A vision-based automatic alignment dual-robot X-ray detection system and method

Abstract

The present invention belongs to the technical field of detection equipment and specifically discloses a vision-based automatic alignment dual-robot X-ray detection system and method thereof. The system includes a first X-ray robot, a second X-ray robot, and a control terminal. The control terminal is used to control the first and second X-ray robots to detect an object to be detected. The first and second X-ray robots each include a walking device, a moving device, an integrated control box, a pan-tilt camera, and a label. The first X-ray robot also includes an X-ray transmitter, and the second X-ray robot also includes an X-ray imaging terminal. The control terminal controls the pan-tilt camera of the first or second X-ray robot to capture images of the label of the second or first X-ray robot and adjusts its position, thereby achieving automatic alignment of the X-ray transmitter and the X-ray imaging terminal. This system eliminates the need for manual alignment of the X-ray transmitter and the X-ray imaging terminal by staff, thereby improving detection efficiency.

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, enabling convenient use indoors and outdoors, in complex environments, and other conditions. When conducting operations such as detecting suspected dangerous and explosive materials, the objects to be detected by X-ray inspection are dangerous and should not be moved. Workers should perform X-ray inspections as far away from the objects as possible. Therefore, X-ray detection equipment needs to have a certain degree of 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 plate and an imaging plate 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, and the position adjustment device is used to adjust the position of the X-ray machine and the digital imaging plate and send an adjustment signal to the central controller; the central controller is also connected to the display device; the testing terminal communicates with the X-ray machine and the X-ray machine through the communication device. The vehicle, digital imaging plate, and imaging plate vehicle are communicatively connected. The communication device is used to send control information from the central controller to the X-ray machine, X-ray locomotive, digital imaging plate, and imaging plate vehicle, and receive feedback information from the X-ray machine, X-ray locomotive, digital imaging plate, and imaging plate vehicle. The central controller includes an image acquisition module and an image analysis module connected in sequence. The image acquisition module is used to obtain the two-dimensional projection obtained by the digital imaging plate and perform image acquisition to obtain an X-ray image of the device under test. The image analysis module is used to analyze the X-ray image collected by the image acquisition module, calculate, and determine defects or faults in the device under test. In this solution, the X-ray locomotive and imaging plate vehicle are designed to be split, and the X-ray locomotive and imaging plate vehicle are manually remotely controlled and manually aligned with the X-ray machine and digital imaging plate to achieve comparative analysis of X-ray images to find defects or faults.

[0004] Chinese patent CN 205175929U discloses a combined X-ray intelligent nondestructive testing mobile platform, comprising two main components: an X-ray emitter mobile platform and a flat-panel detector mobile platform. Both platforms are anchored by intelligent trolleys. An electrically controlled hydraulic telescopic mechanism is mounted at the top center of each trolley, surrounded by auxiliary telescopic rods. A test instrument fixture is attached to each of the upper ends of the electrically controlled hydraulic telescopic mechanism, to which an X-ray emitter and a flat-panel detector are attached, respectively. In this solution, the X-ray emitter and flat-panel detector are mounted on top of two mobile intelligent trolleys, connected by cables. The trolleys' movement and platform elevation are manually controlled, and the X-ray emitter and flat-panel detector are manually aligned for X-ray inspection of the target object.

[0005] The above patents all rely on manual alignment of the X-ray emitting and imaging components to inspect the object to be inspected. The manual alignment process is relatively cumbersome. When inspecting objects to be inspected beyond visual range, manual inspection presents significant difficulties without the ability to autonomously align the X-ray emitting and imaging components. 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 the object to be tested, the X-ray machine transmitting end and the X-ray machine imaging end are manually controlled to align, 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 inspection 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 inspect an object to be inspected;

[0008] The first X-ray robot and the second X-ray robot each include a walking device disposed at the bottom, and a moving device, an integrated control box, a pan-tilt camera, and a label disposed 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, 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 label of the second X-ray robot or the first X-ray robot and feeds back the images 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, and 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 traveling device includes a motorized differential chassis, and the motorized differential chassis adopts a crawler 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 set 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 signals and analyze the signals, and the network communication module is used to receive instructions issued by the control terminal and transmit them to the control module. 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. The wireless network communication antenna A and the wireless network communication antenna B are connected to the integrated control box to amplify the signal.

[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 either the first or second X-ray robot as the search robot and the other as the searched robot. Remotely control the first and second X-ray robots to the sides of the object to be measured. Align the X-ray machine's transmitting and imaging ends so that the object to be measured is centered between the two ends for preliminary rough alignment.

[0021] SS2. The search robot's pan-tilt camera performs an autonomous search motion and stops after finding the tag of the searched robot in the visual image. The search robot's integrated control box records the position offset matrix P1 and the 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 search robot's tag relative to the optical center coordinate system O'1 of the search robot's pan-tilt camera based on the image of the search robot's pan-tilt camera;

[0023] SS4. Based on the position offset matrix P1, the attitude rotation matrix Q1, the position offset matrix P2, the attitude rotation matrix Q2, and the tag geometric center coordinate system O2 of the searched robot relative to the rotation center coordinate system O of its own walking device, which is pre-calibrated and stored in the integrated control box of the search robot. d1 The position offset matrix P3 and the relative rotation matrix Q3 of the attitude and the initial optical center coordinate system O1 of the search robot's pan-tilt camera 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 searched robot's walking device rotation center coordinate system O d1 Position offset matrix P5 and 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 directions. By automatically adjusting the lifting and flipping of the X-ray machine transmitting end and the X-ray machine imaging end, the transmitting direction of the X-ray machine transmitting end and the imaging plane of the X-ray machine imaging end are made perpendicular, thereby achieving automatic alignment.

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

[0026] ① In this solution, 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 solution, the X-rays emitted by the X-ray machine's transmitter are radioactive. The staff remotely controls the terminal to automatically align the emission direction of the X-ray machine's transmitter with the imaging plane of the X-ray machine's imaging end and perform detection. During the detection process, the staff stays away from the X-ray light source, ensuring their safety. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0029] Figure 2 This is a schematic structural diagram of the second X-ray robot of a vision-based automatic alignment dual-robot X-ray inspection system according to the present invention;

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

[0031] Figure 4 Schematic diagram of the 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 inspection 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: first X-ray robot 1, X-ray machine transmitting end 2, lifting mechanism 3, servo motor 4, ball screw mechanism 5, mounting seat 6, threaded rod 7, flip mechanism 8, first base 9, electric push rod 10, driving end 11, rotating connecting part 12, second base 13, sliding block 14, motorized differential chassis 15, integrated control box 16, pan-tilt camera bracket 17, pan-tilt camera 18, wireless network communication antenna A19, wireless network communication antenna B20, RTK positioning signal receiving antenna 21, AprilTag label 22, second X-ray robot 23, X-ray machine imaging end 24, clamping mechanism 25, L-shaped clamping base 26, clamping block 27, connecting block 28, remote control 29.

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0037] Example 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 inspection system includes a first X-ray robot 1, a second X-ray robot 23, and a control terminal. The control terminal is used to control the first X-ray robot 1 and the second X-ray robot 23 to inspect the object to be inspected. The first X-ray robot 1 and the second X-ray robot 23 each include a walking device disposed at the bottom, as well as a moving device, an integrated control box 16, a pan-tilt camera 18, and a label disposed 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 the first X-ray robot 1 and the second X-ray robot 23 with an installation plane and power supply, forward movement, steering during forward movement, and in-situ rotation movement.

[0039] The first X-ray robot 1 and the second X-ray robot 23 are both equipped with labels, such as Figure 6As shown, the label images are two different sets of AprilTag labels 22. The two sets of AprilTag labels 22 are respectively installed at appropriate positions on the surfaces of the first X-ray robot 1 and the second X-ray robot 23 to assist in the visual relative positioning of the first X-ray robot 1 and the second X-ray robot 23. According to the different detection environments in which 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 can be tested in different environments, thereby improving the adaptability of the objects to be tested in different environments. In this embodiment, the AprilTag labels 22 are made of a transparent acrylic plate. The image of the AprilTag labels 22 is painted on one side of the transparent acrylic plate and fixed to the first X-ray robot 1 and the second X-ray robot 23 by gluing.

[0040] The integrated control box 16 is internally equipped 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 network-connected to the network communication module, which is in network communication with the X-ray machine transmitter 2, the lifting mechanism 3, the tilting mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18, and the X-ray machine imaging terminal 24. The network communication module is used to transmit communication signals, while the RTK positioning signal receiving module receives and analyzes satellite signals and RTK positioning signals. The control module receives control commands from the control terminal via the network communication module and sends control commands to the X-ray machine transmitter 2, the lifting mechanism 3, the tilting mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18, and the X-ray machine imaging terminal 24 of the first X-ray robot 1, and to the lifting mechanism 3, the tilting mechanism 8, the motorized differential chassis 15, the pan-tilt camera 18, and the X-ray machine imaging terminal 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. The RTK positioning signal receiving module parses the RTK positioning signal to obtain the precise position.

[0041] The first X-ray robot 1 and the second X-ray robot 23 are equipped with a pan-tilt camera bracket 17, on which a pan-tilt camera 18 is mounted. The pan-tilt camera 18 is connected to the network communication module of the integrated control box 16. After receiving commands, the pan-tilt camera 18 performs pitch and 360-degree rotations to capture video information. The pan-tilt camera 18 then uploads the video information to the integrated control box 16, which then uploads it to the control terminal. The control terminal and the control module of the integrated control box 16 can access the video information. In actual work scenarios, the installation position of the pan-tilt camera bracket 17 is adjusted or replaced with a pan-tilt camera bracket 17 of a different height depending on the height of the object to be measured. The pan-tilt camera 18 observes the AprilTag 22 of the other 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. The RTK positioning signal receiving antenna 21 is used to receive RTK positioning signals and transmit them 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 can be omitted. Instead, the user can use visual inspection, surveillance cameras, indoor near-field communication positioning, or other technical means to assist in the alignment. The user then remotely aligns the X-ray transmitter 2 of the first X-ray robot 1 and the X-ray imaging terminal 24 of the second X-ray robot 23, placing the object to be measured between the X-ray transmitter 2 and the imaging terminal 24, for preliminary rough alignment. If the object to be measured is outdoors, the RTK positioning signal receiving antenna 21 is activated to receive RTK positioning signals, improving the remote positioning accuracy of the first X-ray robot 1 and the second X-ray robot 23 in outdoor environments and allowing the first X-ray robot 1 and the second X-ray robot 23 to reach the position specified 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 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 second bases 13. A fixing member is provided on the upper side of the rotating connection member 12. The driving end 11 of the electric push rod 10 is rotatably connected to the fixing member. The electric push rod 10 is connected to the integrated control box 16 through a 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 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, realizing the transportation state and working state of the first X-ray robot 1.

[0045] A lifting mechanism 3 is fixed to the right side of the rotating connector 12. The lifting mechanism 3 includes a servo motor 4 and a ball screw mechanism 5. The servo motor 4 is located below 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 to the rotating connector 12. The threaded rod 7 is rotatably connected to the mounting seat 6. The housing of the servo motor 4 is fixed to the mounting seat 6, and the output end of the servo motor 4 is connected to the threaded rod 7. The X-ray transmitter 2 is installed on the right side of the lifting mechanism 3. A sliding block 14 is provided on the left side of the X-ray transmitter 2. The mounting seat 6 has a slide groove. The left end of the sliding block 14 slides into the slide groove. The sliding block 14 has a threaded hole that matches the threaded rod 7. 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 through a 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 transmitter 2 up and down, causing the X-ray transmitter 2 to rise or fall to a position specified by the control terminal. The X-ray transmitter 2 has its own rechargeable lithium battery, the tube voltage is 80kV, the X-ray penetration can penetrate 60mm aluminum plate or 10mm steel plate, and it has an Ethernet interface to connect to the integrated control box 16 network. 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-ray 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 affixed to the right front of the upper side of the integrated control box 16.

[0047] like Figure 2 As shown, the mobile device and 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. A fixing member is provided on the upper side of the rotating connection member 12. The driving end 11 of the electric push rod 10 is rotatably connected to the fixing member. The electric push rod 10 is in network communication with the integrated control box 16. 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, 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 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 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] A clamping mechanism 25 and an X-ray imaging terminal 24 are fixed to the left side of the lifting mechanism 3. The clamping mechanism 25 comprises an L-shaped clamping base 26 and a clamping block 27. The clamping block 27 slides vertically on 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 slide groove is provided on the mounting base 6. The right end of the connecting block 28 slides within the slide groove. The connecting block 28 has a threaded hole that matches the threaded rod 7. The connecting block 28 is threadedly connected to the threaded rod 7 through the threaded hole. Clamping ends are fixed to the upper and lower sides of the L-shaped clamping base 26 and the clamping block 27. The clamping block 27 slides within the L-shaped clamping base 26 and clamps the X-ray imaging terminal 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 terminal 24 to move up and down, causing the clamping mechanism 25 and the X-ray imaging terminal 24 to rise or fall to the position specified by the control terminal. The X-ray imaging end 24 has its own rechargeable lithium battery. The pixel size of the X-ray imaging end 24 is no more than 140 μm. The dynamic range of the X-ray image is 16 bits and 65536 gray levels. The X-ray imaging end 24 is connected to the integrated control box 16 network. It 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 PTZ camera bracket 17, PTZ camera 18, wireless network communication antenna A19, wireless network communication antenna B20, RTK positioning signal receiving antenna 21, and AprilTag 22 are all mounted on the integrated control box 16. The PTZ camera bracket 17 and PTZ camera 18 are mounted in the center of the upper side of the integrated control box 16; the wireless network communication antenna A19, wireless network communication antenna B20, and RTK positioning signal receiving antenna 21 are mounted on the right side of the integrated control box 16; the wireless network communication antenna A19 and wireless network communication antenna B20 are mounted on the front and rear sides of the RTK positioning signal receiving antenna 21, respectively; and the AprilTag 22 is affixed to the front left side 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 is wirelessly connected to 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 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 are connected through network communication. Figure 3As shown, the staff uses the buttons and touch screen set 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 video information, X-ray detection images, 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] Example 2

[0053] The embodiment is basically as shown in the attached Figure 4-6 As shown in the figure: A vision-based automatic alignment dual-robot X-ray detection alignment method is implemented using the 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 an automatic alignment command from a remote controller 29, and makes the emission direction of the X-ray machine transmitting end 2 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. The specific steps are as follows:

[0054] SS1. Use the remote control 29 to control the first X-ray robot 1 and the second X-ray robot 23 to the sides of the object to be measured. Align the X-ray transmitter 2 and the X-ray imaging terminal 24 with the object to be measured, placing them between the two terminals for preliminary rough alignment.

[0055] SS2. The pan-tilt camera 18 of the first X-ray robot 1 performs an autonomous search motion and stops after finding 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 relative posture 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 relative posture 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 based on the image of the pan-tilt camera 18 of the first X-ray robot 1;

[0057] SS4. Based on the position offset matrix P1, the attitude rotation matrix Q1, the position offset matrix P2, the attitude rotation matrix Q2, and 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 position offset matrix P4 and the posture relative rotation matrix Q4 are obtained by the integrated control box 16 of the first X-ray robot 1, and the rotation center coordinate system O of the motorized differential chassis 15 of the first X-ray robot 1 is obtained. d2 The coordinate system O of the rotation center of the motorized differential chassis 15 relative to the second X-ray robot 23 d1 Position offset matrix P5 and 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. By automatically adjusting the lifting and flipping of the X-ray machine transmitting end 2 and the X-ray machine imaging end 24, the transmitting 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.

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

[0060] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the 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 variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection 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: The invention 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 label of the second X-ray robot (23) or the first X-ray robot (1) and feeds back the 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 realizing 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) adopts 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) 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 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 respectively 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).

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 positioning signals.

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 inspection alignment method, implemented using the vision-based automatic alignment dual-robot X-ray inspection 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 search robot and the other is the searched robot. 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 align the X-ray machine transmitting end (2) and the X-ray machine imaging end (24) 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 an autonomous search motion and stops motion after finding 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 attitude relative rotation matrix Q1 of the optical center coordinate system O′1 of the current search robot 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) based on 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 searched robot 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 relative to the rotation center coordinate system O of the self-walking device are d2 The position offset matrix P4 and the posture relative rotation matrix Q4 are obtained by the integrated control box (16) of the search robot to obtain the rotation center coordinate system O of the walking device of the search robot. d2 Relative to the searched robot's walking device rotation center coordinate system O d1 Position offset matrix P5 and 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