Security inspection robot equipment

Abstract

Disclosed is a security inspection robot device, comprising: a back scattering robot configured to be capable of self-driven movement to a position near an object to be inspected so as to approach the object, emitting radiation toward the object, detecting radiation reflected from the object, and scanning the object; and a transmission robot configured to be self-driven to move to a side of the object away from the backscatter robot to shield radiation emitted from the backscatter robot, and to be capable of detecting radiation transmitted through the object. The object is located between the back scattering robot and the transmission robot.

Description

Technical Field

[0001] The present invention relates to the field of security inspection, and in particular to a security inspection robot device. 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 inspected vehicle, 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 inspected vehicle, it is very convenient to make a mobile backscatter security inspection device, 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, backscatter equipment cannot simultaneously obtain internal information of an object, resulting in incomplete inspection results; in addition, the backscattered radiation beam often passes through the object, thereby posing a risk of irradiation to surrounding human bodies. Summary of the invention

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

[0005] a backscatter robot configured to be able to self-drive and move to the vicinity of an object to be inspected so as to approach a first side of 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 transmission robot configured to be self-propelled and moveable to a second side of the object away from the backscatter robot to shield radiation emitted from the backscatter robot, and to detect radiation transmitted through the object, the second side being an opposite side of the first side of the object;

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

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

[0009] A first steering wheel assembly is configured to enable the backscatter robot to move in a self-propelled manner; and a backscatter device is configured to perform a backscatter inspection on the object.

[0010] In one embodiment, the transmission robot comprises:

[0011] a second steering wheel assembly, configured to enable the transmission robot to move in a self-propelled manner;

[0012] a transmission detector configured to detect radiation transmitted through the object; and

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

[0014] The transmission 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 comprises a first visual sensor and at least one first laser radar configured to identify the object and navigate and avoid obstacles in three dimensions; and / or

[0016] The transmission robot includes a second visual sensor and at least one second laser radar, configured to identify the object and navigate and avoid obstacles in three dimensions.

[0017] In one embodiment, the backscatter robot includes a first positioning module and the transmission robot includes a second positioning module to determine the position between the backscatter robot and the transmission robot so that the backscatter robot and the transmission 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 transmission 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 transmission robot includes a second wireless communication module, so that the backscatter robot and the transmission robot can transmit information through the first wireless communication module and the second wireless communication module.

[0021] In one embodiment, the security inspection robot 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, and scan at least one side of the object based on the fitted outer contour; and / or

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

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

[0025] In one embodiment, when the backscatter robot scans the inspected object, the transmission robot moves synchronously with the backscatter robot.

[0026] In one embodiment, the security inspection robot device is configured to travel around the object along the fitting outer contour of the object by the backscatter robot, and the transmission robot travels to the opposite side of the backscatter robot and follows and keeps facing the backscatter robot to receive the radiation beam that penetrates the object.

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

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

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

[0030] Figure 1 is a schematic diagram of a security inspection robot 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 transmission robot according to an embodiment of the present disclosure;

[0033] Figure 4 A schematic diagram of a remote control inspection terminal according to an embodiment of the present disclosure;

[0034] Figure 5 A schematic diagram of wireless communication of a security inspection robot device according to an embodiment of the present disclosure;

[0035] Figure 6 This is a schematic diagram of single-side scanning imaging of a security inspection robot device according to an embodiment of the present disclosure;

[0036] Figure 7a This is a schematic diagram of scanning and imaging along a first side of a security inspection robot device performing multi-side scanning and imaging according to an embodiment of the present disclosure;

[0037] Figure 7b This is a schematic diagram of scanning and imaging along the second side of a security inspection robot device performing multi-side scanning and imaging according to an embodiment of the present disclosure;

[0038] Figure 7c A schematic diagram of a security inspection robot device returning to a starting position according to an embodiment of the present disclosure;

[0039] Figure 8 The figure is a schematic diagram of surround scanning imaging of a security inspection robot device according to an 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] The embodiment of the present disclosure provides a security inspection robot 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 transmission robot 200, configured to be able to self-drive to move to a side of the object away from the backscatter robot. The object is located between the backscatter robot 100 and the transmission robot 200.

[0043] The transmission robot 200 can receive the radiation emitted by the backscatter robot toward the object and transmitted through the object, and complete data acquisition and image processing. The transmission robot can also shield the radiation emitted from the backscatter robot 100.

[0044] In one embodiment, an object may be, for example, Figure 1 The inspected vehicle 400 is shown. In other embodiments, the object may be other objects, such as containers, luggage, and the like.

[0045] like Figure 1As shown, the present invention discloses an intelligent security inspection robot device, which may include a backscatter robot 100 and a transmission robot 200. Figure 1 The inspected object may be the inspected vehicle 400 (or other inspected vehicles), etc., and is located between the backscatter robot 100 and the transmission robot 200 when being inspected. In some embodiments, the backscatter robot 100 may be used as a host, for example, it may automatically find and turn the backscatter detector side toward the inspected vehicle 400 according to the operation instruction, automatically drive after adjusting the initial position and start backscatter scanning imaging, and complete the data acquisition and image processing of the backscatter rays 101; at the same time, the transmission robot 200 may be used as a slave, with its transmission detector side facing the inspected vehicle 400, adjusting the position and posture in real time according to the preset interval during the scanning process, synchronously following the backscatter robot 100, using the transmission detector to collect the pencil-shaped transmission X-ray beam 102, and complete the data acquisition and image processing. In an embodiment of the present invention, the transmission robot is also provided with a radiation protection device, for example, the radiation protection device is on the side of the transmission detector (for example, away from the inspected vehicle). In this embodiment, the transmission robot can not only automatically collect the transmission radiation to provide a transmission image, but also block or shield the transmission radiation to achieve safety inspection.

[0046] The intelligent security inspection robot device may also include a remote control terminal 300. The remote control terminal 300 may be used for remote control, for example, to display the received backscatter image and transmission image in real time through its software interface. For example, the software interface may be a display. User instructions or other information may be input on the software interface. The backscatter robot 100, the transmission robot 200 and the remote control terminal 300 may exchange data information through a wireless network, and no mechanical or electrical hardware connection is required between the three. Here, the wireless network may be any wireless network or available wireless network known to those skilled in the art.

[0047] Figure 2 1 is a schematic diagram showing the structure of the backscatter robot 100 of the present invention. The backscatter robot 100 may include any one or more of a first visual sensor 111, a first laser radar 112, a first posture sensor 114, and a first positioning module 115. Figure 2As shown, with the forward direction as the reference direction, the first visual sensor 111 can be located in front of the backscatter robot 100 to identify the object to be inspected, for example, to optically identify the object to be inspected; the first laser radar 112, the first visual sensor 111 and the two first laser radars 112 can be used for tracking navigation and three-dimensional obstacle avoidance. In one embodiment, the backscatter robot 100 may include two first laser radars 112, which are located in the right front and left rear of the backscatter robot 100 respectively. The first posture sensor 114 is used to detect the steering angle and moving position information of the device itself, and the backscatter robot can adjust its posture through the first posture sensor 114. The first positioning module 115 is used to adjust the relative position between the backscatter robot 100 and the transmission robot 200. The above first visual sensor 111, the first laser radar 112, the first posture sensor 114 and the first positioning module 115 can be a variety of devices or equipment commonly used or existing in the field, and those skilled in the art can select a suitable number of existing suitable sensors or modules according to functional requirements to implement the embodiments of the present invention.

[0048] In one embodiment, the backscatter robot 100 may include a first control module 117 and a first steering wheel assembly 113, and automatic driving is achieved through the first control module 117 and the first steering wheel assembly 113. For example, the backscatter robot 100 includes four first steering wheel assemblies 113, but it may also be, for example, three first steering wheel assemblies 113, or other numbers of first steering wheel assemblies 113.

[0049] In one embodiment, the backscatter robot 100 may include a flying spot X-ray machine 121 and a backscatter detector 122. The backscatter robot 100 automatically drives to the left side of the inspected vehicle, and then causes the flying spot X-ray machine 121 to emit an X-ray pencil beam to the right side (in the direction shown in the figure), scanning and covering the inspected vehicle point by point and column by column, and using the backscatter detector 122 installed on the right side of the backscatter robot 100 to collect the X-ray signal backscattered from the inspected vehicle. The backscatter signal is conditioned, amplified and digitally converted, and then transmitted to the first control module 117 at a high speed, and a backscatter image is formed after algorithm processing. In one embodiment, the backscatter image can be transmitted to the remote control inspection terminal 300 and displayed in real time on the software interface, for example, by using the first wireless communication module 116 to transmit the backscatter image to the remote control inspection terminal 300.

[0050] Figure 3 FIG. 2 is a schematic diagram showing the structure of a transmission robot 200 according to the present invention. The transmission robot 200 may include any one or more of a second visual sensor 211, a second laser radar 212, a second posture sensor 214, and a second positioning module 215. Figure 3As shown, with the forward direction as the reference direction, the second visual sensor 211 is located in front of the transmission robot 200, for example, two second laser radars 212 are respectively located in the left front and right rear of the transmission robot 200, for tracking navigation and three-dimensional obstacle avoidance. In one embodiment, the second visual sensor 211 can also be used to identify the object being inspected. The second posture sensor 214 is used to detect the device's own steering angle and moving position information. The transmission robot can adjust its own posture through the second posture sensor 214. The second positioning module 215 is used to adjust the relative position of the transmission robot 200 and the backscatter robot 100. The above second visual sensor 211, the second laser radar 212, the second posture sensor 214, and the second positioning module 215 can be a variety of devices or equipment commonly used or already available in the field. Those skilled in the art can select a suitable number of existing suitable sensors or modules according to functional requirements to implement the embodiments of the present invention.

[0051] In one embodiment, the transmission robot 200 may include a second control module 217 and a second steering wheel assembly 213, and the second control module 217 and the second steering wheel assembly 213 are used to realize automatic driving, or to realize driving following the backscatter robot 100. For example, the transmission robot 200 may include four second steering wheel assemblies 213, but it may also be, for example, three second steering wheel assemblies 213, or other numbers of second steering wheel assemblies 213.

[0052] In one embodiment, the transmission robot 200 uses a transmission detector 222 to collect the pen-shaped X-ray signal that penetrates the inspected vehicle. The transmission signal is conditioned, amplified and digitally converted and then transmitted to the second control module 217 at high speed, and processed by an algorithm to form a transmission image. In one embodiment, the transmission image can be transmitted to the remote control inspection terminal 300 and displayed in real time on the software interface, for example, by using the second wireless communication module 216 of the transmission robot 200 to transmit to the remote control inspection terminal 300 and display in real time on the software interface.

[0053] In one embodiment, the transmission robot 200 includes a radiation shielding device, which includes a column frame 223 and a radiation protection partition 221. Figure 3 As shown, the transmission detector 222 can be parallel to the radiation protection partition 221, and both can be installed on the transmission robot 200 together with the column frame 223 to achieve structural strengthening of the radiation shielding device. The radiation protection partition 221 is used to shield the flying spot X-ray beam that penetrates.

[0054] Figure 4The remote control inspection terminal 300 of the present invention is shown; however, it should be understood that the remote control inspection terminal 300 is not necessary; that is, the security inspection robot equipment of the present invention can achieve one or more of the backscatter inspection, transmission inspection and radiation shielding functions of the present invention through the backscatter robot 100 and the transmission robot 200, and can also be controlled through other remote control or display devices.

[0055] like Figure 4 As shown, the remote control inspection terminal 300 may include a display, such as a tablet computer 301, and may also include a bracket 302, through which the tablet computer 301 is supported. The tablet computer 301 may have a wireless communication function. The remote control inspection terminal 300 may be arranged in the control area for control signal interaction and real-time image display of the security inspection robot equipment, or for inputting user instructions or control instructions, or other information, such as displaying the status parameters of the backscatter robot 100 and the transmission robot 200. The tablet computer 301 can be removed from the bracket 302 for single-person handheld remote operation. The backscatter image 311 and the transmission image 312 can be displayed separately on the software interface of the tablet computer 301, or they can be displayed as a whole after the data is fused and processed by the software algorithm.

[0056] Figure 5 FIG. 1 shows a schematic diagram of a wireless communication network of the present invention. Figure 5 As shown, the backscatter robot 100 can form a first wireless network 118 through the first wireless communication module 116, and the transmission robot 200 can form a second wireless network 218 through the second wireless communication module 216. In one embodiment, the backscatter robot 100 and the transmission robot 200 can communicate with each other by transmitting information through the first wireless communication module 116 and the second wireless communication module 118. In one embodiment, the remote control inspection terminal 300 can form a third wireless network 303 through its own wireless communication module. The first wireless network 118, the second wireless network 218 and the third wireless network 303 form a wireless local area network for real-time two-way interaction of image data, posture data and control data between intelligent security inspection robot devices.

[0057] In one embodiment of the present invention, the first visual sensor 111 and the second visual sensor 211 may be binocular depth cameras, and the first laser radar 112 and the second laser radar 212 may be multi-line laser radars, which can realize stereoscopic target recognition and navigation obstacle avoidance. The backscatter robot 100 may be configured with two first laser radars 112 at the right front and left rear, and the transmission robot 200 may be configured with two second laser radars 212 at the left front and right rear, so that the area within 360 degrees around the device can be covered, which is conducive to all-round identification and obstacle avoidance and precise omnidirectional driving. Visual sensors and laser radars can also be configured in other quantities and installation positions. During the scanning and imaging process, the intelligent security inspection robot equipment will activate the obstacle avoidance function to ensure radiation safety while also ensuring driving safety.

[0058] In one embodiment of the present invention, the first steering wheel assembly 113 and the second steering wheel assembly 213 may be integrated steering wheel structures capable of omnidirectional movement, and precise driving is achieved through a servo controller and a servo motor. In one embodiment, the first steering wheel assembly 113 and the second steering wheel assembly 213 may refer to a combination of a wheel and a motor or other driving device, and the wheel is driven by the driving device to achieve self-driving of the backscatter robot 100 and the transmission robot 200 according to the instructions of the control system.

[0059] In one embodiment, the flying spot X-ray machine 121 may be a metal ceramic tube and electric spindle direct-driven drum structure, which can improve the X-ray quality and the stability and consistency of the pencil beam and help reduce internal X-ray leakage.

[0060] In one embodiment, the backscatter detector 122 can be a composite high-sensitivity material, which can improve the signal-to-noise ratio and spatial distribution uniformity of the backscatter detection signal, making the backscatter image clearer and more delicate, and at the same time can be thin and light, realizing the miniaturization and modularization of the backscatter detector. The transmission detector 222 can be a composite high-sensitivity material. The X-ray shielding material of the radiation protection partition 221 can be a lead-antimony alloy material. In one embodiment, the transmission detector 222 and the radiation protection partition 221 can be fastened to the transmission robot 200 through a column frame 223, such as on the supporting chassis of the transmission robot 200. In order to effectively cover the radiation range of the flying spot X-ray, the thickness, width and height of the radiation protection partition 221 can be set as needed, and no specific examples are given here.

[0061] In one embodiment, the backscatter robot 100 and the transmission robot 200 may use lithium batteries as a power source, and may be equipped with a synchronous lifting mechanism to adapt to different scanning heights.

[0062] In one embodiment, the backscatter robot 100 and the transmission robot 200 can process the sampling data and imaging respectively through the control device; in another embodiment, the backscatter robot 100 and the transmission robot 200 can transmit the sampling data to one of the control devices for processing and imaging, and then wirelessly transmit it to the remote control inspection terminal 300 for display. In another embodiment, the backscatter robot 100 and the transmission robot 200 can uniformly transmit the backscatter sampling data and the transmission sampling data to the remote control inspection terminal 300 for processing, imaging and display.

[0063] For convenience, unless otherwise specified, the following description uses the vehicle as the inspected vehicle, which in principle is also applicable to other inspected vehicles, or other inspected articles, commodities or goods.

[0064] Figure 6 A schematic diagram of single-side scanning imaging of a security inspection robot device according to the present invention is shown.

[0065] like Figure 6 As shown, the backscatter robot 100 uses the first posture sensor 114 and the first positioning module 115, and the transmission robot 200 uses the second posture sensor 214 and the second positioning module 215 to detect the position deviation △P and the angle deviation △A therebetween in real time, and exchange data in real time through the wireless network.

[0066] exist Figure 6 In the illustrated embodiment, the backscatter robot 100 can automatically find the inspected vehicle 400 through the first visual sensor 111 and the first laser radar 112, or automatically find the inspected vehicle 400 after receiving the unilateral scanning instruction issued by the remote control inspection terminal 300, for example, the first visual sensor 111 identifies the inspected vehicle, and the first laser radar 112 constructs the fitted outer contour 401 of the inspected vehicle; the backscatter robot 100 can drive the four first steering wheel assemblies 113 through the first control module 117 to adjust the initial state, and is located at the left rear of the inspected vehicle 400. The X-direction distance DX11 from the X-ray pencil beam envelope 103 to the left edge of the fitted outer contour 401 of the inspected vehicle 400 is the beam exit distance, and the Y-direction distance DY11 from the center of the first laser radar 112 in the right front to the upper edge of the fitted outer contour 401 is the scanning distance. The backscatter robot 100 moves forward according to the scanning distance and is generally parallel to the upper edge of the fitted outer contour 401.

[0067] In a similar manner, the transmission robot 200 identifies the inspected vehicle through the second visual sensor 211 and constructs the fitted outer contour of the inspected vehicle through the second laser radar 212. The transmission robot 200 automatically drives to the opposite side of the backscatter robot 100 through the second visual sensor 211 and the second laser radar 212, and then calculates △P and △A according to the data of the second posture sensor 214 and the second positioning module 215, and gives adjustment parameters, and drives the four second steering wheel assemblies 213 through the second control module 217. After adjustment, the transmission detector 222 of the transmission robot 200 is centered and perpendicular to the X-ray pencil beam envelope 103, and the Y-direction distance DY from the center of the left front second laser radar 212 to the lower edge of the fitted outer contour 401 is 12 is the following distance. As the backscatter robot 100 begins to perform backscatter scanning on the inspected vehicle, the transmission robot 200 moves forward according to the following distance and adjusts its posture in real time during the process to be parallel to the backscatter robot 100 as a whole. When the backscatter robot 100 reaches the beam-out distance, the flying spot X-ray machine 121 emits an X-ray pencil beam, collects the backscatter signal through the backscatter detector 122, and begins to perform backscatter scanning on the inspected vehicle 400 column by column. The distance DX from the envelope surface 103 of the X-ray pencil beam to the right edge of the fitting outer contour 401 is 12 The beam stopping distance is the beam stopping distance. When the backscatter robot 100 reaches the beam stopping distance, it is determined that the beam scanning task has been completed, the flying spot X-ray machine 121 is prohibited from emitting X-rays, and the driving is stopped. During the driving scanning process of the backscatter robot 100, the transmission robot 200 dynamically adjusts the posture and synchronously follows the backscatter robot 100, collects the flying spot X-ray penetration signal for transmission imaging through the transmission detector 222, and uses the radiation protection partition 221 to shield the remaining X-rays to ensure radiation protection safety. The backscatter robot 100 performs data processing and generates a backscatter image through the first control module 117, and the transmission robot 200 performs data processing and generates a transmission image through the second control module 217. The remote control inspection terminal 300 receives the backscatter image and the transmission image through the wireless network and displays them in real time on the software interface.

[0068] After the unilateral scanning task is completed, the backscatter robot 100 and the transmission robot 200 fine-tune their positions to maintain overall parallelism and a preset spacing, and the X-ray pencil beam envelope 103 is aligned with the end face center line of the transmission detector 222, and the inspected vehicle 400 leaves the inspected area. When the next inspected vehicle enters the inspected area, reverse scanning and imaging are performed according to the aforementioned process method.

[0069] Figure 7a , 7b 7c shows a schematic diagram of multi-side scanning imaging. Figure 7a , 7b7c show the first side and second side imaging schematic diagrams of the inspected vehicle, and the reset schematic diagram, respectively.

[0070] As shown in FIG7(a), after receiving the multi-side scanning command from the remote control inspection terminal 300, the backscatter robot 100 automatically searches for the vehicle 400 to be inspected and adjusts its position to the left rear thereof. The backscatter robot 100 is parallel to the upper edge (first side) of the fitting outer contour 401 as a whole, and moves forward along the first side according to the scanning distance DY11. The transmission robot 200 automatically drives to the opposite side of the backscatter robot 100, adjusts the transmission detector 222 to be centered and perpendicular to the X-ray pencil beam envelope 103, and follows the distance DY11. 12 The backscatter robot 100 moves forward and adjusts itself to be parallel to the backscatter robot 100 in real time. The backscatter robot 100 reaches the beam output distance DX 11 When the backscatter robot 100 reaches the beam stopping distance DX 12 , it is determined that the first side scanning task has been completed, the emission of the X-ray pencil beam is stopped, and the driving is stopped. During the driving scanning process of the backscatter robot 100 on the first side, the transmission robot 200 dynamically adjusts the posture, synchronously follows the backscatter robot 100, collects and processes the transmission signal, and shields the remaining X-rays. The backscatter robot 100 performs data processing and generates a backscatter image through the first control module 117, and the transmission robot 200 performs data processing and generates a transmission image through the second control module 217. The remote control inspection terminal 300 receives and displays the backscatter image and the transmission image of the first side in real time through the wireless network.

[0071] As shown in FIG. 7( b ), the backscatter robot 100 adjusts its position until the scanning distance DY 11 The transmission robot 200 automatically drives to the opposite side of the backscattering robot 100, and adjusts the angle and distance until the following distance DY 12It is parallel to the backscatter robot 100 as a whole, and the transmission detector 222 is centered and perpendicular to the X-ray pencil beam envelope 103. The backscatter robot 100 moves forward along the second side, enables the emission of the X-ray pencil beam, and starts backscattering and transmission scanning of the second side of the inspected vehicle 400. When the X-ray pencil beam envelope 103 exceeds the end point of the second side, the backscatter robot 100 determines that it has reached the beam stop distance, stops emitting the X-ray pencil beam, and stops driving. During the scanning process of the second side, the transmission robot 200 dynamically adjusts its posture and synchronously follows the backscatter robot 100, and the remote control inspection terminal 300 displays the backscatter image of the second side by the backscatter robot 100 and the transmission image of the second side by the transmission robot 200 in real time. And so on, until the scanning and imaging of all sides of the inspected vehicle are completed.

[0072] As shown in FIG. 7( c ), the backscatter robot 100 and the transmission robot 200 adjust their positions and return to their starting positions. The remote control inspection terminal 300 displays the backscatter image and the transmission image of all sides of the inspected vehicle 400 in the entire image. It should be understood that the backscatter robot 100 and the transmission robot 200 do not necessarily have to return to their starting positions.

[0073] like Figure 8 The figure shows a schematic diagram of the surround scanning imaging of the intelligent security inspection robot.

[0074] The scanning distance between the inspected vehicle 500 and its envelope curve 501 is DC. After receiving the circumferential scanning instruction issued by the remote control inspection terminal 300, the backscatter robot 100 automatically searches for the inspected vehicle 500, adjusts its position and moves around the inspected vehicle 500 along the envelope (or fitted outer contour) in a clockwise (or counterclockwise) direction; or, for example, makes the X-ray source bull's eye correspond to a point on the envelope curve 501, and then moves around along the envelope in a clockwise (or counterclockwise) direction. The transmission robot 200 automatically moves to the opposite side of the backscatter robot 100, adjusts the transmission detector 222 to be centered and perpendicular to the X-ray pencil beam envelope surface 103, and the center point of the transmission detector 222 corresponds to another point on the envelope curve 501, and adjusts in real time during the clockwise following process to be parallel to the backscatter robot 100 as a whole, that is, the transmission robot 200 keeps facing the backscatter robot 100, and the transmission robot 200 receives the rays emitted by the backscatter robot 100 and transmits the inspected vehicle 500. The backscatter robot 100 enables the emission of an X-ray pencil beam and starts backscattering and transmission scanning of the inspected vehicle 500. When it is determined that one round of scanning has been completed, the emission of the X-ray pencil beam is stopped, and the vehicle moves to the starting position and stops. During this process, the transmission robot 200 dynamically and synchronously follows the backscatter robot 100, collects and processes transmission signals, and shields the remaining X-rays. The remote control inspection terminal 300 displays the backscatter image of the backscatter robot 100 and the transmission image of the transmission robot 200 in real time.

[0075] The above content is all about the intelligent security inspection robot actively searching for the inspected vehicle and implementing backscatter scanning imaging and transmission scanning imaging. For specific application scenarios, the intelligent security inspection robot equipment can also build a map in advance and implement backscatter scanning imaging and transmission scanning imaging according to the planned route.

[0076] 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.

[0077] 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.

[0078] 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 in the claims and their equivalents.

Claims

1. A security inspection robot device, comprising: A backscatter robot configured to be able to move in a self-driven manner near an object to be inspected to approach a first side of 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 transmission robot configured to be self-propelled and moveable to a second side of the object away from the backscatter robot to shield radiation emitted from the backscatter robot, and to detect radiation transmitted through the object, the second side being an opposite side of the first side of the object; The object is located between the backscatter robot and the transmission robot.

2. The security inspection robot 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 security inspection robot device according to claim 1 or 2, wherein the transmission robot comprises: a second steering wheel assembly, configured to enable the transmission robot to move in a self-propelled manner; a transmission detector configured to detect radiation emitted by the backscatter robot toward the object and transmitted through the object; as well as a radiation shielding device configured to block or absorb radiation; The transmission 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 security inspection robot 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 the object and navigate and avoid obstacles in three dimensions; and / or The transmission robot includes a second visual sensor and at least one second laser radar, configured to identify the object and navigate and avoid obstacles in three dimensions.

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

6. The security inspection robot 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 transmission robot includes a second posture sensor configured to detect its own turning angle and moving position information.

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

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

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

11. The security inspection robot device according to claim 10, wherein when the backscatter robot scans the inspected object, the transmission robot moves synchronously with the backscatter robot.

12. The security inspection robot device according to claim 9, wherein the security inspection robot device is configured to have the backscatter robot travel around the object along the fitting outer contour of the object, and the transmission robot travels to the opposite side of the backscatter robot and follows and remains facing the backscatter robot to receive the radiation beam that penetrates the object.

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

14. The security inspection robot 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 transmission robot and clamps and fixes the radiation protection material.

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

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