Radiation protection robot and back scattering inspection equipment

Abstract

The utility model discloses a radiation protection robot and back scattering inspection equipment. The radiation protection robot includes: a first wheel disposed at a bottom of the radiation protection robot to allow the radiation protection robot to move; a shielding device capable of reflecting and / or absorbing radiation; and a plurality of radiation sensors for sensing radiation. A plurality of radiation sensors are mounted in a plurality of orientations on an outer periphery of a radiation protection robot so as to be able to receive radiation irradiated toward the radiation protection robot from any direction around the radiation protection robot. The radiation protection robot is configured to move through self-driving of the first vehicle, so that the radiation protection robot moves towards an area where the radiation dose value sensed by the radiation sensor is increased, and radiation propagation is shielded through the shielding device.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of security check, specifically, relates to radiation protection robot and backscattering inspection equipment. BACKGROUND

[0002] X-ray inspection can obtain the image of the inspected object, has good detection effect to dangerous goods such as drugs, explosives, and is widely used in the security inspection field of goods, vehicles and luggage etc. in customs, civil aviation, border inspection and other fields.

[0003] In order to protect the human body, an improved safety protection device and a high-safety inspection device are needed to further improve the friendliness of security check. SUMMARY

[0004] One aspect of the utility model provides a kind of radiation protection robot, comprising:

[0005] First wheel, be configured in the bottom of the radiation protection robot to allow radiation protection robot to move;

[0006] Shielding device, can reflect and / or absorb radiation;And

[0007] Multiple radiation sensors, the radiation sensor is used to sense radiation;

[0008] Wherein the multiple radiation sensors are installed on the outer periphery of the radiation protection robot in multiple directions so as to be able to receive the radiation irradiated from any direction around the radiation protection robot towards the radiation protection robot, and

[0009] Wherein the radiation protection robot is configured to move towards the region that makes the radiation dose value sensed by the radiation sensor increase by the first wheel, and shields the propagation of radiation by the shielding device.

[0010] In one embodiment, the shielding device includes a shielding surface extending in a first direction, and the multiple radiation sensors include a plurality of first-side radiation sensors arranged on the radiation protection robot on a first side of the shielding surface and a plurality of second-side radiation sensors arranged on the radiation protection robot on a second side of the shielding surface opposite the first side, and wherein the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or steering with the first wheel such that the radiation dose value sensed by the sensors of the plurality of first-side radiation sensors is greater than the radiation dose value sensed by the sensors of the plurality of second-side radiation sensors.

[0011] In one embodiment, the radiation shielding robot is configured to adjust the orientation of the shielding surface of the shielding device by the first wheel movement and / or steering, such that the radiation dose value sensed by a sensor of the plurality of second side radiation sensors is zero.

[0012] In one embodiment, the plurality of first side radiation sensors are spaced apart along a first direction on the first side of the radiation shielding robot, and

[0013] wherein the radiation shielding robot is configured to adjust the orientation of the shielding surface of the shielding device by the first wheel movement and / or steering, such that the radiation dose value sensed by a sensor of the plurality of first side radiation sensors in the middle is maximum, and / or such that the radiation dose values sensed by the first side radiation sensors located near the two ends of the shielding surface are equal so as to be orthogonal to the incident direction of the radiation and the plane in which the shielding surface lies.

[0014] In one embodiment, the radiation shielding robot is configured to move by the first wheel movement such that the radiation shielding robot moves in a second direction perpendicular to the first direction, such that the radiation dose value sensed by the first side radiation sensors increases.

[0015] In one embodiment, the shielding device comprises the shielding surface extending along a first direction, and

[0016] wherein the plurality of radiation sensors comprises a plurality of first side radiation sensors arranged on the radiation shielding robot on a first side of the shielding surface and a plurality of second side radiation sensors arranged on the radiation shielding robot on a second side of the shielding surface opposite to the first side, and

[0017] wherein the radiation shielding robot is configured to move by the first wheel movement, such that the radiation dose value sensed by a sensor of the plurality of first side radiation sensors and the plurality of second side radiation sensors increases.

[0018] In one embodiment, the radiation shielding robot further comprises a navigation device configured on the radiation shielding robot to be able to receive environmental signals to guide the radiation shielding robot to avoid obstacles when moving by the first wheel movement.

[0019] In one embodiment, the radiation shielding robot further comprises a navigation device configured on the radiation shielding robot and capable of identifying a human body, and

[0020] the navigation device, after identifying the human body, prompts the human body to leave the radiation irradiation area, and / or guides the radiation shielding robot to move to one side of the human body, such that the radiation shielding robot is located upstream of the human body relative to the incident radiation.

[0021] In one embodiment, a navigation device is also included, configured on the radiation shielding robot, and

[0022] The navigation device is configured to identify an object within the site and direct the radiation shielding robot to approach the object proactively and move around the object to proactively detect whether radiation is detected; or the navigation device is configured to direct the radiation shielding robot to cruise within the site to proactively detect radiation.

[0023] In one embodiment, the shielding device includes a radiation shielding material and a fixed steel structure shell, the radiation shielding material and the fixed steel structure shell constitute part of the radiation shielding robot, the fixed steel structure shell extends vertically upward from the bottom of the radiation shielding robot to a height, and the radiation shielding material is attached and fixed.

[0024] In one embodiment, the shielding device includes a radiation shielding column, the radiation shielding column constitutes part of the radiation shielding robot, and the radiation shielding material is arranged between the fixed steel structure shell and the radiation shielding column.

[0025] In one embodiment, the shielding device includes two radiation shielding columns between the space defined by the fixed steel structure shell, and the radiation shielding material is arranged between the fixed steel structure shell and the radiation shielding column.

[0026] In one embodiment, the radiation shielding material is granular.

[0027] In one embodiment, the radiation shielding column is connected to the fixed steel structure shell.

[0028] Another aspect of the utility model provides a backscattering inspection equipment, including:

[0029] The backscattering robot is configured to be able to move to the vicinity of the object to be inspected to approach the object, and emit radiation towards the object, and detect the radiation reflected from the object; and

[0030] The above-mentioned radiation shielding robot.

[0031] In one embodiment, the backscattering robot includes:

[0032] The second wheel is configured to allow the backscattering robot to move in a self-driven manner; and

[0033] The backscattering device can perform backscattering inspection on the object.

[0034] In one embodiment, the backscattering device includes a flying spot X-ray machine. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a front view of a radiation protection robot according to an embodiment of the present application;

[0036] Figure 2 is a side view of a radiation protection robot according to an embodiment of the present application;

[0037] Figure 3 is a cross-sectional view of a shielding device of a radiation protection robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] The present application has multiple embodiments, and these embodiments are provided in order to better understand the technical solutions and inventive concepts of the present application in conjunction with the drawings. It should be understood that the embodiments of the present application are not intended to limit the scope of the present application.

[0039] Figure 1 shows a specific product according to an embodiment of the present application, however, it should be noted that, Figure 1 the specific product shown is not necessarily required, and other embodiments of the present application can have different structures and different constituent parts from Figure 1 the specific product shown. Figure 1 are merely examples of the technical solutions of the present application.

[0040] The embodiments of the present application provide a radiation protection robot that can autonomously move to block or protect against radiation in the environment. Here, the so-called blocking or protection refers to the ability to block radiation, such as X-rays, gamma rays, and other harmful or even harmful rays to the human body, so that the radiation protection robot can at least block the passage of radiation so that the dose of radiation on the side opposite to the radiation is reduced, thus reducing the possible harm to the human body.

[0041] In one embodiment, the radiation shielding robot 200 includes a body 204 that is capable of self-driven movement, such as movement in an electrically powered manner, which can have a self-contained power source and motor; or can be connected to an external power source, such as a site power source; here, the body 204 refers to the various physical entity portions of the radiation shielding robot 200, which in this description can include software or other control programs in addition to the body 204. The body 204 can have one first wheel 203, two first wheels 203, three first wheels 203, four first wheels 203, or more first wheels 203, and thus is capable of free movement on a site. In one embodiment, the body 204 can have a portion that slides on the ground to support the body 204, etc. The body 204 can have an outer peripheral surface, and the body 204 can be any shape, such as a quadrilateral shape having four substantially straight sides; such as a circular shape having a generally circular outer periphery; such as an elliptical shape having a generally elliptical outer periphery; or other regular or irregular irregular shapes.

[0042] In one embodiment, the body 204 of the radiation shielding robot 200 includes a shielding device that is capable of reflecting and / or absorbing radiation, and thus can be considered to constitute part of the body 204. The shielding device includes a radiation shielding material 211. The radiation shielding material 211 can be, for example, a metal such as lead or other material, and can be, for example, in the form of a plate, or can be in the form of a granular material. The shielding device can also include a fixed steel structure housing 212 that constitutes part of the body 204 and fixes and supports the radiation shielding material 211. The radiation shielding material 211 can be surrounded by the fixed steel structure housing 212, such as the radiation shielding material 211 can be sandwiched within the fixed steel structure housing 212.

[0043] In one embodiment, as shown in FIG. 1, the shielding device can also include a radiation shielding column 207 disposed on one side or both sides of the fixed steel structure housing 212, which can further stabilize the fixed steel structure housing 212. Figure 1

[0044] In one embodiment, as shown in FIG. 1, the shielding device includes the radiation shielding material 211 and the fixed steel structure housing 212 and the radiation shielding column 207 arranged on both sides of the radiation shielding material 211, respectively, and the radiation shielding column 207 is attached to the fixed steel structure housing 212 to further reinforce the fixed steel structure housing 212; in one embodiment, the fixed steel structure housing 212 is arranged on only one side of the radiation shielding material 211. The fixed steel structure housing 212 and the radiation shielding column 207 can have a plate shape. Figure 3

[0045] ​​In one embodiment, radiation shielding columns 207 are disposed inside the fixed steel structure enclosure 212, the radiation shielding columns 207 partition the interior space of the fixed steel structure enclosure 212 into multiple compartments, such that the radiation shielding material 211 is sandwiched between the radiation shielding columns 207 and the fixed steel structure enclosure 212. In this embodiment, Figure 3 The two columns inside the fixed steel structure enclosure 212 in the illustrated structure are schematically indicative of the radiation shielding columns 207. In this embodiment, the radiation shielding material 211 can be in the form of granular matter filled in the multiple compartments partitioned by the radiation shielding columns 207 inside the fixed steel structure enclosure 212.

[0046] The two fixed steel structure enclosures 212 can be two plate-shaped members; in other embodiments, Figure 3 The two fixed steel structure enclosures 212 illustrated can be a cross-sectional view of an integral enclosure member. The structure of the fixed steel structure enclosure 212 and the two radiation shielding columns 207 is advantageous in reinforcing the strength of the shielding device, allowing the shielding device to have a larger height.

[0047] It should be appreciated that the fixed steel structure enclosure 212 and the radiation shielding columns 207 are not necessarily required. In one embodiment, the shielding device comprises only the radiation shielding material 211, such as only lead plates.

[0048] In one embodiment, the body 204 can have a quadrilateral outer periphery, the surface of the shielding device can constitute a portion of the surface of the body 204. In one embodiment, the top of the shielding device constitutes the top of the body 204. In one embodiment, the radiation shielding material 211 of the shielding device extends from the top of the body 204 to the bottom of the body 204.

[0049] In one embodiment, the shielding device extends in the direction of one side of the outer periphery of the body 204, such as illustrated in Figures 1-2As shown, the body 204 has a first side, and the shielding device extends along the first side of the body 204, and the first side is referred to as the first direction. The shielding device has a shielding surface 213, which can be a substantially planar surface extending along the first direction in a vertical plane. The body 204 can be divided by the shielding surface 213 into a first portion on the first side of the shielding surface and a second portion on the second side of the shielding surface, and the first portion and the second portion can be substantially equal in size, or the first portion can be larger than the second portion, or the second portion can be larger than the first portion; in other words, the shielding surface 213 can be located in the middle of the body 204 to divide the body 204 into two portions of substantially equal size, or the shielding surface 213 can not be located in the middle of the body 204, and such a configuration does not affect the effect of the shielding device on shielding the radiation. Figure 2 In the structure shown, the length of the shielding device in the first direction is the length of the body 204. Figure 3 In the embodiment shown, the shielding device of the radiation protection robot is configured to form part of the body 204 of the radiation protection robot, and extends in a range in the vertical plane, and the shielding device includes a shielding surface extending in a range in the vertical plane, and the length of the shielding surface can be equal to the length of the body 204, or can be less than the length of the body 204. The shielding device can be configured to extend as close to the ground as possible to prevent the radiation from passing from below the shielding surface.

[0050] In one embodiment, the body 204 has an oval outer periphery, and the shielding device is located inside the oval outer periphery of the body 204 and extends along the first direction. The body 204 can travel in any direction, so that the body 204 can carry the shielding device to travel in any direction, or the shielding surface 213 of the shielding device can face any direction. Here, for convenience, the direction in which the shielding surface 213 faces is referred to as the second direction, and the second direction is perpendicular or orthogonal to the first direction.

[0051] In one embodiment, the shielding device extends along the first direction, and can be regarded as dividing the body 204 into two portions, and the first portion is located on the first side of the shielding surface 213, and the second portion is located on the second side of the shielding surface 213. Figure 1 In one embodiment, the first side of the body 204 can refer to the right side of the shielding device, and the second side can refer to the left side of the shielding device. Figure 1 In one embodiment, the first side of the body 204 can refer to the right side of the shielding device, and the second side can refer to the left side of the shielding device. Figure 1 In one embodiment, the first side of the body 204 can refer to the right side of the shielding device, and the second side can refer to the left side of the shielding device.

[0052] The radiation protection robot comprises a plurality of radiation sensors 202 for sensing radiation. The radiation protection robot is configured to move autonomously by the first wheels 203 so as to move the radiation protection robot towards a region where the radiation dose value sensed by the radiation sensors 202 increases, and shield the propagation of radiation by the shielding device.

[0053] In one embodiment, the radiation sensors 202 comprise a plurality of radiation sensors 202 installed at a plurality of positions on the circumference of the radiation protection robot so as to enable the radiation protection robot to sense radiation irradiated towards the radiation protection robot from any direction around the radiation protection robot. In one embodiment, as shown in Figure 1 the plurality of radiation sensors 202 are installed on the circumference of the body 204, for example, the plurality of radiation sensors 202 are installed on the first side of the body 204, and the plurality of radiation sensors 202 are installed on the second side of the body 204; in this embodiment, the body 204 is divided into two sides by the shielding device, and the radiation sensors 202 on the first side are configured to be unable to sense radiation incident on the second side, and the radiation sensors on the second side are configured to be unable to sense radiation incident on the first side. In one embodiment, as shown in Figure 2 the plurality of radiation sensors 202 are installed on one side of the body 204, for example, the plurality of radiation sensors 202 extend on the first side of the body 204 at a certain height along the shielding surface 213 (first direction) of the shielding device. It should be understood that the plurality of radiation sensors 202 for sensing radiation in the environment can be installed at other positions of the body 204, for example, on the bottom of the outer circumferential surface of the first side and the second side of the body 204, as long as the radiation can be conveniently detected. The number of the plurality of radiation sensors 202 can be set according to the size of the radiation protection robot or according to the needs. It should be understood that even though the drawings show the front and rear positions of the radiation protection robot, however, the radiation protection robot in the present application can move in any direction, and the radiation protection robot is different from devices such as vehicles or trolleys, and should not be understood as moving with the head in front and the tail in back, the radiation protection robot moves towards the direction where the radiation is sensed when the radiation is sensed, so that the radiation dose value sensed by the radiation sensor sensing the radiation continuously increases.

[0054] In one embodiment, as shown in Figure 3 the plurality of radiation sensors 202 are installed on one side of the body 204, for example, the plurality of radiation sensors 202 extend on the first side of the body 204 at a certain height along the shielding surface 213 (first direction) of the shielding device. It should be understood that the plurality of radiation sensors 202 for sensing radiation in the environment can be installed at other positions of the body 204, for example, on the bottom of the outer circumferential surface of the first side and the second side of the body 204, as long as the radiation can be conveniently detected. The number of the plurality of radiation sensors 202 can be set according to the size of the radiation protection robot or according to the needs. It should be understood that even though the drawings show the front and rear positions of the radiation protection robot, however, the radiation protection robot in the present application can move in any direction, and the radiation protection robot is different from devices such as vehicles or trolleys, and should not be understood as moving with the head in front and the tail in back, the radiation protection robot moves towards the direction where the radiation is sensed when the radiation is sensed, so that the radiation dose value sensed by the radiation sensor sensing the radiation continuously increases. Figure 3 a cross-sectional view of the shielding device is shown. The plurality of sensors 202 are arranged on the circumference of the body 204. Figure 3The body 204 in the illustrated embodiment has a floor and side walls that define a space. For example, the body 204 can have four side walls that surround an interior recessed space, the shielding device is mounted on the floor of the body 204, and the oppositely arranged side walls can be connected by a connecting plate, which can connect the shielding device, so as to further fix the shielding device; in an embodiment, the body 204 can also have two side walls, and the oppositely arranged side walls can be connected by a connecting plate, which can connect the shielding device; in an embodiment, the body 204 has no side wall and only has a floor. The plurality of sensors 202 can be arranged at the front, middle and rear of the first side and the second side of the body 204 in the first direction, and in this embodiment, the radiation sensors are arranged outside the recessed space.

[0055] In an embodiment, the radiation protection robot is configured to adjust the orientation of the body 204 by moving and / or steering the first wheels 203, so as to adjust the orientation of the shielding device, so that the radiation dose value sensed by the sensors of the plurality of radiation sensors 202 on the first side of the shielding surface 213 of the shielding device is greater than the radiation dose value sensed by the sensors of the plurality of radiation sensors 202 on the second side of the shielding surface 213 of the shielding device; however, it should be understood that the radiation dose value sensed by the sensors of the plurality of radiation sensors 202 on the second side of the shielding surface 213 of the shielding device can also be greater than the radiation dose value sensed by the sensors of the plurality of radiation sensors 202 on the first side of the shielding surface 213 of the shielding device, which can be flexibly set according to actual conditions. For example, in this embodiment, one radiation sensor 202 is installed on each of the first side and the second side of the body 204, and by moving and / or rotating the first wheels 203, the radiation dose sensed by the radiation sensor 202 on the first side is increased, while the radiation dose sensed on the second side is decreased; then the body 204 can be moved so that the radiation dose sensed by the radiation sensor 202 on the first side continues to increase. Here, the movement of the radiation protection robot can be back and forth, when the movement of the body 204 causes the radiation dose sensed by the radiation sensor 202 on the first side to decrease, the body 204 stops moving, changes the direction of movement, and moves in the opposite direction, so that the radiation dose sensed by the radiation sensor 202 on the first side increases.

[0056] In one embodiment, when the radiation sensors 202 of the first side and / or the second side of the radiation protection robot sense radiation, the body 204 moves so that the radiation dose sensed by the radiation sensors 202 of the first side and the second side increases, and during the movement, the body 204 changes direction so that the radiation dose sensed by the radiation sensors 202 of the first side increases while the radiation dose sensed by the radiation sensors 202 of the second side decreases until the radiation dose sensed by the radiation sensors 202 of the second side is zero while the radiation dose sensed by the radiation sensors 202 of the first side increases or remains unchanged. Conversely, the body 204 moves by the first wheel 203 so that the radiation dose sensed by the radiation sensors 202 of the first side decreases while the radiation dose sensed by the radiation sensors 202 of the second side increases until the radiation dose sensed by the radiation sensors 202 of the first side is zero while the radiation dose sensed by the radiation sensors 202 of the second side increases or remains unchanged.

[0057] In another embodiment, the radiation protection robot is configured to turn the body 204 by the first wheel 203 when the radiation sensors 202 of the first side and / or the second side sense radiation so that the radiation dose sensed by the radiation sensors 202 of one of the first side and the second side is zero, for example, the radiation dose sensed by the radiation sensors 202 of the first side is zero, then the radiation protection robot 200 moves straight in the direction of the extension of the shielding surface during which the radiation dose sensed by the radiation sensors 202 of the first side is zero, if the radiation dose sensed by the radiation sensors 202 of the second side increases, continue to move forward, when the radiation dose sensed by the radiation sensors 202 of the middle position of the second side begins to decrease, stop moving forward, at this time the shielding surface is substantially facing the incident direction of the radiation; the radiation protection robot 200 can move in the second direction (the transverse direction of the shielding surface) so that the radiation dose sensed by all the radiation sensors 202 of the second side increases.

[0058] In one embodiment, the radiation protection robot has a plurality of radiation sensors 202. It is more advantageous to install more than two radiation sensors 202 on the same side of the shielding device because the direction of the radiation source can be determined by comparing the radiation dose values detected by the plurality of radiation sensors 202 installed on the same side of the shielding device. For example, the first side of the shielding device is installed with two radiation sensors 202, one of which is located at the front of the shielding device and the other is located at the back of the shielding device. When the radiation protection robot moves in the direction of the extension of the shielding surface, if the radiation dose sensed by the radiation sensor 202 located at the front of the shielding device increases while the radiation dose sensed by the radiation sensor 202 located at the back of the shielding device decreases, it indicates that the radiation source is located in front of the shielding device. Conversely, if the radiation dose sensed by the radiation sensor 202 located at the back of the shielding device increases while the radiation dose sensed by the radiation sensor 202 located at the front of the shielding device decreases, it indicates that the radiation source is located behind the shielding device. Figure 2 Figure 2 ​The radiation dose detected by the radiation sensor 202 on the left of the three radiation sensors 202 is greater than the radiation dose detected by the radiation sensor 202 on the right, or the radiation dose detected from the radiation sensor 202 on the left to the radiation sensor 202 on the right decreases one by one. The gradient of the radiation dose values ​​sensed by the multiple radiation sensors 202 indicates that the radiation sensor 202 on the left is closer to the radiation source. The radiation protection robot can move to the left, and / or the radiation protection robot can turn to the left at a certain angle with the middle position as the axis, so that the radiation dose value sensed by the radiation sensor 202 on the right increases.

[0059] In one embodiment, the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel 203 so that the radiation is irradiated in the middle of the shielding surface 213 of the shielding device and the incident direction of the radiation is orthogonal to the plane where the shielding surface 213 is located, that is, the incident direction is along the second direction. In this embodiment, the plurality of radiation sensors 202 on the first side of the shielding surface 213 of the shielding device are located in the middle of the shielding surface 213 ( Figure 2 The radiation dose value sensed by the radiation sensor (in the middle of the left and right sides on the paper) is the largest. In this embodiment, it is advantageous to set a plurality of first-side radiation sensors 202 on the first side. For example, the plurality of radiation sensors 202 can realize a gradient of the radiation dose values ​​sensed by the plurality of first-side sensors on the first side. This gradient of radiation dose values ​​shows a trend, thereby determining the approximate direction of the radiation source so that the radiation protection robot moves toward the radiation source. In one embodiment, a radiation sensor 202 is set in the middle of the shielding surface 213, that is, as shown in FIG. Figure 2 The radiation sensor 202 is the middle radiation sensor of the three radiation sensors 202 shown (it should be understood that there may be more than 3). This is advantageous because when the radiation protection robot moves to a certain position, Figure 2 If the radiation dose value sensed by the middle radiation sensor 202 is the largest, the radiation protection robot stops moving in the first direction. At this time, the radiation protection robot can keep the middle radiation sensor 202 stationary and rotate the body 204 left-right with the middle radiation sensor 202 as the axis so that the radiation dose values ​​sensed by the left and right radiation sensors 202 change. Until the radiation dose values ​​sensed by the left and right radiation sensors 202 are approximately equal, the shielding surface 213 of the radiation protection robot is orthogonal to the incident radiation, and the radiation protection robot can move in the second direction closer to the radiation source. In one embodiment, when the incident radiation is a pencil radiation beam, the radiation dose value sensed by the middle radiation sensor 202 is greater than the radiation dose values ​​sensed by the left and right radiation sensors 202, and the middle position of the shielding device can substantially block the pencil radiation beam.

[0060] In one embodiment, the radiation shielding robot can further comprise a navigation device 201 configured to guide the radiation shielding robot to avoid obstacles during movement. For example, the navigation device 201 can be an image recognition device, such as recognizing objects based on optical images, or recognizing objects based on millimeter waves, or recognizing objects based on point clouds of laser point beams.

[0061] In one embodiment, the radiation shielding robot can further comprise a navigation device 201, in this embodiment, the navigation device 201 is configured to identify a human being during movement, and when a human being is identified, the human being is reminded to leave the radiation irradiation area. For example, the human being can be reminded to move to the side of the radiation shielding robot where the radiation sensor senses a dose value of zero; in another embodiment, the human being can be reminded to move away from the radiation irradiation area; in one embodiment, the navigation device can remind the human being that there is radiation near the human being and should leave as soon as possible; in another embodiment, the radiation shielding robot can be deflected towards the incident direction of the radiation to bypass the human being so that the radiation shielding robot moves upstream of the incident radiation. In this embodiment, the navigation device 201 can distinguish between objects, and can identify whether the object is a human being or an obstacle, and if it is an obstacle, it is avoided or bypassed, and if it is a human being, a sound or a flashing light is emitted to remind the human being to leave the radiation irradiation area or to move upstream of the human being relative to the incident radiation.

[0062] In the embodiment of the utility model, the navigation device 201 can be installed at any position of the radiation shielding robot, for example, installed on the front side (relative to the first direction in which the shielding surface 213 extends) of the body 204 as shown in Figure 1 In another embodiment, the navigation device 201 is installed on the outer periphery of the left side of the first side of the body 204 as shown in Figure 2 For example, the body 204 can have a rectangular outer periphery as shown in Figure 2 The navigation device 201 can be installed on the front side in the first direction of the body 204, that is, the left side in Figure 2 In the embodiment in which the body 204 has an oval outer periphery, the shielding surface 213 extends through the two sharp arc end portions of the oval (long axis) in the first direction, and the navigation device 201 can be installed on the sharper arc end portion of the oval of the body 204 so as to guide the body 204 to identify objects or human beings located in front of the body 204 during movement.

[0063] In one embodiment, the navigation device 201 is configured to identify objects in the location, such as an airport, a port, a school, a station, etc., and after identifying the objects in the location, the radiation shielding robot is guided to actively approach the objects and move around the objects to actively detect whether radiation is detected.

[0064] In one embodiment, the navigation device 201 is configured to direct the radiation protection robot to cruise within a site, such as an airport, a port, a school, a station, etc., so as to actively detect whether radiation is detected.

[0065] In one embodiment, when the radiation protection robot moves under the direction of the navigation device 201, the radiation protection robot determines the incident direction of the radiation or the source of the radiation by adjusting the moving direction when the radiation sensor of the radiation protection robot senses the radiation.

[0066] In one embodiment, when the radiation protection robot senses the radiation through the radiation sensor, the radiation protection robot issues an alarm, such as a sound alarm, a light alarm, or contacts nearby staff.

[0067] In other embodiments of the present application, the radiation protection robot can also have other structures, and those skilled in the art can modify the structures and arrangements of the first wheel, the shielding device, and the radiation sensor according to the content of the present application as needed.

[0068] According to an aspect of the present application, a backscatter inspection device can include a backscatter robot and a radiation protection robot.

[0069] In the present embodiment, the backscatter robot of the backscatter inspection device is configured to be able to move to the vicinity of an object to be inspected to approach the object, and emit radiation toward the object and detect radiation reflected from the object. The backscatter robot can include a second wheel capable of moving in a self-driven manner, and a backscatter device capable of performing a backscatter inspection on the object carried by the second wheel. The second wheel can be similar to the first wheel 203, or can have different forms and arrangements. The radiation protection robot and the backscatter robot can communicate with each other, or can move independently and autonomously. The radiation protection robot and the backscatter robot have independent driving sources, and are independently driven to move freely. The backscatter device can include a flying spot X-ray machine, such as a pen-shaped beam.

[0070] It should be noted that the word "comprising" does not exclude other elements or steps, and the words "a" or "one" do not exclude a plurality; "upper", "lower", "bottom", "top", "under" are used only to indicate the relative position of the components in the structure shown in the drawings, and not to limit their absolute position; "first", "second" are used to distinguish the names of different components, and not for sequencing or indicating importance or primary and secondary respectively. In addition, any element label of the claims should not be understood as limiting the scope of the present application.

[0071] While some embodiments of the general inventive concept have been shown and described, it is to be understood that changes can be made in embodiments of the general inventive concept without departing from the spirit and scope of the general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A radiation protection robot, characterized in that include: a first wheel, configured at the bottom of the radiation protection robot to allow the radiation protection robot to move; Shielding devices, capable of reflecting and / or absorbing radiation; and a plurality of radiation sensors for sensing radiation; wherein the plurality of radiation sensors are mounted at a plurality of positions on the periphery of the radiation protection robot so as to be capable of receiving radiation irradiated toward the radiation protection robot from any direction around the radiation protection robot, and The radiation protection robot is configured to move toward an area where a radiation dose value sensed by a radiation sensor increases by using the first wheels, and to shield propagation of radiation by using the shielding device.

2. The radiation protection robot according to claim 1, characterized in that The shielding device includes a shielding surface extending along a first direction, and the plurality of radiation sensors include a plurality of first-side radiation sensors arranged on the radiation protection robot and located on a first side of the shielding surface, and a plurality of second-side radiation sensors arranged on the radiation protection robot and located on a second side of the shielding surface opposite to the first side, and The radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel so that the radiation dose value sensed by the multiple first side radiation sensors is greater than the radiation dose value sensed by the multiple second side radiation sensors.

3. The radiation protection robot according to claim 2, characterized in that The radiation protection robot is configured to adjust the orientation of the shielding surface of the shielding device by moving and / or turning the first wheels so that the radiation dose values ​​sensed by the plurality of second side radiation sensors are zero.

4. The radiation protection robot according to claim 2, characterized in that The plurality of first side radiation sensors are spaced apart and distributed along a first direction on the first side of the radiation protection robot, and The radiation protection robot is configured to adjust the orientation of the shielding surface of the shielding device by moving and / or turning the first wheel, so that the radiation dose value sensed by the middle one of the multiple first side radiation sensors is the largest, and / or the radiation dose values ​​sensed by the first side radiation sensors located near the two ends of the shielding surface are equal so as to be orthogonal to the incident direction of the radiation and the plane where the shielding surface is located.

5. The radiation protection robot according to claim 3 or 4, characterized in that The radiation protection robot is configured to move along a second direction perpendicular to the first direction by moving the first wheel, so that the radiation dose value sensed by the first side radiation sensor increases.

6. The radiation protection robot according to claim 2, characterized in that The shielding device comprises the shielding surface extending along the first direction, and wherein the plurality of radiation sensors include a plurality of first side radiation sensors arranged on the radiation protection robot and located on a first side of the shielding surface, and a plurality of second side radiation sensors arranged on the radiation protection robot and located on a second side of the shielding surface opposite to the first side, and The radiation protection robot is configured to move via the first wheels such that radiation dose values ​​sensed by the plurality of first side radiation sensors and the plurality of second side radiation sensors increase.

7. The radiation protection robot according to claim 1, characterized in that It also includes a navigation device, which is configured on the radiation protection robot so as to receive environmental signals and guide the radiation protection robot to avoid obstacles when moving through the first wheel.

8. The radiation protection robot according to claim 1, characterized in that Also included is a navigation device, which is configured on the radiation protection robot and is capable of identifying a human body, and After identifying the human body, the navigation device reminds the person to leave the radiation exposure area and / or guides the radiation protection robot to move to one side of the human body so that the radiation protection robot is located upstream of the human body relative to the incident radiation.

9. The radiation protection robot according to claim 1, characterized in that It also includes a navigation device, which is configured on the radiation protection robot, and The navigation device is configured to identify objects within the location and direct the radiation protection robot to actively approach the objects and move around the objects to actively detect whether radiation is detected; Or the navigation device is configured to guide the radiation protection robot to cruise within the site so as to actively detect radiation.

10. The radiation protection robot according to claim 1, characterized in that The shielding device includes radiation protection material and a fixed steel structure shell, which constitute part of the radiation protection robot. The fixed steel structure shell extends upward from the bottom of the radiation protection robot to a certain height in the vertical direction and attaches and fixes the radiation protection material.

11. The radiation protection robot according to claim 10, characterized in that The shielding device includes a radiation protection column, which constitutes a part of the radiation protection robot. The radiation protection material is arranged between the fixed steel structure shell and the radiation protection column.

12. The radiation protection robot according to claim 11, characterized in that The shielding device includes two radiation protection columns located in a space defined by a fixed steel structure shell, and the radiation protection material is arranged between the fixed steel structure shell and the radiation protection columns.

13. The radiation protection robot according to claim 11 or 12, characterized in that The radiation shielding material is in granular form.

14. The radiation protection robot according to claim 11 or 12, characterized in that The radiation protection column is connected to the fixed steel structure shell.

15. A backscatter inspection device, characterized in that include: a backscatter robot configured to be movable into proximity with an object to be inspected so as to approach the object, emit radiation toward the object, and detect radiation reflected from the object; and The radiation protection robot according to any one of claims 1 to 14.

16. The backscatter inspection device according to claim 15, characterized in that The backscatter robot comprises: a second wheel configured to allow the backscatter robot to move in a self-propelled manner; and The backscatter device can perform backscatter inspection on the object.

17. The backscatter inspection device according to claim 16, characterized in that The backscatter device includes a flying spot X-ray machine.

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