least one ranging module is used to determine the starting time of the second time delay.

[0109] Specifically, the start time of the first time delay can be determined by using one ranging module (setting the ranging module at only one x-coordinate) or by using multiple ranging modules (setting the ranging modules at at least two x-coordinates on the downstream side of the X-ray source) at the same time.

[0110] For example, when a distance measuring module is used to determine the start time of the first time delay, the first time delay may be started when the distance measuring module detects that the distance of the object to be measured enters a preset distance range.

[0111] For example, when two ranging modules are used to determine the starting time of the first time delay, the two ranging modules are respectively the first ranging module and the second ranging module. If the first ranging module first detects that the distance of the object to be measured enters the preset distance range, the first ranging module starts the first time delay. When the second ranging module later detects that the distance of the object to be measured enters the preset distance range, the delay duration calculated by the second ranging module is determined. If the delay duration determined by the second ranging module is equal to the remaining duration of the first duration determined by the first ranging module, the delay can be continued according to the delay durations determined by the first ranging module and the second ranging module.

[0112] If the delay duration determined by the second ranging module is not equal to the remaining duration of the first duration determined by the first ranging module, the delay determined by the second ranging module is prioritized, or another ranging module is started for further analysis; when the remaining duration difference is large, the system can issue a warning.

[0113] Similarly, the start time of the second time delay may be determined by using one distance measurement module or by using multiple distance measurement modules at the same time. The specific determination method will not be described in detail here.

[0114] It should be noted that the distance measurement module used to determine the start time of the first time delay and the start time of the second time delay may be the same distance measurement module or different distance measurement modules.

[0115] In one embodiment, the ranging unit includes at least two ranging modules arranged in the direction of travel of the backscatter robot and in front of the X-ray source, the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source 12. A method for preventing false triggering of X-rays of a backscatter robot also includes:

[0116] When the first distance measuring module detects that the distance of the object enters the preset distance range, the first time delay starts;

[0117] Then, before the second distance measuring module detects that the distance of the object enters the preset distance range and when the first distance measuring module detects that the distance of the object is not within the preset distance range, the first time duration is canceled to determine that the object is not an object to be measured.

[0118] When the second distance measuring module detects that the distance of the object is within the preset distance range and the first distance measuring module detects that the distance of the object is within the preset distance range, the first time duration is continued to be measured to determine that the object is the object to be measured.

[0119] Specifically, if the ranging unit includes a first ranging module and a second ranging module, the x coordinates of the first ranging module and the second ranging module are different. If the ranging unit includes at least two first ranging modules and at least two second ranging modules, the x coordinates of the at least two first ranging modules are different, the x coordinates of the at least two second ranging modules are different, and the x coordinates of the at least two first ranging modules and the at least two ranging modules are also different.

[0120] The backscatter robot 10 moves close to an object. When the distance detected by at least one first ranging module enters a preset distance range, a first time delay starts. At this time, the object close to the backscatter robot 10 may be an object to be measured or may not be an object to be measured.

[0121] For example, Fig.18As shown, the ranging unit 11 is shown by taking the ranging sensor 111 as an example. Before at least one second ranging module detects that the distance of the object enters the preset distance range, it should be noted that, including when the second ranging module detects that the distance of the object enters the preset range, if at least one first ranging module detects that the distance of the object is not within the preset distance range, it indicates that the size of the object entering the scanning range of the backscatter robot 10 is smaller than the size range of the object to be measured, then the object approached by the backscatter robot 10 is not the object to be measured, and the first time duration timing is canceled, that is, the X-ray emission is canceled, and the backscatter robot 10 continues to move to find the object to be measured.

[0122] For example, Fig.19 As shown, the ranging module is shown by taking the ranging sensor 111 as an example. When at least one second ranging module detects that the distance of the object enters the preset distance range, it should be noted that before at least one second ranging module detects that the distance of the object enters the preset distance range, if at least one first ranging module can continuously detect that the distance of the object is within the preset distance range, then the object approached by the backscatter robot 10 is the object to be measured, and when the first time length is reached, the X-ray source 12 can be turned on to emit X-rays.

[0123] In this embodiment, by combining the relationship between the distance of the object detected by the first distance measuring module and the second distance measuring module and the preset distance range, possible non-to-be-measured objects can be avoided and the anti-interference capability can be increased.

[0124] In one embodiment, the ranging unit includes at least two ranging modules arranged in the direction of travel of the backscatter robot and in front of the X-ray source, the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source; a method for preventing false triggering of X-rays of a backscatter robot also includes:

[0125] If the first distance measuring module detects that the distance of the object is within the preset distance range, the first time delay starts;

[0126] Then, when the second distance measuring module detects that the distance of the object enters the preset distance range, if the first distance measuring module detects that the distance of the object is not within the preset distance range, the first time duration is canceled to determine that the object is not an object to be measured.

[0127] When the second distance measuring module detects that the distance of the object is within the preset distance range and the first distance measuring module detects that the distance of the object is still within the preset distance range, the first time duration is continued to be measured to determine that the object is the object to be measured.

[0128] Specifically, if the ranging unit includes a first ranging module and a second ranging module, the x coordinates of the first ranging module and the second ranging module are different. If the ranging unit includes at least two first ranging modules and at least two second ranging modules, the x coordinates of the at least two first ranging modules are different, the x coordinates of the at least two second ranging modules are different, and the x coordinates of the at least two first ranging modules and the at least two ranging modules are also different.

[0129] When at least one first ranging module detects that the distance of the object enters the preset distance range, the first ranging module no longer continues to detect. Instead, when at least one second ranging module also detects that the distance of the object enters the preset distance range, the first ranging module again detects whether the distance of the object is still within the preset distance range. If not, the object is not an object to be detected, otherwise, the object is an object to be detected.

[0130] In this embodiment, the first distance measuring module does not continuously detect whether the distance of the object is within the preset distance range, which can greatly reduce the number of data runs, and the backscatter robot system receives less data, reducing memory usage.

[0131] Based on the above two embodiments, a method for preventing false triggering of X-rays for a backscatter robot further includes: any one of the at least two ranging modules is used to determine a start time of a second time delay.

[0132] Specifically, one or two or more ranging modules among the at least two ranging modules may be used to determine the start time of the second time delay. The use of two or more ranging modules to coordinately determine the start time of the second time delay is described in the above embodiment and will not be repeated here.

[0133] It should be noted that the distance measurement module used to determine the start time of the first time delay and the start time of the second time delay may be the same distance measurement module or different distance measurement modules.

[0134] In one embodiment, the ranging unit includes at least two ranging modules, the at least two ranging modules include a first ranging module and a second ranging module, the first ranging module is arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and the second ranging module is arranged in the direction of travel of the backscatter robot and behind the X-ray source; a method for preventing false triggering of X-rays of a backscatter robot also includes:

[0135] The first distance measuring module is used to determine the start time of the first time delay;

[0136] The second distance measuring module is used to determine the start time of the second time delay or to send a signal to immediately shut down the X-ray source.

[0137] Specifically, if the ranging unit includes a first ranging module and a second ranging module, the x coordinates of the first ranging module and the second ranging module are different. If the ranging unit includes at least two first ranging modules and at least two second ranging modules, the x coordinates of the at least two first ranging modules are different, the x coordinates of the at least two second ranging modules are different, and the x coordinates of the at least two first ranging modules and the at least two ranging modules are also different.

[0138] At least one ranging module is set on both sides of the X-ray source. The first ranging module in front of the X-ray source (downstream side) can be used to determine the starting time of the first time delay, and the second ranging module behind the X-ray source (upstream side) can be used to determine the starting time of the second time delay.

[0139] In one embodiment, using Figure 6 , Figure 7 In the backscatter robot shown, the ranging unit includes a navigation laser radar; the distance data at a specific angle of the navigation laser radar is used to determine whether the distance of the object to be measured enters or moves away from a preset distance range.

[0140] The specific angle may be a vertical direction of the surface of the object to be measured.

[0141] Specifically, the navigation laser radar can scan the plane space within 10 meters around it through a 360-degree rotating radar and generate a plane map. Thus, the coordinates of the object to be measured can be measured using the navigation laser radar. In addition, the fixed-angle signal of the navigation laser radar of the backscatter robot can be used to determine the position of the object. It should be noted that the first duration and the second duration are determined based on the obtained coordinates, moving direction, moving speed of the backscatter robot, and the coordinates of the object to be measured, which can be obtained according to the existing technology and will not be repeated here.

[0142] The present application also provides a method for preventing false triggering of a backscatter robot, the method comprising: providing a distance measuring unit on the backscatter robot, the distance measuring unit comprising a laser radar, and the laser radar is also used for navigation of the backscatter robot;

[0143] The laser radar scans the detection site and the object to be detected, constructs a map, and determines the coordinates of the object to be detected in the map, the real-time coordinates of the ray source of the backscatter robot in the map, and the outline of the object to be detected;

[0144] The time to turn on and off the X-ray source is determined according to the coordinates of the object to be measured in the map obtained by the navigation laser radar, the real-time coordinates of the ray source of the backscatter robot in the map, the outline of the object to be measured, and the moving direction of the backscatter robot.

[0145] In this embodiment, the coordinates of the object to be measured are obtained by the navigation laser radar, and the physical coordinates of the X-ray source, or the moving direction and speed of the backscatter robot are considered at the same time to determine the first duration and the second duration. According to the first duration and the second duration, the timing of turning the X-ray on and off can be accurately controlled, thereby avoiding false triggering of X-rays to the greatest extent.

[0146] For example, Fig. 20 , Fig.21 The triggering diagram of the intelligent map is used to illustrate the X-ray mis-triggering prevention method of the backscatter robot by taking the navigation laser radar 113 as an example.

[0147] like Fig. 20 As shown, the navigation laser radar 113 constructs a map using methods such as SLAM, identifies the outline of the object to be measured 20, and determines the coordinates of the object to be measured 20 relative to the map and the real-time coordinates of the backscatter robot 10.

[0148] like Fig.21 As shown, according to the physical coordinates of the X-ray source 12, the coordinates of the object to be measured 20 and the moving direction of the backscatter robot 10, when the x-coordinate of the X-ray source 12 is the same as (or is about to be almost the same as) the x-coordinate of the upstream edge of the object to be measured 20, the X-ray is triggered to emit an X-ray beam; when the x-coordinate of the X-ray source 12 is the same as (or is already slightly different from) the x-coordinate of the downstream edge of the object to be measured 20, the X-ray is triggered to stop emitting an X-ray beam.

[0149] Before the backscatter robot moves to the object to be measured to execute the X-ray false triggering prevention method of the backscatter robot, the moving path of the backscatter robot can also be planned.

[0150] The following is the path planning method of the backscatter robot, including:

[0151] The object to be tested needs to be parked at a designated location, and the travel path planning of the backscatter robot is completed through a magnetic strip or a mark.

[0152] Specifically, when it is obtained that the object to be measured has arrived at and stopped at a designated position indicated by a mark, the travel path planning of the backscatter robot can be completed through the magnetic strips or marks laid / set in advance.

[0153] The magnetic strip or mark can be laid / set only at the designated position where the object to be tested needs to be parked and on both sides parallel to the length direction of the object to be tested, or it can be laid / set at the designated position where the object to be tested needs to be parked and around the object to be tested (as in the following embodiments).

[0154] In one embodiment, completing the travel path planning of the backscatter robot by means of a magnetic stripe or a mark comprises: collecting a rectangular path frame of the backscatter robot determined by the magnetic stripe or the mark;

[0155] The rectangular path frame is used as the travel path of the backscatter robot to complete the travel path planning of the backscatter robot.

[0156] A travel path planning method for a backscatter robot, comprising: a navigation laser radar;

[0157] The object to be measured can be parked at any position to obtain the map constructed by the navigation laser radar;

[0158] According to the map, the travel path planning of the backscatter robot is completed.

[0159] In one embodiment, completing the travel path planning of the backscatter robot according to the map includes:

[0160] Identify the object to be detected according to the navigation laser radar;

[0161] According to the map and the identified object to be detected, a virtual closed curve path frame at a predetermined distance from the object to be detected is constructed as a path of the backscatter robot, thereby completing the travel path planning of the backscatter robot.

[0162] Specifically, the backscatter robot 10 will scan and detect the same object to be tested by continuously scanning the object with X-rays for one circle. The backscatter robot 10 can start from the starting point of the planned path and keep scanning until the backscatter robot 10 returns to the starting point of the path and stops emitting X-ray beams. At this time, the travel path of the backscatter robot 10 during scanning can be a chamfered rectangle, or a closed curve with a constant distance to the surface contour of the object to be tested (the contour of this closed curve is highly similar to the contour of the object to be tested), or other closed curve shapes such as an ellipse or a circle. It can be understood that when scanning to the corner of the object to be tested, the backscatter robot 10 also emits a beam facing the object to be tested. At this time, the orientation of the backscatter robot 10 is not perpendicular to the object to be tested, but is facing the object to be tested, that is, the longitudinal direction of the backscatter robot 10 has an angle of non-90° and non-0° with the longitudinal direction of the object to be tested. As described in the previous embodiments, if the object to be tested is parked at a designated location, a mark is set at the designated location, and a magnetic strip or other mark is set on the ground to indicate the closed curve path for the robot to travel. The robot can then perform continuous scanning and detection along the marked path. If the object to be tested does not need to be parked at a designated location, a backscatter robot uses a laser radar to plan a closed curve path on the ground to indicate the robot's travel. The robot can then perform continuous scanning and detection along the planned path.

[0163] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

Claims

1. A method for preventing false triggering of a backscatter robot, characterized in that: The method comprises: providing a distance measuring unit on a backscatter robot, wherein the distance measuring unit is used to measure the distance between the backscatter robot and an object located in front of the backscatter robot; When the distance value detected by the distance measuring unit enters the preset distance range, a first time delay is started, and after the delay ends, the X-ray source is turned on, and the first time delay is taken as the starting time when the distance of the object to be measured is detected to enter the preset distance range; When the ranging unit detects that the distance leaves the preset distance range, the X-ray source is immediately turned off or a second time delay is started. After the delay, the X-ray source is turned off. The second time delay starts at the moment when the distance of the object to be measured is detected to leave the preset distance range.

2. The method according to claim 1, characterized in that The first duration or the second duration is calculated according to the distance between the X-ray source and the ranging unit, and the moving direction and moving speed of the backscatter robot.

3. The method according to claim 1, characterized in that The ranging unit includes at least one ranging module arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and any one of the at least one ranging module is used to determine the start time of the first time delay; Any one of the at least one ranging module is used to determine a start time of the second time delay.

4. The method according to claim 1, characterized in that: The ranging unit includes at least two ranging modules arranged in the traveling direction of the backscatter robot and in front of the X-ray source, the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source; When the first distance measuring module detects that the distance of the object enters the preset distance range, the first time delay starts; Then, before the second distance measuring module detects that the distance of the object enters the preset distance range and when the first distance measuring module detects that the distance of the object is not within the preset distance range, the first duration timing is canceled.

5. The method according to claim 1, characterized in that The ranging unit includes at least two ranging modules arranged in the traveling direction of the backscatter robot and in front of the X-ray source, the at least two ranging modules include a first ranging module and a second ranging module, and the second ranging module is located between the first ranging module and the X-ray source; When the first distance measuring module detects that the distance of the object enters the preset distance range, the first time delay starts; Then, when the second distance measuring module detects that the distance of the object enters the preset distance range, if the first distance measuring module detects that the distance of the object is not within the preset distance range, the first duration timing is canceled.

6. The method according to claim 1, characterized in that The ranging unit includes at least two ranging modules, and the at least two ranging modules include a first ranging module and a second ranging module, the first ranging module is arranged in the direction of travel of the backscatter robot and in front of the X-ray source, and the second ranging module is arranged in the direction of travel of the backscatter robot and behind the X-ray source; The first distance measuring module is used to determine the start time of the first time delay; When the second distance measuring module detects that the distance value leaves the preset distance range, the X-ray source is immediately turned off.

7. The method according to any one of claims 4 to 6, characterized in that: Any one of the at least two ranging modules is used to determine a start time of the second time delay.

8. The method according to any one of claims 4 to 6, characterized in that: The at least two ranging modules are arranged at at least two different heights of the backscatter robot.

9. The method according to any one of claims 3 to 6, characterized in that: The distance measuring module is arranged at a height of the backscatter robot that is not less than a first preset height and not greater than a second preset height.

10. The method according to any one of claims 3 to 6, characterized in that: The distance measurement module is a distance measurement sensor or a navigation laser radar.

11. The method according to claim 1, characterized in that: The distance measuring unit includes a navigation laser radar, The distance data at a specific angle of the navigation laser radar is used to determine whether the distance of the object to be measured is within or away from the preset distance range.

12. The method according to claim 10, characterized in that The method further comprises: When the object to be measured can be parked at any position, obtaining a map constructed by the navigation laser radar; According to the map, the travel path planning of the backscatter robot is completed.

13. The method according to claim 1, characterized in that The method further comprises: When the object to be measured needs to be parked at a designated position, the travel path planning of the backscatter robot is completed through a magnetic strip or a mark.

14. The method according to claim 1, characterized in that The method further comprises: A distance measuring unit is arranged on the backscatter robot, wherein the distance measuring unit includes a navigation laser radar, and the navigation laser radar is also used for navigation of the backscatter robot; The navigation laser radar scans the detection site and the object to be detected, constructs a map, and determines the coordinates of the object to be detected in the map, the real-time coordinates of the ray source of the backscatter robot in the map, and the outline of the object to be detected; The time to turn on and off the X-ray source is determined according to the coordinates of the object to be measured in the map obtained by the navigation laser radar, the real-time coordinates of the ray source of the backscatter robot in the map, the outline of the object to be measured, and the moving direction of the backscatter robot. The backscatter robot is specifically used to determine the first duration of turning on the X-ray source and the second duration of turning off the X-ray source according to the real-time coordinates of the ray source of the backscatter robot in the map, the moving direction, the moving speed and the coordinates of the object to be measured in the map.

15. A backscatter robot, characterized in that: The device comprises a distance measuring unit, and executes the method described in any one of claims 1 to 14.

16. The backscatter robot according to claim 15, characterized in that: The ranging unit includes at least one ranging module, and the ranging module is a ranging sensor or a navigation laser radar.

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