Radiation scanning device and inspection equipment

Abstract

The invention relates to a radiation scanning device and inspection equipment. The radiation scanning device (RS) comprises a chassis (10); the radiation source assembly (20) is arranged on the chassis (10); the arm support assembly (30) is connected with the chassis (10) or the radiation source assembly (20) and is used for forming a detection area; the detector assembly (40) is arranged on the arm support assembly (30) and is matched with the radiation source assembly (20) so as to scan and image a detected object (DO); wherein the height of the chassis (10) is adjustable.

Description

Technical Field

[0001] The present disclosure relates to the field of radiation scanning technology, and in particular to a radiation scanning device and inspection equipment. Background Art

[0002] In some related technologies of radiation scanning, a gantry structure is used to form an inspection channel for vehicles to be inspected to pass through. A radiation source emits radiation at the side of the vehicle to perform a radiation scan on the vehicle. Summary of the invention

[0003] According to research, the radiation source in the related technology is limited by its own position and is not easy to completely scan the entire bottom of the vehicle. If the vehicle is too high or too wide, it may not be possible to scan the complete top image of the vehicle. In addition, the key parts of the inspected object may be relative to the edge position of the fan-shaped beam emitted by the radiation source. In order to make the scanned image of the key parts meet the quality requirements, it is necessary to output more energy and reduce the scanning speed so that the key parts can obtain sufficient doses. This affects the efficiency of scanning imaging to a certain extent and increases energy consumption.

[0004] In view of this, the embodiments of the present disclosure provide a radiation scanning device and an inspection equipment, which can improve the radiation scanning effect.

[0005] In one aspect of the present disclosure, there is provided a radiation scanning device, comprising:

[0006] Chassis;

[0007] A radiation source assembly is arranged on the chassis;

[0008] an arm assembly connected to the chassis or the radiation source assembly to form a detection area; and

[0009] A detector assembly, arranged on the arm assembly and cooperating with the radiation source assembly, so as to scan and image the detected object;

[0010] Wherein, the height of the chassis is adjustable.

[0011] In some embodiments, the chassis comprises:

[0012] Vehicle body;

[0013] A first moving component, disposed on the vehicle body and configured to realize the turning and walking of the vehicle body; and

[0014] The lifting mechanism is arranged on the vehicle body and is configured to adjust the ground clearance of the vehicle body in the height direction relative to the surface of the field where the first moving component runs.

[0015] In some embodiments, the radiation scanning device further comprises:

[0016] The processor is connected to the lifting mechanism signal and is configured to adjust the ground clearance of the vehicle body through the lifting mechanism according to the received relevant information of the detected object.

[0017] In some embodiments, the processor is signal-connected to the first moving component and is configured to adjust a scanning mode of the radiation scanning device through the first moving component.

[0018] In some embodiments, the first moving component includes a universal wheel.

[0019] In some embodiments, the radiation scanning device further comprises:

[0020] A source driving mechanism is disposed on the vehicle body and connected to the radiation source assembly.

[0021] Wherein, the source driving mechanism is configured to drive the radiation source assembly to perform at least one of rotation, vertical movement and horizontal movement relative to the vehicle body.

[0022] In some embodiments, the radiation scanning device further comprises:

[0023] A processor is connected to the source drive mechanism and the lifting mechanism by signal.

[0024] Wherein, the processor is configured to:

[0025] According to the received relevant information of the detected object, the ground clearance of the vehicle body is adjusted by the lifting mechanism, and / or the position of the radiation source assembly relative to the vehicle body is adjusted by the source driving mechanism.

[0026] In some embodiments, the arm assembly includes a plurality of arms, and the plurality of arms are used to form the detection area, and the shape and size of the detection area are adjustable.

[0027] In some embodiments, the multiple arms include a first vertical arm, a horizontal arm, and a second vertical arm, the first vertical arm is rotatably connected to the vehicle body, the horizontal arm is respectively connected to the first vertical arm and the second vertical arm, the first vertical arm, the horizontal arm and the second vertical arm can jointly form the detection area, and at least one of the first vertical arm, the horizontal arm and the second vertical arm is a telescopic structure with adjustable length so as to achieve adjustment of the width and height of the detection area.

[0028] In some embodiments, the first vertical arm, the horizontal arm and the second vertical arm all include a telescopic structure with adjustable length.

[0029] In some embodiments, the arm assembly further comprises:

[0030] The second moving component is disposed at the bottom of the second vertical arm, and is configured to support the second vertical arm in an unfolded state, and cooperate with the first moving component to realize the turning and moving of the vehicle body.

[0031] In some embodiments, the radiation scanning device further comprises:

[0032] an arm drive mechanism connected to at least one of the plurality of arm bodies,

[0033] Wherein, the arm drive mechanism is configured as follows:

[0034] driving at least one of the plurality of arms to rotate, move vertically, and move horizontally relative to the vehicle body,

[0035] driving at least one of the plurality of arms to rotate relative to an adjacent arm; and / or

[0036] At least one of the plurality of arms is driven to adjust the length of the arm by telescoping.

[0037] In some embodiments, the radiation scanning device further comprises:

[0038] A processor is connected to the arm drive mechanism and the lifting mechanism by signal.

[0039] Wherein, the processor is configured to:

[0040] According to the relevant information of the detected object received, the ground clearance of the vehicle body is adjusted by the lifting mechanism, and / or the position of at least one of the multiple arms relative to the vehicle body, the relative positions between the multiple arms and the arm length of at least one of the multiple arms are adjusted by the arm driving mechanism.

[0041] In some embodiments, the radiation scanning device further comprises:

[0042] An optical sensing element, configured to perform optical sensing on the detected object;

[0043] The processor is signal-connected to the optical sensing element and is configured to perform three-dimensional modeling on the detected object according to sensing data of the optical sensing element to obtain a three-dimensional model that is at least part of the relevant information of the detected object.

[0044] In one aspect of the present disclosure, there is provided an inspection device, comprising: the aforementioned radiation scanning device.

[0045] According to the embodiment of the present disclosure, a height-adjustable chassis is used to set up the radiation source assembly, and the arm assembly on which the detector assembly is set is connected to the chassis or the radiation source assembly to form a detection area. In this way, through the height adjustment of the chassis, the radiation source and the arm assembly can be adjusted accordingly according to the size of the detected object or the part that needs to be scanned in focus, thereby meeting actual scanning requirements such as scanning image integrity, targeted scanning of key parts, etc., and improving the radiation scanning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0047] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0048] Figure 1 is a schematic structural diagram of some embodiments of the radiation scanning device according to the present disclosure;

[0049] Figure 2 is a schematic diagram of the structure after the components in the embodiment of the radiation scanning device disclosed herein have been adjusted;

[0050] Figure 3 is a schematic diagram of signal relationships according to an embodiment of the radiation scanning device disclosed herein;

[0051] Figure 4 It is a schematic diagram of the structure of some embodiments of the inspection device according to the present disclosure.

[0052] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. Description of reference numerals:

[0053] 10- chassis; 11- vehicle body; 12- first moving part; 121- universal wheel; 13- lifting mechanism;

[0054] 20- radiation source assembly;

[0055] 30-arm assembly; 31-first vertical arm; 32-horizontal arm; 33-second vertical arm; 34-second moving part;

[0056] 40 - detector assembly; 50 - optical sensing element; 60 - processor; 70 - source drive mechanism; 80 - arm drive mechanism;

[0057] DO-detected object; GC-ground clearance; RS-radiation scanning device; IE-inspection equipment. DETAILED DESCRIPTION

[0058] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0059] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0060] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other device without an intermediate device, or may not be directly connected to the other device but have an intermediate device.

[0061] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0062] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0063] In some related technologies of radiation scanning, a gantry structure is used to form an inspection channel for vehicles to be inspected to pass through. A radiation source emits radiation at the side of the vehicle to perform a radiation scan on the vehicle.

[0064] According to research, the radiation source in the related technology is limited by its own position and is not easy to completely scan the entire bottom of the vehicle. If the vehicle is too high or too wide, it may not be possible to scan the complete top image of the vehicle. In addition, the key parts of the inspected object may be relative to the edge position of the fan-shaped beam emitted by the radiation source. In order to make the scanned image of the key parts meet the quality requirements, it is necessary to output more energy and reduce the scanning speed so that the key parts can obtain sufficient doses. This affects the efficiency of scanning imaging to a certain extent and increases energy consumption.

[0065] In view of this, an embodiment of the present disclosure provides a radiation scanning device capable of improving the radiation scanning effect.

[0066] Figure 1 It is a schematic diagram of the structure of some embodiments of the radiation scanning device according to the present disclosure. Figure 2 It is a schematic diagram of the structure after the components in the embodiment of the radiation scanning device disclosed in the present invention have been adjusted.

[0067] refer to Figure 1 and Figure 2 The embodiment of the present disclosure provides a radiation scanning device, including a chassis 10, a radiation source assembly 20, an arm assembly 30 and a detector assembly 40. The height of the chassis 10 is adjustable. The radiation source assembly 20 is arranged on the chassis 10. The arm assembly 30 is connected to the chassis 10 or the radiation source assembly 20 to form a detection area. The detector assembly 40 is arranged on the arm assembly 30 and cooperates with the radiation source assembly 20 to scan and image the detected object DO.

[0068] The chassis 10 may be a fixed chassis arranged on the field, or a mobile chassis movable on the field. The movement of the chassis 10 relative to the field may be achieved by a movable component arranged on the chassis 10 that can be actively driven, or by other equipment (such as a towing device or a mobile vehicle, etc.) through towing or carrying and moving the chassis 10.

[0069] The chassis 10 can realize the bearing function of the radiation source assembly 20, the arm assembly 30 and the detector assembly 40, and can be installed with necessary systems supporting the operation of the radiation source assembly 20, the arm assembly 30 and the detector assembly 40, such as an electrical system, a hydraulic system, etc.

[0070] The height of the chassis 10 is adjustable. By adjusting the height of the chassis 10, the radiation source assembly 20, the arm assembly 30, and the detector assembly 40 can be driven to adjust their heights accordingly. In some embodiments, the height of the chassis 10 is the overall height of the chassis 10 itself, and accordingly, the height adjustment of the chassis 10 can be achieved by a driving component in the chassis 10 that can achieve a lifting function.

[0071] In other embodiments, the height of the chassis 10 is the maximum height of the chassis 10 relative to a reference surface (e.g., the surface of the field where the chassis 10 is located). Accordingly, the height of the chassis 10 can be adjusted by other devices that can act on the chassis 10 to adjust the height of the chassis 10, such as suspending the chassis 10 by a suspension device to adjust the height of the chassis 10, or performing a lifting operation on the chassis 10 by a supporting device on the lower side of the chassis 10.

[0072] The radiation source assembly 20 may include a radiation source capable of emitting radiation, such as a radiation source capable of emitting X-rays or gamma rays, etc. The radiation source assembly 20 may also include other components related to the radiation source, such as a container for accommodating the radiation source, a shielding structure, a cooling structure, etc.

[0073] The detector assembly 40 is disposed on the arm assembly 30, and can receive the optical signal or electrical signal generated by the radiation radiation emitted by the radiation source in the radiation source assembly 20 acting on the detected object DO. The detector assembly 40 may include one or more detector modules, and the multiple detector modules are arranged on the arm assembly 30, and each detector module may include a scintillator array. The detector assembly 40 may also include multiple scintillators arranged on the arm assembly 30.

[0074] The arm assembly 30 can adopt a variety of arm forms to form a detection area, such as an arm form forming a gantry structure, an arm form forming a closed ring structure, or an arm form forming a fan ring structure, etc. The detector assembly 40 can be installed on the surface of the arm assembly 30, or can be installed by embedding the arm assembly 30.

[0075] In this embodiment, a height-adjustable chassis is used to set the radiation source assembly, and the arm assembly on which the detector assembly is set is connected to the chassis or the radiation source assembly to form a detection area. In this way, through the height adjustment of the chassis, the radiation source and the arm assembly can be adjusted accordingly according to the size of the detected object or the part that needs to be scanned in focus, thereby meeting actual scanning requirements such as scan image integrity, targeted scanning of key parts, etc., and improving the radiation scanning effect.

[0076] For objects of different sizes, the height of the chassis can be adjusted accordingly. For example, for taller objects, the height of the radiation source assembly, the arm assembly and the detector assembly can be increased by adjusting the height of the chassis. On the one hand, the scanning range formed by the radiation source assembly is adjusted so that it can cover the necessary scanning area of ​​the taller object to be detected, thereby obtaining a more complete scanning image; on the other hand, the detection area formed by the arm assembly can be adapted to the outer contour of the object to be detected, thereby reducing the risk of mutual interference.

[0077] For shorter objects to be detected, the height of the radiation source assembly, the arm assembly and the detector assembly can be lowered by adjusting the height of the chassis. On the one hand, the scanning range formed by the radiation source assembly is adjusted so that it can cover the necessary scanning area of ​​the shorter objects to be detected. On the other hand, the space occupied by the arm assembly can be reduced, and it can be used in more compact areas, thereby improving adaptability to the scene.

[0078] For objects with certain areas that require focused scanning, the height of the chassis can be adjusted so that the scanning range formed by the radiation source assembly can act on the key areas with greater radiation energy, thereby meeting the imaging requirements of the key areas with higher efficiency through targeted scanning.

[0079] refer to Figure 1 and Figure 2 In some embodiments, the chassis 10 includes: a vehicle body 11, a first moving component 12, and a lifting mechanism 13. The vehicle body 11 can be used to install a radiation source assembly 20 and an arm assembly 30, etc. The first moving component 12 is disposed on the vehicle body 11 and is configured to realize the steering and walking of the vehicle body 11. The lifting mechanism 13 is disposed on the vehicle body 11 and is configured to adjust the ground clearance GC of the vehicle body 11 in the height direction relative to the surface of the field where the first moving component 12 operates.

[0080] The first moving part 12 can be arranged in whole or in part at the bottom of the vehicle body 11, and the vehicle body 11 can be turned and moved relative to the field where the first moving part 12 is running by its active driving or by the action of an external driving force, so as to realize different scanning modes according to actual working conditions. The first moving part 12 can be driven to move and turn by existing methods such as a motor, a pneumatic motor or a hydraulic motor.

[0081] The lifting mechanism 13 can use a motor, pneumatic or hydraulic method to adjust the height of the vehicle body 11. In some embodiments, the lifting mechanism 13 uses a motor to drive a chain transmission mechanism or a gear rack transmission mechanism to drive the vehicle body 11 to achieve the lifting operation. In some embodiments, the lifting mechanism 13 uses an electric push rod, a cylinder or a hydraulic cylinder to drive the vehicle body 11 to achieve the lifting operation.

[0082] The lifting mechanism 13 can adjust the ground clearance GC of the vehicle body 11 in the height direction relative to the surface of the field where the first moving component 12 operates. Figure 2 The middle ground clearance GC is indicated as the distance between the bottom of the vehicle body 11 and the ground surface in the vertical direction. By adjusting the ground clearance GC, the vehicle body 11 is moved upward or downward as a whole, thereby achieving the height adjustment of the chassis 10.

[0083] In some embodiments, the first movable component 12 may include an axle and wheels disposed on the axle. The lifting mechanism 13 may be installed between the vehicle body 11 and the axle, and may drive the vehicle body 11 away from or closer to the axle to adjust the ground clearance GC of the vehicle body 11.

[0084] In other embodiments, the first movable component 12 may include a frame having an axle and wheels, and the lifting mechanism 13 may be installed between the vehicle body 11 and the frame, and can drive the vehicle body 11 to move away from or closer to the frame to adjust the ground clearance GC of the vehicle body 11.

[0085] refer to Figure 1 and Figure 2 In some embodiments, the first moving component 12 includes a universal wheel 121. The universal wheel 121 can realize flexible rotation in multiple directions, so that the operation and steering of the chassis 10 are more flexible.

[0086] Figure 3 It is a schematic diagram of signal relationships according to an embodiment of the radiation scanning device disclosed herein.

[0087] refer to Figure 3 In some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is connected to the lifting mechanism 13 by signals, and is configured to adjust the ground clearance GC of the vehicle body 11 through the lifting mechanism 13 according to the received relevant information of the detected object DO.

[0088] The processor 60 can use various interfaces and lines to connect various parts of the radiation scanning device, and effectively control the operation of the radiation scanning device by running or executing instructions stored in an external memory or a built-in memory and calling data stored in the external memory or the built-in memory.

[0089] The processor 60 may include one or more processing units, which may be implemented on the same chip as the memory or on separate chips. The processor 60 may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0090] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read only memory (PROM), read only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, disk, optical disk, etc.

[0091] The processor 60 can be connected to the lifting mechanism 13 in a wireless or wired communication manner, and can send control instructions to the lifting mechanism 13. The information related to the detected object DO received by the processor 60 may include the information related to the detected object DO directly input from the outside, and may also include a sensor signal related to the detected object DO sensed by the sensing element.

[0092] The processor 60 sends a control instruction to the lifting mechanism 13 according to the received information about the detected object DO, so that the lifting mechanism 13 can adjust the ground clearance GC of the vehicle body 11. The control instruction may include the lifting height adjusted by the lifting mechanism 13, and may also include parameters such as adjustment timing.

[0093] In addition to signal connection with the lifting mechanism 13, the processor 60 can also communicate with Figure 3 The processor 60 can also be connected to the radiation source assembly 20 and the detector assembly 40 by signals, so as to control the radiation source assembly 20 and the detector assembly 40 to realize different scanning processes.

[0094] refer to Figure 3 In some embodiments, the processor 60 is signal-connected to the first movable component 12 and is configured to adjust the scanning mode of the radiation scanning device through the first movable component 12.

[0095] The processor 60 can be connected to the first movable part 12 in a wireless or wired communication manner, and can send a control instruction to the first movable part 12. In this way, the processor 60 can adjust the scanning mode of the radiation scanning device through the first movable part 12.

[0096] For example, the passive scanning mode is realized by controlling the first movable part 12 to remain stationary relative to the site, and the detected object DO passes through the detection area by itself or is dragged. For another example, the detected object DO is kept stationary relative to the site, and the detection area is made to pass through the detected object DO by controlling the first movable part 12 to move, thereby realizing the active scanning mode. For another example, multiple detected objects DO are kept stationary relative to the site and arranged in a preset manner, and the detection area is made to pass through each detected object DO in turn by controlling the first movable part 12 to move, thereby realizing the multi-object continuous scanning mode.

[0097] refer to Figure 1 and Figure 2 In some embodiments, the radiation scanning device further includes a source driving mechanism 70. The source driving mechanism 70 is disposed on the vehicle body 11 and connected to the radiation source assembly 20. The source driving mechanism 70 is configured to drive the radiation source assembly 20 to rotate, move vertically, and move horizontally relative to the vehicle body 11.

[0098] The source drive mechanism 70 can drive the radiation source assembly 20 by means of a motor, pneumatic or hydraulic. In some embodiments, the source drive mechanism 70 uses a motor-driven gear train or a ball screw drive mechanism to drive the source drive mechanism 70 to rotate or translate, and the translation direction can include a vertical direction, a horizontal direction, or other directions that are at an angle to the vertical and horizontal directions. The source drive mechanism 70 also uses an electric push rod, a cylinder or a hydraulic cylinder to drive the radiation source assembly 20.

[0099] In this embodiment, by driving the radiation source assembly 20 by the source driving mechanism 70, the radiation source assembly 20 can be rotated and / or moved as needed, thereby changing the coverage area of ​​the radiation emitted by the radiation source assembly 20 by adjusting the position and angle of the radiation source assembly 20.

[0100] refer to Figure 3 In some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is signal-connected to the source driving mechanism 70 and the lifting mechanism 13, and is configured to: adjust the ground clearance GC of the vehicle body 11 through the lifting mechanism 13 according to the received relevant information of the detected object DO, and / or adjust the position of the radiation source assembly 20 relative to the vehicle body 11 through the source driving mechanism 70.

[0101] The processor 60 can be connected to the source driving mechanism 70 and the lifting mechanism 13 by wireless or wired communication, and can send control instructions to the source driving mechanism 70 and the lifting mechanism 13. In this way, the processor 60 can adjust the ground clearance GC of the vehicle body 11 through the lifting mechanism 13 according to the relevant information of the detected object DO, and can also adjust the position of the radiation source assembly 20 relative to the vehicle body 11 through the source driving mechanism 70 according to the relevant information of the detected object DO.

[0102] Combining the adjustment function of the source drive mechanism 70 and the lifting mechanism 13, the radiation source assembly 20 can obtain a larger range of adjustable space, and can achieve on-demand or real-time adjustment of its position or angle. According to the vehicle height adjustment function that can be achieved by the lifting mechanism 13, the requirements for the adjustment ability of the source drive mechanism 70 in the height direction can also be reduced accordingly, which is conducive to reducing costs and reducing space occupancy by reducing the structural size of the source drive mechanism 70.

[0103] refer to Figure 1 and Figure 2 In some embodiments, the arm assembly 30 includes a plurality of arms, and the plurality of arms are used to form the detection area, and the shape and size of the detection area are adjustable.

[0104] The multiple arms in the arm assembly 30 can conveniently form a desired detection area, for example Figure 1 and Figure 2 The passable area enclosed by the gantry structure shown in FIG. The area can accommodate the detected object DO or allow the detected object DO to pass through, so that the detected object DO is subjected to radiation scanning in the area.

[0105] The multiple arms of the arm assembly 30 can adjust the shape and size of the detection area by changing their size and relative position to meet the actual needs of different detected objects DO or different working modes. The multiple arms of the arm assembly 30 can be unfolded or folded as needed. In some embodiments, the arm assembly 30 can be folded and stored into a complete cube.

[0106] refer to Figure 1 and Figure 2In some embodiments, the plurality of arms include a first vertical arm 31, a horizontal arm 32, and a second vertical arm 33. The first vertical arm 31 is rotatably connected to the vehicle body 11, and the horizontal arm 32 is connected to the first vertical arm 31 and the second vertical arm 33 respectively. The first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 can jointly form the detection area. At least one of the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 is a telescopic structure with adjustable length, so as to adjust the width and height of the detection area.

[0107] The first vertical arm 31 is rotatably connected to the vehicle body 11, so that the angle of the arm assembly 30 relative to the vehicle body 11 can be adjusted, thereby enabling the arm assembly 30 to extend laterally relative to the vehicle body 11 in various working modes and to be retracted relative to the vehicle body 11 in a transport mode or a transfer mode, and also enabling vertical scanning or small-angle scanning working modes.

[0108] The horizontal arm 32 can be fixedly connected or rotatably connected to the arm body or the end of the first vertical arm 31, and can be parallel to the venue surface or at an inclined angle to the venue surface in various working modes, transportation modes or transition modes.

[0109] The second vertical arm 33 can be rotatably connected to the arm body or end of the horizontal arm 32, so as to realize the expansion and retraction of the second vertical arm 33 relative to the horizontal arm 32. In other embodiments, the second vertical arm 33 can also be fixedly connected to the arm body or end of the horizontal arm 32.

[0110] The first vertical arm 31, the horizontal arm 32 and the second vertical arm 33 can together form, for example Figure 1 and Figure 2 The vehicle body 11 can also enclose the detection area together with the first vertical arm 31, the horizontal arm 32 and the second vertical arm 33.

[0111] At least one of the first vertical arm 31, the horizontal arm 32 and the second vertical arm 33 can be a telescopic structure with adjustable length, and the length adjustment is achieved by telescoping, thereby further achieving the adjustment of the width and height of the detection area to meet the scanning imaging requirements of the detected object.

[0112] exist Figure 1 and Figure 2 In the embodiment, the first vertical arm 31, the horizontal arm 32 and the second vertical arm 33 may include a telescopic structure with adjustable length.

[0113] The telescopic structure can be implemented in various forms, such as a sliding telescopic arm including a sleeved multi-layer sliding arm section, a scissor-type telescopic arm including a scissor-type structure, or a spiral telescopic arm that telescopes through a spiral motion.

[0114] By making the first vertical arm 31, the horizontal arm 32 and the second vertical arm 33 all include telescopic structures with adjustable lengths, the arm assembly 30 can be more conveniently adjusted to meet a wider range of detection requirements, thereby improving the scene adaptability of the radiation scanning device.

[0115] refer to Figure 1 and Figure 2 In some embodiments, the arm assembly 30 also includes a second movable component 34, which is disposed at the bottom of the second vertical arm 33 and is configured to support the second vertical arm 33 in an unfolded state and cooperate with the first movable component 12 to realize the turning and walking of the vehicle body 11.

[0116] For the second vertical arm 33, a moving part can be provided at its bottom to support the second vertical arm 33 on the field and to smoothly move the second vertical arm 33 on the field. The second moving part 34 can be actively driven or move with the movement of the vehicle body 11. The second moving part 34 can also include universal wheels to achieve multi-directional smooth movement on the field.

[0117] In other embodiments, no moving parts may be provided at the bottom of the second vertical arm 33 , so that the second vertical arm 33 is supported by the horizontal arm 32 .

[0118] refer to Figure 1 and Figure 2 In some embodiments, the radiation scanning device further includes an arm drive mechanism 80, and the arm drive mechanism 80 is connected to at least one of the plurality of arms. The arm drive mechanism 80 can be configured to drive at least one of the plurality of arms to rotate, move vertically, and move horizontally relative to the vehicle body 11, or to drive at least one of the plurality of arms to rotate relative to adjacent arms, or to drive at least one of the plurality of arms to adjust the length of the arm by telescoping.

[0119] The arm drive mechanism 80 may include multiple components, such as an electric motor or pneumatic motor for driving the arm to rotate, an electric push rod, a cylinder or a hydraulic cylinder for driving the arm to translate, or a cylinder or a hydraulic cylinder for driving the arm to extend and retract.

[0120] In this embodiment, by driving the arm body by the arm driving mechanism 80, at least one of the multiple arms can be rotated, moved and / or adjusted in length as needed, thereby changing the scanning area by adjusting the shape, size, position and angle of the arm assembly 30.

[0121] refer to Figure 3In some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is connected to the arm drive mechanism 80 and the lifting mechanism 13 by signals, and is configured to: adjust the ground clearance GC of the vehicle body 11 through the lifting mechanism 13 according to the received relevant information of the detected object DO, and / or adjust the position of at least one of the multiple arms relative to the vehicle body 11, the relative positions between the multiple arms, and the arm length of at least one of the multiple arms through the arm drive mechanism 80.

[0122] The processor 60 can be connected to the arm drive mechanism 80 and the lifting mechanism 13 by wireless or wired communication, and can send control instructions to the arm drive mechanism 80 and the lifting mechanism 13. In this way, the processor 60 can adjust the ground clearance GC of the vehicle body 11 through the lifting mechanism 13 according to the relevant information of the detected object DO, and can also adjust the position of at least one of the multiple arms relative to the vehicle body 11, the relative positions between the multiple arms, and the arm length of at least one of the multiple arms through the arm drive mechanism 80 according to the relevant information of the detected object DO.

[0123] Combining the adjustment functions of the boom drive mechanism 80 and the lifting mechanism 13, the boom assembly 30 can obtain a wider range of adjustable space, and can achieve on-demand or real-time adjustment of its shape, size, position or angle. According to the vehicle height adjustment function that can be achieved by the lifting mechanism 13, the requirements for the adjustment ability of the boom drive mechanism 80 in the height direction can also be reduced accordingly, which is conducive to reducing costs and reducing space occupancy by reducing the structural size of the boom assembly 30.

[0124] Combined with the driving of the radiation source assembly 20 by the source driving mechanism 70 and the control of the source driving mechanism 70 by the processor 60, the lifting mechanism 13, the source driving mechanism 70 and the arm driving mechanism 80 can work together to meet more abundant adjustment requirements and support more business models based on the relevant information of the detected object DO.

[0125] refer to Figure 3 In some embodiments, the radiation scanning device further comprises an optical sensing element 50. The optical sensing element 50 is configured to perform optical sensing on the detected object DO. The processor 60 is signal-connected to the optical sensing element 50 and configured to perform three-dimensional modeling on the detected object DO according to the sensing data of the optical sensing element 50, so as to obtain a three-dimensional model as at least part of the relevant information of the detected object DO.

[0126] In the above embodiment, the relevant information of the detected object DO may include at least one of the multiple information such as the shape, size, material, region of interest, type, etc. of the detected object DO. Part or all of this information can be provided to the processor 60 for processing in various ways, such as inputting the parameters of the detected object through an external device; or another computing device transmits the parameters of the detected object to the processor 60 by wire or wireless means; or another computing device transmits the data link of the detected object to the processor 60 by wire or wireless means, and the processor 60 accesses the data link to obtain the relevant information; or a sensing element such as a camera or a photoelectric sensor transmits the sensed signal to the processor 60, and the processor 60 further processes it to obtain the relevant information.

[0127] The optical sensing element 50 may include a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) to obtain a partial or overall optical image of the detected object DO, or may include a laser radar to obtain point cloud data of the external contour of the detected object DO by scanning.

[0128] The processor 60 can perform three-dimensional modeling on the detected object DO according to the sensing data of the optical sensing element 50, and the relevant information of the detected object DO may include a three-dimensional model obtained by the three-dimensional modeling. According to the three-dimensional model of the detected object DO, the processor 60 can more accurately control the relevant components included in the above embodiment of the radiation scanning device, so as to more fully meet the radiation scanning requirements of the detected object DO.

[0129] The radiation scanning devices of the above-mentioned embodiments of the present disclosure can be applied to various business scenarios that require radiation scanning, such as security inspections, medical inspections, mineral flaw detection, etc.

[0130] Figure 4 It is a schematic diagram of the structure of some embodiments of the inspection device according to the present disclosure.

[0131] refer to Figure 4 The embodiment of the present disclosure further provides an inspection device IE, comprising the radiation scanning device RS of any of the above embodiments. The inspection device IE can be used for inspection of objects such as goods and vehicles in customs, security and other occasions.

[0132] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0133] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A radiation scanning device (RS), comprising: chassis (10); A radiation source assembly (20) arranged on the chassis (10); An arm assembly (30) connected to the chassis (10) or the radiation source assembly (20) and used to form a detection area; and a detector assembly (40) arranged on the arm assembly (30) and cooperating with the radiation source assembly (20) so as to scan and image the detected object (DO); Wherein, the height of the chassis (10) is adjustable.

2. The radiation scanning device (RS) according to claim 1, wherein: The chassis (10) comprises: Body (11); A first moving component (12), disposed on the vehicle body (11), and configured to realize the turning and moving of the vehicle body (11); and A lifting mechanism (13) is provided on the vehicle body (11) and is configured to adjust a ground clearance (GC) of the vehicle body (11) in a height direction relative to a surface of a site on which the first moving component (12) operates.

3. The radiation scanning device (RS) according to claim 2, further comprising: A processor (60) is connected to the lifting mechanism (13) by signal, and is configured to adjust the ground clearance (GC) of the vehicle body (11) through the lifting mechanism (13) according to the received relevant information of the detected object (DO).

4. The radiation scanning device (RS) according to claim 3, wherein: The processor (60) is signal-connected to the first movable component (12) and is configured to adjust the scanning mode of the radiation scanning device (RS) through the first movable component (12).

5. The radiation scanning device (RS) according to claim 2, wherein: The first moving component (12) comprises a universal wheel (121).

6. The radiation scanning device (RS) according to claim 2, further comprising: A source driving mechanism (70) is disposed on the vehicle body (11) and connected to the radiation source assembly (20). The source driving mechanism (70) is configured to drive the radiation source assembly (20) to perform at least one of rotation, vertical movement and horizontal movement relative to the vehicle body (11).

7. The radiation scanning device (RS) according to claim 6, further comprising: A processor (60) is signal-connected to the source driving mechanism (70) and the lifting mechanism (13). Wherein, the processor (60) is configured to: According to the received relevant information of the detected object (DO), the ground clearance (GC) of the vehicle body (11) is adjusted by the lifting mechanism (13), and / or the position of the radiation source assembly (20) relative to the vehicle body (11) is adjusted by the source driving mechanism (70).

8. The radiation scanning device (RS) according to claim 2, wherein: The arm support assembly (30) comprises a plurality of arm bodies, the plurality of arm bodies are used to form the detection area, and the shape and size of the detection area are adjustable.

9. The radiation scanning device (RS) according to claim 8, wherein: The plurality of arms comprise a first vertical arm (31), a horizontal arm (32) and a second vertical arm (33); the first vertical arm (31) is rotatably connected to the vehicle body (11); the horizontal arm (32) is respectively connected to the first vertical arm (31) and the second vertical arm (33); the first vertical arm (31), the horizontal arm (32) and the second vertical arm (33) can jointly form the detection area; and at least one of the first vertical arm (31), the horizontal arm (32) and the second vertical arm (33) is a telescopic structure with adjustable length, so as to achieve adjustment of the width and height of the detection area.

10. The radiation scanning device (RS) according to claim 9, wherein: The first vertical arm (31), the horizontal arm (32) and the second vertical arm (33) all comprise a telescopic structure with adjustable length.

11. The radiation scanning device (RS) according to claim 9, wherein: The arm support assembly (30) further comprises: The second movable component (34) is arranged at the bottom of the second vertical arm (33), and is configured to support the second vertical arm (33) in an unfolded state, and cooperate with the first movable component (12) to realize the turning and walking of the vehicle body (11).

12. The radiation scanning device (RS) according to claim 8, further comprising: An arm drive mechanism (80) is connected to at least one of the plurality of arm bodies. Wherein, the arm drive mechanism (80) is configured as follows: driving at least one of the plurality of arms to perform at least one of rotation, vertical movement and horizontal movement relative to the vehicle body (11); driving at least one of the plurality of arms to rotate relative to an adjacent arm; and / or At least one of the plurality of arms is driven to adjust the length of the arm by telescoping.

13. The radiation scanning device (RS) according to claim 12, further comprising: A processor (60) is signal-connected to the arm drive mechanism (80) and the lifting mechanism (13). Wherein, the processor (60) is configured to: According to the received relevant information of the detected object (DO), the ground clearance (GC) of the vehicle body (11) is adjusted by the lifting mechanism (13), and / or the position of at least one of the multiple arms relative to the vehicle body (11), the relative positions between the multiple arms, and the arm length of at least one of the multiple arms are adjusted by the arm frame driving mechanism (80).

14. The radiation scanning device (RS) according to any one of claims 3, 7 and 13, further comprising: An optical sensing element (50) configured to perform optical sensing on the detected object (DO); The processor (60) is connected to the optical sensing element (50) by signal, and is configured to perform three-dimensional modeling of the detected object (DO) according to sensing data of the optical sensing element (50), so as to obtain a three-dimensional model that is at least part of the relevant information of the detected object (DO).

15. An inspection device (IE), comprising: A radiation scanning device (RS) as claimed in any one of claims 1 to 14.

Images