Vision-based automatic alignment double-robot X-ray detection system and method thereof

Abstract

The invention belongs to the technical field of detection equipment, and particularly discloses a vision-based automatic alignment double-robot X-ray detection system and a method thereof.The vision-based automatic alignment double-robot X-ray detection system comprises a first X-ray robot, a second X-ray robot and a control terminal, and the control terminal is used for controlling the first X-ray robot and the second X-ray robot to detect an object to be detected; each of the first X-ray robot and the second X-ray robot comprises a walking device, a moving device, a comprehensive control box, a pan-tilt camera and a label, the first X-ray robot further comprises an X-ray machine transmitting end, and the second X-ray robot further comprises an X-ray machine imaging end; and the control terminal controls the pan-tilt camera of the first X-ray robot or the second X-ray robot to perform image acquisition and position adjustment on the label of the second X-ray robot or the first X-ray robot, so that automatic alignment of the X-ray machine transmitting end and the X-ray machine imaging end is realized. According to the system, a worker does not need to manually align the transmitting end of the X-ray machine and the imaging end of the X-ray machine, so that the detection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection equipment, and in particular relates to a vision-based automatic alignment dual-robot X-ray detection system and method thereof. Background Art

[0002] Today's X-ray detection equipment has gradually become miniaturized, portable and networked, making it easy to use indoors and outdoors in complex environments. When performing operations such as suspected dangerous and explosive detection, the objects to be detected by X-ray detection are dangerous and should not be moved. Workers should perform X-ray detection on the objects as far away as possible. Therefore, X-ray detection equipment needs to have certain mobility and remote control capabilities.

[0003] Chinese patent CN 107024491A discloses an X-ray nondestructive testing system and a testing method thereof, wherein the system comprises: a testing terminal, an X-ray machine, an X-ray locomotive, a digital imaging board and an imaging board cart, wherein the testing terminal comprises a central controller, a position adjustment device, a display device and a communication device; the position adjustment device is sequentially connected to the central controller and the communication device for communication, and the position adjustment device is used to adjust the positions of the X-ray machine and the digital imaging board and send the adjustment signal to the central controller; the central controller is also connected to the display device for communication; the testing terminal communicates with the X-ray machine, the X-ray machine and the digital imaging board respectively through the communication device. The vehicle, digital imaging board and imaging board vehicle are in communication connection, and the communication device is used to send the control information of the central controller to the X-ray machine, X-ray locomotive, digital imaging board and imaging board vehicle, and receive the information fed back by the X-ray machine, X-ray locomotive, digital imaging board and imaging board vehicle; the central controller includes an image acquisition module and an image analysis module connected in sequence, and the image acquisition module is used to obtain the two-dimensional projection obtained by the digital imaging board and perform image acquisition to obtain the X-ray image of the device under test; the image analysis module is used to analyze the X-ray image acquired by the image acquisition module, calculate and determine the defects or faults of the device under test. In this solution, the X-ray locomotive and imaging board vehicle are designed to be split, and the X-ray locomotive and imaging board vehicle are manually remotely controlled, and the X-ray machine and digital imaging board are manually aligned to realize the comparative analysis of X-ray images to find defects or faults.

[0004] Chinese patent CN 205175929U discloses a combined X-ray intelligent non-destructive testing mobile platform, which includes two parts: an X-ray emitter mobile platform and a flat panel detector mobile platform. The bottom of the two mobile platforms is an intelligent car. An electric-controlled hydraulic telescopic mechanism is installed at the top center of the intelligent car, and auxiliary telescopic rods are arranged around it. The upper end of the electric-controlled hydraulic telescopic mechanism is connected to a detection instrument fixing device, and an X-ray emitter and a flat panel detector are fixed on the detection instrument fixing device. In this scheme, the X-ray emitter and the flat panel detector are respectively arranged on the top of the two mobile intelligent cars, and the two mobile intelligent cars are connected by cables. The movement of the intelligent car and the lifting of the platform are manually controlled, and the X-ray emitter and the flat panel detector are manually aligned to perform X-ray detection on the target detection object.

[0005] The above patents all detect the object to be detected by manually aligning the X-ray emitting part and the imaging part, and the manual alignment process is relatively troublesome. When manually detecting the object to be detected beyond the visual distance, there are great difficulties in the detection work without the ability to autonomously align the X-ray emitting part and the X-ray imaging part. Summary of the invention

[0006] The purpose of the present invention is to provide a vision-based automatic alignment dual-robot X-ray detection system and method thereof, so as to solve the problem in the prior art that when inspecting an object to be detected, the X-ray machine transmitting end and the X-ray machine imaging end are manually aligned, resulting in long alignment time and low efficiency.

[0007] In a first aspect, in order to achieve the above-mentioned object, the technical solution of the present invention is: a vision-based automatic alignment dual-robot X-ray detection system, comprising a first X-ray robot, a second X-ray robot and a control terminal, wherein the control terminal is used to control the first X-ray robot and the second X-ray robot to detect an object to be detected;

[0008] The first X-ray robot and the second X-ray robot both include a walking device arranged at the bottom, and a moving device, an integrated control box, a pan-tilt camera and a label arranged on the walking device. The first X-ray robot also includes an X-ray machine transmitting end, and the second X-ray robot also includes an X-ray machine imaging end. The moving device is used to drive the X-ray machine transmitting end or the X-ray machine imaging end to rise and fall and flip. The integrated control box of the first X-ray robot is connected to the X-ray machine transmitting end and controls the opening and closing of the X-ray machine transmitting end. The integrated control box of the second X-ray robot is connected to the X-ray machine imaging end and executes control instructions.

[0009] The control terminal, the integrated control box of the first X-ray robot and the integrated control box of the second X-ray robot are in communication with each other;

[0010] The control terminal remotely controls the first X-ray robot and the second X-ray robot to be placed on both sides of the object to be measured and remotely controls the X-ray machine transmitting end and the X-ray machine imaging end for initial positioning. The pan-tilt camera of the first X-ray robot or the second X-ray robot captures images of the labels of the second X-ray robot or the first X-ray robot and feeds back to the integrated control box of the first X-ray robot or the second X-ray robot. The integrated control box of the first X-ray robot controls the walking device and the moving device of the first X-ray robot to adjust their positions. The integrated control box of the second X-ray robot controls the walking device and the moving device of the second X-ray robot to adjust their positions, thereby realizing automatic alignment of the X-ray machine transmitting end and the X-ray machine imaging end.

[0011] Furthermore, the moving device includes a lifting mechanism and a flipping mechanism, the flipping mechanism is arranged on the walking device, the lifting mechanism is arranged on the flipping mechanism, the lifting mechanism is used to adjust the lifting and lowering of the X-ray machine transmitting end of the first X-ray robot or the X-ray machine imaging end of the second X-ray robot, and the flipping mechanism is used to flip the lifting mechanism and the X-ray machine transmitting end of the first X-ray robot or the lifting mechanism and the X-ray machine imaging end of the second X-ray robot.

[0012] Furthermore, the moving device of the second X-ray robot also includes a clamping mechanism, which is arranged on the lifting mechanism and clamps and fixes the imaging end of the X-ray machine.

[0013] Furthermore, the walking device includes a motorized differential chassis, and the motorized differential chassis is a track chassis or a wheeled chassis.

[0014] Furthermore, the images of the labels of the first X-ray robot and the second X-ray robot are different, and the pan-tilt camera of the first X-ray robot or the second X-ray robot performs image recognition on the label of the second X-ray robot or the first X-ray robot.

[0015] Furthermore, the labels are all AprilTag labels, the material of the AprilTag labels is a transparent acrylic plate, and the image of the AprilTag labels is arranged on one side of the transparent acrylic plate.

[0016] Furthermore, the integrated control box includes a control module, a network communication module and an RTK positioning signal receiving module. The network communication module is used for signal transmission between modules, the RTK positioning signal receiving module is used to receive and analyze signals, the network communication module is used to receive instructions issued by the control terminal and transmit them to the control module, and the control module issues instructions to the walking device, the mobile device, the X-ray machine transmitting end of the first X-ray robot and the X-ray machine imaging end of the second X-ray robot respectively.

[0017] Furthermore, the first X-ray robot and the second X-ray robot also include an RTK positioning signal receiving antenna, and the RTK positioning signal receiving antenna is used to receive a positioning signal.

[0018] Furthermore, the first X-ray robot and the second X-ray robot also include a wireless network communication antenna A and a wireless network communication antenna B, and the wireless network communication antenna A and the wireless network communication antenna B are connected to the integrated control box to play a signal amplification role.

[0019] In a second aspect, the present invention provides a vision-based automatic alignment dual-robot X-ray detection alignment method, comprising the steps of:

[0020] SS1. Select the first X-ray robot or the second X-ray robot as the search robot and the other as the searched robot, remotely control the first X-ray robot and the second X-ray robot to the two sides of the object to be measured, and make the X-ray machine transmitting end and the X-ray machine imaging end face each other, so that the object to be measured is in the middle of the X-ray machine transmitting end and the X-ray machine imaging end, and perform preliminary rough alignment;

[0021] SS2. The pan-tilt camera of the search robot performs autonomous search movement and stops moving after searching for the tag of the searched robot in the visual image. The integrated control box of the search robot records the position offset matrix P1 and the attitude relative rotation matrix Q1 of the optical center coordinate system O′1 of the current search robot's pan-tilt camera relative to the initial optical center coordinate system O1 of the pan-tilt camera;

[0022] SS3. The integrated control box of the search robot calculates the position offset matrix P2 and the relative rotation matrix Q2 of the geometric center coordinate system O2 of the tag of the search robot relative to the optical center coordinate system O′1 of the search robot's pan-tilt camera according to the image of the search robot's pan-tilt camera;

[0023] SS4. According to the position offset matrix P1, the attitude rotation matrix Q1, the position offset matrix P2, the attitude rotation matrix Q2, the label geometric center coordinate system O2 of the robot being searched which is pre-calibrated and stored in the integrated control box of the search robot relative to the rotation center coordinate system O of its own walking device d1 The position offset matrix P3 and the relative rotation matrix Q3 of the posture and the initial optical center coordinate system O1 of the pan-tilt camera of the search robot relative to the rotation center coordinate system O of its own walking device d2 The position offset matrix P4 and the relative rotation matrix Q4 of the posture are used to obtain the rotation center coordinate system O of the walking device of the search robot. d2 Relative to the rotation center coordinate system O of the walking device of the searched robot d1 The position offset matrix P5 and the attitude relative rotation matrix Q5;

[0024] SS5. The search robot automatically adjusts the position and orientation of its walking device according to the position offset matrix P5 and the posture relative rotation matrix Q5, so that the central axis of the search robot and the searched robot are aligned in their forward direction. Automatic alignment is achieved by automatically adjusting the lifting and flipping of the X-ray machine transmitting end and the X-ray machine imaging end so that the transmitting direction of the X-ray machine transmitting end and the imaging plane of the X-ray machine imaging end are perpendicular.

[0025] The beneficial effects of this technical solution are:

[0026] ① In this scheme, the first X-ray robot or the second X-ray robot detects the position of the second X-ray robot or the first X-ray robot based on vision, automatically adjusts the flipping and lifting of the X-ray machine transmitting end and the X-ray machine imaging end, completes the automatic alignment of the transmitting direction of the X-ray machine transmitting end and the imaging plane of the X-ray machine imaging end, and improves the efficiency of X-ray remote detection.

[0027] ② In this scheme, the X-rays emitted by the transmitting end of the X-ray machine are radioactive in themselves. The staff remotely controls the terminal to automatically align the emission direction of the transmitting end of the X-ray machine with the imaging plane of the imaging end of the X-ray machine and perform detection. During the detection process, the staff stays away from the X-ray light source to ensure their safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a first X-ray robot of a vision-based automatic alignment dual-robot X-ray inspection system according to the present invention;

[0029] Figure 2 A schematic diagram of the structure of a second X-ray robot of a vision-based automatic alignment dual-robot X-ray detection system according to the present invention;

[0030] Figure 3 A front view of a remote controller for a vision-based automatic alignment dual-robot X-ray inspection system of the present invention;

[0031] Figure 4 A schematic diagram of an automatic alignment process of a vision-based automatic alignment dual-robot X-ray detection alignment method of the present invention;

[0032] Figure 5 for Figure 4 Schematic diagram of each coordinate system of the automatic alignment method;

[0033] Figure 6 This is a label schematic diagram of a vision-based automatic alignment dual-robot X-ray detection system of the present invention. DETAILED DESCRIPTION

[0034] The following is further described in detail through specific implementation methods:

[0035] The figure marks in the drawings of the specification include: a first X-ray robot 1, an X-ray machine transmitting end 2, a lifting mechanism 3, a servo motor 4, a ball screw mechanism 5, a mounting seat 6, a threaded rod 7, a flip mechanism 8, a first base 9, an electric push rod 10, a driving end 11, a rotating connecting piece 12, a second base 13, a sliding block 14, a motorized differential chassis 15, an integrated control box 16, a pan-tilt camera bracket 17, a pan-tilt camera 18, a wireless network communication antenna A19, a wireless network communication antenna B20, an RTK positioning signal receiving antenna 21, an AprilTag label 22, a second X-ray robot 23, an X-ray machine imaging end 24, a clamping mechanism 25, an L-shaped clamping base 26, a clamping block 27, a connecting block 28, and a remote controller 29.

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1

[0038] The embodiment is basically as shown in the attached Figure 1-6 As shown: A vision-based automatic alignment dual-robot X-ray detection system includes a first X-ray robot 1, a second X-ray robot 23 and a control terminal, and the control terminal is used to control the first X-ray robot 1 and the second X-ray robot 23 to detect the object to be detected. The first X-ray robot 1 and the second X-ray robot 23 both include a walking device arranged at the bottom, and a moving device, an integrated control box 16, a pan-tilt camera 18 and a label arranged on the walking device. The first X-ray robot 1 also includes an X-ray machine transmitting end 2, and the second X-ray robot 23 also includes an X-ray machine imaging end 24. The moving device of the first X-ray robot 1 is used to drive the X-ray machine transmitting end 2 to move, and the moving device of the second X-ray robot 23 is used to drive the X-ray machine imaging end 24 to move. The walking device includes a motorized differential chassis 15, which adopts a track chassis or a wheeled chassis. The motorized differential chassis 15 can also adopt other types of chassis and be applied to different work scenarios. This embodiment adopts a track chassis. The motorized differential chassis 15 provides an installation plane and power supply, forward movement, steering during forward movement, and in-situ rotation for the first X-ray robot 1 and the second X-ray robot 23.

[0039] The first X-ray robot 1 and the second X-ray robot 23 are both equipped with tags, such as Figure 6As shown, the image of the label is two groups of different AprilTag labels 22, and the two groups of AprilTag labels 22 are respectively installed at appropriate positions on the surface of the first X-ray robot 1 and the second X-ray robot 23 to assist the visual relative positioning of the first X-ray robot 1 and the second X-ray robot 23. According to the different detection environments where the objects to be tested are located, while ensuring that the shape, color and position of the AprilTag labels 22 remain unchanged, the AprilTag labels 22 are made of different materials to ensure that the objects to be tested are detected in different environments, thereby improving the adaptability of the objects to be tested to be detected in different environments. In this embodiment, the AprilTag labels 22 are made of a transparent acrylic plate, and the image of the AprilTag labels 22 is made by painting on one side of the transparent acrylic plate, and is fixed to the first X-ray robot 1 and the second X-ray robot 23 by pasting.

[0040] The integrated control box 16 is provided with a control module, a network communication module and an RTK positioning signal receiving module. The control module and the RTK positioning signal receiving module are connected to the network communication module. The network communication module is connected to the X-ray machine transmitting end 2, the lifting mechanism 3, the flip mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18 and the X-ray machine imaging end 24. The network communication module is used for the transmission of communication signals. The RTK positioning signal receiving module receives satellite signals and RTK positioning signals and analyzes them. The control module receives the control command of the control terminal through the network communication module, and sends the control command to the X-ray machine transmitting end 2, the lifting mechanism 3, the flip mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18 of the first X-ray robot 1 and the lifting mechanism 3, the flip mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18 and the X-ray machine imaging end 24 of the second X-ray robot 23. The control module of the integrated control box 16 receives the video information of the pan-tilt camera 18 and the remote control command signal in the network, and uploads the motion status, positioning signal information and video information of the first X-ray robot 1 and the second X-ray robot 23 to the network communication module and transmits the communication information to the RTK positioning signal receiving module, and the precise position is obtained after the RTK positioning signal is analyzed by the RTK positioning signal receiving module.

[0041] The first X-ray robot 1 and the second X-ray robot 23 are equipped with a pan-tilt camera bracket 17, and a pan-tilt camera 18 is installed on the pan-tilt camera bracket 17. The pan-tilt camera 18 is connected to the network communication module of the integrated control box 16. After receiving the command, the pan-tilt camera 18 performs pitch movement and 360° rotation to shoot video information. The pan-tilt camera 18 uploads the video information to the integrated control box 16, and the video information is uploaded to the control terminal through the integrated control box 16. The control terminal and the control module of the integrated control box 16 can access the video information. In the actual working scene, according to the height of the object to be measured, the installation position of the pan-tilt camera bracket 17 is adjusted or the pan-tilt camera bracket 17 of different heights is replaced. The pan-tilt camera 18 observes the AprilTag label 22 of another robot by adjusting its own movement.

[0042] The first X-ray robot 1 and the second X-ray robot 23 are also equipped with an RTK positioning signal receiving antenna 21, which is used to receive the RTK positioning signal and transmit the signal to the RTK positioning signal receiving module of the integrated control box 16. If the object to be measured is indoors, the RTK positioning signal receiving antenna 21 may not be used, and the user may use visual, surveillance camera monitoring, indoor near-field communication positioning and other technical means to assist, and then remotely control the X-ray machine transmitting end 2 of the first X-ray robot 1 and the X-ray machine imaging end 24 of the second X-ray robot 23 to face each other, so that the object to be measured is located between the X-ray machine transmitting end 2 and the X-ray machine imaging end 24, and perform preliminary rough alignment. If the object to be measured is outdoors, the RTK positioning signal receiving antenna 21 is turned on to receive the RTK positioning signal, so as to improve the accuracy of the remote control position of the first X-ray robot 1 and the second X-ray robot 23 in the outdoor environment, so that the first X-ray robot 1 and the second X-ray robot 23 reach the position given by the control terminal.

[0043] The first X-ray robot 1 and the second X-ray robot 23 are also equipped with a wireless network communication antenna A19 and a wireless network communication antenna B20. The wireless network communication antenna A19 and the wireless network communication antenna B20 are connected to the network communication module of the integrated control box 16 for transmitting communication signals and amplifying signals.

[0044] like Figure 1As shown, the moving device and the integrated control box 16 of the first X-ray robot 1 are arranged on both sides above the motorized differential chassis 15, the moving device is arranged on the right side above the motorized differential chassis 15, and the integrated control box 16 is installed on the left side above the motorized differential chassis 15. The moving device includes a flipping mechanism 8 and a lifting mechanism 3, the flipping mechanism 8 includes a first base 9, an electric push rod 10, a rotating connection member 12 and a second base 13, the first base 9 is connected to the middle position of the upper side of the motorized differential chassis 15, the left side of the electric push rod 10 is rotatably connected to the middle part of the first base 9, the second base 13 is installed on the right side above the motorized differential chassis 15, the second base 13 is provided with two groups, the left side of the rotating connection member 12 is rotatably connected between the two groups of the second bases 13, the upper side of the rotating connection member 12 is provided with a fixing member, the driving end 11 of the electric push rod 10 is rotatably connected to the fixing member, and the electric push rod 10 is connected to the integrated control box 16 network. The extension and retraction of the driving end 11 drives the fixed part to rotate and drives the rotating connecting part 12 to rotate on the two sets of second bases 13. While the driving end 11 is extended and retracted, the left side of the electric push rod 10 rotates on the first base 9, causing the X-ray machine transmitting end 2 and the lifting mechanism 3 to flip over, thereby realizing the transportation state and working state of the first X-ray robot 1.

[0045] A lifting mechanism 3 is fixed on the right side of the rotating connecting member 12. The lifting mechanism 3 includes a servo motor 4 and a ball screw mechanism 5. The servo motor 4 is arranged on the lower side of the ball screw mechanism 5. The ball screw mechanism 5 includes a mounting seat 6 and a threaded rod 7. The left side of the mounting seat 6 is fixed on the rotating connecting member 12. The threaded rod 7 is rotatably connected to the mounting seat 6. The housing of the servo motor 4 is fixed on the mounting seat 6. The output end of the servo motor 4 is connected to the threaded rod 7. An X-ray machine transmitting end 2 is installed on the right side of the lifting mechanism 3. A sliding block 14 is arranged on the left side of the X-ray machine transmitting end 2. A sliding groove is arranged on the mounting seat 6. The left end of the sliding block 14 is slidably connected in the sliding groove. A threaded hole matching the threaded rod 7 is arranged on the sliding block 14. The sliding block 14 is threadedly connected to the threaded rod 7 through the threaded hole. The servo motor 4 is connected to the integrated control box 16 network. The servo motor 4 drives the threaded rod 7 to rotate and drives the sliding block 14 to slide. The sliding block 14 drives the X-ray machine transmitting end 2 to move up and down, so that the X-ray machine transmitting end 2 rises or falls to a position given by the control terminal. The X-ray transmitter 2 is equipped with a rechargeable lithium battery, the tube voltage is 80kV, the X-ray penetration can penetrate 60mm aluminum plate or 10mm steel plate, and it is connected to the integrated control box 16 with an Ethernet interface. The integrated control box 16 controls the opening and closing of the X-ray transmitter 2 and the duration of X-ray emission, and emits X-rays of given intensity and duration.

[0046] In this embodiment, the gimbal camera bracket 17, the gimbal camera 18, the wireless network communication antenna A19, the wireless network communication antenna B20, the RTK positioning signal receiving antenna 21 and the AprilTag label 22 are all installed on the integrated control box 16, and the gimbal camera bracket 17 and the gimbal camera 18 are installed in the middle position of the upper side of the integrated control box 16; the wireless network communication antenna A19, the wireless network communication antenna B20 and the RTK positioning signal receiving antenna 21 are installed on the left side of the integrated control box 16; the wireless network communication antenna A19 and the wireless network communication antenna B20 are respectively installed on the front and rear sides of the RTK positioning signal receiving antenna 21; the AprilTag label 22 is pasted on the right front of the upper side of the integrated control box 16.

[0047] like Figure 2 As shown, the mobile device and the integrated control box 16 of the second X-ray robot 23 are arranged on both sides above the motorized differential chassis 15, the mobile device is arranged on the left side above the motorized differential chassis 15, and the integrated control box 16 is installed on the right side above the motorized differential chassis 15. The mobile device includes a flip mechanism 8 and a lifting mechanism 3, the flip mechanism 8 includes a first base 9, an electric push rod 10, a rotating connection member 12 and a second base 13, the first base 9 is connected to the middle position of the upper side of the motorized differential chassis 15, the right side of the electric push rod 10 is rotatably connected to the middle part of the first base 9, the second base 13 is fixed to the left side above the motorized differential chassis 15, the second base 13 is provided with two groups, the right side of the rotating connection member 12 is rotatably connected between the two groups of second bases 13, the upper side of the rotating connection member 12 is provided with a fixing member, the driving end 11 of the electric push rod 10 is rotatably connected to the fixing member, and the electric push rod 10 is connected to the integrated control box 16 network. The extension and retraction of the driving end 11 drives the fixed part to rotate and drives the rotating connecting part 12 to rotate on the two sets of second bases 13. While the driving end 11 is extending and retracting, the right side of the electric push rod 10 rotates on the first base 9, causing the X-ray machine imaging end 24 and the lifting mechanism 3 to flip over, thereby realizing the transportation state and working state of the second X-ray robot 23.

[0048] A lifting mechanism 3 is fixed to the left side of the rotating connecting member 12. The lifting mechanism 3 includes a servo motor 4 and a ball screw mechanism 5. The servo motor 4 is arranged at the lower side of the ball screw mechanism 5. The ball screw mechanism 5 includes a mounting seat 6 and a threaded rod 7. The mounting seat 6 is fixed on the rotating connecting member 12. The threaded rod 7 is rotatably connected to the mounting seat 6. The casing of the servo motor 4 is fixed on the mounting seat 6. The output end of the servo motor 4 is connected to the threaded rod 7.

[0049] The left side of the lifting mechanism 3 is fixed with a clamping mechanism 25 and an X-ray imaging end 24. The clamping mechanism 25 includes an L-shaped clamping base 26 and a clamping block 27. The clamping block 27 is vertically slidably connected to the vertical side of the L-shaped clamping base 26. A connecting block 28 is provided on the back of the L-shaped clamping base 26. A sliding groove is provided on the mounting seat 6. The right end of the connecting block 28 is slidably connected in the sliding groove. A threaded hole matching the threaded rod 7 is provided on the connecting block 28. The connecting block 28 is threadedly connected to the threaded rod 7 through the threaded hole. The L-shaped clamping base 26 and the clamping block 27 are fixed with clamping ends on both the upper and lower sides. The clamping block 27 slides in the L-shaped clamping base 26 and clamps the X-ray imaging end 24. The servo motor 4 drives the threaded rod 7 to rotate and drives the connecting block 28 to slide up and down. The connecting block 28 drives the clamping mechanism 25 and the X-ray imaging end 24 to move up and down, so that the clamping mechanism 25 and the X-ray imaging end 24 rise or fall to the position given by the control terminal. The X-ray imaging terminal 24 has its own rechargeable lithium battery, the pixel size of the X-ray imaging terminal 24 is not greater than 140μm, the dynamic range of the X-ray image is 16 bits, 65536 gray levels, and the X-ray imaging terminal 24 is connected to the integrated control box 16 network, and receives control instructions for starting and closing X-ray imaging, setting resolution, and uploading images through the network, and uploads the image to the control module of the integrated control box 16 in a specified format, and is remotely acquired by the control terminal.

[0050] In this embodiment, the pan-tilt camera bracket 17, the pan-tilt camera 18, the wireless network communication antenna A19, the wireless network communication antenna B20, the RTK positioning signal receiving antenna 21 and the AprilTag label 22 are all installed on the integrated control box 16. The pan-tilt camera bracket 17 and the pan-tilt camera 18 are installed in the middle position of the upper side of the integrated control box 16; the wireless network communication antenna A19, the wireless network communication antenna B20 and the RTK positioning signal receiving antenna 21 are installed on the right side of the integrated control box 16; the wireless network communication antenna A19 and the wireless network communication antenna B20 are installed on the front and rear sides of the RTK positioning signal receiving antenna 21 respectively; the AprilTag label 22 is attached to the left front of the upper side of the integrated control box 16.

[0051] The control terminal uses a remote controller 29, which is mainly used to control and monitor the status of the first X-ray robot 1 and the second X-ray robot 23. The remote controller 29 wirelessly accesses the network communication module set in the integrated control box 16 of the first X-ray robot 1 and the second X-ray robot 23, and connects the remote controller 29, the integrated control box 16 of the first X-ray robot 1 and the integrated control box 16 of the second X-ray robot 23 through network communication. Figure 3As shown, the staff controls the buttons and touch screen on the remote controller 29 to issue control instructions to the X-ray machine transmitting end 2, the motorized differential chassis 15, the pan-tilt camera 18, the X-ray machine imaging end 24 and the automatic alignment, and displays the video information, the X-ray detection image, the position and status information of the first X-ray robot 1 and the second X-ray robot 23. According to different needs and scenarios, the remote controller 29 selects a remote controller 29 of different sizes and hardware configurations.

[0052] Embodiment 2

[0053] The embodiment is basically as shown in the attached Figure 4-6 As shown: a vision-based automatic alignment dual-robot X-ray detection alignment method, which is implemented by applying a vision-based automatic alignment dual-robot X-ray detection system provided in Example 1, the first X-ray robot 1 or the second X-ray robot 23 receives the automatic alignment instruction of the remote controller 29, so that the emission direction of the X-ray machine transmitting end 2 is perpendicular to the imaging plane of the X-ray machine imaging end 24. This embodiment takes the X-ray machine transmitting end 2 of the first X-ray robot 1 actively aligning with the X-ray machine imaging end 24 of the second X-ray robot 23 as an example, and the specific steps are as follows:

[0054] SS1. The first X-ray robot 1 and the second X-ray robot 23 are remotely controlled by the remote controller 29 to go to the two sides of the object to be measured, and the X-ray machine transmitting end 2 and the X-ray machine imaging end 24 are opposite to each other, so that the object to be measured is in the middle of the X-ray machine transmitting end 2 and the X-ray machine imaging end 24, and preliminary rough alignment is performed;

[0055] SS2. The pan-tilt camera 18 of the first X-ray robot 1 performs autonomous search movement and stops moving after searching for the label of the second X-ray robot 23 in the visual image. The integrated control box 16 of the first X-ray robot 1 records the position offset matrix P1 and the posture relative rotation matrix Q1 of the optical center coordinate system O′1 of the current pan-tilt camera 18 of the first X-ray robot 1 relative to the initial optical center coordinate system O1 of the pan-tilt camera 18;

[0056] SS3. The integrated control box 16 of the first X-ray robot 1 calculates the position offset matrix P2 and the posture relative rotation matrix Q2 of the label geometric center coordinate system O2 of the second X-ray robot 23 relative to the optical center coordinate system O′1 of the pan-tilt camera 18 of the first X-ray robot 1 according to the image of the pan-tilt camera 18 of the first X-ray robot 1;

[0057] SS4. According to the position offset matrix P1, the attitude rotation matrix Q1, the position offset matrix P2, the attitude rotation matrix Q2, the label geometric center coordinate system O2 of the second X-ray robot 23 pre-calibrated and stored in the integrated control box 16 of the first X-ray robot 1 relative to the rotation center coordinate system O of its own motorized differential chassis 15 d1The position offset matrix P3 and the relative rotation matrix Q3 of the posture and the initial optical center coordinate system O1 of the pan-tilt camera 18 of the first X-ray robot 1 relative to the rotation center coordinate system O of its own motorized differential chassis 15 d2 The integrated control box 16 of the first X-ray robot 1 obtains the rotation center coordinate system O of the motorized differential chassis 15 of the first X-ray robot 1 based on the position offset matrix P4 and the posture relative rotation matrix Q4. d2 The coordinate system O of the rotation center of the motorized differential chassis 15 relative to the second X-ray robot 23 d1 The position offset matrix P5 and the attitude relative rotation matrix Q5;

[0058] SS5. The first X-ray robot 1 automatically adjusts the position and orientation of the motorized differential chassis 15 of the first X-ray robot 1 according to the position offset matrix P5 and the posture relative rotation matrix Q5, so that the central axes of the forward directions of the first X-ray robot 1 and the second X-ray robot 23 are aligned, and the automatic alignment is achieved by automatically adjusting the lifting and flipping of the X-ray machine transmitting end 2 and the X-ray machine imaging end 24 so that the transmitting direction of the X-ray machine transmitting end 2 and the imaging plane of the X-ray machine imaging end 24 are perpendicular.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0060] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A vision-based automatic alignment dual-robot X-ray inspection system, characterized by: It comprises a first X-ray robot (1), a second X-ray robot (23) and a control terminal, wherein the control terminal is used to control the first X-ray robot (1) and the second X-ray robot (23) to detect an object to be detected; The first X-ray robot (1) and the second X-ray robot (23) both include a walking device arranged at the bottom, and a moving device, an integrated control box (16), a pan-tilt camera (18) and a label arranged on the walking device. The first X-ray robot (1) also includes an X-ray machine transmitting end (2), and the second X-ray robot (23) also includes an X-ray machine imaging end (24). The moving device is used to drive the X-ray machine transmitting end (2) or the X-ray machine imaging end (24) to rise, fall and flip. The integrated control box (16) of the first X-ray robot (1) is connected to the X-ray machine transmitting end (2) and controls the opening and closing of the X-ray machine transmitting end (2). The integrated control box (16) of the second X-ray robot (23) is connected to the X-ray machine imaging end (24) and executes control instructions. The control terminal, the integrated control box (16) of the first X-ray robot (1) and the integrated control box (16) of the second X-ray robot (23) are in communication with each other; The control terminal remotely controls the first X-ray robot (1) and the second X-ray robot (23) to be placed on both sides of the object to be measured and remotely controls the X-ray machine transmitting end (2) and the X-ray machine imaging end (24) to perform initial positioning; the pan / tilt camera (18) of the first X-ray robot (1) or the second X-ray robot (23) collects images of the labels of the second X-ray robot (23) or the first X-ray robot (1) and feeds back images to the integrated control box (16) of the first X-ray robot (1) or the second X-ray robot (23); the integrated control box (16) of the first X-ray robot (1) controls the walking device and the moving device of the first X-ray robot (1) to adjust their positions; the integrated control box (16) of the second X-ray robot (23) controls the walking device and the moving device of the second X-ray robot (23) to adjust their positions, thereby achieving automatic alignment of the X-ray machine transmitting end (2) and the X-ray machine imaging end (24).

2. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 1, characterized in that: The moving device comprises a lifting mechanism (3) and a flipping mechanism (8); the flipping mechanism (8) is arranged on the walking device; the lifting mechanism (3) is arranged on the flipping mechanism (8); the lifting mechanism (3) is used to adjust the lifting and lowering of the X-ray machine transmitting end (2) of the first X-ray robot (1) or the X-ray machine imaging end (24) of the second X-ray robot (23); and the flipping mechanism (8) is used to flip the lifting mechanism (3) and the X-ray machine transmitting end (2) of the first X-ray robot (1) or the lifting mechanism (3) and the X-ray machine imaging end (24) of the second X-ray robot (23).

3. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 2, characterized in that: The moving device of the second X-ray robot (23) further comprises a clamping mechanism (25), wherein the clamping mechanism (25) is arranged on the lifting mechanism (3), and the clamping mechanism (25) clamps and fixes the imaging end (24) of the X-ray machine.

4. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 1, characterized in that: The walking device comprises a motorized differential chassis (15), and the motorized differential chassis (15) is a crawler chassis or a wheeled chassis.

5. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 1, characterized in that: The images of the labels of the first X-ray robot (1) and the second X-ray robot (23) are different, and the pan-tilt camera (18) of the first X-ray robot (1) or the second X-ray robot (23) performs image recognition on the label of the second X-ray robot (23) or the first X-ray robot (1).

6. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 5, characterized in that: The labels are all AprilTag labels (22), the material of the AprilTag labels (22) is a transparent acrylic plate, and the image of the AprilTag labels (22) is arranged on one side of the transparent acrylic plate.

7. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 1, characterized in that: The integrated control box (16) comprises a control module, a network communication module and an RTK positioning signal receiving module. The network communication module is used for signal transmission between modules. The RTK positioning signal receiving module is used for receiving signals and analyzing the signals. The network communication module is used for receiving instructions issued by the control terminal and transmitting them to the control module. The control module issues instructions to the walking device, the moving device, the X-ray machine transmitting end (2) of the first X-ray robot (1) and the X-ray machine imaging end (24) of the second X-ray robot (23) respectively.

8. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 1, characterized in that: The first X-ray robot (1) and the second X-ray robot (23) further include an RTK positioning signal receiving antenna (21), and the RTK positioning signal receiving antenna (21) is used to receive a positioning signal.

9. The vision-based automatic alignment dual-robot X-ray inspection system according to claim 8, characterized in that: The first X-ray robot (1) and the second X-ray robot (23) further include a wireless network communication antenna A (19) and a wireless network communication antenna B (20). The wireless network communication antenna A (19) and the wireless network communication antenna B (20) are connected to the integrated control box (16) to amplify the signal.

10. A vision-based automatic alignment dual robot X-ray detection alignment method, implemented using the vision-based automatic alignment dual robot X-ray detection system according to claim 1, characterized in that: The steps include: SS1. Select the first X-ray robot (1) or the second X-ray robot (23), one of which is the searching robot and the other is the robot to be searched, remotely control the first X-ray robot (1) and the second X-ray robot (23) to go to the two sides of the object to be measured, and make the X-ray machine transmitting end (2) and the X-ray machine imaging end (24) face each other so that the object to be measured is located between the X-ray machine transmitting end (2) and the X-ray machine imaging end (24), and perform preliminary rough alignment; SS2. The pan-tilt camera (18) of the search robot performs autonomous search movement and stops moving after searching for the tag of the searched robot in the visual image. The integrated control box (16) of the search robot records the position offset matrix P1 and the posture relative rotation matrix Q1 of the optical center coordinate system O′1 of the current search robot's pan-tilt camera (18) relative to the initial optical center coordinate system O1 of the pan-tilt camera (18); SS3. The integrated control box (16) of the search robot calculates the position offset matrix P2 and the relative rotation matrix Q2 of the geometric center coordinate system O2 of the tag of the search robot relative to the optical center coordinate system O′1 of the search robot's pan-tilt camera (18) according to the image of the search robot's pan-tilt camera (18); S S4. According to the position offset matrix P1, the posture rotation matrix Q1, the position offset matrix P2, the posture rotation matrix Q2, the label geometric center coordinate system O2 of the robot being searched relative to the rotation center coordinate system O of its own walking device which is pre-calibrated and stored in the integrated control box (16) of the search robot d1 The position offset matrix P3 and the relative rotation matrix Q3 of the posture and the initial optical center coordinate system O1 of the pan-tilt camera (18) of the search robot are relative to the rotation center coordinate system O of the walking device of the robot. d2 The position offset matrix P4 and the relative rotation matrix Q4 of the posture are used to obtain the rotation center coordinate system O of the walking device of the search robot by the integrated control box (16) of the search robot. d2 Relative to the rotation center coordinate system O of the walking device of the searched robot d1 The position offset matrix P5 and the attitude relative rotation matrix Q5; S S5. The search robot automatically adjusts the position and orientation of the search robot's walking device according to the position offset matrix P5 and the posture relative rotation matrix Q5, so that the central axis of the search robot and the searched robot are aligned in the forward direction. By automatically adjusting the lifting and flipping of the X-ray machine transmitting end (2) and the X-ray machine imaging end (24), the emission direction of the X-ray machine transmitting end (2) and the imaging plane of the X-ray machine imaging end (24) are made perpendicular, thereby achieving automatic alignment.

Images