Backscatter Scanning System

Abstract

The present invention discloses a backscatter scanning system, comprising: a backscatter imaging device, which is suitable for acquiring a backscatter image of the inspected target by performing X-ray scanning on the inspected target. The backscatter scanning system also includes an omnidirectional mobile vehicle, and the backscatter imaging device is carried on the omnidirectional mobile vehicle; the omnidirectional mobile vehicle has an autonomous navigation driving mode and a remote control driving mode, so that it can autonomously drive along a predetermined route according to navigation planning or can drive along a predetermined route according to remote control instructions. In the present invention, the backscatter imaging device is carried on the omnidirectional mobile vehicle, and can realize uninterrupted and all-round backscatter scanning of the inspected target. It can be remotely controlled and automatically operated, realizing the miniaturization, modularization and portability of the backscatter scanning system.

Description

Technical Field

[0001] The invention relates to a backscatter scanning system. Background Art

[0002] When X-rays are irradiated to the material being inspected, some of the X-rays will collide with the atoms in the material and scatter in all directions. The scattered rays with an angle greater than 90° between the direction of the incident X-rays and the direction of the scattered X-rays are called backscattered rays. Backscattering is an incoherent scattering phenomenon that originates from the Compton effect. X-ray backscatter imaging technology is based on the Compton scattering effect. The X-ray source and the backscatter detector are placed on the same side of the material being inspected. The fan beam emitted by the X-ray source is modulated into a pencil beam using a flying spot scanning device. The received scattered ray signals are then converted, transmitted, and processed to obtain an image of the material being inspected. This technology has a low radiation dose, is sensitive to lightweight materials, and has convenient equipment layout. It effectively complements traditional X-ray transmission products and has been widely used in various security inspection sites.

[0003] In order to achieve scanning perpendicular to the direction of the flying spot beam exit surface, there needs to be relative motion between the backscatter imaging device and the inspected material. The principle and characteristics of backscatter imaging technology give it unique advantages in portable or mobile inspection of contraband such as drugs, explosives, and weapons. Because the backscatter detector and the flying spot X-ray source can be placed on the same side of the inspected target, it is very convenient to integrate the backscatter imaging module into a suitable moving carrier. Common ones include automobile chassis modified load-bearing type, manual trolley type, and trailer towing type. This type of product is in obvious demand in occasions such as road inspection, vehicle inspection, wall inspection, venue facilities, and environmental concealment. It can perform non-destructive comprehensive searches or non-contact concealed inspections in places where ordinary security inspection equipment is difficult to apply or where there are special needs.

[0004] In the prior art, there are mainly three types of backscatter inspection equipment, namely vehicle-mounted backscatter inspection equipment, hand-pushed mobile backscatter equipment and trailer-towed backscatter equipment. The vehicle-mounted backscatter inspection equipment, which is modified from the chassis of a light-duty truck, has a complex structure, is heavy and costly, has high driving requirements, has a poor image signal-to-noise ratio, and is limited in its application. It is only suitable for the detection of larger volumes of contraband. The hand-pushed mobile backscatter equipment has limited irradiation energy, and manual operation is not flexible enough and can endanger personal radiation safety. The trailer-towed backscatter equipment is a compromise product between the above two, and also has problems such as inflexible inspection methods, limited detection range, and low image resolution. Summary of the invention

[0005] The purpose of the present invention is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0006] According to one aspect of the present invention, there is provided a backscatter scanning system, comprising: a backscatter imaging device, adapted to obtain a backscatter image of a target by performing an X-ray scanning on the target. The backscatter scanning system also comprises an omnidirectional mobile vehicle, on which the backscatter imaging device is mounted; the omnidirectional mobile vehicle has an autonomous navigation driving mode and a remote control driving mode, so that the vehicle can autonomously drive along a predetermined route according to a navigation plan or can drive along a predetermined route according to a remote control instruction.

[0007] According to an exemplary embodiment of the present invention, the backscatter scanning system also includes a lifting device, which is carried on the omnidirectional transfer vehicle, and the backscatter imaging device is fixed on the lifting device; the lifting device can be automatically lifted and lowered to change the height of the backscatter imaging device to expand the scanning range of the backscatter imaging device.

[0008] According to another exemplary embodiment of the present invention, the backscatter scanning system also includes a lifting device and a swinging device, the lifting device is mounted on the omnidirectional transfer vehicle, the swinging device is fixed on the lifting device, and the backscatter imaging device is fixed on the swinging device; the lifting device can be automatically lifted and lowered to change the height of the backscatter imaging device to expand the scanning range of the backscatter imaging device; the swinging device can be automatically swung to change the angle of the backscatter imaging device to expand the scanning range of the backscatter imaging device.

[0009] According to another exemplary embodiment of the present invention, the backscatter imaging device has a wireless communication module for wirelessly communicating with a user terminal, so that the acquired backscatter image can be transmitted to the user terminal via a wireless communication network.

[0010] According to another exemplary embodiment of the present invention, the backscatter scanning system also includes a remote controller, which wirelessly communicates with the backscatter imaging device and the omnidirectional transfer vehicle and is used to control the driving mode of the omnidirectional transfer vehicle and the X-ray scanning operation of the backscatter imaging device.

[0011] According to another exemplary embodiment of the present invention, the omnidirectional transfer vehicle includes a differential drive device for driving the omnidirectional transfer vehicle to move in all directions, the differential drive device includes a left drive motor, a left drive wheel, a right drive motor and a right drive wheel, the left drive motor and the right drive motor are respectively connected to the left drive wheel and the right drive wheel.

[0012] According to another exemplary embodiment of the present invention, the omnidirectional transfer vehicle further has two universal wheels, which are respectively arranged on the front and rear sides of the omnidirectional transfer vehicle, and the two universal wheels serve as driven wheels for support and guidance.

[0013] According to another exemplary embodiment of the present invention, the omnidirectional transfer vehicle further includes a sensing module for sensing external environmental information, wherein the sensing module includes a laser radar module for sensing the current position and direction of the omnidirectional transfer vehicle and an ultrasonic obstacle avoidance module for sensing obstacles.

[0014] According to another exemplary embodiment of the present invention, the omnidirectional transfer vehicle further includes a controller, and the controller is suitable for controlling the travel of the omnidirectional transfer vehicle according to the sensing signal collected by the sensing module or according to the received remote control command.

[0015] According to another exemplary embodiment of the present invention, the lifting device includes a base, a scissors fork, a hydraulic pump, a hydraulic cylinder and a platform, the base is carried on the omnidirectional transfer vehicle, and the upper and lower ends of the scissors fork are respectively connected to the base and the platform; the backscatter imaging device is fixed on the platform, the hydraulic pump drives the hydraulic cylinder, and the telescopic rod of the hydraulic cylinder is connected to a connecting rod of the scissors fork, so as to drive the scissors fork to rise or fall.

[0016] According to another exemplary embodiment of the present invention, the swaying device includes a plurality of hydraulic rods fixed on the lifting device, and telescopic rods of the plurality of hydraulic rods are connected to the bottom of the backscatter imaging device, so that the angle of the backscatter imaging device can be controlled by controlling the telescopic amount of the telescopic rods of the plurality of hydraulic rods.

[0017] According to another exemplary embodiment of the present invention, the omnidirectional transfer vehicle further comprises a shock absorbing unit, and the lifting device is supported on the shock absorbing unit to reduce the impact of uneven roads on the backscatter imaging device mounted on the omnidirectional transfer vehicle.

[0018] According to another exemplary embodiment of the present invention, the backscatter imaging device includes a mounting bracket and a high-voltage power supply fixed on the mounting bracket, an X-ray tube assembly, a flying spot scanning device and a backscatter detector.

[0019] According to another exemplary embodiment of the present invention, the high voltage power supply is connected to the X-ray tube assembly via a high voltage cable, or the high voltage power supply and the X-ray tube assembly are combined into an integrated X-ray generator.

[0020] According to another exemplary embodiment of the present invention, the flying spot scanning device includes a servo controller, a servo motor, a rotating drum, a transmission shaft, a bearing base, a first bearing, a second bearing and a support seat; the first bearing and the second bearing are respectively mounted on both ends of the transmission shaft, and the transmission shaft is embedded in the bearing base; one end of the transmission shaft is connected to the output shaft of the servo motor, and the other end is connected to the rotating drum, and the servo motor and the bearing base are fixed to the support seat; the servo controller controls the servo motor, and the servo motor drives the rotating drum to rotate through the transmission shaft.

[0021] According to another exemplary embodiment of the present invention, the backscatter detector also includes an electronic control unit, which is used to realize power distribution and system power on and off control of the backscatter imaging device; the electronic control unit includes a programmable logic controller, which communicates with the servo controller to control the flying spot scanning device.

[0022] According to another exemplary embodiment of the present invention, the backscatter detector includes at least one photomultiplier tube, a light-guiding crystal and an intensifying screen, wherein the intensifying screen is externally wrapped around the light-guiding crystal, and the at least one photomultiplier tube is directly coupled to the light-guiding crystal via an optical coupling agent to convert the visible light signal into an electrical signal.

[0023] According to another exemplary embodiment of the present invention, the backscatter detector further comprises a side plate installed on the side surface close to the beam-exit slit, wherein the side plate is used to reduce interference of invalid scattered rays on the detection signal.

[0024] According to another exemplary embodiment of the present invention, the backscatter imaging device also includes a digital acquisition and transmission module and an industrial computer. The digital acquisition and transmission module conditions, amplifies and performs analog-to-digital conversion on the output signal of the photomultiplier tube, and uploads the processed sampling data to the industrial computer in real time. The industrial computer generates a backscatter image of the inspected target based on the sampling data, and transmits the generated backscatter image to the user terminal wirelessly.

[0025] According to another exemplary embodiment of the present invention, the remote control has a left button, a right button and a display, the left button is used to remotely control the driving mode of the omnidirectional transfer vehicle, the right button is used to remotely control the X-ray scanning operation of the backscatter imaging device, and the display is used to display the backscatter image of the target under inspection and the working status of the omnidirectional transfer vehicle and the backscatter imaging device.

[0026] In the aforementioned exemplary embodiments of the present invention, the backscatter imaging device is mounted on an omnidirectional transfer vehicle, which can realize uninterrupted and all-round backscatter scanning of the inspected target. It can be remotely controlled and automatically operated, thus realizing the miniaturization, modularization and portability of the backscatter scanning system.

[0027] In addition, in some of the aforementioned exemplary embodiments of the present invention, the height and / or angle of the backscatter imaging device can be changed by a lifting device or a swinging device, thereby expanding the scanning range of the backscatter imaging device.

[0028] Other objects and advantages of the present invention will become apparent from the following description of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional schematic diagram showing a backscatter scanning system according to an exemplary embodiment of the present invention;

[0030] Figure 2 show Figure 1 A schematic structural diagram of a backscatter imaging module of a backscatter scanning system shown;

[0031] Figure 3 show Figure 2 A schematic structural diagram of a flying spot scanning device of a backscatter imaging module shown;

[0032] Figure 4 show Figure 2 A schematic diagram of the structure of a backscatter detector of a backscatter imaging module shown;

[0033] Figure 5 show Figure 1 A schematic diagram of the structure of an omnidirectional transfer vehicle and a lifting device of a backscatter scanning system shown;

[0034] Figure 6 show Figure 5 A schematic structural diagram of a differential drive device of an omnidirectional transfer vehicle shown;

[0035] Figure 7 A schematic diagram showing a backscatter scanning system with a rocking device according to another exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0037] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0038] According to an overall technical concept of the present invention, a backscatter scanning system is provided, comprising: a backscatter imaging device, which is suitable for obtaining a backscatter image of the inspected target by performing X-ray scanning on the inspected target. The backscatter scanning system also includes an omnidirectional mobile vehicle, on which the backscatter imaging device is carried; the omnidirectional mobile vehicle has an autonomous navigation driving mode and a remote control driving mode, so that it can autonomously drive along a predetermined route according to a navigation plan or can drive along a predetermined route according to a remote control instruction.

[0039] Figure 1 A three-dimensional schematic diagram showing a backscatter scanning system according to an exemplary embodiment of the present invention;

[0040] like Figure 1 As shown, in the illustrated embodiment, the backscatter omnidirectional scanning system has a structure as shown in FIG. Figure 1 As shown, it mainly includes a backscatter imaging device 100, an omnidirectional transport vehicle 200, a lifting device 300 and a remote controller 400. The backscatter imaging device 100 is an independent module, fixed on the lifting device 300, and the two are mounted on the omnidirectional transport vehicle 200. With the necessary electrical control, the omnidirectional transport vehicle 200 can autonomously drive in a straight line or turn along the expected route according to the set interval distance according to the navigation plan, and its route can also be controlled by the remote controller 400, and it can automatically avoid obstacles to prevent mis-irradiation or damage to the equipment. The lifting device 300 can automatically rise and fall, change the scanning height, and expand the scanning range. The backscatter imaging device 100 emits a pencil-shaped X-ray beam to the target to be inspected, and the high-performance backscatter detector collects, conditions, converts, transmits and processes the backscatter signal. As the omnidirectional transport vehicle 200 moves, a comprehensive scan of the target to be inspected is achieved, and a high-quality backscatter image is presented to the user through a wireless network (WIFI).

[0041] According to the above technical solution, if Figure 1 As shown, the backscatter imaging device 100 includes an independent outer cover 180, and the omnidirectional transfer vehicle 200 includes two side panels 201. Figure 1 In addition, the whole machine is also equipped with a front cover plate 11 and a rear cover plate 12.

[0042] like Figure 1As shown, in an exemplary embodiment of the present invention, the front cover plate 11 and the rear cover plate 12 are integrally formed. In particular, in order to reduce weight and meet outdoor use conditions, light materials such as fiberglass or carbon fiber are preferred.

[0043] like Figure 1 As shown, in an exemplary embodiment of the present invention, different components are arranged on the front cover plate 11 to realize corresponding auxiliary functions. Among them, the emergency stop switch 13 is used to cut off the system power supply in an emergency, including the power input of the backscatter imaging device 100 and the omnidirectional transfer vehicle 200; the key switch 14 is used for power-on enablement and normal power-off, and can distinguish between the control system power supply and the power system power supply; the power-on indicator light 15 is used to indicate the system power supply status; the headlight 16 is used to indicate the location of the device to the outside.

[0044] like Figure 1 As shown, in an exemplary embodiment of the present invention, an emergency switch 13 and a rear light are arranged on the rear cover plate 12 .

[0045] like Figure 1 As shown, in an exemplary embodiment of the present invention, the backscatter imaging device 100 is provided with a power light 17 and a warning light 18 .

[0046] Figure 2 show Figure 1 The schematic structural diagram of the backscatter imaging module of the backscatter scanning system is shown.

[0047] According to the above technical solution, if Figure 1 and Figure 2 As shown, the backscatter imaging device 100 has the characteristics of miniaturization, modularity and versatility. Its structure is as follows Figure 2 The core components are a high voltage power supply 110 , an X-ray tube assembly 120 , a flying spot scanning device 130 and a backscatter detector 140 , which are fixed together by a mounting bracket 101 .

[0048] like Figure 1 and Figure 2 As shown, in an exemplary embodiment of the present invention, a high voltage power supply 110 is applied to both ends of an X-ray tube assembly 120 to generate X-rays, and the two can be connected by a high voltage cable or combined into an integrated X-ray generator. The X-ray tube assembly 120 is provided with a primary collimator 121 at the beam outlet to constrain the X-ray beam into a fan shape.

[0049] Figure 3 show Figure 2 A schematic structural diagram of a flying spot scanning device of a backscatter imaging module shown;

[0050] like Figures 1 to 3As shown, in an exemplary embodiment of the present invention, the flying spot scanning device 130 adopts a servo motor direct drive and a cylinder rotation structure, such as Figure 3 As shown. Bearing 136 and bearing 137 are placed at a certain distance, and the transmission shaft 134 is embedded in the inner rings of the two bearings, and then the whole is embedded in the inner ring of the bearing base 135. One end of the transmission shaft 134 is directly connected to the shaft of the servo motor 132, and the other end is connected to the rotating drum 133 through a flange. After the above assembly is completed, the whole is fixed to the support seat 138. In this way, the mechanical transmission links are reduced, and the servo motor 132 is driven by the servo controller 131, and the electric power is directly transmitted to the actuator, which improves the operating efficiency, and the generated X-ray pencil beam will be more stable and consistent, and the quality of the detection signal can be improved.

[0051] like Figures 1 to 3 As shown, in an exemplary embodiment of the present invention, one or more small holes (not shown) are evenly distributed along the circumference of the rotating drum 133, the aperture can be 0.5 mm or larger, and the small holes can be regular through holes or irregular shapes. The materials of the rotating drum 133 and the primary collimator 121 must have a good shielding effect on X-rays, and tungsten-nickel-iron alloy or lead-antimony alloy is preferred. There should be a maze structure between the two to attenuate the leaked rays to a radiation safety range.

[0052] like Figures 1 to 3 As shown, in an exemplary embodiment of the present invention, two sets of backscatter detectors 140 are distributed on both sides of the fan-shaped surface formed by the pencil beam scanning of the flying spot scanning device 130, leaving a proper gap in the middle.

[0053] Figure 4 show Figure 2 The schematic diagram of the structure of the backscatter detector of the backscatter imaging module is shown.

[0054] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, in order to meet the requirements of miniaturization, the backscatter detector 140 should be as thin and light as possible while ensuring the receiving area. The effective backscatter signal itself is much weaker than the transmission signal. Coupled with the interference of background noise, its signal-to-noise ratio is generally high, and it becomes more difficult to detect as the penetration depth increases. Therefore, it is necessary to find ways to enhance the signal strength of the backscatter detector 140 and improve the receiving efficiency. In addition, in order to meet the requirements of high-speed scanning of the system, the backscatter detector 140 also needs to have a higher response speed. Taking all factors into consideration, the present invention adopts a structure in which the light-guiding crystal 142 is externally enclosed by the intensifying screen 143, such as Figure 4 As shown, the backscatter detector 140 of the present invention directly couples with one or more photomultiplier tubes 141 through an optical coupling agent to convert the visible light signal into an electrical signal. The spatial distribution uniformity of the output signal of the backscatter detector 140 is good and the discreteness is small.

[0055] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, a side plate 144 is installed on a side of the backscatter detector 140 close to the beam exit slit, as shown in FIG. Figure 1 As shown, the interference of invalid scattered rays on the detection signal is reduced.

[0056] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, the electric control unit 150 realizes the power distribution and system power on / off control of the backscatter imaging device 100, and the programmable logic controller (PLC) 151 remotely communicates with the servo controller 131 to control the operating state of the flying spot scanning device 130 and detect the flying spot trigger signal.

[0057] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, the lithium battery assembly 160 is preferably a lithium iron phosphate type with better safety, which supplies power to the backscatter imaging device 100, has power display and remote communication functions, and charges the lithium battery pack 161 through the charging interface 163 and the charger 162, as shown in FIG. Figure 1 shown.

[0058] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, the data acquisition and transmission module 102 conditions, amplifies and performs analog-to-digital conversion on the output signal of the photomultiplier tube 141, and uses a field programmable gate array (FPGA) high-speed transmission circuit to upload the sampled data to the industrial computer 103 in real time through the Gigabit Ethernet port for algorithm processing, and transmits the backscattered image data of the inspected target to the user via WIFI for display and judgment.

[0059] like Figures 1 to 4 As shown, in an exemplary embodiment of the present invention, the overall structure of the outer cover 180 of the backscatter imaging device 100 is a five-sided closed shape, such as Figure 1 As shown. The front panel close to the receiving surface of the backscatter detector 140 is made of a material with low X-ray attenuation, preferably a carbon fiber material. The remaining side panels are lightweight outdoor materials, preferably fiberglass. The front panel and the side panels are processed and embedded in an integrated manner.

[0060] Figure 5 show Figure 1 The schematic diagram of the structure of the omnidirectional transfer vehicle and lifting device of the backscatter scanning system is shown.

[0061] like Figures 1 to 5As shown, according to the above technical solution, the core components of the omnidirectional transfer vehicle 200, such as the differential drive device 210, the lithium battery module 220, the sensor module 230 and the controller 240, are arranged on the vehicle chassis 250. In particular, in order to flexibly adjust the X-ray backscatter scanning height, the vehicle chassis 250 is also integrated with a lifting device 300, such as Figure 5 The omnidirectional transfer device with lifting function of the present invention has compact structure, convenient assembly and disassembly, optical navigation, flexible movement, and certain climbing and crossing capability.

[0062] Figure 6 show Figure 5 A schematic structural diagram of the differential drive device of the omnidirectional transfer vehicle is shown.

[0063] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the differential drive device 210 is located in the middle position close to the vehicle chassis 250, and adopts a dual motor to independently drive the two load-bearing wheels. The 360° omnidirectional movement of the omnidirectional transfer vehicle 200 is achieved through the dual-wheel differential adaptive adjustment principle, and it can rotate in all directions on the spot and move forward in any direction. Figure 6 As shown, its core parts include a left driving motor 211, a left driving wheel 212, a right driving motor 214, a right driving wheel 215, a universal wheel 217 and a shock absorbing unit 218.

[0064] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the left driving motor 211 is connected to the left driving wheel 212 through the adapter bracket 213, and the right driving motor 214 is connected to the right driving wheel 215 through the adapter bracket 216. The adapter bracket 213 and the adapter bracket 216 are respectively fixed on both sides of the inner frame of the chassis suspension 251. By adaptively and independently adjusting the current parameters of the left driving motor 211 and the right driving motor 214, the speed difference size and direction of the left driving wheel 212 and the right driving wheel 215 are adjusted respectively, so that the rotation radius of the omnidirectional transfer vehicle 200 can be arbitrarily changed to achieve flexible turning. In particular, the omnidirectional transfer vehicle 200 can be made to stably drive in a straight line, or to make a self-circling motion along the midpoint of the line connecting the two driving wheels.

[0065] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, two universal wheels 217 are respectively arranged at the front and rear of the omnidirectional transfer vehicle 200 as driven wheels, which play the role of support and free guidance.

[0066] like Figures 1 to 6As shown, in an exemplary embodiment of the present invention, the omnidirectional transfer vehicle 200 further has a shock absorbing unit 218, and the lifting device 300 is supported on the shock absorbing unit 218 to reduce the impact of the uneven road surface on the backscatter imaging device 100 mounted on the omnidirectional transfer vehicle 200. The shock absorbing unit 218 can be composed of one or more buffer springs, or other buffering methods, so that the omnidirectional transfer vehicle 200 can normally pass through a certain degree of uneven road surface.

[0067] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the lithium battery module 220 independently powers the omnidirectional transfer vehicle 200, provides power for various drive devices and control modules, and the output voltage range is generally 12V to 72V. The module has power display and remote communication functions, and is compatible with a charger.

[0068] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the sensing module 230 is the basis for the accurate and stable operation of the omnidirectional transfer vehicle 200. The external environment information is sensed by the laser radar module 231 and the ultrasonic obstacle avoidance module 232. The laser radar module 231 emits a laser beam and collects the laser beams reflected from all sides at the same time. The current position and direction of the omnidirectional transfer vehicle 200 can be determined by calculation. Preferably, the detection fan angle is 0 to 180°, the detection distance is 0 to 3m, and the obstacle avoidance distance is 0.2 to 0.5m.

[0069] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the laser radar module 231 can be freely raised and lowered by the electric linear module 233 to adapt to the height of the detected target. The number of the laser radar module 231 can be one group or more.

[0070] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, identifying and bypassing obstacles is a prerequisite for the safe operation of the omnidirectional transfer vehicle 200. Figure 1 In the present invention, two ultrasonic obstacle avoidance modules 232 are respectively installed at appropriate positions of the front cover plate 11, the rear cover plate 12 and the two side panels 201, and the distance of the obstacle is determined according to the round-trip time of ultrasonic emission and reception, so as to achieve non-contact obstacle avoidance. Of course, different numbers of ultrasonic obstacle avoidance modules 232 can also be arranged at different positions according to different needs.

[0071] like Figures 1 to 6As shown, in an exemplary embodiment of the present invention, the controller 240 integrates the control circuit and the display screen into an integrated structure, collects signals from the differential drive device 210, the lithium battery module 220, the sensor module 230, the lifting device 300 and the electrical button, and has a built-in algorithm program, which is responsible for the external command response, path selection, travel adjustment and information upload of the omnidirectional transfer vehicle 200. The display screen 241 is used for parameter setting and status display to achieve interaction with the user.

[0072] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the controller 240 uses a wireless digital communication mode with the outside.

[0073] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, for certain fixed detection locations, the controller 240 can also automatically plan the driving route through a software algorithm based on the previous simulation of the site, thereby realizing the automatic inspection function of the X-ray backscatter equipment.

[0074] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the lifting device 300 includes a base 305, a scissors 303, a hydraulic pump 301, a hydraulic cylinder 302 and a platform 304. The base 305 is carried on the omnidirectional transfer vehicle 200, and the upper and lower ends of the scissors 303 are respectively connected to the base 305 and the platform 304. The backscatter imaging device 100 is fixed on the platform 304, and the hydraulic pump 301 drives the hydraulic cylinder 302. The telescopic rod of the hydraulic cylinder 302 is connected to a connecting rod of the scissors 303 to drive the scissors 303 to rise or fall.

[0075] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the lifting device 300 drives the hydraulic cylinder 302 through the electric hydraulic pump 301 to adjust the lifting height of the scissor fork 303, and the platform 304 is used to fix the backscatter imaging device 100. Figure 1 As shown. In this way, the backscatter imaging device 100 can be adjusted to a suitable spatial position to meet the requirements of different scanning heights. In addition, the lifting device 300 can also adopt a multi-motor drive or other types of lifting platform structures, and needs to have the necessary load-bearing capacity.

[0076] like Figures 1 to 6 As shown, according to the above technical solution, reference Figure 1 The left button 401 of the remote controller 400 remotely controls the driving mode of the omnidirectional transfer vehicle 200; the right button 402 remotely controls the X-ray flying spot scanning operation of the backscatter imaging device 100; the external display 403 displays the X-ray backscatter image of the inspected target and the status of the whole device in real time through WIFI. The remote control operation ensures both operational flexibility and X-ray radiation safety.

[0077] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the remote controller 400 can also remotely control the lifting operation of the lifting device 300 so as to remotely control the scanning range of the backscatter imaging device 100.

[0078] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the backscatter omnidirectional scanning imaging device of the present invention can be operated by manual remote control or automatically.

[0079] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the remote controller 400 of the present invention may also be replaced by a portable computer or the like.

[0080] like Figures 1 to 6 As shown, in an exemplary embodiment of the present invention, the present invention can be configured with voice interaction and camera functions.

[0081] Figure 7 A schematic diagram showing a backscatter scanning system with a rocking device according to another exemplary embodiment of the present invention.

[0082] like Figure 7 FIG. 1 is another implementation of the present invention. Based on the aforementioned backscatter imaging device 100, omnidirectional transfer vehicle 200 and lifting device 300, an electric multi-directional swing device 500 is added to the main structure, which can add an elevation angle multi-directional swing on the basis of horizontal omnidirectional scanning, realize a large-scale scanning perpendicular to the ground direction, enhance the function of the device, and expand the scope of application.

[0083] As shown in FIG. 7 , in an exemplary embodiment of the present invention, the swaying device 500 includes a plurality of hydraulic rods 501 fixed on the lifting device 300, and telescopic rods of the plurality of hydraulic rods 501 are connected to the bottom of the backscatter imaging device 100, so that the angle of the backscatter imaging device 100 can be controlled by controlling the telescopic amount of the telescopic rods of the plurality of hydraulic rods 501.

[0084] like Figures 1 to 7 As shown, in an exemplary embodiment of the present invention, the remote controller 400 can also remotely control the swing operation of the swing device 500 so as to remotely control the scanning range of the backscatter imaging device 100 .

[0085] According to the above technical solution, if Figures 1 to 7 As shown, the present invention is suitable for occasions such as cars, trucks, containers, walls, road inspections, square searches, sports venues and large indoor facilities.

[0086] The present invention skillfully integrates the X-ray backscatter imaging device and the omnidirectional transfer vehicle into one, and with the aid of lifting and swinging functions, can realize uninterrupted and omnidirectional backscatter scanning of the inspected target, can be remotely operated, and can be automatically operated, which well realizes the miniaturization, modularization and portability of the X-ray backscatter imaging device. It has a simple structural design, flexible use, high imaging quality, good radiation safety, wide application range, small weight, low cost, and has good application prospects and economic benefits.

[0087] Those skilled in the art can understand that the embodiments described above are exemplary and can be improved by those skilled in the art. The structures described in various embodiments can be freely combined without causing conflicts in structure or principle.

[0088] Although the present invention has been described in conjunction with the accompanying drawings, the embodiments disclosed in the accompanying drawings are intended to exemplify the preferred implementations of the present invention and should not be construed as limiting the present invention.

[0089] Although some embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

[0090] It should be noted that the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. In addition, any element reference signs in the claims shall not be construed as limiting the scope of the present invention.

Claims

1. A backscatter scanning system, comprising: A backscatter imaging device (100) is adapted to obtain a backscatter image of a target by performing X-ray scanning on the target. Features: The backscatter scanning system further comprises an omnidirectional transport vehicle (200), a lifting device (300) and a swing device (500); the lifting device (300) is mounted on the omnidirectional transport vehicle (200), the swing device (500) is fixed on the lifting device (300), and the backscatter imaging device (100) is fixed on the swing device (500); The omnidirectional transfer vehicle (200) has an autonomous navigation driving mode and a remote control driving mode, so that it can autonomously drive along a predetermined route according to a navigation plan or can drive along a predetermined route according to a remote control instruction; The backscatter imaging device (100) has a wireless communication module for wireless communication with a user terminal, so that the acquired backscatter image can be transmitted to the user terminal via a wireless communication network; The lifting device (300) can be automatically lifted and lowered, and is used to change the height of the backscatter imaging device (100) so as to expand the scanning range of the backscatter imaging device (100); The swaying device (500) can be swung automatically, and is used to change the angle of the backscatter imaging device (100) so as to expand the scanning range of the backscatter imaging device (100); A front cover plate (11) and a rear cover plate (12) are provided on the circumference of the omnidirectional transfer vehicle (200), and components are provided on the front cover plate (11) and the rear cover plate (12); The lifting device (300) comprises a base (305), a scissors (303), a hydraulic pump (301), a hydraulic cylinder (302) and a platform (304); the base (305) is carried on the omnidirectional transfer vehicle 200, and the upper and lower ends of the scissors (303) are respectively connected to the base (305) and the platform (304); The backscatter imaging device (100) is fixed on the platform (304); the hydraulic pump (301) drives the hydraulic cylinder (302); the telescopic rod of the hydraulic cylinder (302) is connected to a connecting rod of the scissors (303) to drive the scissors (303) to rise or fall; The backscatter imaging device (100) comprises a mounting bracket (101), a high-voltage power supply (110) fixed on the mounting bracket (101), an X-ray tube assembly (120), a flying spot scanning device (130), and a backscatter detector (140); The backscatter detector (140) comprises at least one photomultiplier tube (141), a light-guiding crystal (142) and an intensifying screen (143); the intensifying screen (143) is externally mounted on the light-guiding crystal (142); and the at least one photomultiplier tube (141) is directly coupled to the light-guiding crystal (142) via an optical coupling agent to convert a visible light signal into an electrical signal; The backscatter detector (140) further comprises a side plate (144) mounted on the side surface and close to the beam-exiting slit, wherein the side plate (144) is used to reduce interference of invalid scattered rays on the detection signal; The backscatter imaging device (100) further comprises a protective cover (180), the protective cover (180) being in a five-sided closed shape, the front panel close to the receiving surface of the backscatter detector (140) being made of a material with low X-ray attenuation, the remaining side panels being made of lightweight outdoor materials, and the front panel and the side panels being an integrally formed part.

2. The backscatter scanning system according to claim 1, characterized in that: The backscatter scanning system further comprises a remote controller (400), wherein the remote controller (400) is in wireless communication with the backscatter imaging device (100) and the omnidirectional transport vehicle (200), and is used to control the driving mode of the omnidirectional transport vehicle (200) and the X-ray scanning operation of the backscatter imaging device (100); The remote controller (400) comprises a left button (401), a right button (402) and a display (403); the left button (401) is used to remotely control the driving mode of the omnidirectional transport vehicle (200); the right button (402) is used to remotely control the X-ray scanning operation of the backscatter imaging device (100); and the display (403) is used to display a backscatter image of the inspected target and the working states of the omnidirectional transport vehicle (200) and the backscatter imaging device (100).

3. The backscatter scanning system according to claim 1, characterized in that: The omnidirectional transfer vehicle (200) comprises a differential drive device (210) for driving the omnidirectional transfer vehicle (200) to move 360 ​​degrees in all directions, the differential drive device (210) comprising a left drive motor (211), a left drive wheel (212), a right drive motor (214) and a right drive wheel (215), the left drive motor (211) and the right drive motor (214) being connected to the left drive wheel (212) and the right drive wheel (215) respectively; and The omnidirectional transfer vehicle (200) further comprises two universal wheels (217), the two universal wheels (217) being respectively arranged on the front and rear sides of the omnidirectional transfer vehicle (200), and the two universal wheels (217) serving as driven wheels for support and guidance.

4. The backscatter scanning system according to claim 3, characterized in that: The omnidirectional transfer vehicle (200) further comprises a sensing module (230) for sensing external environmental information, wherein the sensing module (230) comprises a laser radar module (231) for sensing the current position and direction of the omnidirectional transfer vehicle (200) and an ultrasonic obstacle avoidance module (232) for sensing obstacles; and The omnidirectional transfer vehicle (200) further comprises a controller (240), wherein the controller (240) is adapted to control the travel of the omnidirectional transfer vehicle (200) according to the sensing signal collected by the sensing module (230) or according to the received remote control command.

5. The backscatter scanning system according to claim 1, characterized in that: The rocking device (500) comprises a plurality of hydraulic rods (501) fixed to the lifting device (300), and telescopic rods of the plurality of hydraulic rods (501) are connected to the bottom of the backscatter imaging device (100), so that the angle of the backscatter imaging device (100) can be controlled by controlling the telescopic amount of the telescopic rods of the plurality of hydraulic rods (501).

6. The backscatter scanning system according to claim 1, characterized in that: The omnidirectional transport vehicle (200) further comprises a shock absorbing unit (218), and the lifting device (300) is supported on the shock absorbing unit (218) to reduce the impact of uneven roads on the backscatter imaging device (100) mounted on the omnidirectional transport vehicle (200).

7. The backscatter scanning system according to claim 1, characterized in that: The flying spot scanning device (130) comprises a servo controller (131), a servo motor (132), a rotating drum (133), a transmission shaft (134), a bearing base (135), a first bearing (136), a second bearing (137) and a support base (138); The first bearing (136) and the second bearing (137) are respectively mounted on two ends of the transmission shaft (134); the transmission shaft (134) is embedded in the bearing base (135); One end of the transmission shaft (134) is connected to the output shaft of the servo motor (132), and the other end is connected to the rotating drum (133); the servo motor (132) and the bearing base (135) are fixed to the support seat (138); The servo controller (131) controls the servo motor (132), and the servo motor (132) drives the rotating drum (133) to rotate via the transmission shaft (134).

8. The backscatter scanning system according to claim 1, characterized in that: The high-voltage power supply (110) is connected to the X-ray tube assembly (120) via a high-voltage cable, or the high-voltage power supply (110) and the X-ray tube assembly (120) are combined into an integrated X-ray generator; The backscatter detector (140) further comprises an electric control unit (150), wherein the electric control unit (150) is used to realize power distribution and system power on / off control of the backscatter imaging device (100); The electric control unit (150) comprises a programmable logic controller (151), and the programmable logic controller (151) communicates with a servo controller (131) to control the flying spot scanning device (130).

9. The backscatter scanning system according to claim 1, characterized in that: The backscatter imaging device (100) further comprises a data acquisition and transmission module (102) and an industrial computer (103); the data acquisition and transmission module (102) performs conditioning, amplification and analog-to-digital conversion on the output signal of the photomultiplier tube (141), and uploads the processed sampling data to the industrial computer (103) in real time; the industrial computer (103) generates a backscatter image of the inspected target based on the sampling data, and transmits the generated backscatter image to a user terminal in a wireless manner.

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