Backscatter inspection device

Abstract

Disclosed is a backscatter inspection apparatus, comprising: a backscatter robot configured to be capable of self-driven movement to a vicinity of an object to be inspected so as to approach the object, to emit radiation toward the object, to detect radiation reflected from the object, and to scan the object; and the radiation protection robot is configured to move to one side, far away from the back scattering robot, of the object in a self-driven manner so as to shield radiation emitted by the back scattering robot. The object is located between the back scattering robot and the radiation protection robot.

Description

Technical Field

[0001] The present invention relates to the field of security inspection, and in particular to backscatter inspection equipment. Background Art

[0002] X-ray backscatter imaging technology uses a flying spot X-ray machine to emit a pencil-shaped X-ray beam, scans the entire object point by point based on the relative movement of the device and the object to be inspected, collects the returned backscattered beam information through the detector, and then obtains an image of the entire object. Compared with other X-ray radiation imaging products, this technology has a lower radiation dose, better safety, and is more sensitive to light materials. It has a better detection effect on low-atomic-number dangerous goods such as drugs and explosives. Because this technology arranges the flying spot X-ray machine and the backscatter detector on the same side of the object to be inspected, it is very convenient to make a mobile backscatter security inspection system, which is flexible and maneuverable. Related products have been increasingly widely used in the fields of customs, civil aviation, border inspection, etc. in the field of security inspection of goods, vehicles, and luggage.

[0003] However, in practical applications, the backscattered radiation beam often passes through the object to be inspected, thus bringing the risk of irradiation to the surrounding human body. Summary of the invention

[0004] One aspect of the present disclosure provides a backscatter inspection device, comprising:

[0005] A backscatter robot configured to be able to move in a self-driven manner to the vicinity of an object to be inspected so as to approach the object, and to be able to emit radiation toward the object and detect radiation reflected from the object to perform scanning on the object; and

[0006] a radiation protection robot configured to be able to move in a self-driven manner to a side of the object away from the backscatter robot to shield radiation emitted from the backscatter robot;

[0007] The object is located between the backscatter robot and the radiation protection robot.

[0008] In one embodiment, the backscatter robot comprises:

[0009] a first steering wheel assembly configured to enable the backscatter robot to move in a self-propelled manner; and

[0010] The backscatter device is configured to perform a backscatter inspection on the object.

[0011] In one embodiment, a radiation protection robot comprises:

[0012] a second steering wheel assembly configured to enable the radiation protection robot to move in a self-propelled manner; and

[0013] a radiation shielding device configured to block or absorb radiation;

[0014] The radiation protection robot is configured to self-drive to a relative position of the backscatter robot, and shield the propagation of radiation that penetrates the object or shield the propagation of radiation that is not irradiated by the object through the radiation shielding device.

[0015] In one embodiment, the backscatter robot includes a first visual sensor and at least one first laser radar, configured to identify the object to be inspected and navigate and avoid obstacles in three dimensions; and / or

[0016] The radiation protection robot includes a second visual sensor and at least one second laser radar, configured to identify objects to be inspected and navigate and avoid obstacles in three dimensions.

[0017] In one embodiment, the backscatter robot includes a first positioning module and the radiation protection robot includes a second positioning module so as to determine the position between the backscatter robot and the radiation protection robot so that the backscatter robot and the radiation protection robot move relative to each other in a predetermined position relationship.

[0018] In one embodiment, the backscatter robot comprises a first posture sensor configured to detect its own steering angle and moving position information; and / or

[0019] The radiation protection robot includes a second posture sensor configured to detect its own turning angle and moving position information.

[0020] In one embodiment, the backscatter robot includes a first wireless communication module and the radiation protection robot includes a second wireless communication module, so that the backscatter robot and the radiation protection robot can transmit information through the first wireless communication module and the second wireless communication module.

[0021] In one embodiment, the backscatter inspection equipment also includes a remote control inspection terminal configured to communicate with the first wireless communication module and / or the second wireless communication module, receive backscatter image data of the backscatter robot, and include a software interface to display the backscatter image in real time.

[0022] In one embodiment, the backscatter robot is configured to automatically construct a fitted outer contour of the object to be inspected, and scan at least one side of the object to be inspected based on the fitted outer contour; and / or

[0023] The radiation protection robot is configured to automatically construct a fitting outer contour of the object to be inspected, and move along a side of the object to be inspected away from the backscatter robot based on the fitting outer contour.

[0024] In one embodiment, the backscatter inspection device is configured to scan multiple sides of the object to be inspected one by one by moving the backscatter robot along the multiple sides of the object to be inspected, while shielding the radiation of the backscatter robot by the radiation protection robot.

[0025] In one embodiment, when the backscatter robot is scanning the inspected object, the radiation protection robot moves synchronously with the backscatter robot.

[0026] In one embodiment, the backscatter inspection device is configured to scan one side of the object to be inspected using radiation beam swinging by the backscatter robot, and the radiation protection robot moves according to the radiation beam swinging to shield the radiation beam penetrating the object to be inspected.

[0027] In one embodiment, the backscatter device comprises a flying spot X-ray machine.

[0028] In one embodiment, the radiation shielding device includes radiation protection material and a fixed steel structure, wherein the fixed steel structure is fixed on the radiation protection robot and clamps and fixes the radiation protection material.

[0029] In one embodiment, the radiation shielding device includes a radiation protection column, which is fixed on the radiation protection robot and fixedly connected to the fixed steel structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of a backscatter inspection device according to an embodiment of the present disclosure;

[0031] Figure 2 is a schematic diagram of a backscatter robot according to an embodiment of the present disclosure;

[0032] Figure 3 is a schematic diagram of a radiation protection robot according to an embodiment of the present disclosure;

[0033] Figure 4 A schematic diagram of backscatter reciprocating scanning imaging and radiation protection of a backscatter inspection device according to an embodiment of the present disclosure;

[0034] Figure 5a A schematic diagram of a backscatter inspection device scanning along the upper edge of a fitted outer contour of an inspected vehicle and a radiation protection robot moving along the lower edge of the fitted outer contour of the inspected vehicle to protect the radiation beam according to an embodiment of the present disclosure;

[0035] Figure 5bA schematic diagram of a backscatter inspection device scanning along the right edge of a fitted outer contour of an inspected vehicle and a radiation protection robot moving along the left edge of the fitted outer contour of the inspected vehicle to protect the radiation beam according to an embodiment of the present disclosure;

[0036] Figure 5c A schematic diagram of a backscatter inspection device scanning along the lower edge of a fitted outer contour of an inspected vehicle and a radiation protection robot moving along the upper edge of the fitted outer contour of the inspected vehicle to protect the radiation beam according to an embodiment of the present disclosure;

[0037] Figure 5d A schematic diagram of a backscatter inspection device scanning along the left edge of a fitted outer contour of an inspected vehicle and a radiation protection robot moving along the right edge of the fitted outer contour of the inspected vehicle to protect the radiation beam according to an embodiment of the present disclosure;

[0038] Figure 5e It is a schematic diagram of a backscatter inspection device after completing inspection according to one embodiment of the present disclosure;

[0039] Figure 6 It is a schematic diagram of a radiation beam of a backscatter inspection device completing scanning in a swinging manner according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] 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.

[0041] Figure 1 A specific product according to an embodiment of the present disclosure is shown, however, it should be noted that Figure 1 The 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.

[0042] An embodiment of the present disclosure provides a backscatter inspection device, comprising: a backscatter robot 100, configured to be able to self-drive to move to the vicinity of an object to be inspected to get close to the object, and to emit radiation toward the object, and to detect radiation reflected from the object; and a radiation protection robot 200, configured to be able to self-drive to move to a side of the object away from the backscatter robot to shield the radiation emitted from the backscatter robot 100; wherein the object is located between the backscatter robot 100 and the radiation protection robot 200. In one embodiment, the object may be, for example, Figure 1The inspected vehicle 400 is shown. In other embodiments, the object may be other objects, such as containers, luggage, and the like.

[0043] In one embodiment, the backscatter inspection equipment includes a backscatter robot 100, which automatically searches for the inspected vehicle 400 according to the control instructions through, for example, a control system, automatically drives after adjusting the initial position, and starts backscatter scanning imaging to scan the inspected vehicle 400, and synchronously completes image processing, such as data acquisition and algorithm processing. The backscatter inspection equipment also includes a radiation protection robot 200, which adjusts its posture in real time according to the expected spacing during the scanning process through the control system, follows the backscatter robot 100 in parallel, and keeps the radiation shielding device able to shield the backscatter beam throughout the width range. The backscatter inspection equipment also includes a remote control inspection terminal 300, which supports remote operation control, receives the backscatter image data of the backscatter robot 100, and includes, for example, a software interface for real-time display on the software interface. The software interface can be, for example, a display. The backscatter robot 100, the radiation protection robot 200 and the remote control inspection terminal 300 of the backscatter inspection equipment exchange data information through a wireless network, and there is no need for mechanical or electrical hard connection between the three. In one embodiment, the backscatter robot 100 can serve as a host and the radiation protection robot 200 can serve as a slave; however, it should be understood that the backscatter robot 100 and the radiation protection robot 200 can both be independent, separate entities that can cooperate through communication interaction.

[0044] like Figure 2 As shown, the backscatter robot 100 may include a first visual sensor 101 located in front of it, and the backscatter robot 100 may also include two first laser radars 102, which are respectively located in the right front and left rear of the backscatter robot 100 for tracking navigation and three-dimensional obstacle avoidance. The first visual sensor 101 can be used to find and identify the inspected vehicle, and the first laser radar 102 can be used to detect the shape (such as the outer contour) of the inspected vehicle, the distance and position relative to the inspected vehicle, etc. The backscatter robot 100 can drive four first steering wheel assemblies 103 automatically through a control system, but it should be known that other numbers of first steering wheel assemblies 103 can be provided. The first visual sensor 101 can be any type of existing device with a visual detection function, and the first laser radar 102 can be an existing general laser radar.

[0045] In this embodiment, if Figure 2 As shown, the backscatter robot 100 may include a flying spot X-ray machine 121 and a backscatter detector 122, with a forward direction (in Figure 2The flying spot X-ray machine 121 emits an X-ray pencil beam to the right (outward in the paper) as a reference direction, and the backscatter detector 122 installed on the right side collects the X-ray signal backscattered by the inspected vehicle, thereby implementing an inspection of the inspected vehicle.

[0046] In one embodiment, the flying spot X-ray machine 121 may include a metal ceramic tube and an electric spindle direct-drive drum structure, which can improve the quality of X-rays and the stability and consistency of the pencil beam, and help to reduce internal X-ray leakage. The backscatter detector 122 may include a composite high-sensitivity material, which helps to improve the signal-to-noise ratio and spatial distribution uniformity of the backscattered ray detection signal, making the backscattered image clearer and more delicate, and at the same time can be made thin and light, realizing the miniaturization and modularization of the backscatter detector. The flying spot X-ray machine 121 and the backscatter detector 122 can be installed on the same side of the backscatter robot 100.

[0047] The backscatter robot 100 can transmit data to the control system at high speed through data acquisition, and after algorithm processing, the backscatter image is displayed in real time on the software interface of the remote control inspection terminal 300 using a wireless network. In one embodiment, the remote control inspection terminal 300 may include a display, and may include a tablet computer with wireless communication function, so that a single person can hold the remote operation and view the image in real time. The remote control inspection terminal 300 can be placed on the bracket 301, or it can be replaced by other computing and processing machines with computing and display functions.

[0048] In one embodiment, the backscatter robot 100 may include a first positioning module 105, which is used to adjust the relative positions of the backscatter robot 100 and the radiation protection robot 200. The first positioning module 105 may be any existing device with a positioning function.

[0049] In one embodiment, the backscatter robot 100 may include a first posture sensor 104, which is used to detect its own turning angle and moving position information. The first posture sensor 104 may be any existing device with a function of determining posture.

[0050] In one embodiment, the backscatter robot 100 may include a first wireless communication module 106, which is used for wireless information interconnection between the backscatter robot 100, the radiation protection robot 200, and the remote control inspection terminal 300. The first wireless communication module 106 may be a wireless communication device, such as a wireless communication module in a local area network environment, a wireless communication module in an Internet environment, or any other available communication module.

[0051] like Figure 3As shown, the radiation protection robot 200 may include a second visual sensor 201 , which is located in front of the radiation protection robot 200 .

[0052] In one embodiment, the radiation protection robot 200 may include a second laser radar 202, for example, two second laser radars 202, respectively located at the left front and right rear of the radiation protection robot 200, for tracking navigation and three-dimensional obstacle avoidance. In one embodiment, the four second steering wheel assemblies 203 are driven by a control system to follow the driving. The second visual sensor 201 may be any type of existing device with a visual detection function, and the second laser radar 202 may be an existing general laser radar. In one embodiment, the first visual sensor 101 and the second visual sensor 201 may be, for example, a binocular depth camera. In one embodiment, the first laser radar 102 and the second laser radar 202 may be, for example, a multi-line laser radar, which is convenient for three-dimensional target recognition and navigation and obstacle avoidance.

[0053] In one embodiment, the radiation protection robot 200 may include a second positioning module 205, which is used to adjust the relative positions of the radiation protection robot 200 and the backscatter robot 100. The second positioning module 205 may be any existing device with a positioning function.

[0054] In one embodiment, the radiation protection robot 200 may include a second posture sensor 204 for detecting its own turning angle and moving position information. The second posture sensor 204 may be any type of existing device with the function of determining posture. In one embodiment, the first posture sensor 104 of the backscatter robot and the second posture sensor 204 of the radiation protection robot 200 enable the postures of the backscatter robot 100 and the radiation protection robot 200 to be maintained at a predetermined angle relative to each other, such as parallel to each other, or at a small angle or other forms relative to each other.

[0055] In one embodiment, the radiation protection robot 200 may include a second wireless communication module 206, which is used for wireless information interconnection between the radiation protection robot 200, the backscatter robot 100, and the remote control inspection terminal 300. The second wireless communication module 206 may be a wireless communication device, such as a wireless communication module in a local area network environment, a wireless communication module in an Internet environment, or any other available communication module.

[0056] like Figure 3As shown, in one embodiment, the radiation protection robot 200 may include a radiation shielding device, which includes a radiation protection column 207, a shielding partition 211 and a fixed steel structure 212 to shield the flying spot X-ray beam. The fixed steel structure 212 may include two parts so that the shielding partition 211 is clamped between the two parts of the fixed steel structure 212. The radiation protection column 207 is arranged on one side of the fixed steel structure 212, so that the radiation protection column 207, the fixed steel structure 212 and the shielding partition 211 clamped between the two parts of the fixed steel structure 212 constitute the radiation shielding device.

[0057] In one embodiment, Figure 2 As shown, the sandwich structure formed by the two parts of the fixed steel structure 212 and the shielding partition 211 sandwiched between the two parts of the fixed steel structure 212 can have a first height, and the radiation protection column 207 can have a second height, and the first height can be greater than the second height. The radiation protection column 207 plays a role in strengthening the height strength of the radiation shielding device. The radiation protection column 207 has a smaller second height to reduce the weight of the radiation shielding device.

[0058] The radiation shielding device can be arranged along the length direction of the radiation protection robot, for example. Generally speaking, the radiation shielding device has a plate-like appearance. The radiation protection material of the shielding partition 211 can include a lead-antimony alloy material, with an adapted thickness, width and height, and is fastened to the supporting chassis by a fixed steel structure 212. In particular, the first height of the shielding partition 211 is sufficient to cover the highest point of the pencil-shaped X-ray beam.

[0059] In one embodiment of the backscatter inspection device, the backscatter robot 100 may include two first laser radars 102 designed at the right front and left rear, and the radiation protection robot 200 may include two second laser radars 202 designed at the left front and right rear, so that the multiple laser radars of the backscatter inspection device can cover the area within 360 degrees around the backscatter inspection device, which is conducive to all-round identification and obstacle avoidance and precise omnidirectional driving. In other embodiments, the visual sensor and the laser radar may also be configured in other quantities and / or set in other installation positions.

[0060] In one embodiment of the backscatter inspection device, the backscatter robot 100 may include a first steering wheel assembly 103, and the radiation protection robot 200 may include a second steering wheel assembly 203. In one embodiment, the first steering wheel assembly 103 and the second steering wheel assembly 203 may include an integrated steering wheel structure that can move in all directions, and a servo controller and a servo motor are used to achieve precise driving. The backscatter robot 100 can be moved by the first steering wheel assembly 103, for example, the backscatter robot 100 can be moved to one side of the inspected vehicle by the first steering wheel assembly 103 through the control system. The radiation protection robot 200 can be moved by the second steering wheel assembly 203, for example, the radiation protection robot 200 can be moved to the other side of the inspected vehicle by the second steering wheel assembly 203 through the control system, and the radiation emitted by the backscatter robot 100 is blocked by a radiation shielding device.

[0061] Figure 4 A schematic diagram of backscatter reciprocating scanning imaging and radiation protection is shown according to an embodiment of a backscatter inspection device of the present invention.

[0062] exist Figure 4 In the embodiment, the first wireless communication module 106 of the backscatter robot 100, the second wireless communication module 206 of the radiation protection robot 200 and the remote control inspection terminal 300 form an internal wireless communication network of the backscatter inspection device by wireless communication, and can perform real-time interaction of image data, posture data and control data. The backscatter robot 100 and the radiation protection robot 200 respectively use the first posture sensor 104, the first positioning module 105 and the second posture sensor 204, the second positioning module 205 to detect the position deviation △P and the angle deviation △A between the backscatter robot 100 and the radiation protection robot 200 in real time, and interact in real time through the internal wireless communication network.

[0063] In one embodiment, the remote control inspection terminal 300 issues a reciprocating scanning instruction (for example, a user inputs an instruction in the remote control inspection terminal 300, and then the remote control inspection terminal 300 issues a reciprocating scanning instruction). After the backscatter robot 100 receives the reciprocating scanning instruction issued by the remote control inspection terminal 300, it automatically finds the inspected vehicle 400 through the first visual sensor 101 and the first laser radar 102, and drives the first steering wheel assembly 103 through the control system, so that the backscatter robot 100 adjusts its initial state and moves to the left rear of the inspected vehicle 400; then, the position of the backscatter robot 100 is fine-tuned according to the preset scanning margin, so as to The X-ray pencil beam envelope 131 emitted by the flying spot X-ray machine 121 is at a distance DX11 from the left edge (along the X direction) of the fitted outer contour 401 of the inspected vehicle 400 as shown in the figure, and a distance DY11 (along the Y direction) from the first laser radar 102 (for example, the center) in the right front of the backscatter robot 100 to the upper edge of the fitted outer contour 401 as shown in the figure. In this embodiment, the forward direction of the backscatter robot 100 is generally parallel to the fitted outer contour 401. For example, the backscatter robot 100 can move along the -X direction, wherein the fitted outer contour 401 of the inspected vehicle 400 is formed by the first laser radar 102. In this embodiment, the radiation protection robot 200 obtains the positional relationship between the inspected vehicle and the radiation protection robot 200 through the second visual sensor 201 and the second laser radar 202, and controls the second steering wheel assembly 203 to automatically drive to the opposite side of the backscatter robot 100 through the control system. Then, similarly, △P and △A are calculated based on the data of the second posture sensor 204 and the second positioning module 205, and the optimal adjustment parameters are given. The control system drives the second steering wheel assembly 203 to fine-tune the position of the radiation protection robot 200 according to the preset safety margin, so that the shielding partition 2 11 center line to the left side (along the X direction) distance DX11 of the fitted outer contour 401 of the inspected vehicle 400 as shown in the figure, and the distance DY12 (along the Y direction) from the left front second laser radar 202 (e.g., the center) of the radiation protection robot 200 to the lower edge of the fitted outer contour 401 as shown in the figure, and in this embodiment, the forward direction of the radiation protection robot 200 is parallel to the fitted outer contour 401 as a whole, for example, the radiation protection robot 200 can move along the -X direction, wherein the fitted outer contour 401 of the inspected vehicle 400 is formed by the second laser radar 102. In another embodiment, the fitted outer contour 401 of the inspected vehicle 400 formed by the first laser radar 102 can also be obtained through the internal wireless communication network, so that the process of the second laser radar 202 forming the fitted outer contour 401 of the inspected vehicle 400 can be omitted. In one embodiment, the X-ray pencil beam envelope surface 131 of the backscatter robot 100 is centered and perpendicular to the end surface of the shielding partition 211 of the radiation protection robot 200.

[0064] According to an embodiment of the present invention, when the backscatter inspection device inspects the inspected vehicle, first, the backscatter robot 100 is shifted to a predetermined position behind the left side of the inspected vehicle 400, and the radiation protection robot 200 is shifted to a predetermined position behind the right side of the inspected vehicle 400, as described above; then the backscatter robot 100 moves forward in the forward direction (e.g., -X direction), and controls the flying spot X-ray machine 121 to emit an X-ray pencil beam, collects the backscatter signal through the backscatter detector 122, and performs backscatter scanning imaging on the inspected vehicle 400. During the scanning process, the radiation protection robot 200 dynamically adjusts its posture to synchronously follow the backscatter robot 100, ensuring that the shielding partition 211 shields or blocks all the flying spot X-ray beams that penetrate the inspected vehicle 400 or the X-rays that are not reflected by the inspected vehicle 400, thereby ensuring radiation safety. When the backscatter robot 100 moves forward to the distance between the X-ray pencil beam envelope surface 131 and the right edge of the fitting outer contour 401 as shown in the figure is greater than or equal to DX12, it is determined that the beam scanning task has been completed, and the flying spot X-ray machine 121 stops emitting X-rays and stops driving at the same time.

[0065] In one embodiment, the remote control inspection terminal 300 sends control instructions and receives image data through an internal wireless communication network, and displays the backscatter image in real time on the software operation interface. In particular, during the backscatter reciprocating scanning imaging process, the backscatter inspection device will activate the obstacle avoidance function, ensuring radiation safety while also ensuring driving safety.

[0066] After the backscatter scanning task is completed, the backscatter robot 100 and the radiation protection robot 200 fine-tune their positions to maintain overall parallelism and spacing, and the X-ray pencil beam envelope 131 is aligned with the center line of the end surface of the shielding partition 211. The inspected vehicle 400 leaves the inspected area. When the next inspected vehicle enters the inspected area, reverse backscatter scanning imaging is performed according to the aforementioned process method.

[0067] This aspect also discloses a backscatter surround scanning imaging and radiation protection, Figure 5a , 5b , 5c, 5d, and 5e show schematic diagrams of backscatter surround scanning imaging and radiation protection.

[0068] like Figure 5aAs shown, the backscatter robot 100 receives a surround scan command issued by the remote control inspection terminal 300 (for example, a user inputs a command in the remote control inspection terminal 300, and then the remote control inspection terminal 300 issues a reciprocating scan command), and then the backscatter robot 100 automatically adjusts its position through the control system so that the inspected vehicle 400 is located in front of the right side thereof; then the position of the backscatter robot 100 is finely adjusted according to a preset scanning margin so that the envelope surface 131 of the X-ray pencil beam emitted by the flying spot X-ray machine 121 fits the distance between the inspected vehicle 400 and the backscatter robot 100. The distance DX21 from the left edge (along the X direction) of the outer contour 401 as shown in the figure, and the distance DY21 from the first laser radar 102 (for example, the center) in the right front of the backscatter robot 100 to the upper edge (along the Y direction) of the fitted outer contour 401 as shown in the figure, and in this embodiment, the forward direction of the backscatter robot 100 is generally parallel to the fitted outer contour 401, for example, the backscatter robot 100 can move along the -X direction, wherein the fitted outer contour 401 of the inspected vehicle 400 is constructed by the first laser radar 102. The radiation protection robot 200 fine-tunes the position of the radiation protection robot 200 according to the preset safety margin, so that the distance DX21 from the center line of the shielding partition 211 to the left side (along the X direction) of the fitting outer contour 401 of the inspected vehicle 400 as shown in the figure, and the distance DY22 from the left front second laser radar 202 (for example, the center) of the radiation protection robot 200 to the lower edge (along the Y direction) of the fitting outer contour 401 as shown in the figure, and in this embodiment, the forward direction of the radiation protection robot 200 is parallel to the fitting outer contour 401 as a whole, for example, the radiation protection robot 200 can move along the -X direction, wherein the fitting outer contour 401 of the inspected vehicle 400 is formed by the second laser radar 102. In this embodiment, the X-ray pencil beam envelope surface 131 of the backscatter robot 100 is centered and can be perpendicular to the end surface of the shielding partition 211 of the radiation protection robot 200. The backscatter robot 100 moves forward and emits an X-ray pencil beam, and starts backscatter scanning imaging of the first side of the inspected vehicle 400; the radiation protection robot 200 dynamically adjusts its position and posture through the control system to synchronously follow the backscatter robot 100 to ensure that all the flying spot X-ray beams that penetrate the inspected vehicle 400 are effectively shielded. When the backscatter robot 100 moves forward to the distance from the envelope surface 131 of the X-ray pencil beam to the right edge of the fitting outer contour 401 is greater than or equal to DX22, it is judged that the first side beam scanning task has been completed, and the emission of the X-ray pencil beam is prohibited; the backscatter robot 100 stops driving and turns 90 degrees clockwise on the spot; the radiation protection robot 200 moves clockwise to the opposite side of the backscatter robot 100, keeping the two parallel as a whole, and the envelope surface 131 of the X-ray pencil beam is centered and perpendicular to the end surface of the shielding partition 211.

[0069] In this embodiment, if Figure 5b As shown, the radiation protection robot 200 can be Figure 5b The route indicated by the dashed arrow in the figure goes clockwise to the opposite side of the backscatter robot 100; however, the radiation protection robot 200 can go along other routes such as Figure 5b The backscatter robot 100 completes the turning action in situ, and then moves forward in coordination with the radiation protection robot 200 (along the -Y direction) to perform backscatter scanning imaging on the second side surface of the inspected vehicle 400.

[0070] like Figure 5c As shown, after completing the right side scan of the inspected vehicle 400, the radiation protection robot 200 can move along Figure 5c The route indicated by the dashed arrow in the figure goes clockwise to the opposite side of the backscatter robot 100; however, the radiation protection robot 200 can go along other routes such as Figure 5c The backscatter robot 100 completes the turning action in situ, and then moves forward in coordination with the radiation protection robot 200 to the third side of the inspected vehicle 400 (such as Figure 5c Backscatter scanning imaging is performed on the lower side of the inspected vehicle 400 as shown.

[0071] like Figure 5d As shown, after completing the scanning of the lower side of the inspected vehicle 400, the radiation protection robot 200 can move along Figure 5d The route indicated by the dashed arrow in the figure goes clockwise to the opposite side of the backscatter robot 100; however, the radiation protection robot 200 can go along other routes such as Figure 5d The backscatter robot 100 completes the turning action in situ, and then moves forward in coordination with the radiation protection robot 200 to the fourth side surface (such as Figure 5d Backscatter scanning imaging is performed on the left side of the inspected vehicle 400 as shown.

[0072] like Figure 5e As shown, after completing the backscatter scanning imaging of the four sides of the inspected vehicle 400, the backscatter robot 100 turns 90 degrees clockwise on the spot; the radiation protection robot 200 reverses clockwise to the opposite side of the backscatter robot 100; the two fine-tune the posture parameters to restore to the initial position state; the inspected vehicle 400 drives away from the inspected area. However, Figure 5e The operations in are not essential, and the backscatter inspection device can start inspecting the next object to be inspected in any manner.

[0073] During the backscatter surround scanning imaging process, the remote control inspection terminal 300 sends control instructions and receives image data through the internal wireless communication network, and displays the backscatter images of each side of the inspected vehicle in real time on the software operation interface.

[0074] Figure 6A schematic diagram showing swing scanning and radiation protection implemented by a backscatter inspection device according to another embodiment of the present invention is shown.

[0075] In this embodiment, after receiving the surround scanning instruction issued by the remote control inspection terminal 300, the backscatter robot 100 automatically drives to the side of the inspected vehicle 400 through the control system and stops at the center position and aligns with the fitted outer contour 401 of the inspected vehicle 400; then the position of the backscatter robot 100 is fine-tuned according to the preset scanning margin, so that the Y direction distance DY31 from the center of the first laser radar 102 in the right front of the backscatter robot 100 to the upper edge of the fitted outer contour 401 of the inspected vehicle 400. The radiation protection robot 200 automatically follows and drives to the opposite side of the inspected vehicle 400 through the control system, and stops at the center position and aligns with the fitted outer contour 401 of the inspected vehicle 400; then the position of the radiation protection robot 200 is fine-tuned according to the preset safety margin, so that the Y direction distance DY32 from the center of the second laser radar 202 in the left front of the radiation protection robot 200 to the lower edge of the fitted outer contour 401. The backscatter robot 100 calculates the swing scanning angle α according to the distance DY33 from the end point of the X-ray pencil beam envelope surface 131 to the upper edge of the fitted outer contour 401 and the side length of the fitted outer contour 401, and stops after turning counterclockwise to an angle of α / 2. The radiation protection robot 200 calculates the radiation protection zone width S according to the distance DY34 from the end point of the X-ray pencil beam envelope surface 131 to the end surface of the shielding partition 211 and the swing scanning angle α, and stops after moving forward to the rightmost X-ray pencil beam shielding position.

[0076] The backscatter robot 100 rotates clockwise in situ at a preset angular velocity and emits an X-ray pencil beam; the radiation protection robot 200 calculates the driving speed and follows in reverse (or forward) to ensure that the X-ray pencil beam envelope 131 is projected onto the end face center line of the shielding partition 211, thereby effectively shielding the flying spot X-ray beam that penetrates the inspected vehicle 400; however, those skilled in the art know that the X-ray pencil beam envelope 131 can be projected onto other positions of the shielding partition 211. When the backscatter robot 100 rotates to an angle α, it is determined that the swing scan is completed, the beam is stopped, and then it rotates counterclockwise in situ to reset to the initial state parallel to the fitted outer contour 401; the radiation protection robot 200 moves forward to the initial center position. The inspected vehicle 400 leaves the inspected area.

[0077] During the backscatter swing scanning imaging process, the remote control inspection terminal 300 sends control instructions and receives image data through the internal wireless communication network, and displays the backscatter image in real time on the software operation interface.

[0078] In other embodiments, the backscatter robot 100 can be from, for example, Figure 6The scanning direction shown by the rightmost dotted line in FIG. 1 is started, that is, scanning is started from the rightmost side of the inspected vehicle 400. At this time, the radiation protection robot 200 can first move to Figure 6 The vehicle 400 starts to move from the rightmost position shown in the figure, and moves in the direction of the arrow to block the rays generated by the backscatter robot 100 until the backscatter robot 100 scans the leftmost side of the inspected vehicle 400.

[0079] In other embodiments, the backscatter robot 100 may scan the inspected vehicle 400 in other scanning modes, and the radiation protection robot 200 may move at the same rhythm as the backscatter robot 100 through wireless communication so as to block or shield radiation.

[0080] In addition, for specific application scenarios, backscatter inspection equipment can also build maps in advance and implement backscatter scanning imaging according to the planned route.

[0081] According to the above technical solution, the present invention is applicable to the safety inspection of cars, trucks, containers, cargo containers, bags and the like.

[0082] 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.

[0083] 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 backscatter inspection device, comprising: A backscatter robot is configured to be able to move in a self-driven manner to the vicinity of an object to be inspected so as to approach the object, and to be able to emit radiation toward the object and detect radiation reflected from the object to perform scanning on the object; and a radiation protection robot configured to be able to move in a self-driven manner to a side of the object away from the backscatter robot to shield radiation emitted from the backscatter robot; The object is located between the backscatter robot and the radiation protection robot.

2. The backscatter inspection device according to claim 1, wherein the backscatter robot comprises: a first steering wheel assembly, configured to enable the backscatter robot to move in a self-propelled manner; and The backscatter device is configured to perform a backscatter inspection on the object.

3. The backscatter inspection device according to claim 1 or 2, wherein the radiation protection robot comprises: a second steering wheel assembly, configured to enable the radiation protection robot to move in a self-propelled manner; and a radiation shielding device configured to block or absorb radiation; The radiation protection robot is configured to self-drive to a relative position of the backscatter robot, and shield the propagation of radiation that penetrates the object or shield the propagation of radiation that is not irradiated by the object through the radiation shielding device.

4. The backscatter inspection device according to any one of claims 1 to 3, wherein: The backscatter robot comprises a first visual sensor and at least one first laser radar, configured to identify an object to be inspected and to navigate and avoid obstacles in three dimensions; and / or The radiation protection robot includes a second visual sensor and at least one second laser radar, configured to identify objects to be inspected and navigate and avoid obstacles in three dimensions.

5. The backscatter inspection device according to any one of claims 1 to 3, wherein: The backscatter robot includes a first positioning module, and the radiation protection robot includes a second positioning module, so as to determine the position between the backscatter robot and the radiation protection robot so that the backscatter robot and the radiation protection robot move relative to each other in a predetermined position relationship.

6. The backscatter inspection device according to any one of claims 1 to 3, wherein: The backscatter robot comprises a first posture sensor configured to detect its own steering angle and moving position information; and / or The radiation protection robot includes a second posture sensor configured to detect its own turning angle and moving position information.

7. The backscatter inspection device according to any one of claims 1 to 3, wherein: The backscatter robot includes a first wireless communication module, and the radiation protection robot includes a second wireless communication module, so that the backscatter robot and the radiation protection robot can transmit information through the first wireless communication module and the second wireless communication module.

8. The backscatter inspection equipment according to any one of claims 1-3 further includes a remote control inspection terminal, configured to communicate with the first wireless communication module and / or the second wireless communication module, receive backscatter image data of the backscatter robot, and include a software interface to display the backscatter image in real time.

9. The backscatter inspection device according to any one of claims 1 to 3, wherein: The backscatter robot is configured to automatically construct a fitting outer contour of the object to be inspected, and scan at least one side of the object to be inspected based on the fitting outer contour; and / or The radiation protection robot is configured to automatically construct a fitting outer contour of the object to be inspected, and move along a side of the object to be inspected away from the backscatter robot based on the fitting outer contour.

10. The backscatter inspection device according to claim 9, wherein the backscatter inspection device is configured to scan multiple sides of the object to be inspected one by one by moving the backscatter robot along the multiple sides of the object to be inspected, while shielding the radiation of the backscatter robot by the radiation protection robot.

11. The backscatter inspection device according to claim 10, wherein the radiation protection robot moves synchronously with the backscatter robot during the process of the backscatter robot scanning the inspected object.

12. The backscatter inspection device according to claim 9, wherein the backscatter inspection device is configured to scan a side of the object to be inspected using a radiation beam swing through the backscatter robot, and the radiation protection robot moves according to the radiation beam swing to shield the radiation beam penetrating the object to be inspected.

13. The backscatter inspection device according to claim 2, wherein: The backscatter device includes a flying spot X-ray machine.

14. The backscatter inspection device according to claim 3, wherein: The radiation shielding device comprises radiation protection material and a fixed steel structure. The fixed steel structure is fixed on the radiation protection robot and clamps and fixes the radiation protection material.

15. The backscatter inspection equipment according to claim 14, wherein the radiation shielding device comprises a radiation protection column fixed on the radiation protection robot and fixedly connected to the fixed steel structure.

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