Intelligent nondestructive detection system and method for fusion welding points of PVDF (Polyvinylidene Fluoride) pipeline

Abstract

The invention relates to an intelligent PVDF (Polyvinylidene Fluoride) pipeline welding point nondestructive testing system and method, which are mainly applied to the technical field of converter station water cooling equipment detection. The system is composed of an X-ray emitting unit, a receiving unit, a control unit and a supporting frame, the supporting frame is adjusted to lift the X-ray emitting unit and the receiving unit to the position where the fusion point of the PVDF pipeline needs to be detected, the control unit controls the X-ray emitting unit to emit X-rays, the receiving unit receives information of the X-rays penetrating through the fusion point of the PVDF pipeline, and the X-rays are transmitted to the PVDF pipeline. And the information is transmitted to the control unit, and the control unit analyzes and processes the received information, carries out image display on the welding point and evaluates the operation state of the welding point. According to the invention, personal injury caused by high-altitude operation and X-ray emission of personnel can be avoided, the detection efficiency is improved, maintenance personnel can accurately master the operation state of the fusion point, the influence of subjective judgment factors is reduced, and nondestructive detection of the fusion point of the PVDF pipeline is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive testing, and in particular relates to an intelligent nondestructive testing system and method for PVDF pipe welding points. Background Art

[0002] With the rapid growth of electricity consumption in my country, the contradiction between energy and load distribution has become increasingly prominent, which has promoted the rapid development of UHV power transmission construction. As an important component of UHV power transmission, the converter valve will generate a lot of heat during operation. If it cannot be cooled down in time, it will affect the reliable operation of the entire UHV power transmission system, and in severe cases, a tripping accident will occur. In order to cool the converter valve in real time and make it operate within the allowable temperature range, the reliable operation of the converter valve cooling system has always been a concern.

[0003] At present, the cooling medium of converter valve is mainly water, which is connected to each other through the main pump, various pipes and valves to form a closed circulation system. Due to the compact space layout of the converter valve and the strong electromagnetic field around it, a large number of pipes made of polyvinylidene fluoride (PVDF) are welded together in the water cooling system of the converter valve. Due to the high voltage level of UHV transmission, the water quality and temperature inside the PVDF pipe are complex and changeable, and under the continuous squeezing of the strong water pressure inside the pipe, cracks and water leakage accidents may occur at the welding point. Therefore, without disassembling the PVDF pipe and causing damage to it, how to carry out non-destructive testing of its welding point and intelligently analyze and evaluate the operating status of the welding point will have great economic and social benefits in ensuring the reliability of the water cooling system of the converter valve, reducing the workload of the operation and maintenance personnel, and saving the limited power outage time of the converter station. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent PVDF pipe welding point non-destructive detection system and method to solve the problem of lack of non-destructive detection and operation status evaluation means of PVDF pipe welding point in the current converter valve water cooling system.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: An intelligent nondestructive testing system for PVDF pipe welding points includes an X-ray transmitting unit, a receiving unit, a control unit and a support frame, wherein: The X-ray emitting unit is used for emitting X-rays; The receiving unit is used to receive information after the X-ray passes through the fusion point of the PVDF pipe; The control unit is used to image and display the PVDF pipe welding point and evaluate the operating status of the welding point; The support frame is composed of a telescopic rod and a horizontal support rod. The horizontal support rod is respectively installed with an X-ray emitting unit and a receiving unit, and the telescopic rod is installed with a control unit. Preferably, the X-ray emitting unit and the receiving unit are respectively clamped above two horizontal support rods of the support frame.

[0006] Preferably, the two horizontal support rods of the support frame are connected via an adjusting device, and the adjusting device is used to adjust the distance between the X-ray emitting unit and the receiving unit.

[0007] Preferably, the X-ray emitting unit, the receiving unit and the control unit are communicatively connected via a wireless module; the wireless module is LoRa, Bluetooth, WiFi or ZigBee.

[0008] Preferably, the X-ray emitting unit, the receiving unit and the control unit are each equipped with a rechargeable battery.

[0009] Preferably, the control unit can transmit the welding point image and the evaluation result to a mobile phone or a monitoring system via a wired or wireless network.

[0010] Preferably, the control unit controls the micro motor inside the support frame to achieve automatic lifting of the support frame.

[0011] Preferably, a camera is installed on the top of the telescopic rod of the support frame, and the control unit can view the images of different positions of the PVDF pipe in real time, thereby controlling the X-ray emitting unit and the receiving unit to rise and fall to the appropriate position of the welding point to be detected.

[0012] A detection method of an intelligent PVDF pipe welding point nondestructive detection system comprises the following steps: S1. Adjust the support frame to lift the X-ray emitting unit and the receiving unit to the position where the PVDF pipe welding point needs to be detected; S2, the control unit controls the X-ray emitting unit to emit X-rays, and the receiving unit receives the X-ray information passing through the fusion point of the PVDF pipe and transmits the information to the control unit; S3, the control unit analyzes and processes the received information, displays the welding point in an image, and evaluates the operating status of the welding point; S4, after the X-ray emitting unit receives the command from the control unit and emits X-rays, it flashes an alarm in the form of sound and light; S5. The X-ray transmitting unit and the receiving unit transmit their own battery power information to the control unit in real time, and the control unit issues an alarm when the battery power is low.

[0013] Preferably, the specific method of S1 is: S1.1, the control unit determines the approximate position and height data of the welding point to be detected based on the PVDF pipe image information taken by the camera on the top of the telescopic rod of the support frame; S1.2, the control unit sends precise control instructions to the micro motor inside the support frame, and the micro motor drives the telescopic rod to perform telescopic movements, driving the horizontal support rod and the X-ray emitting unit and receiving unit installed thereon to slowly rise or fall; S1.3. During the lifting process, the camera continuously captures the pipeline image and transmits it back to the control unit. The control unit adjusts the operating parameters of the micro motor in real time according to the relative position changes between the welding point and the X-ray emitting unit and the receiving unit in the image, until the X-ray emitting unit and the receiving unit are accurately aligned with the welding point of the PVDF pipeline to be detected; The specific method of S2 is: S2.1. The control unit sends an X-ray emission command signal to the X-ray emission unit according to the preset detection parameters and program logic. The command signal contains key information such as the X-ray emission intensity, emission duration, and emission frequency; S2.2, after receiving the instruction, the X-ray emitting unit starts the internal X-ray generating device as required, generates an X-ray beam of specific intensity and characteristics, and emits it in the direction of the PVDF pipe welding point; S2.3, after the emitted X-rays penetrate the PVDF pipe welding point, they are received by the ray detector of the receiving unit, and the detector converts the X-ray intensity, attenuation degree and other information into electrical signals or digital signals; S2.4, the receiving unit performs preliminary filtering, amplification, digital processing and other operations on the converted signal to improve the quality and accuracy of the signal, and then transmits the processed X-ray information data to the control unit through a wireless module (such as LoRa, Bluetooth, WiFi or ZigBee); The specific methods of S3 are: S3.1. After receiving the X-ray information data from the receiving unit, the control unit uses the built-in image processing algorithm and model to perform complex analysis and calculation on the data; S3.2. First, perform data noise reduction to remove the interference noise generated during signal transmission. Then, based on the attenuation law of X-rays in different materials and the known material properties of PVDF pipes, reconstruct the structural image inside the welding point. S3.3, the control unit visually displays the reconstructed welding point image on its display screen, and the display method includes but is not limited to grayscale image, pseudo-color image, etc., so as to intuitively observe the internal structure details of the welding point; S3.4. At the same time, the control unit extracts and analyzes the image features of the weld point according to the pre-set weld point quality assessment standard and model, assesses the welding integrity of the weld point, the presence or absence of defects such as pores, cracks, inclusions, and the density uniformity of the weld point, so as to determine whether the operating status of the weld point is good; The specific method of S4 is: S4.1. When the X-ray emission unit receives the X-ray emission instruction from the control unit and successfully starts the emission, its internal alarm circuit is triggered at the same time; S4.2, the alarm circuit drives the sound and light alarm device installed on the housing of the X-ray emission unit, for example, to make a high-brightness LED light light up at a specific flashing frequency and emit a loud buzzer or other warning audio signal; S4.3. The flashing frequency and audio mode of the sound and light alarm can be set and adjusted according to the actual safety regulations and usage scenario requirements. Its purpose is to remind people around that X-rays are being emitted, pay attention to safety protection, and avoid people accidentally approaching the X-ray radiation area; The specific method of S5 is: S5.1. Both the X-ray transmitting unit and the receiving unit are equipped with a power monitoring module, which can monitor the remaining power, voltage, current and other parameter information of the battery in real time; S5.1, the power monitoring module collects and updates the battery power information at a certain time interval (for example, every 10 seconds), and transmits this information to the control unit through the wireless communication module; S5.1, after receiving the battery power information of the X-ray emitting unit and the receiving unit, the control unit compares and determines with the preset power threshold; S5.1. When the battery power of any unit is lower than the set safety threshold (for example, the remaining power is less than 20%), the control unit immediately starts the alarm program, and a low-battery warning message pops up on the display screen of the control unit, and informs the operator through a sound prompt (such as voice broadcast or specific alarm sound). At the same time, the low-battery information can also be sent to a mobile phone or monitoring system via a wired or wireless network, so as to arrange charging or battery replacement in time.

[0014] The present invention can achieve the following beneficial effects: The X-ray emitting unit and the receiving unit are raised and lowered to different welding points of the PVDF pipe that needs to be inspected using a support frame. The emission of X-rays is controlled by a control unit, and the received welding point information is analyzed and evaluated. On the one hand, this can avoid personal injuries caused by high-altitude operations and X-ray emission, thereby improving inspection efficiency; on the other hand, it can enable maintenance personnel to accurately grasp the operating status of the welding points, reduce the influence of human subjective judgment factors, and realize non-destructive inspection of PVDF pipe welding points. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 Schematic diagram of the X-ray emission unit of the present invention; Figure 2 Schematic diagram of an X-ray receiving unit of the present invention; Figure 3 Schematic diagram of the control unit of the present invention; Figure 4 Schematic diagram of the support frame of the present invention; Figure 5 A schematic diagram of the internal structure of the support frame of the present invention; Figure 6 Schematic diagram of the horizontal support rod of the present invention; Figure 7 Schematic diagram of the overall architecture of the detection system of the present invention; Figure 8 Flow chart of nondestructive testing of PVDF pipe welding points of the present invention.

[0016] In the figure: 1 X-ray emission port, 2 sound and light warning lights, 3 operating lights, 4 X-ray adjustment knobs, 5 power switches, 6 charging holes, 7 mounting holes, 8 receiving screens, 9 charging holes, 10 operating lights, 11 power switches, 12 mounting holes, 13 mounting holes, 14 display screens, 15 operating lights, 16 charging holes, 17 power switches, 18 USB interfaces, 19 operating keys, 20 cameras, 21 horizontal support rods, 22 telescopic rods, 23 bases, 24 wheels, 25 racks, 26 small gears, 27 large gears, 28 micro motors, 29 upper limit switches, 30 lower limit switches, 31 rechargeable batteries, 32 fixing holes, 33 telescopic rods, 34 telescopic support heads, 35 receiving units, 36 X-ray emission units, and 37 control units. DETAILED DESCRIPTION

[0017] The preferred solution is Figures 1 to 8As shown, an intelligent PVDF pipe welding point non-destructive detection system and method, the system is mainly composed of an X-ray transmitting unit, a receiving unit, a control unit and a support frame, the X-ray transmitting unit mainly transmits X-rays; the imaging unit is used to receive information after the X-rays pass through the PVDF pipe welding point; the control unit is used to image and display the PVDF pipe welding point and evaluate the operating status of the welding point; the support frame can be raised and lowered for adjustment, and is mainly composed of a telescopic rod and a horizontal support rod, the top horizontal support rod is respectively installed with the transmitting unit and the receiving unit, and the control unit is installed at a suitable position below the telescopic rod.

[0018] Furthermore, the X-ray emitting unit and the receiving unit are respectively clamped on the two horizontal support rods of the support frame, and can be flexibly disassembled and assembled; Furthermore, the distance between the two horizontal support rods of the support frame can be adjusted, thereby being able to adjust the distance between the X-ray emitting unit and the receiving unit; Further, the X-ray transmitting unit and the receiving unit communicate with the control unit via wireless technologies such as LoRa, Bluetooth, WiFi, ZigBee, etc.; Furthermore, the X-ray transmitting unit, receiving unit and control unit are each provided with a rechargeable battery; Furthermore, the control unit can transmit the welding point image and evaluation results to other devices such as mobile phones, monitoring systems, etc. through wired or wireless networks; Furthermore, the control unit controls the micro motor inside the support frame to realize automatic lifting of the support frame; Furthermore, a camera is installed on the top of the telescopic rod of the support frame, and the control unit can view the images of different positions of the PVDF pipe in real time, thereby controlling the X-ray emitting unit and the receiving unit to rise and fall to the appropriate position of the welding point to be detected; Further, after the X-ray emitting unit receives the command from the control unit and emits X-rays, it flashes an alarm in the form of sound and light; Furthermore, the X-ray transmitting unit and the receiving unit transmit their own battery power information to the control unit in real time, and the control unit issues an alarm when the battery power is low.

[0019] An intelligent nondestructive detection system for PVDF pipe welding points, the steps of the method are as follows: (1) Adjust the support frame to lift the X-ray transmitting unit and receiving unit to the position where the PVDF pipe welding point needs to be detected; (2) The control unit controls the X-ray emitting unit to emit X-rays, and the receiving unit receives the X-ray information passing through the fusion point of the PVDF pipe and transmits the information to the control unit; (3) The control unit analyzes and processes the received information, displays an image of the welding point, and evaluates the operating status of the welding point.

[0020] Embodiment 1: The present invention provides an intelligent nondestructive detection system for PVDF pipe welding points, which is mainly used in the technical field of water cooling equipment detection in converter stations. The X-ray transmitting unit and the receiving unit are lifted and lowered to different welding point positions of the PVDF pipe to be detected by using a support frame, and the emission of X-rays is controlled by a control unit, and the received welding point information is analyzed and evaluated, thereby avoiding personal injuries caused by high-altitude operations and X-ray emission, and improving detection efficiency; at the same time, the maintenance personnel can accurately grasp the operating status of the welding points, reduce the influence of human subjective judgment factors, and realize nondestructive detection of PVDF pipe welding points.

[0021] 1. If Figure 1 , Figure 2 , Figure 3 As shown, the X-ray emitting unit is composed of 1 X-ray emitting port, 2 sound and light warning lights, 3 operation lights, 4 X-ray adjustment knobs, 5 power switches, 6 charging holes, 7 mounting holes, and internal X-ray generation and emission modules, wherein the X-ray generation and emission modules can be implemented using existing technologies and will not be described again; the receiving unit is composed of 8 receiving screens, 9 charging holes, 10 operation lights, 11 power switches, 12 mounting holes, and internal operation control modules and communication modules, and mainly receives information about the X-ray emitting unit after emitting X-rays through the PVDF pipe welding point, and various parameters can be set and information can be viewed through the 8 receiving screens; the control unit is composed of 13 mounting holes, and the X-ray emitting unit is used to control the X-ray emitting unit. The receiving unit is composed of a mounting hole, a display screen 14, an operating light 15, a charging hole 16, a power switch 17, a USB interface 18, an operation key 19, and an internal operation control module and a communication module; the above three units are all powered by rechargeable batteries, and the receiving unit communicates with the control unit and the X-ray transmitting unit through wireless technologies such as LoRa, Bluetooth, WiFi, ZigBee, etc.; after the X-ray transmitting unit receives the command from the control unit to transmit X-rays, it transmits X-rays according to the set parameters, and after the receiving unit receives the information of passing through the fusion point of the PVDF pipe, it sends the information to the control unit by wireless communication, and at the same time issues an alarm in the form of sound and light.

[0022] 2. If Figure 4 , Figure 5As shown, the support frame is mainly composed of a camera 20, a horizontal support rod 21, a telescopic rod 22, a base 23, wheels 24, a rack 25, a small gear 26, a large gear 27, a micro motor 28, an upper limit switch 29, a lower limit switch 30, a rechargeable battery 31, etc., wherein the micro motor 28 is controlled by an external control unit to control its speed and direction, and then meshes with the rack 25, the small gear 26, and the large gear 27 to realize the rise and fall of the telescopic rod 22; a camera 20 is installed on the top of the support frame, and when the telescopic rod 22 is raised or lowered, images of different positions of the PVDF pipeline can be transmitted to the control unit in real time by wireless communication.

[0023] The top 21 horizontal support rods of the support frame are as follows Figure 6 As shown, the support rod is composed of a fixed hole 32, a telescopic rod 33, and a telescopic support head 34. By adjusting the telescopic rod 33, the distance between the X-ray emitting unit and the receiving unit can be adjusted to meet the detection requirements of PVDF pipe welding points in different spaces; by adjusting the telescopic support head 34, the distance from the PVDF pipe welding point can be adjusted.

[0024] 3. Such as Figure 7 As shown, the X-ray emitting unit and the receiving unit are respectively installed on the telescopic supporting heads 34 at both ends of the horizontal supporting rod 21 at the top of the supporting frame, and the installation positions of the X-ray emitting unit and the receiving unit can be flexibly disassembled and adjusted; the control unit is installed at the bottom of the supporting frame for easy operation.

[0025] When detecting the PVDF pipe welding point, first set the X-ray parameter parameters, lift the support frame 22 telescopic rod through the control unit, lift the X-ray transmitting unit and the receiving unit to the PVDF pipe welding point position that needs to be detected, and place the welding point in the middle of the two; secondly, send a command to the X-ray transmitting unit through the control unit, and the X-ray transmitting unit will emit X-rays after receiving the command, and emit an audible and visual alarm after the emission; finally, after the receiving unit receives the information passing through the welding point, it sends the information to the control unit, and the control unit analyzes and processes the received information and displays the welding point image and evaluation results on the 14 display screen.

[0026] The above detection process is as follows Figure 8 shown.

[0027] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An intelligent PVDF pipe welding point nondestructive testing system, characterized by: It includes an X-ray emitting unit, a receiving unit, a control unit and a support frame, wherein: The X-ray emitting unit is used for emitting X-rays; The receiving unit is used to receive information after the X-ray passes through the fusion point of the PVDF pipe; The control unit is used to image and display the PVDF pipe welding point and evaluate the operating status of the welding point; The support frame is composed of a telescopic rod and a horizontal support rod. The horizontal support rod is respectively installed with an X-ray emitting unit and a receiving unit, and the telescopic rod is installed with a control unit.

2. According to claim 1, the intelligent PVDF pipe welding point nondestructive detection system is characterized by: The X-ray emitting unit and the receiving unit are respectively clamped above the two horizontal support rods of the support frame.

3. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: The two horizontal support rods of the support frame are connected via an adjusting device, and the adjusting device is used to adjust the distance between the X-ray emitting unit and the receiving unit.

4. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: The X-ray transmitting unit, the receiving unit and the control unit are connected through a wireless module; the wireless module is LoRa, Bluetooth, WiFi or ZigBee.

5. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: The X-ray transmitting unit, receiving unit and control unit are respectively provided with rechargeable batteries.

6. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: The control unit can transmit the welding point image and evaluation results to a mobile phone or monitoring system via a wired or wireless network.

7. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: The control unit controls the micro motor inside the support frame to realize automatic lifting of the support frame.

8. The intelligent PVDF pipe welding point nondestructive testing system according to claim 1 is characterized by: A camera is installed on the top of the telescopic rod of the support frame. The control unit can view the images of different positions of the PVDF pipe in real time, thereby controlling the X-ray transmitting unit and the receiving unit to rise and fall to the appropriate position of the welding point that needs to be detected.

9. The detection method of the intelligent PVDF pipe welding point nondestructive detection system according to claim 1 is characterized in that The following steps are involved: S1. Adjust the support frame to lift the X-ray emitting unit and the receiving unit to the position where the PVDF pipe welding point needs to be detected; S2, the control unit controls the X-ray emitting unit to emit X-rays, and the receiving unit receives the X-ray information passing through the fusion point of the PVDF pipe and transmits the information to the control unit; S3, the control unit analyzes and processes the received information, displays the welding point in an image, and evaluates the operating status of the welding point; S4, after the X-ray emitting unit receives the command from the control unit and emits X-rays, it flashes an alarm in the form of sound and light; S5. The X-ray transmitting unit and the receiving unit transmit their own battery power information to the control unit in real time, and the control unit issues an alarm when the battery power is low.

10. The detection method of the intelligent PVDF pipe welding point nondestructive detection system according to claim 1 is characterized by: The specific method of S1 is: S1.1, the control unit determines the approximate position and height data of the welding point to be detected based on the PVDF pipe image information taken by the camera on the top of the telescopic rod of the support frame; S1.2, the control unit sends precise control instructions to the micro motor inside the support frame, and the micro motor drives the telescopic rod to perform telescopic movements, driving the horizontal support rod and the X-ray emitting unit and receiving unit installed thereon to slowly rise or fall; S1.

3. During the lifting process, the camera continuously captures the pipeline image and transmits it back to the control unit. The control unit adjusts the operating parameters of the micro motor in real time according to the relative position changes between the welding point and the X-ray emitting unit and the receiving unit in the image, until the X-ray emitting unit and the receiving unit are accurately aligned with the welding point of the PVDF pipeline to be detected; The specific method of S2 is: S2.

1. The control unit sends an X-ray emission command signal to the X-ray emission unit according to the preset detection parameters and program logic. The command signal contains key information of the X-ray emission intensity, emission duration, and emission frequency; S2.2, after receiving the instruction, the X-ray emitting unit starts the internal X-ray generating device as required, generates an X-ray beam of specific intensity and characteristics, and emits it in the direction of the PVDF pipe welding point; S2.3, after the emitted X-rays penetrate the PVDF pipe welding point, they are received by the ray detector of the receiving unit, and the detector converts the X-ray intensity and attenuation information into electrical signals or digital signals; S2.4, the receiving unit performs preliminary filtering, amplification, and digital processing operations on the converted signal to improve the quality and accuracy of the signal, and then transmits the processed X-ray information data to the control unit through the wireless module; The specific methods of S3 are: S3.

1. After receiving the X-ray information data from the receiving unit, the control unit uses the built-in image processing algorithm and model to perform complex analysis and calculation on the data; S3.

2. First, perform data noise reduction to remove the interference noise generated during signal transmission. Then, based on the attenuation law of X-rays in different materials and the known material properties of PVDF pipes, reconstruct the structural image inside the welding point. S3.3, the control unit visually displays the reconstructed welding point image on its display screen, and the display method includes but is not limited to grayscale image and pseudo-color image, so as to intuitively observe the internal structure details of the welding point; S3.

4. At the same time, the control unit extracts and analyzes the image features of the weld point according to the pre-set weld point quality assessment standard and model, assesses the welding integrity of the weld point, the presence or absence of pores, cracks, inclusion defects, and the density uniformity parameters of the weld point, thereby determining whether the operating status of the weld point is good; The specific method of S4 is: S4.

1. When the X-ray emission unit receives the X-ray emission instruction from the control unit and successfully starts the emission, its internal alarm circuit is triggered at the same time; S4.2, the alarm circuit drives the sound and light alarm device installed on the housing of the X-ray emission unit, for example, to make a high-brightness LED light light up at a specific flashing frequency and emit a loud buzzer or other warning audio signal; S4.

3. The flashing frequency and audio mode of the sound and light alarm can be set and adjusted according to the actual safety regulations and usage scenario requirements. Its purpose is to remind people around that X-rays are being emitted, pay attention to safety protection, and avoid people accidentally approaching the X-ray radiation area; The specific method of S5 is: S5.

1. Both the X-ray transmitting unit and the receiving unit are equipped with a power monitoring module, which can monitor the remaining power, voltage, and current parameter information of the battery in real time; S5.2, the power monitoring module collects and updates the battery power information at a certain time interval, and transmits this information to the control unit through the wireless communication module; S5.3, after receiving the battery power information of the X-ray emitting unit and the receiving unit, the control unit compares and determines with the preset power threshold; S5.

4. When the battery power of any unit is lower than the set safety threshold, the control unit immediately starts the alarm program, and a low-battery warning message pops up on the control unit's display screen, and informs the operator through a sound prompt. At the same time, the low-battery information can be sent to a mobile phone or monitoring system via a wired or wireless network, so that charging or battery replacement operations can be arranged in time.

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