Modularized assembly mobile back scattering and transmission detection device

Abstract

The utility model relates to the field of safety detection, in particular to a modularized assembly mobile back scattering and transmission detection device, which comprises a mobile terminal control module, and further comprises a transfer robot, a mechanical arm module and a back scattering module which are in communication connection with the mobile terminal control module, the mechanical arm module is arranged above the transfer robot and is fixedly connected with the transfer robot through a base, the tail end of the mechanical arm module is fixedly connected with the back scattering module, the height of the center of a receiving surface of the transmission module is always consistent with the height of X-rays emitted by the back scattering module in the scanning process, and the detection speed and efficiency are improved; and the use flexibility and the expansibility are higher.

Description

Technical Field

[0001] The utility model relates to the technical field of safety detection, in particular to a modular assembly mobile backscatter and transmission detection device. Background Art

[0002] Security detection is an important means to ensure public safety and prevent the circulation of illegal goods. With the help of security detection technologies and means, potential dangers can be discovered and dealt with in a timely manner to maintain social public safety.

[0003] Currently, the commonly used security detection methods are mainly concentrated in the following types: using metal detection technology for detection. This method detects metal objects based on the principle of electromagnetic induction. Although the principle is simple, its applicability is not high and it cannot effectively identify dangerous objects made of non-metallic materials; using X-rays to perform transmission imaging of the object to be tested. The obtained object image has high resolution, but for some heavy objects, the radiation's penetration ability is insufficient, which will affect the imaging quality.

[0004] With the development of detection technology, backscatter detection technology has been applied. During detection, the X-ray source and detector are arranged on the same side, with a compact structure. It has important application value when the object to be inspected is immovable, such as when the object to be inspected is against a wall or cannot be placed between the ray source and the detector, so that effective scanning and detection can be performed. However, this technology also has application limitations. When high-resolution detection is required, it is often necessary to rely on X-ray transmission imaging.

[0005] Therefore, a detection technology and transposition that can adapt to various scenarios and various complex environments is needed, which can be selected and switched according to actual detection needs, and can quickly scan and image the object under test without affecting the accuracy of detection. Utility Model Content

[0006] The utility model provides a modular assembly mobile backscatter and transmission detection device.

[0007] The technical solution of this utility model is as follows:

[0008] A modular assembly mobile backscatter and transmission detection device includes a mobile terminal control module, a handling robot, a mechanical arm module and a backscatter module that are communicatively connected to the mobile terminal control module.

[0009] The robotic arm module is arranged above the transport robot through a base, and the backscatter module is arranged at the end of the robotic arm module.

[0010] The backscatter module includes a main control unit connected to the mobile terminal control module, a ray source electrically connected to the main control unit, a flying spot scanning mechanism, a signal acquisition unit and an image processing unit, wherein the flying spot scanning mechanism is rotatably connected above the ray source.

[0011] It also includes a transmission module, the height of the center of its receiving surface is always consistent with the height of the X-ray emitted by the backscatter module during the scanning process.

[0012] Specifically, the transmission module is fixedly connected to the backscatter module via a connecting rod, and can also be arranged on a guide rail base via a guide rail to be consistent in height with the backscatter module.

[0013] Specifically, the signal acquisition unit includes a detector panel and a plurality of detectors arranged on the detector panel, and the plurality of detectors are electrically connected to the main control unit.

[0014] Specifically, the flying spot scanning mechanism includes a chopper ring and a driving mechanism. One or more slits are set on the circumference of the chopper ring. The driving mechanism drives the chopper to rotate around its own axis. The driving mechanism is communicatively connected to the main control unit.

[0015] Furthermore, the robotic arm module includes a base, several connecting rods arranged above the base and connected to the base in sequence, two connecting rods are connected by joints, the end of the last connecting rod is fixedly connected to the backscatter module, and a driver is provided inside the connecting rod that is communicated with the mobile terminal control module.

[0016] Furthermore, the end of the robotic arm module is fixedly connected to the backscatter module through a standard flange.

[0017] Preferably, the transmission module is a linear array detector or a planar array detector.

[0018] Specifically, the transport robot includes a control unit that is communicatively connected to the mobile terminal control module, and a driving unit, a battery unit, and a navigation unit that are electrically connected to the control unit.

[0019] Preferably, the battery unit is a lithium battery, a lead-acid battery or a supercapacitor.

[0020] The beneficial effects of the present invention are:

[0021] (1) The utility model is a modular assembled mobile backscatter and transmission detection device. The flying spot scanning mechanism, signal acquisition unit and linear array detector cooperate with each other to provide high-precision imaging capabilities and realize intelligent and automated detection under the control of a mobile control terminal. Each module can be replaced or upgraded as needed, and can be assembled quickly and flexibly, with higher scalability.

[0022] (2) The backscatter module and the transmission module are modularly assembled. The backscatter mode or the transmission mode can be flexibly selected to scan the object under test according to the detection accuracy and the detection scene. At the same time, the transmission module can also be set up with the backscatter module in a split or connected structure according to the actual detection requirements, which improves the flexibility of detection and is applicable to objects of different specifications.

[0023] (3) The setting of the handling robot and the robotic arm module enables the detection device to adapt to various complex environments and scenarios, perform mobile operations and continuous operations with multiple degrees of freedom, improve the speed and efficiency of detection, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description of the preferred embodiment below, the solutions and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only used to illustrate the preferred embodiment and are not to be considered as limiting the present invention.

[0025] In the attached figure:

[0026] Figure 1 This is a schematic diagram of the system structure of a modular assembly mobile backscatter and transmission detection device in an embodiment;

[0027] Figure 2 This is a structural diagram of a modular assembly mobile backscatter and transmission detection device in an embodiment;

[0028] Figure 3 Schematic diagram of the working principle of each structure of the backscatter module in the embodiment;

[0029] Figure 4 Schematic diagram of the flying spot scanning structure in the embodiment;

[0030] Figure 5 Schematic diagram of the structure of the one-piece transmission module in the embodiment;

[0031] Figure 6 Schematic diagram of the structure of the split transmission module in the embodiment;

[0032] The components represented by the reference numerals in the figure are:

[0033] 1. Backscatter module; 2. Robotic arm module; 3. Handling robot; 4. Mobile terminal control module; 5. Transmission module; 6. Ray source; 7. Flying spot scanning mechanism; 8. Detector panel; 9. Detector; 10. Measured object; 11. Chopper ring; 12. Slit; 13. Fan beam; 14. Collimated pencil beam; 51. Connecting rod; 52. Linear array detector or planar array detector; 53. Guide rail; 54. Guide rail base. DETAILED DESCRIPTION

[0034] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0035] Example

[0036] This embodiment provides a modular assembly mobile backscatter and transmission detection device, see Figure 1 , including a mobile terminal control module 4, and also including a handling robot 3, a mechanical arm module 2 and a backscatter module 1 that are communicatively connected to the mobile terminal control module 4,

[0037] The robot arm module 2 is arranged above the handling robot 3 through a base, and the backscatter module 1 is arranged at the end of the robot arm module 2.

[0038] The backscatter module 1 includes a main control unit connected to the mobile terminal control module 4, a ray source 6 electrically connected to the main control unit, a flying spot scanning mechanism 7, a signal acquisition unit and an image processing unit, wherein the flying spot scanning mechanism 7 is rotatably connected above the ray source 6.

[0039] The transmission module 5 is also included, and the height of the center of its receiving surface is always consistent with the height of the X-ray emitted by the backscatter module 1 during the scanning process.

[0040] Specifically, in the present invention, the mobile terminal control module 4 is the control center of the entire device system, which is electrically connected to the handling robot 3, the robotic arm module 2, the backscatter module 1 and the transmission module 5, and is used to monitor the working status of each module and send control instructions.

[0041] The transport robot 3 is an automated guided vehicle (AGV) located at the bottom of the device and used for movement of the entire device. The transport robot 3 includes a control unit that is communicatively connected to the mobile terminal control module 4, a drive unit, a battery unit, and a navigation unit that are all electrically connected to the control unit. The control unit is responsible for receiving instructions from the mobile terminal control module 4 and controlling the various units of the transport robot 3. The drive unit is a motor that drives the transport robot 3 to move; the battery unit provides the power required for the movement of the transport robot 3 and can be a lithium battery, lead-acid battery, or supercapacitor; and the navigation unit is used to determine the position and direction of the transport robot 3 and includes a built-in GPS positioning chip.

[0042] The robot arm module 2 is used to accurately move the backscatter module 1 to the target position of the object to be tested for detection during the detection process, and has a high degree of flexibility and maneuverability. The robot arm module 2 includes a base, a number of connecting rods arranged above the base and connected to the base in sequence, two connecting rods are connected by joints, the end of the last connecting rod is fixedly connected to the backscatter module 1, and a driver is provided inside the connecting rod to communicate with the mobile terminal control module 4. The base of the robot arm is the fixed support structure of the robot arm and is fixedly connected to the handling robot 3; the joints of the robot arm module 2 are rotating or swivel joints connecting the various connecting rods, and the connecting rods are rigid rods of the robot arm; the driver is built into the connecting rod and is used to control the movement of the robot arm joints. The driver can be an electric motor or a hydraulic cylinder. The driver provides appropriate force and torque to manipulate the joint movement under the command of the mobile terminal control module 4. The end of the robot arm module 2 is fixedly connected to the backscatter module 1 through a standard flange.

[0043] Backscatter module 1 is used to generate X-rays for backscatter detection. It includes a main control unit, which is in communication with mobile terminal control module 4, and a ray source 6, a flying spot scanning mechanism 7, a signal acquisition unit, and an image processing unit, all electrically connected to the main control unit. The main control unit coordinates and controls the ray source 6, the flying spot scanning mechanism 7, the signal acquisition unit, and the image processing unit in backscatter module 1. Under the control of the main control unit, ray source 6 generates X-rays with a voltage level ranging from 50kV to 200kV.

[0044] The flying spot scanning mechanism 7 is rotatably connected to the radiation source 6 and is used to modulate the X-rays generated by the radiation source 6 and entering the flying spot scanning mechanism 7, thereby scanning the object under test 10. The flying spot scanning mechanism 7 includes a chopper ring 11 and a drive mechanism. One or more slits 12 are provided on the circumference of the chopper ring 11. The drive mechanism drives the chopper ring 11 to rotate about its own axis and is in communication with the main control unit. The width of the slits 12 ranges from 0.1 mm to 2 mm. The drive mechanism receives signal instructions from the mobile terminal control module 4 and drives the chopper ring 11 to rotate at a specific speed. The rotation of the chopper ring 11 cuts the continuous X-ray fan beam 13 emitted by the radiation source 6 into fine pencil beams. These pencil beams pass through the slits 12 to form very narrow X-ray beams, accurately scanning the object under test 10. The X-ray beams scattered back from the object are received by the signal acquisition unit, which converts the scattered signals into electrical signals and transmits them to the mobile terminal control module 4.

[0045] The signal acquisition unit includes a detector panel 8 and a plurality of detectors 9 disposed on the detector panel 8. The layout of the plurality of detectors 9 on the detector panel 8 can be flexibly set, and different numbers of detectors can be assembled according to user needs, and can be a modular arrangement of two detectors, four detectors, or six detectors.

[0046] Transmission module 5 is fixedly connected to backscatter module 1 via connecting rod 51 and moves synchronously with backscatter module 1. Transmission module 5 comprises a linear or planar array detector 52, which receives the X-rays generated by the backscatter module and collects the signals. Transmission module 5 adopts a one-piece structure and moves synchronously with backscatter module 1. It is suitable for small and medium-sized objects requiring high-precision inspection.

[0047] The transmission module 5 can also be mounted on a guide rail 53 base 54, aligned with the backscatter module 1 at the same height. During detection, the transmission module 5 receives instructions from the mobile terminal control module 4 and moves up and down along the guide rail 53, ensuring that the center of the receiving surface of the linear array detector 52 is always aligned with the height of the X-rays emitted by the backscatter module 1, accurately receiving the X-rays generated by the backscatter module 1 and performing signal acquisition. The split structure provides greater flexibility in actual use, allowing the distance between the transmission module 5 and the backscatter module 1 to be adjusted according to actual needs, making it suitable for detecting large objects.

[0048] In the present invention, the backscatter module 1 and the transmission module 5 are modularly assembled, and the backscatter mode or the transmission mode can be flexibly selected to scan the object 10 according to the detection accuracy and the detection scene. When the object 10 is against the wall or cannot be placed between the ray source 6 and the linear array detector 52, and the detection accuracy requirement is not so high, the backscatter imaging detection method is selected; when the detection accuracy requirement is high and a high-resolution image needs to be obtained, the transmission imaging detection method is selected. Furthermore, according to the specifications of the object 10, the connected transmission mode or the split transmission mode can be flexibly selected to scan and detect the object 10, thereby improving the detection speed and efficiency.

Claims

1. A modular assembly mobile backscatter and transmission detection device, characterized in that: It includes a mobile terminal control module (4), a handling robot (3), a mechanical arm module (2) and a backscatter module (1) which are communicatively connected to the mobile terminal control module (4). The robotic arm module (2) is arranged above the transport robot (3) via a base, and the backscatter module (1) is arranged at the end of the robotic arm module (2). The backscatter module (1) comprises a main control unit communicatively connected to a mobile terminal control module (4), a ray source (6) electrically connected to the main control unit, a flying spot scanning mechanism (7), a signal acquisition unit, and an image processing unit, wherein the flying spot scanning mechanism (7) is rotatably connected above the ray source (6). It also includes a transmission module (5), the height of the center of its receiving surface is always consistent with the height of the X-rays emitted by the backscatter module (1) during the scanning process.

2. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The transmission module (5) is fixedly connected to the backscatter module (1) via a connecting rod (51), and can also be arranged on a guide rail base (54) via a guide rail (53) to be at the same height as the backscatter module (1).

3. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The signal acquisition unit comprises a detector panel (8) and a plurality of detectors (9) arranged on the detector panel (8), and the plurality of detectors (9) are all electrically connected to the main control unit.

4. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The flying spot scanning mechanism (7) comprises a chopper ring (11) and a driving mechanism. One or more slits (12) are provided on the circumference of the chopper ring (11). The driving mechanism drives the chopper ring (11) to rotate around its own axis. The driving mechanism is communicatively connected to a main control unit.

5. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The robotic arm module (2) comprises a base, a plurality of connecting rods arranged above the base and connected to the base in sequence, two connecting rods are connected via a joint, the end of the last connecting rod is fixedly connected to the backscatter module (1), and a driver is provided inside the connecting rod and is in communication with the mobile terminal control module (4).

6. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The end of the mechanical arm module (2) is fixedly connected to the backscatter module (1) via a standard flange.

7. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The transmission module (5) is a linear array detector or a planar array detector (52).

8. The modular assembly mobile backscatter and transmission detection device according to claim 1, characterized in that: The transport robot (3) comprises a control unit communicatively connected to a mobile terminal control module (4), and a drive unit, a battery unit, and a navigation unit electrically connected to the control unit.

9. The modular assembly mobile backscatter and transmission detection device according to claim 8, characterized in that: The battery unit is a lithium battery, a lead-acid battery or a supercapacitor.

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