Radiation protection robot and back scattering inspection equipment

Abstract

Disclosed are a radiation protection robot and a scattered inspection apparatus. The radiation protection robot includes: a first wheel capable of allowing the radiation protection robot to move; a shielding device capable of reflecting and / or absorbing radiation; and a radiation sensor for sensing radiation. The radiation protection robot is configured to move through the first wheel towards an area where the radiation dose value sensed by the radiation sensor is increased, and shield the propagation of radiation through the shielding device.

Description

Technical Field

[0001] The present invention relates to the field of security inspection, in particular to a radiation protection robot and a backscatter inspection device. Background Art

[0002] X-ray inspection can obtain images of the inspected object and has a good detection effect on dangerous goods such as drugs and explosives. Therefore, it is widely used in the security inspection of goods, vehicles, luggage, etc. in the fields of customs, civil aviation, border inspection, etc.

[0003] In order to protect the human body, an improved safety protection device and a highly secure inspection device are needed to further enhance the friendliness of security inspection. Summary of the invention

[0004] One aspect of the present disclosure provides a radiation protection robot, comprising:

[0005] A first wheel, arranged at the bottom of the radiation protection robot so as to support the radiation protection robot and allow the radiation protection robot to move;

[0006] Shielding devices capable of reflecting and / or absorbing radiation; and

[0007] a radiation sensor for sensing radiation;

[0008] The radiation protection robot is configured to move toward a region where a radiation dose value sensed by a radiation sensor increases by using the first wheel, and to shield propagation of radiation by using the shielding device.

[0009] In one embodiment, the radiation sensor includes a plurality of radiation sensors installed at multiple locations around the radiation protection robot so that the radiation protection robot can sense radiation irradiated toward the radiation protection robot from any direction around the radiation protection robot.

[0010] In one embodiment, the multiple radiation sensors include a plurality of first side radiation sensors arranged on a first side of a shielding surface of the shielding device extending along a first direction and a plurality of second side radiation sensors arranged on a second side of the shielding surface opposite to the first side, and the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel so that the radiation dose values ​​sensed by the plurality of first side radiation sensors are greater than the radiation dose values ​​sensed by the plurality of second side radiation sensors.

[0011] In one embodiment, the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel so that the radiation dose values ​​sensed by the plurality of second side radiation sensors are zero.

[0012] In one embodiment, the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel so that the radiation dose value sensed by the middle one of the multiple first side radiation sensors is the largest, and / or the radiation dose values ​​sensed by the first side radiation sensors located near both ends of the shielding surface are equal so as to be orthogonal to the incident direction of the radiation and the plane where the shielding surface is located.

[0013] In one embodiment, the radiation protection robot is configured to move along a second direction perpendicular to the first direction through the movement of the first wheel, so that the radiation dose value sensed by the first side radiation sensor increases.

[0014] In one embodiment, the multiple radiation sensors include a plurality of first side radiation sensors arranged on a first side of a shielding surface of the shielding device extending along a first direction and a plurality of second side radiation sensors arranged on a second side of the shielding surface opposite to the first side, and the radiation protection robot is configured to move via the first wheel so that the radiation dose values ​​sensed by the plurality of first side radiation sensors and the plurality of second side radiation sensors increase.

[0015] In one embodiment, the radiation protection robot further comprises a navigation device configured to guide the radiation protection robot to avoid obstacles during the first round of movement.

[0016] In one embodiment, the radiation protection robot also includes a navigation device, which is configured to identify a human body during movement, and after identifying the human body, remind the person to leave the radiation irradiation area, and / or is configured to guide the radiation protection robot to move to one side of the human body so that the radiation protection robot is located upstream of the human body relative to the incident radiation.

[0017] In one embodiment, the radiation protection robot also includes a navigation device, which is configured to identify objects within the venue and guide the radiation protection robot to actively approach the objects and move around the objects to actively detect whether radiation is detected; or the navigation device is configured to guide the radiation protection robot to cruise within the venue to actively detect radiation.

[0018] In one embodiment, the shielding device includes a radiation protection material and a fixed steel structure shell, wherein the fixed steel structure shell extends upward from the bottom of the radiation protection robot to a certain height in a vertical direction and attaches and fixes the radiation protection material.

[0019] In one embodiment, the shielding device includes a radiation protection column, and the radiation protection material is arranged between the fixed steel structure shell and the radiation protection column.

[0020] In one embodiment, the shielding device includes two radiation protection columns located between the space defined by the fixed steel structure shell, and the radiation protection material is arranged between the fixed steel structure shell and the radiation protection columns.

[0021] In one embodiment, the radiation shielding material is in granular form.

[0022] Another aspect of the present invention provides a backscatter inspection device, comprising:

[0023] a backscatter robot configured to be able to move into proximity with an object to be inspected to approach the object, emit radiation toward the object, and detect radiation reflected from the object; and

[0024] The radiation protection robot mentioned above.

[0025] In one embodiment, the backscatter robot comprises:

[0026] a second wheel configured to allow the backscatter robot to move in a self-propelled manner; and

[0027] The backscatter device can perform backscatter inspection on the object.

[0028] In one embodiment, the backscatter device comprises a flying spot X-ray machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a front schematic diagram of a radiation protection robot according to an embodiment of the present disclosure;

[0030] Figure 2 is a side schematic diagram of a radiation protection robot according to an embodiment of the present disclosure;

[0031] Figure 3 It is a schematic cross-sectional view of a shielding device of a radiation protection robot according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The present disclosure has multiple embodiments, which are provided in order to better understand the technical solutions and inventive concepts of the present disclosure in conjunction with the accompanying drawings. It should be understood that the embodiments of the present disclosure are not intended to limit the scope of the present disclosure.

[0033] Figure 1 A specific product according to an embodiment of the present disclosure is shown, however, it should be noted that Figure 1The multiple components of the specific product shown are not required, and other embodiments of the present disclosure may have similar Figure 1 Different structures and different constituent parts are shown. Figure 1 It is only for the purpose of giving examples of the technical solutions of the present disclosure.

[0034] The embodiment of the present disclosure provides a radiation protection robot that can autonomously move to block or protect radiation in the environment. Here, the so-called blocking or protection refers to the ability to block radiation, and radiation refers to radiation such as X-rays, gamma rays, etc. that are harmful to the human body or even harmful, so that the radiation protection robot can at least block the radiation from passing through, so that the radiation dose on the side facing away from the radiation is reduced, thereby reducing the possible harm to the human body.

[0035] In one embodiment, the radiation protection robot 200 includes a body 204, which can be self-driven and move, such as moving in an electric manner. It can have its own power supply, or it can be connected to an external power supply, such as a power supply connected to the site; here, the body 204 refers to the various physical entity parts of the radiation protection robot. For the convenience of description in this specification, the radiation protection robot 200 may include software or other control programs in addition to the body 204. The body 204 can have one first wheel 203, two first wheels 203, three first wheels 203, four first wheels 203 or more first wheels 203, so that it can move freely in the site. In one embodiment, the body 204 can have a part that slides on the ground to support the body 204, etc. The body 204 can have an outer periphery, and the body 204 can be any shape, such as a quadrilateral with four substantially straight sides; such as a circle with a substantially circular outer periphery; such as an ellipse with a substantially elliptical outer periphery; or other regular or irregular special shapes.

[0036] In one embodiment, the body 204 of the radiation protection robot 200 includes a shielding device that can reflect and / or absorb radiation, so that the shielding device can be considered to constitute part of the body 204. The shielding device includes a radiation shielding material 211. The radiation shielding material 211 can be, for example, a metal such as lead or other materials, and can be, for example, in the form of a plate or in the form of particles. The shielding device can also include a fixed steel structure shell 212, which constitutes part of the body 204 and fixes and supports the radiation shielding material 211. The radiation shielding material 211 can be surrounded by the fixed steel structure shell 212, for example, the radiation shielding material 211 can be clamped in the fixed steel structure shell 212.

[0037] In one embodiment, Figure 1As shown, the shielding device may further include a radiation protection column 207 , which is disposed on one side of the fixed steel structure shell 212 , and may further stabilize the fixed steel structure shell 212 .

[0038] In one embodiment, Figure 3 As shown, the shielding device includes a radiation shielding material 211 and a fixed steel structure shell 212 and a radiation shielding column 207 respectively arranged on both sides of the radiation shielding material 211, and the radiation shielding column 207 is attached to the fixed steel structure shell 212 to further reinforce the fixed steel structure shell 212; in one embodiment, the fixed steel structure shell 212 is only arranged on one side of the radiation shielding material 211. The fixed steel structure shell 212 and the radiation shielding column 207 can have a plate shape.

[0039] In one embodiment, the radiation protection column 207 is disposed inside the fixed steel structure shell 212. The radiation protection column 207 divides the internal space of the fixed steel structure shell 212 into a plurality of compartments, so that the radiation protection material 211 is sandwiched between the radiation protection column 207 and the fixed steel structure shell 212. In this embodiment, Figure 3 The two columns inside the fixed steel structure shell 212 in the illustrated structure schematically represent the radiation protection columns 207. In this embodiment, the radiation protection material 211 can be in the form of granules filled in multiple compartments separated by the radiation protection columns 207 inside the fixed steel structure shell 212.

[0040] The two fixed steel structure shells 212 can be two plate-shaped components; in other embodiments, Figure 3 The two fixed steel structure shells 212 shown may be a cross-sectional schematic diagram of an integrated shell member. The structure formed by the fixed steel structure shell 212 and the two radiation protection columns 207 is conducive to strengthening the strength of the shielding device and allows the shielding device to have a greater height.

[0041] It should be understood that the fixed steel structure shell 212 and the radiation protection column 207 are not necessary. In one embodiment, the shielding device only includes the radiation protection material 211, such as only lead plates.

[0042] In one embodiment, the body 204 may have a quadrilateral perimeter, and the surface of the shielding device may constitute a portion of the surface of the body 204. In one embodiment, the top of the shielding device constitutes the top of the body 204. In one embodiment, the radiation shielding material 211 of the shielding device extends from the top of the body 204 to the bottom of the body 204.

[0043] In one embodiment, the shielding device extends in the direction of the outer circumference of the body 204, for example Figure 1-2As shown, the body 204 has a first side, and the shielding device extends in the direction of the first side of the body 204, which is referred to as the first direction. The shielding device has a shielding surface 213, which can be a substantially flat surface extending in the first direction in a vertical plane. In one embodiment, the length of the shielding device in the first direction is shorter than that of the body 204; however, this is not necessary. For example, Figure 2 In the structure shown, the length of the shielding device in the first direction is the length of the body 204. The shielding device can be located in the middle of the body 204 (in the transverse direction of the first direction); however, it can also be located at any position of the body 204. Figure 3 In the illustrated embodiment, the shielding device of the radiation protection robot is configured to constitute a part of the body 204 of the radiation protection robot, extending a certain range in the vertical plane, and the shielding device includes a shielding surface extending a certain range in the vertical plane, and the length of the shielding surface can be equal to the length of the body 204, or can be less than the length of the body 204. The shielding device can be configured so that the shielding surface extends as close to the ground as possible to prevent radiation from passing through from below the shielding surface.

[0044] In one embodiment, the body 204 has an elliptical outer periphery, and the shielding device is located inside the elliptical outer periphery of the body 204 and extends along a first direction. The body 204 can move in any direction, so that the body 204 can carry the shielding device to move in any direction, and can also allow the shielding surface 213 of the shielding device to face any direction. Here, for convenience, the direction facing the shielding surface 213 is called the second direction, and the second direction is perpendicular or orthogonal to the first direction.

[0045] In one embodiment, the shielding device extends along a first direction, which can be regarded as dividing the body 204 into two parts. For convenience, the two sides of the body 204 located on the shielding device are referred to as the first side and the second side. Figure 1 In the embodiment, the first side of the body 204 may refer to the shielding device. Figure 1 The second side may be a shielding device Figure 1 However, it should be understood that the first side and the second side are only intended to represent two different sides of the body 204.

[0046] The radiation protection robot comprises a radiation sensor 202 for sensing radiation. The radiation protection robot is configured to move in a self-driven manner through the first wheels 203 so that the radiation protection robot moves toward an area where the radiation dose value sensed by the radiation sensor 202 increases, and the shielding device shields the propagation of radiation.

[0047] In one embodiment, the radiation sensor 202 includes a plurality of radiation sensors 202 installed at multiple positions on the periphery of the radiation protection robot, so that the radiation protection robot can sense radiation irradiated toward the radiation protection robot from any direction around the radiation protection robot. Figure 1 As shown, a plurality of radiation sensors 202 are mounted on the periphery of the body 204, for example, a plurality of radiation sensors 202 are mounted on the first side of the body 204, and a plurality of radiation sensors 202 are mounted on the second side of the body 204; in this embodiment, the body 204 is divided into two sides by a shielding device, and it is assumed that the radiation sensors 202 on the first side cannot sense the radiation incident on the second side, and the radiation sensors on the second side cannot sense the radiation incident on the first side. In one embodiment, as Figure 2 As shown, multiple radiation sensors 202 are installed on one side of the body 204, for example, extending at a certain height along the shielding surface 213 (first direction) of the shielding device on the first side of the body 204. It should be known that the multiple radiation sensors 202 are used to sense radiation in the environment and can be installed at other positions of the body 204, such as the bottom of the outer peripheral surface of the first side and the second side of the body 204, as long as it is convenient to detect radiation. The number of multiple radiation sensors 202 can be set according to the size of the radiation protection robot or as needed.

[0048] In one embodiment, Figure 3 As shown, Figure 3 A plurality of sensors 202 are arranged on the periphery of a body 204 . Figure 3 In the illustrated embodiment, the body 204 has a bottom plate and side walls, and the bottom plate and the side walls define a space. For example, the body 204 may have four side walls, and the four side walls surround an internally recessed space. The shielding device is integrally mounted on the bottom plate of the body 204, and the oppositely disposed side walls may be connected by a connecting plate, and the connecting plate may be connected to the shielding device, thereby further fixing the shielding device; in one embodiment, the body 204 may also have two side walls, and the oppositely disposed side walls may be connected by a connecting plate, and the connecting plate may be connected to the shielding device; in one embodiment, the body 204 has no side walls and only has a bottom plate. A plurality of sensors 202 may be arranged at the front, middle, and rear of the first side and the second side of the body 204 along the first direction. In this embodiment, the radiation sensor is arranged outside the recessed space.

[0049] In one embodiment, the radiation protection robot is configured to adjust the orientation of the body 204 by moving and / or turning the first wheel 203, thereby adjusting the orientation of the shielding device, so that the radiation dose value sensed by the multiple radiation sensors 202 on the first side of the shielding surface 213 of the shielding device is greater than the radiation dose value sensed by the multiple radiation sensors 202 on the second side of the shielding surface 213 of the shielding device; however, it should be known that the radiation dose value sensed by the multiple radiation sensors 202 on the second side of the shielding surface 213 of the shielding device can also be made greater than the radiation dose value sensed by the multiple radiation sensors 202 on the first side of the shielding surface 213 of the shielding device, which can be flexibly set according to actual conditions. For example, in this embodiment, a radiation sensor 202 is installed on the first side and the second side of the body 204 respectively, and the radiation dose sensed by the radiation sensor 202 on the first side is increased by moving and / or rotating the first wheel 203, while the radiation dose sensed by the second side is reduced; then the body 204 can move so that the radiation dose sensed by the radiation sensor 202 on the first side continues to increase. Here, the movement of the radiation protection robot can be back and forth. When the movement of the main body 204 reduces the radiation dose sensed by the radiation sensor 202 on the first side, the main body 204 stops moving, changes the moving direction, and moves in the opposite direction, so that the radiation dose sensed by the radiation sensor 202 on the first side increases.

[0050] In one embodiment, when the radiation sensor 202 on the first side and / or the second side of the radiation protection robot senses radiation, the body 204 moves so that the radiation dose sensed by the radiation sensor 202 on the first side and the second side increases, and during the movement, the body 204 changes direction so that the radiation dose sensed by the radiation sensor 202 on the first side increases, while the radiation dose sensed by the radiation sensor 202 on the second side decreases, until the radiation dose sensed by the radiation sensor 202 on the second side is zero, while the radiation dose sensed by the radiation sensor 202 on the first side increases or remains unchanged. Vice versa, the body 204 moves by the first wheel 203 so that the radiation dose sensed by the radiation sensor 202 on the first side decreases, while the radiation dose sensed by the radiation sensor 202 on the second side increases, until the radiation dose sensed by the radiation sensor 202 on the first side is zero, while the radiation dose sensed by the radiation sensor 202 on the second side increases or remains unchanged.

[0051] In another embodiment, the radiation protection robot is configured such that when the radiation sensor 202 on the first side and / or the second side senses radiation, the body 204 turns through the first wheel 203, so that the radiation dose sensed by the radiation sensor 202 on one of the first side and the second side is zero, for example, the radiation dose sensed by the radiation sensor 202 on the first side is zero, and then the radiation protection robot 200 moves in a straight line along the extension direction of the shielding surface. During this process, the radiation dose sensed by the radiation sensor 202 on the first side is zero. If the radiation dose sensed by the radiation sensor 202 on the second side increases, the robot continues to move forward. When the radiation dose sensed by the radiation sensor 202 in the middle position of the second side begins to decrease, the robot stops moving, and at this time the shielding surface basically faces the incident direction of the radiation. The radiation protection robot 200 can move along the second direction (lateral to the shielding surface) to increase the radiation dose sensed by all the radiation sensors 202 on the second side.

[0052] In one embodiment, the radiation protection robot has multiple radiation sensors 202. It is more advantageous to install more than two radiation sensors 202 on the same side of the shielding device because the direction of the radiation source can be determined by comparing the radiation dose values ​​detected by the multiple radiation sensors 202 installed on the same side of the shielding device. Figure 2 The first side ( Figure 2 If the radiation dose detected by the left radiation sensor 202 of the three radiation sensors 202 is greater than the radiation dose detected by the right radiation sensor 202, or the radiation dose detected from the left radiation sensor 202 to the right radiation sensor 202 decreases one by one, then the gradient of the radiation dose values ​​sensed by the multiple radiation sensors 202 indicates that the left radiation sensor 202 is closer to the radiation source, then the radiation protection robot can move to the left, and / or the radiation protection robot can turn to the left at a certain angle with the middle position as the axis, so that the radiation dose value sensed by the right radiation sensor 202 increases.

[0053] In one embodiment, the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel 203, so that the radiation is irradiated in the middle of the shielding surface 213 of the shielding device and the incident direction of the radiation is orthogonal to the plane where the shielding surface 213 is located, that is, the incident direction is along the second direction. In this embodiment, the plurality of radiation sensors 202 on the first side of the shielding surface 213 of the shielding device are located in the middle of the shielding surface 213 ( Figure 2In this embodiment, it is advantageous to arrange a plurality of first-side radiation sensors 202 on the first side. For example, the plurality of radiation sensors 202 can realize a gradient of the radiation dose values ​​sensed by the plurality of first-side sensors on the first side. This gradient of radiation dose values ​​shows a trend, thereby determining the approximate direction of the radiation source so that the radiation protection robot can move toward the radiation source. In one embodiment, a radiation sensor 202 is arranged in the middle of the shielding surface 213, that is, Figure 2 The radiation sensor 202 in the middle of the three radiation sensors 202 shown (it should be understood that there may be more than 3) is advantageous in that when the radiation protection robot moves to a certain position, Figure 2 If the radiation dose value sensed by the middle radiation sensor 202 is the largest, the radiation protection robot stops moving in the first direction; at this time, the radiation protection robot can keep the middle radiation sensor 202 stationary, and rotate the body 204 left-right with the middle radiation sensor 202 as the axis, so that the radiation dose values ​​sensed by the left and right radiation sensors 202 change, until the radiation dose values ​​sensed by the left and right radiation sensors 202 are roughly equal, then the shielding surface 213 of the radiation protection robot is orthogonal to the incident radiation, and the radiation protection robot can move in the second direction close to the radiation source. In one embodiment, when the incident radiation is a pencil-shaped radiation beam, the radiation dose value sensed by the middle radiation sensor 202 is greater than the radiation dose values ​​sensed by the left and right radiation sensors 202, then the middle position of the shielding device can substantially block the pencil-shaped radiation beam.

[0054] In one embodiment, the radiation protection robot may further include a navigation device 201 configured to guide the radiation protection robot to avoid obstacles during movement. For example, the navigation device 201 may be an image recognition device, for example, identifying an object based on an optical image, or identifying an object based on a millimeter wave, or identifying an object based on a point cloud of a laser beam.

[0055] In one embodiment, the radiation protection robot may further include a navigation device 201. In this embodiment, the navigation device 201 is configured to be able to identify a person during movement, and when identifying a human body, remind the person to leave the radiation irradiation area. For example, the person may be reminded to move to the side where the radiation sensor of the radiation protection robot senses a dose value of zero; in another embodiment, the human body may be reminded to stay away from the radiation irradiation area; in one embodiment, the navigation device may remind the human body that there is radiation near the human body and the person should leave as soon as possible; in another embodiment, the radiation protection robot may deflect toward the radiation incident direction, bypass the human body, and move the radiation protection robot to the upstream of the incident radiation. In this embodiment, the navigation device 201 is able to distinguish objects, and can identify whether the object is a human body or an obstacle. If it is an obstacle, it will be avoided or bypassed. If it is a human body, it will make a sound or flash a light to remind the human body to leave the radiation irradiation area, or move to the upstream of the human body relative to the incident radiation.

[0056] In the embodiment of the present invention, the navigation device 201 can be installed at any position of the radiation protection robot, for example, installed at the front side of the body 204 (relative to the first direction in which the shielding surface 213 extends). Figure 1 In another embodiment, the navigation device 201 is installed on the body 204, for example Figure 2 On the left periphery of the first side shown. For example, Figure 2 The body 204 shown may have a rectangular outer periphery, and the navigation device 201 may be mounted on the front side of the body 204 in the first direction, that is, Figure 2 In an embodiment where the body 204 has an elliptical outer periphery, the shielding surface 213 extends along the first direction through two sharp arc ends of the ellipse (long axis), and the navigation device 201 can be installed at the sharper arc end of the ellipse of the body 204 to guide the body 204 to identify an object or a human body located in front of the body 204 during movement.

[0057] In one embodiment, the navigation device 201 is configured to identify objects within a venue, such as an airport, dock, school, station, etc. After identifying the objects within the venue, it guides the radiation protection robot to actively approach the objects and move around the objects to actively detect whether radiation is detected.

[0058] In one embodiment, the navigation device 201 is configured to guide the radiation protection robot to cruise in a location, such as an airport, a dock, a school, a station, etc., so as to actively detect whether radiation is detected.

[0059] In one embodiment, when the radiation protection robot moves under the guidance of the navigation device 201, when the radiation sensor of the radiation protection robot senses radiation, it determines the incident direction of the radiation or the source of the radiation by adjusting the moving direction.

[0060] In one embodiment, when the radiation protection robot senses radiation through a radiation sensor, it issues an alarm, such as a sound alarm, a light alarm, or contacts nearby personnel.

[0061] In other embodiments of the present invention, the radiation protection robot may also have other structures, and those skilled in the art may modify the structure and arrangement of the first wheel, the shielding device and the radiation sensor as needed based on the contents disclosed in the present invention.

[0062] According to one aspect of the present invention, a backscatter inspection device is provided, which may include a backscatter robot and a radiation protection robot.

[0063] In this embodiment, the backscatter robot of the backscatter inspection device is configured to be able to move to the vicinity of the object to be inspected to get close to the object, emit radiation toward the object, and detect radiation reflected from the object. The backscatter robot may include: a second wheel, which can move in a self-driven manner; and a backscatter device, which can carry the second wheel to perform backscatter inspection on the object. The second wheel can be similar to the first wheel 203, or can have different forms and arrangements. The radiation protection robot and the backscatter robot can communicate with each other, or they can move independently and autonomously. The radiation protection robot and the backscatter robot have independent driving sources, each independently driving both to move freely. The backscatter device may include a flying spot X-ray machine, such as one that emits a pencil beam.

[0064] 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; "upper", "lower", "bottom", "upper part", "lower part" are only used to indicate the orientation of the components in the illustrated structure, rather than to limit their absolute orientation; "first" and "second" are used to distinguish the names of different components rather than to sort or indicate importance or primary and secondary distinction. In addition, any element number in the claims should not be understood as limiting the scope of the present disclosure.

[0065] 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.

Claims

1. A radiation protection robot, comprising: A first wheel, arranged at the bottom of the radiation protection robot so as to support the radiation protection robot and allow the radiation protection robot to move; Shielding devices, capable of reflecting and / or absorbing radiation; and a radiation sensor for sensing radiation; The radiation protection robot is configured to move toward a region where a radiation dose value sensed by a radiation sensor increases by using the first wheel, and to shield propagation of radiation by using the shielding device.

2. The radiation protection robot according to claim 1, wherein the radiation sensor comprises a plurality of radiation sensors installed at multiple positions around the radiation protection robot so that the radiation protection robot can sense radiation irradiated toward the radiation protection robot from any direction around the radiation protection robot.

3. The radiation protection robot according to claim 2, wherein the shielding device comprises the shielding surface extending along the first direction, and wherein the plurality of radiation sensors include a plurality of first side radiation sensors disposed on the radiation protection robot and located on a first side of the shielding surface, and a plurality of second side radiation sensors disposed on the radiation protection robot and located on a second side of the shielding surface opposite to the first side, and The radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel so that the radiation dose value sensed by the multiple first side radiation sensors is greater than the radiation dose value sensed by the multiple second side radiation sensors.

4. The radiation protection robot according to claim 3, wherein the radiation protection robot is configured to adjust the orientation of the shielding surface of the shielding device by moving and / or turning the first wheel so that the radiation dose value sensed by the sensors of the multiple second side radiation sensors is zero.

5. The radiation protection robot according to claim 2, wherein the radiation protection robot is configured to adjust the orientation of the shielding surface of the shielding device by moving and / or turning the first wheel, so that the radiation dose value sensed by the middle one of the multiple first side radiation sensors is the largest, and / or the radiation dose values ​​sensed by the first side radiation sensors located near the two ends of the shielding surface are equal so as to be orthogonal to the incident direction of the radiation and the plane where the shielding surface is located.

6. The radiation protection robot according to claim 4 or 5, wherein the radiation protection robot is configured to move the radiation protection robot along a second direction perpendicular to the first direction through the movement of the first wheel, so that the radiation dose value sensed by the first side radiation sensor increases.

7. The radiation protection robot according to claim 2, wherein the plurality of radiation sensors include a plurality of first side radiation sensors arranged on a first side of a shielding surface of the shielding device extending along a first direction and a plurality of second side radiation sensors arranged on a second side of the shielding surface opposite to the first side, and the radiation protection robot is configured to move through the first wheel so that the radiation dose values ​​sensed by the plurality of first side radiation sensors and the plurality of second side radiation sensors increase.

8. The radiation protection robot according to claim 1, further comprising a navigation device configured to guide the radiation protection robot to avoid obstacles when moving via the first wheel.

9. The radiation protection robot according to claim 1, further comprising a navigation device configured to be able to recognize a human body, and After identifying the human body, the navigation device reminds the person to leave the radiation irradiation area and / or guides the radiation protection robot to move to one side of the human body so that the radiation protection robot is located upstream of the human body relative to the incident radiation.

10. The radiation protection robot according to claim 1, further comprising a navigation device, The navigation device is configured to identify objects within the venue and guide the radiation protection robot to actively approach the objects and move around the objects to actively detect whether radiation is detected; or the navigation device is configured to guide the radiation protection robot to cruise within the venue to actively detect radiation.

11. The radiation protection robot according to claim 1, wherein the shielding device comprises radiation protection material and a fixed steel structure shell, wherein the fixed steel structure shell extends upward from the bottom of the radiation protection robot to a certain height in a vertical direction and attaches and fixes the radiation protection material.

12. The radiation protection robot according to claim 11, wherein the shielding device comprises a radiation protection column, and the radiation protection material is arranged between the fixed steel structure shell and the radiation protection column.

13. The radiation protection robot according to claim 12, wherein the shielding device comprises two radiation protection columns located between the space defined by the fixed steel structure shell, and the radiation protection material is arranged between the fixed steel structure shell and the radiation protection columns.

14. The radiation protection robot according to claim 12 or 13, wherein the radiation protection material is granular.

15. A backscatter inspection device comprising: a backscatter robot configured to be movable into proximity with an object to be inspected to approach the object, emit radiation toward the object, and detect radiation reflected from the object; and A radiation protection robot according to any one of claims 1-14.

16. The backscatter inspection apparatus of claim 15, wherein the backscatter robot comprises: a second wheel configured to allow the backscatter robot to move in a self-propelled manner; and The backscatter device can perform backscatter inspection on the object.

17. The backscatter inspection apparatus of claim 16, wherein the backscatter device comprises a flying spot X-ray machine.

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