Aircraft detection system based on ray scattering technology

Abstract

The utility model relates to the technical field of ray detection, in particular to an aircraft detection system based on a ray scattering technology. The aircraft detection system based on the ray scattering technology comprises a detection device which is provided with a ray detector; the scanning device is provided with a ray source, and the ray source can output rays; the ray source and the ray detector are arranged on a driving device on the same side of the aircraft, the driving device is respectively connected with the detection device and the scanning device, the driving device drives the scanning device or the aircraft to move relatively, and the driving device drives the detection device to move so as to enable the ray detector to collect scattered rays of rays; the control device is in signal connection with the driving device, the scanning device and the detection device; and the user interaction system is in signal connection with the control device, and the user interaction system is used for imaging the rays collected by the ray detector and controlling the movement of the scanning device or the aircraft through the control device.

Description

TECHNICAL FIELD

[0001] The utility model relates to aircraft detection technical field, concretely relates to an aircraft detection system based on ray scattering technique. BACKGROUND

[0002] At present, the detection of aircraft mainly adopts X-ray transmission detection, but due to the detection characteristics of transmission, it is more and more unable to meet the needs of aircraft detection, including: transmission is not sensitive to aircraft materials (magnesium, aluminum, carbon fiber, paper honeycomb, heat insulation foam, etc.), due to the low density of aircraft materials, the contrast of X-ray transmission to low-density material detection is not enough, and the defects existing in the above materials cannot be distinguished; the radiation dose of transmission detection is large, which causes the staff to clear the field during detection, and the detection efficiency is low, thereby further affecting the normal work of the staff. Therefore, an urgent need exists for a detection system that can be sensitive to low-density materials such as magnesium, aluminum, carbon fiber, paper honeycomb, and heat insulation foam, and has a small radiation dose and is easy to use. SUMMARY

[0003] Therefore, the utility model provides an aircraft detection system based on ray scattering technique to solve the technical problems existing in aircraft detection.

[0004] The utility model provides an aircraft detection system based on ray scattering technique, comprising:

[0005] A detection device has a ray detector;

[0006] A scanning device has a ray source, the ray source can output rays, and the ray source and the ray detector are located on the same side of the aircraft;

[0007] A driving device is connected with the detection device and / or the scanning device, the driving device drives the relative motion of the scanning device or the aircraft, and / or the driving device drives the motion of the detection device to make the ray detector collect scattered rays of the rays;

[0008] A control device is signal connected with the driving device and / or the scanning device and / or the detection device;

[0009] A user interaction system is signal connected with the control device and the ray detector, the user interaction system is used for imaging the rays collected by the ray detector, and the motion of the scanning device or the aircraft is controlled through the control device.

[0010] Advantages:

[0011] The X-ray scattering detection system disclosed in this embodiment employs scattering detection technology. Materials such as magnesium, aluminum, carbon fiber, paper, and thermal insulation foam have small absorption cross-sections but large scattering cross-sections for X-rays. Scattering detection aligns with the interaction characteristics of these materials with X-rays. The system collects scattered signals through a detection component, generating high-contrast detection images of different depths inside the aircraft. Furthermore, because it is a one-sided detection method, it eliminates the need for high-dose X-rays to penetrate the aircraft and the step of aligning the X-ray beam with the detector, achieving flexible and efficient detection while significantly reducing the radiation dose.

[0012] In one optional embodiment, the control device includes a motor drive system and a motion controller, the motor drive system being signal-connected to both the motion controller and the drive device, and the motion controller being signal-connected to the user interaction system.

[0013] Beneficial effects:

[0014] By adding a motor drive system and motion controller, continuous scanning of aircraft can be achieved, significantly improving detection efficiency. At the same time, the motor drive system can provide more precise control over the drive device, ensuring the accuracy of the movement of the scanning device, aircraft, and detection device, and enabling sub-millimeter-level detection of special parts of the aircraft, such as the fracture of the shim under the rivet.

[0015] In one optional implementation, the detection device, the scanning device, the driving device, the motor drive system, the motion controller, and the user interaction system are interconnected via a communication protocol.

[0016] Beneficial effects:

[0017] By adopting a common communication protocol for the detection device, scanning device, driving device, motor drive system, motion controller, and user interaction system, the aircraft inspection system based on ray scattering technology can be modularized. This allows for the replacement of different device modules according to different parts of the aircraft to be inspected, thereby improving the diversity and flexibility of inspection.

[0018] In one optional implementation, the device further includes a time synchronization unit, which is signal-connected to the motion controller. The motion controller controls the detection device, the scanning device, and the driving device to synchronously complete a specified action at a specified time through the time synchronization unit.

[0019] Beneficial effects:

[0020] The time synchronization unit ensures the synchronization of various device components, enabling them to work synchronously at the microsecond level, thus guaranteeing detection quality and improving work efficiency.

[0021] In one optional implementation, the device further includes an encoder connected to the motion controller via a feedback signal from the encoder, which controls the detection device, the scanning device, and the drive device to synchronize and operate in conjunction.

[0022] Beneficial effects:

[0023] The encoder feeds back signals to the motion controller, which in turn provides a synchronization signal to the motion controller. This facilitates the linkage between devices and also improves detection accuracy.

[0024] In one optional implementation, the device further includes a trigger connected to the motion controller, wherein the motion controller controls the detection device, the scanning device, and the driving device to synchronize and coordinate signals through the feedback signal of the trigger.

[0025] Beneficial effects:

[0026] The trigger sends a feedback signal to the motion controller, which in turn provides a synchronization signal to the motion controller, which is beneficial for the linkage between devices and ensures detection accuracy.

[0027] In one alternative embodiment, the motion controller has a position latch that is signal-connected to the detection device, the scanning device, and the driving device, respectively.

[0028] Beneficial effects:

[0029] The position latch can record the device's position information based on the synchronization signal. If the motion controller obtains a difference between the position established by the motor drive system and the position of the rotary collimator through the drive device, the position latch data can be used to adjust any mechanical distortion in the generated image, thus ensuring detection accuracy.

[0030] In one optional implementation, the detection device, the user interaction system, the motion controller, the motor drive system, and the scanning device are sequentially connected via a communication protocol.

[0031] The detection device, the user interaction system, the motion controller, the motor drive system, and the drive device are sequentially connected via a communication protocol.

[0032] Beneficial effects:

[0033] By employing specific communication protocols through detection devices, scanning devices, drive devices, motor drive systems, motion controllers, and user interaction systems, specific aircraft can be detected without the need to prepare different equipment and systems, effectively reducing costs.

[0034] In one alternative embodiment, the device further includes a main body on which the scanning device is disposed, the scanning device having a rotating collimator disposed at the output end of the X-ray source, the rotating collimator being used to guide the X-rays to the aircraft.

[0035] In one optional embodiment, the X-ray detector includes a scintillator, a photomultiplier tube, a focusing collimator, and a preamplifier. The scintillator and the preamplifier are respectively disposed at the input and output ends of the photomultiplier tube. The focusing collimator is movably disposed on the scintillator and can move relative to the aircraft in a direction closer to or farther away from it.

[0036] Beneficial effects:

[0037] The control device controls the movement of the focusing collimator, enabling it to receive scattered rays from different depths to complete the detection of the aircraft at different depths. By moving to different positions, it can collect scattered rays from specific depths, thereby achieving detection and imaging at that specific depth.

[0038] In an optional embodiment, the device further includes a first driving structure, which is fixedly disposed in the housing of the scintillator. The focusing collimator is connected to the first driving structure. At least one end of the first driving structure is provided with a limiter. The limiter is provided with a trigger unit. The limiter and the first driving structure are respectively signal-connected to the control device.

[0039] Beneficial effects:

[0040] By setting a limiter, the focusing collimator can be limited and reset. At the same time, the limiter is connected to the control device. The limiter can transmit the signal of contact with the motor to the control device, which can then control the first drive structure to stop driving, thereby preventing the focusing collimator from continuing to move and colliding with other structures, which would cause damage to the focusing collimator.

[0041] In one optional embodiment, the device further includes a rotating assembly comprising a rotating shaft and a second driving structure, the rotating shaft being rotatably mounted on the main body, the second driving structure being connected to the rotating shaft and connected to the control device, and the scanning device being fixedly connected to the rotating shaft.

[0042] Beneficial effects:

[0043] The scanning device rotates via a pivot, which in turn drives the X-ray source, rotating collimator, and X-ray detector to rotate. This allows the X-ray source to scan more angles of the aircraft, improving the detection effect.

[0044] In one optional implementation, the main body is a robotic arm, the scanning device is located at the movable end of the robotic arm, and the control device is signal-connected to the robotic arm.

[0045] Beneficial effects:

[0046] The robotic arm can solve the problem of aircraft having a compact structure that makes it impossible to place radiation sources or detectors inside. The radiation source and detector can be extended into the aircraft with the robotic arm to inspect the interior. The robotic arm moves the radiation source, rotating collimator and radiation detector, which provides flexibility for the scanning device to be positioned at any Euler rotation angle and improves the detection range.

[0047] In an alternative implementation, a drive assembly is further included, which is connected to the robotic arm or the aircraft, and is used to drive the robotic arm or the aircraft to move relative to each other.

[0048] Beneficial effects:

[0049] The X-ray source scans the aircraft during relative movement, while the X-ray detector collects the scattered rays during the same process, effectively improving the detection range and flexibility.

[0050] In one optional embodiment, the drive assembly includes a third drive structure, a first movable member, and a second movable member, wherein the third drive structure is connected to the control device, and the second movable member is fixedly connected to the robotic arm.

[0051] The first movable component is connected to the third driving structure and the second movable component respectively. The first movable component is used to move under the drive of the third driving structure and drive the second movable component to move the robotic arm.

[0052] Beneficial effects:

[0053] The third drive structure drives the first movable component, which in turn drives the second movable component to move. The second movable component then drives the robotic arm to move. The scanning device and the X-ray detector can scan and collect scattered rays during the movement, effectively improving the detection range and flexibility.

[0054] In one optional implementation, a first guide structure is provided below the robotic arm;

[0055] The second movable component is provided with a second guide structure, which cooperates with the first guide structure to provide guidance for the movement of the robotic arm.

[0056] Beneficial effects:

[0057] The first and second guide structures guide the robotic arm, enabling it to move more stably and improving scanning results.

[0058] In one optional implementation, the first guide structure is a track, and the second guide structure is a slider;

[0059] And / or, the first movable component is a lead screw, the lead screw is provided with a slider, and the second movable component is a sliding plate, the sliding plate being fixedly connected to the slider.

[0060] In one alternative embodiment, the detection device includes a plurality of the ray detectors arranged in an array.

[0061] Beneficial effects:

[0062] The detector array has multiple ray detectors, each with a different focusing collimator position, allowing the array to simultaneously detect aircraft at multiple depths. If at least two ray detectors in the array have the same focusing collimator position, the detection at that specific depth can be enhanced. Attached Figure Description

[0063] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0064] Figure 1 This is a logic diagram of a coupling device for an aircraft detection system based on ray scattering technology, according to an embodiment of this utility model.

[0065] Figure 2 This is a logic diagram of a decoupling device for an aircraft detection system based on ray scattering technology, according to an embodiment of the present invention.

[0066] Figure 3 This is a first communication schematic diagram of the decoupling device according to an embodiment of the present utility model;

[0067] Figure 4 This is a second communication schematic diagram of the decoupling device according to an embodiment of the present utility model;

[0068] Figure 5 This is a third communication schematic diagram of the decoupling device according to an embodiment of the present utility model;

[0069] Figure 6 This is a fourth communication schematic diagram of the decoupling device according to an embodiment of the present utility model;

[0070] Figure 7 This is a fifth communication schematic diagram of the decoupling device according to an embodiment of the present utility model;

[0071] Figure 8 A schematic diagram of the main body of this utility model embodiment. Figure 1 ;

[0072] Figure 9 A schematic diagram of the main body of this utility model embodiment. Figure 2 ;

[0073] Figure 10 A schematic diagram of the radiation detector according to an embodiment of this utility model. Figure 1 ;

[0074] Figure 11 A schematic diagram of the radiation detector according to an embodiment of this utility model. Figure 2 .

[0075] Explanation of reference numerals in the attached figures:

[0076] 1. Main body; 2. Scanning device; 201. X-ray source; 202. Rotating collimator; 3. Detection device; 301. X-ray detector; 3011. Scintillator; 3012. Photomultiplier tube; 3013. Focusing collimator; 3014. Preamplifier; 3015. First drive structure; 3016. Limiter; 4. Rotating assembly; 401. Rotating shaft; 402. Second drive structure; 5. Drive assembly; 501. Second guide structure; 502. Second moving part; 6. First guide structure; 7. Ranging structure; 8. Camera. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0078] The following is combined Figures 1 to 11 The following describes embodiments of the present invention.

[0079] According to an embodiment of the present invention, an aircraft detection system based on ray scattering technology is provided, comprising: a detection device 3, a scanning device 2, a driving device, a control device, and a user interaction system.

[0080] Specifically, the detection device 3 includes a radiation detector 301. The scanning device 2 includes a radiation source 201, which outputs radiation rays, and is located on the same side of the aircraft as the radiation detector 301. A drive device is connected to the detection device 3 and / or the scanning device 2, respectively. The drive device drives the scanning device 2 or the aircraft to move relative to each other, and / or drives the detection device 3 to move so that the radiation detector 301 collects scattered X-rays. A control device is signal-connected to the drive device and / or the scanning device 2 and / or the detection device 3. A user interaction system is signal-connected to the control device and the radiation detector 301. The user interaction system is used to image the X-rays collected by the radiation detector 301 and to control the movement of the scanning device 2 or the aircraft via the control device.

[0081] In this embodiment, the user can interact through the user interaction system, where they can set the movement path of the detection device 3, scanning device 2, or aircraft themselves. Alternatively, they can use the movement path set in the user interaction system. The user interaction system can transmit the set information to the control device. After processing the data transmitted by the user interaction system, the control device drives the detection device 3 and scanning device 2 or aircraft to move through the control drive device, and moves the scanning device 2 or aircraft to the scanning position. The X-ray source 201 outputs X-rays towards the aircraft. At the same time, the detection device 3 moves to the set detection position and receives the scattered rays that have been irradiated and scattered by the aircraft at the detection position. The detection device 3 combines the collected scattered rays and generates image data, which is then transmitted to the user interaction system. The user interaction system generates a complete image based on this image data and displays it, so that the user can understand the material and structural information of the scanned part and determine whether there is structural or material damage to the scanned part through the material and structural information.

[0082] Preferably, in this embodiment, the radiation source 201 is an X-ray source. In other embodiments, the radiation source 201 may also be gamma rays or other rays, without further restrictions.

[0083] It should be noted that the aircraft inspection system based on ray scattering technology disclosed in this embodiment employs scattering detection technology. Because materials such as magnesium, aluminum, carbon fiber, paper, and thermal insulation foam have small absorption cross-sections but large scattering cross-sections for rays, scattering detection aligns with the interaction characteristics of these materials with rays. The system collects scattered signals through a detection component, generating high-contrast inspection images of different depths inside the aircraft. Furthermore, since the ray source and ray detector are located on the same side of the aircraft, it is a single-sided inspection system. This eliminates the need for large-dose rays to penetrate the aircraft and the step of aligning the ray beam with the detector, achieving flexible and efficient inspection while significantly reducing the radiation dose.

[0084] In one embodiment, the control device includes a motor drive system and a motion controller, wherein the motor drive system is signal-connected to both the motion controller and the drive device, and the motion controller is signal-connected to the user interaction system.

[0085] In this embodiment, the control device includes a motor drive system and a motion controller. Preferably, the drive device includes a motor and a transmission assembly. The user interaction system is signal-connected to the motion controller. The user interaction system converts user-defined data into motion commands and transmits them to the motion controller. The motion commands can be in various forms, such as incremental or absolute displacement vectors, speed commands, etc. The motion controller is signal-connected to the motor drive system. The motion controller can convert motion commands into motor timing and drive levels and transmit them to the motor drive system. The motor drive system controls the drive device to drive the detection device 3, the scanning device 2, and the aircraft to move according to the motor timing and drive levels.

[0086] Specifically, the motor drive system can turn the motor on or off on the scanning device 2 or the aircraft according to the motor timing and drive level. When the motor is on, it cooperates with the transmission components to drive the scanning device 2 or the aircraft to the scanning position. It can also turn the motor on or off on the detection device 3, so that when the motor is on, it cooperates with the transmission components to drive the detection device 3 to the detection position. The scanning device 2 includes a rotating collimator 202. The motor drive system can turn the power supply on or off to the rotating collimator 202 and also provide power for its rotation. If the motor is a stepper motor, the motor drive system provides pulse voltage to the stepper motor to enable it to operate; if the motor is a servo motor, the motor drive system provides electronic signals to the servo motor, providing commands for its specific angle rotation. It should be noted that by adding a motor drive system and a motion controller, continuous scanning of the aircraft can be achieved, greatly improving detection efficiency. At the same time, the motor drive system can provide more precise control over the drive device, ensuring the accuracy of the movement of the scanning device 2, the aircraft, and the detection device 3, and enabling sub-millimeter level detection of special parts of the aircraft, such as broken rivet pads.

[0087] In one embodiment, the detection device 3, scanning device 2, driving device, motor drive system, motion controller, and user interaction system are interconnected via a communication protocol.

[0088] In this embodiment, as Figure 2As shown, the detection device 3, scanning device 2, drive device, motor drive system, motion controller, and user interaction system are decoupled devices. They employ common communication protocols, such as TCP, UDP, Modbus TCP, OPCUA, EtherNet, IP, RS-422 or 485 serial communication protocols, RS-428 serial communication protocols, Universal Serial Bus (USB) protocols, or standard TTL (transistor or transistor logic) signal protocols. Using these protocols, one or more devices can be replaced according to detection requirements and different aircraft without incompatibility. Furthermore, the detection device 3 can communicate with the scanning device 2, drive device, motor drive system, motion controller, and user interaction system via communication protocols, and can transmit commands and signals to each other. Similarly, the scanning device 2, drive device, motor drive system, motion controller, and user interaction system are identical to the detection device 3.

[0089] It should be noted that by using a common communication protocol for the detection device 3, scanning device 2, drive device, motor drive system, motion controller and user interaction system, the aircraft detection system based on ray scattering technology can be modularized. This allows for the replacement of different device modules according to different parts of the aircraft to be detected, thereby improving the diversity and flexibility of detection.

[0090] In one embodiment, the device further includes a time synchronization unit. The time synchronization unit is signal-connected to the motion controller, which controls the detection device 3, the scanning device 2, and the driving device to synchronously complete a specified action at a specified time.

[0091] In this embodiment, the time synchronization unit provides a fixed-interval clock signal. The time synchronization unit transmits data information, including the fixed-interval clock signal, to the motion controller. The motion controller then transmits control commands to the motor drive system based on this data information. The motor drive system, according to the control commands, controls the detection device 3, scanning device 2, or aircraft, and the drive device to complete the specified motion action within the specified time period. Preferably, the control device has a time synchronization unit; in other optional embodiments, the time synchronization unit may be externally introduced.

[0092] It should be noted that the time synchronization unit ensures the synchronization of various device components, enabling them to work synchronously at the microsecond level, thus guaranteeing detection quality and improving work efficiency.

[0093] In one embodiment, the device further includes an encoder. The encoder is signal-connected to the motion controller, which uses the feedback signal from the encoder to control the synchronization and linkage of the signals of the detection device 3, the scanning device 2, and the drive device.

[0094] like Figure 3 As shown, the encoder enables the aircraft detection system based on ray scattering technology to have a position comparison function. The encoder is signal-connected to the motion controller and can provide feedback signals to the motion controller. The motion controller can provide synchronization signals based on the encoder feedback signals. When the encoder feedback signal reaches a predetermined value, the motion controller sends synchronization output signals in a predetermined sequence. The detection device 3 uses this synchronization signal to determine when to start and stop recording the detected radiation data. Figure 3 In this process, a synchronization signal aligns the data measurement with a known physical point in space. The same synchronization signal is simultaneously transmitted to all ray detectors 301 so that all ray detectors 301 begin collecting scattered rays at the same time. The encoder feedback signal can come from the rotating collimator 202 or the drive unit, and can be generated by sources such as a motor output counter, a motor encoder, a pad-type variable differential transformer (LVDT), or other position sensors.

[0095] It should be noted that the encoder feeds back signals to the motion controller, thereby enabling the motion controller to provide synchronization signals, which is beneficial for the linkage between devices and ensures detection accuracy.

[0096] In one embodiment, the device further includes a trigger. The trigger is signal-connected to the motion controller, and the motion controller uses the feedback signal from the trigger to control the synchronization and linkage of the signals of the detection device 3, the scanning device 2, and the driving device.

[0097] like Figure 4 As shown, preferably, the trigger is a laser trigger mounted on the scanning device 2. The trigger is signal-connected to the motion controller and can provide feedback signals to the motion controller. The motion controller can provide synchronization signals based on the feedback signals from the trigger. The motion controller will send synchronization output signals in a predetermined sequence. The detection device 3 will use the synchronization signals to determine when to start and stop recording the detected radiation data. The feedback signal of the trigger comes from the aircraft; the feedback signal is obtained after the laser emitted by the trigger is blocked by the aircraft.

[0098] In other embodiments, the trigger may be a magnetic trigger for sensing a magnet placed on the rotating collimator 202. For example, a magnetic hardware trigger may be set in the scanning device 2, where a non-rotating X-ray beam runs along a track, and a magnetic detector detects the magnet placed along the track to obtain a feedback signal.

[0099] In one embodiment, such as Figure 4As shown, the motion controller includes an internal motion controller and an external motion controller. The internal motion controller can be used to control the rotation of the rotating collimator 202, and can also control the movement of the detection device 3, the scanning device 2, or the aircraft. The internal motion controller can be a motion control card, and the external motion controller can be a PLC or a driver.

[0100] It should be noted that the trigger feeds a signal back to the motion controller, thereby enabling the motion controller to provide a synchronization signal, which is beneficial for the linkage between devices and can also improve detection accuracy.

[0101] In one embodiment, the motion controller has a position latch, which is signal-connected to the detection device 3, the scanning device 2, and the driving device, respectively.

[0102] In one embodiment, such as Figure 4 As shown, the motion controller has a position latch. A trigger sends a feedback signal to the motion controller, which then provides a synchronization signal based on the feedback signal. Upon receiving the synchronization signal, the position latch captures the synchronization signal of the current motor encoder position. By acquiring the encoder position synchronization signal, it records the position information of the scanning device 2 or aircraft, the rotary collimator 202, and the detection device 3. Both the external and internal motion controllers can set the position latch. If the motion controller obtains a difference between the position established by the motor drive system and the position of the rotary collimator 202 through the drive device, the position latch data can be used to adjust any mechanical distortion in the generated image.

[0103] In one embodiment, such as Figure 5 As shown, the encoder sends a feedback signal to the motion controller, which provides a synchronization signal based on the feedback signal. When the position latch receives the synchronization signal, it captures the current position signal of the encoder and records the position information of the scanning device 2 or the aircraft, the rotating collimator 202, and the detection device 3 by acquiring the synchronization signal of the encoder position.

[0104] It should be noted that, in Figure 3 In the embodiment shown, the rotating collimator 202 of the scanning device 2 cannot swing or rotate; only the motion controller needs to control the movement of the scanning device 2 and the detection device 3. Figure 4 and Figure 5 In the illustrated embodiment, the rotating collimator 202 of the scanning device 2 can swing or rotate. The motion controller has an internal motion controller and an external motion controller. The internal motion controller can control the movement of the rotating collimator 202 / scanning device 2 and detection device 3, while the external motion controller can control the movement of the scanning device 2 and detection device 3 / rotating collimator 202. Figure 6In the process, a trigger is installed on the scanning device 2. The scanning device 2 moves relative to the aircraft until the trigger receives a feedback signal. The trigger then transmits the feedback signal to the motion controller, which sends synchronization output signals in a predetermined sequence. The detection device 3 uses these synchronization signals to determine when to start and stop recording the detected radiation data. Figure 7 In the process, the scanning device 2 moves relative to the aircraft until the encoder obtains a feedback signal. The encoder then transmits the feedback signal to the motion controller, which sends a synchronization output signal in a predetermined sequence. The detection device 3 uses this synchronization signal to determine when to start and stop recording the detected radiation data. Figures 3 to 7 These are all communication diagrams for decoupled devices.

[0105] In one embodiment, the detection device 3, the user interaction system, the motion controller, the motor drive system, and the scanning device 2 are sequentially connected via a communication protocol.

[0106] The detection device 3, user interaction system, motion controller, motor drive system and drive device are connected in sequence via a communication protocol.

[0107] like Figure 1 As shown, the detection device 3, scanning device 2, drive device, motor drive system, motion controller, and user interaction system are coupled devices. The detection device 3, scanning device 2, drive device, motor drive system, motion controller, and user interaction system use a specific communication protocol and are connected sequentially in the order of detection device 3, user interaction system, motion controller, motor drive system and scanning device 2, and detection device 3, user interaction system, motion controller, motor drive system and drive device. The devices and systems cannot be replaced and can only detect specific aircraft.

[0108] It should be noted that by using a specific communication protocol through the detection device 3, scanning device 2, drive device, motor drive system, motion controller and user interaction system, a specific aircraft can be detected without the need to prepare different equipment and systems, which effectively reduces costs.

[0109] In one embodiment, it further includes: a main body 1, on which a scanning device 2 is disposed, the scanning device 2 also having a rotating collimator 202, the rotating collimator 202 being disposed at the output end of the X-ray source 201, the rotating collimator 202 being used to guide the X-ray to the aircraft.

[0110] In this embodiment, as Figure 8 and 9As shown, the scanning device 2 is mounted on the main body 1, and the rotating collimator 202 is located at the output end of the X-ray source 201. The rotating collimator 202 can guide the X-rays to the aircraft. The X-ray detector 301 is located on the side of the scanning device 2 facing the aircraft. The X-ray detector 301 has a clearance gap. During scanning, the X-rays pass through the clearance gap and are output on the aircraft. The X-ray detector 301 can collect the scattered rays and transmit the scattered ray information to the user interaction system. The user interaction interface organizes and analyzes the scattered ray information and generates an image for display. The control device is signal-connected to the X-ray source 201 and the X-ray detector 301. After the control device turns on the X-ray source 201, it controls the X-ray detector 301 to start collecting scattered rays. The control device is also signal-connected to the rotating collimator 202 to control the rotation of the rotating collimator 202. The rotating collimator 202 adjusts the output angle of the X-rays by rotating to ensure that the X-rays are guided to the scanning object.

[0111] Specifically, the detection device 3 includes multiple radiation detectors 301, which are arranged in an array to form a detector array. Preferably, in this embodiment, the detection device 3 has two detector arrays, which are spaced apart and form a clearance gap between them. The arrangement of the radiation detectors 301 can be adjusted as needed.

[0112] Specifically, the X-ray source 201 is designed for low-density materials used in aircraft. The X-rays it outputs must be low-energy, high-photon-yield, and have a small focal spot. In order to reduce noise interference and ensure that the maximum signal difference is generated for defects in low-density materials so that they can be detected, the X-ray source 201 also needs to output pulsed X-rays. Preferably, in this embodiment, the X-ray source 201 is an X-ray source with a detection voltage of 50–75kV, a current of 45mA, a focal spot size of 0.1–0.4mm, a pulse emission frequency of 50Hz, and a pulse width of 15ms.

[0113] In one embodiment, the X-ray detector 301 includes a scintillator 3011, a photomultiplier tube 3012, a focusing collimator 3013, and a preamplifier 3014. The scintillator 3011 and the preamplifier 3014 are respectively disposed at the input and output ends of the photomultiplier tube 3012. The focusing collimator 3013 is movably disposed on the scintillator 3011 and can move relative to the aircraft in a direction closer to or farther away from it.

[0114] Specifically, such as Figure 10 and 11As shown, a focusing collimator 3013 is movably mounted on a scintillator 3011. The focusing collimator 3013 is signal-connected to a control device, which can control the focusing collimator 3013 to move relative to the aircraft, either closer to or further away. The focusing collimator 3013 can collect and transmit scattered rays to the scintillator 3011, which can convert the scattered rays into light signals. The scintillator 3011 is located at the input end of a photomultiplier tube 3012, which can transmit light signals to the photomultiplier tube 3012. The output end of the photomultiplier tube 3012 is connected to a preamplifier 3014, which converts the light signals into electrical signals and transmits them to the preamplifier 3014. The preamplifier 3014 is signal-connected to a user interaction system, which amplifies the electrical signals and transmits them to the user interaction system. The user interaction system generates an image based on the electrical signals.

[0115] Specifically, the detector array has multiple X-ray detectors 301, each with a different focusing collimator 3013, allowing the detector array to simultaneously detect multiple depths of the aircraft; if at least two X-ray detectors 301 in the detector array have the same focusing collimator 3013, the detection at that specific depth can be enhanced.

[0116] It should be noted that the control device controls the movement of the focusing collimator 3013, so that the focusing collimator 3013 receives scattered rays from different depths to complete the detection of the aircraft at different depths. By moving to different positions, it can collect rays at a specific depth, thereby realizing the detection and imaging of that specific depth.

[0117] Preferably, in order to have sufficient detection sensitivity for defects in low-density materials used in aircraft, it is necessary to minimize noise interference as much as possible to ensure that the weak changes in X-ray scattering signals caused by defects can be effectively distinguished. In this embodiment, the preamplifier 3014 has a noise of less than 1 millivolt when outputting a 1 volt voltage, a pulse response frequency of 100 MHz / s, and a pulse width of 1 microsecond.

[0118] In one embodiment, a first driving structure 3015 is further included. The first driving structure 3015 is fixedly disposed on the housing of the scintillator 3011. The focusing collimator 3013 is connected to the first driving structure 3015. At least one end of the first driving structure 3015 is provided with a limiter 3016. A trigger unit is provided on the limiter 3016. The limiter 3016 and the first driving structure 3015 are respectively signal connected to the control device.

[0119] Specifically, such as Figure 10 and 11As shown, preferably, the first drive structure 3015 is a through-type lead screw motor. The motor part of the through-type lead screw motor is fixed to the outer wall of the housing of the scintillator 3011. The focusing collimator 3013 is connected to one end of the lead screw part of the through-type lead screw motor. The lead screw part can move relative to the motor part. When the lead screw part moves, it drives the focusing collimator 3013 to move, thereby moving the focusing collimator 3013 towards or away from the scintillator 3011. A limiter 3016 is provided at each end of the lead screw part. The limiter 3016 has a trigger unit. The limiter 3016 and the through-type lead screw motor are respectively connected to the control device for signal transmission. When the limiter 3016 contacts the motor part during the movement of the lead screw part, the trigger unit receives the signal and transmits the signal to the control device, which then controls the motor part to stop driving. The control device includes a first motor drive system (not shown) and a motion controller (not shown). The first motor drive system is mounted on the first drive structure 3015. The motion controller is connected to the first motor drive system and to a user interaction system. The motion controller is also signal-connected to the first motor drive system. The user interaction system can transmit motion commands to the motion controller. The motion controller can convert the motion commands into motor timing and drive level and transmit them to the first motor drive system. The first motor drive system controls the output of the first drive structure 3015 according to the motor timing and drive level.

[0120] In other embodiments, the limiter may be located at the front or rear end of the lead screw section.

[0121] In other embodiments, the first driving structure may also be a telescopic rod, the main body of which is disposed on the outer side wall of the housing of the scintillator 3011, and the output end of the telescopic rod is connected to the focusing collimator 3013.

[0122] In other embodiments, the motor part has an encoder that records the number of rotations of the motor part and transmits the data information to the control device. When the number of rotations is reached, it is considered that the movement of the lead screw part has reached the upper or lower limit. At this time, the control device controls the motor part to stop driving immediately.

[0123] It should be noted that by setting the limiter 3016, the focusing collimator 3013 can be limited. At the same time, the limiter 3016 is connected to the control device. The limiter 3016 can transmit the signal of contact with the motor to the control device, and the control device can control the first drive structure to stop driving, thereby preventing the focusing collimator 3013 from moving continuously and colliding with other structures, which would cause damage to the focusing collimator 3013.

[0124] In one embodiment, the device further includes a rotating assembly 4. The rotating assembly 4 includes a rotating shaft 401 and a second driving structure 402. The rotating shaft 401 is rotatably mounted on the main body 1. The second driving structure 402 is connected to the rotating shaft 401 and is connected to a control device. The scanning device 2 is fixedly connected to the rotating shaft 401.

[0125] In this embodiment, as Figure 9 As shown, preferably, the second drive structure 402 is a servo motor. The rotating component 4 includes a rotating shaft 401 and a second drive structure 402. The second drive structure 402 is connected to the rotating shaft 401, and the rotating shaft 401 is rotatably mounted on the main body 1. The second drive structure 402 drives the rotating shaft 401 to rotate, and the rotation of the rotating shaft 401 drives the scanning device 2 to rotate, thereby driving the X-ray source 201, the rotating collimator 202, and the X-ray detector 301 on the main body 1 to rotate. The control device also includes a second motor drive system (not shown), which is mounted on the second drive structure 402. The motion controller is connected to the second motor drive system and to a user interaction system. The motion controller and the second motor drive system are connected by a signal connection. The user interaction system can transmit motion commands to the motion controller, which can convert the motion commands into motor timing and drive levels and transmit them to the second motor drive system. The second motor drive system controls the output of the second drive structure 402 according to the motor timing and drive levels.

[0126] In other embodiments, the first motor drive system and the second motor drive system are mounted on the motion controller.

[0127] In other embodiments, the second drive structure 402 is a stepper motor.

[0128] It should be noted that the scanning device 2 rotates via the rotating shaft 401, which in turn drives the X-ray source 201, the rotating collimator 202, and the X-ray detector 301 to rotate. This allows the X-ray source 201 to scan more angles of the aircraft, thus improving the detection effect.

[0129] In one embodiment, the main body 1 is a robotic arm, the scanning device 2 is located at the movable end of the robotic arm, and the control device is connected to the robotic arm via signal.

[0130] Specifically, such as Figure 8 and 9As shown, the scanning device 2 is detachably mounted on the robotic arm, with the aircraft positioned to one side of the robotic arm. A motion controller is signal-connected to the robotic arm, allowing the control device to control the movement of the robotic arm. The robotic arm can drive the scanning device 2 to move, and the X-ray source 201, rotating collimator 202, and X-ray detector 301 can move with the robotic arm to scan the aircraft at various angles on one side of the robotic arm. The robotic arm includes at least three rotatable axes 401, providing flexibility for positioning the scanning device 2 at any Euler rotation angle.

[0131] It should be noted that the robotic arm can solve the problem that the aircraft has a compact structure and cannot place the radiation source 201 or detector inside. The radiation source 201 and radiation detector 301 can be extended into the aircraft with the robotic arm to perform inspections inside the aircraft.

[0132] In one embodiment, a drive component 5 is also included, which is connected to the robotic arm or aircraft and is used to drive the robotic arm or aircraft to move relative to each other.

[0133] In this embodiment, the drive assembly 5 is connected to the robotic arm, and the control device controls the drive assembly 5 to drive the robotic arm to move relative to the aircraft, so that the robotic arm moves to or away from the detection position. When at the detection position, the robotic arm can drive the X-ray source 201, the rotating collimator 202 and the X-ray detector 301 to move. The X-ray source 201 scans the aircraft during the movement, and the X-ray detector 301 collects scattered rays during the movement, thereby transmitting the information to the user interaction system.

[0134] In other embodiments, the drive assembly 5 can be connected to the aircraft and can drive the aircraft to move relative to the robotic arm in a direction closer to or away from the robotic arm, so that the aircraft moves to or away from the detection position. When the aircraft moves to the detection position, the robotic arm can drive the X-ray source 201, the rotating collimator 202 and the X-ray detector 301 to move and detect the aircraft.

[0135] In one embodiment, the drive assembly 5 includes a third drive structure, a first movable member, and a second movable member 502. The third drive structure is connected to a control device, and the second movable member 502 is fixedly connected to a robotic arm. The first movable member is connected to the third drive structure and the second movable member 502, respectively. The first movable member moves under the drive of the third drive structure and drives the second movable member 502, thereby driving the robotic arm to move.

[0136] In one embodiment, a first guide structure 6 is provided below the robotic arm. A second guide structure 501 is provided on the second movable member 502. The second guide structure 501 cooperates with the first guide structure 6 to provide guidance for the movement of the robotic arm.

[0137] In one embodiment, the first guide structure 6 is a track, the second guide structure 501 is a slider; and / or, the first movable member is a lead screw with a slider on it, the second movable member 502 is a slide plate, and the slide plate is fixedly connected to the slider.

[0138] Specifically, such as Figure 8 and 9 As shown, preferably, the first guide structure 6 is a track, the second guide structure 501 is a slider, the first movable part (not shown) is a lead screw, the second movable part 502 is a slide plate, the sliding part is a sliding nut (not shown), and the third drive structure (not shown) is a servo motor. The aircraft is located on one side of the track. The lead screw is rotatably mounted within the track. The servo motor is connected to the lead screw. A sliding nut is fitted onto the lead screw, and the sliding nut is slidably connected to the lead screw. The bottom surface of the slide plate is fixedly connected to the sliding nut. The bottom of the robotic arm is fixedly mounted on the slide plate. The slider is slidably connected to the track, and the slide plate is fixedly connected to the slider. The servo motor drives the lead screw to rotate, causing the sliding nut to move along the guide direction of the lead screw, and thus moving the slide plate. The slide plate moves along the guide direction of the track via the slider, and the slide plate can drive the robotic arm to move. The control device also includes a third motor control system (not shown), which controls the output of the servo motor to drive the lead screw to rotate.

[0139] In other embodiments, the first guide structure 6 may be a slider, and the second guide structure 501 may be a track. The track is set at the bottom of the slide plate, the slider is fixed to the ground, and the slide plate moves relative to the slider along the guide direction of the track.

[0140] In other embodiments, the first movable component can be a gear, and the second movable component 502 can be a rack. The gear is rotatably disposed in the track, and the rack is disposed at the bottom of the robotic arm. The gear is connected to a servo motor, and the servo motor drives the gear to rotate so that the gear drives the rack to move.

[0141] In other embodiments, the third drive structure may also be a stepper motor.

[0142] Specifically, the motion controller includes a PLC, a driver, and a motion control card. The motion controller mounted on the robotic arm is the internal motion controller, while the motion controller not mounted on the robotic arm is the external motion controller. The control device may have one motion controller, which can be connected to all motor control system signals. It may also have one or more internal motion controllers and one or more external motion controllers, each connected to different motor control system signals. Alternatively, it may have only multiple internal motion controllers or multiple external motion controllers. The number of motion controllers can be determined according to specific needs and is not limited here.

[0143] In this embodiment, as Figure 8As shown, the detection device 3 is also equipped with a ranging structure 7 and a camera 8. The ranging structure 7 is connected to the motion controller and the user interaction system, respectively. The output end of the ranging structure 7 faces the aircraft. The ranging structure 7 can detect the distance between the detection device 3 and the aircraft in real time and transmit the real-time information to the motion controller and the user interaction system. When the detection distance is too far or too close, the user interaction system can send a signal to the motion controller, causing the motion controller to control the movement of the robotic arm or directly control the movement of the robotic arm to make the distance between the detection device 3 and the aircraft the optimal detection distance. The camera 8 is connected to the user interaction system and can move with the detection device 3. The camera 8 can transmit the captured image data to the user interaction system. The user interaction system generates an image from the image data. When the detection device 3 is detecting the aircraft or part of the aircraft structure, the camera 8 can simultaneously collect image data of the detected aircraft or part of the aircraft structure, thereby ensuring that the position detected by the detection device 3 corresponds one-to-one with the position of the image collected by the camera 8. If the detection result shows that there is a fault in the aircraft or part of the aircraft structure, maintenance personnel can easily find the fault location based on the image captured by the camera 8, which facilitates maintenance.

[0144] Preferably, the ranging structure 7 is a laser rangefinder. In other alternative embodiments, the ranging structure 7 may be an infrared rangefinder or an ultrasonic rangefinder.

[0145] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An aircraft detection system based on the technique of scattering of radiation, characterized in that, The application relates to a kind of scanning device and method, including: Detection device (3), the detection device (3) has ray detector (301); Scanning device (2), the scanning device (2) has ray source (201), the ray source (201) can output ray, the ray source (201) is located with the ray detector (301) in the same side of aircraft; Driving device, the driving device is connected with the detection device (3) and / or the scanning device (2) respectively, the driving device drives the scanning device (2) or aircraft relative motion, and / or the driving device drives the detection device (3) motion to make the ray detector (301) collect the scattered line of ray; Control device, the control device is signal connected with the driving device and / or the scanning device (2) and / or the detection device (3); User interaction system, the user interaction system is signal connected with the control device and the ray detector (301), the user interaction system is used to image the ray collected by the ray detector (301), and the motion of the scanning device (2) or aircraft is controlled by the control device.

2. The aircraft detection system based on the technology of ray scattering according to claim 1, characterized in that, The control device includes motor drive system and motion controller, the motor drive system is signal connected with the motion controller and the driving device respectively, and the motion controller is signal connected with the user interaction system.

3. The aircraft detection system based on the technology of ray scattering according to claim 2, characterized in that, The detection device (3), the scanning device (2), the driving device, the motor drive system, the motion controller and the user interaction system are signal connected with each other through communication protocol.

4. The aircraft detection system based on the technology of ray scattering according to claim 3, characterized in that, Further including: Time synchronization unit, the time synchronization unit is signal connected with the motion controller, and the motion controller controls the detection device (3), the scanning device (2) and the driving device to complete specified action in specified time synchronization through the time synchronization unit.

5. The aircraft detection system based on the technology of ray scattering according to claim 4, characterized in that, Further including: encoder, the encoder is signal connected with the motion controller, and the motion controller controls the detection device (3), the scanning device (2) and the driving device signal synchronization through the feedback signal of the encoder and parallel action.

6. The aircraft detection system based on the technology of ray scattering according to claim 4, characterized in that, Further including: Trigger, the trigger is signal connected with the motion controller, and the motion controller controls the detection device (3), the scanning device (2) and the driving device signal synchronization through the feedback signal of the trigger and parallel action.

7. An aircraft detection system based on the technique of scattering of radiation according to claim 5 or 6, characterized in that: The motion controller has position latch, and the position latch is signal connected with the detection device (3), the scanning device (2) and the driving device respectively.

8. The aircraft detection system based on the technology of ray scattering according to claim 2, characterized in that, The detection device (3), the user interaction system, the motion controller, the motor drive system and the scanning device (2) are signal connected in sequence through communication protocol; The detection device (3), the user interaction system, the motion controller, the motor drive system and the driving device are signal connected in sequence through communication protocol.

9. The aircraft detection system based on the technology of ray scattering according to claim 1, characterized in that, Further including: The main body (1) is provided with the scanning device (2), and the scanning device (2) further has a rotating collimator (202) arranged at the output end of the ray source (201), and the rotating collimator (202) is used for guiding rays to the aircraft.

10. The aircraft detection system based on the technology of ray scattering according to claim 9, characterized in that, The ray detector (301) comprises a scintillator (3011), a photomultiplier tube (3012), a focusing collimator (3013) and a preamplifier (3014), the scintillator (3011) and the preamplifier (3014) are arranged at the input end and the output end of the photomultiplier tube (3012) respectively, and the focusing collimator (3013) is movably arranged on the scintillator (3011) and can move towards or away from the aircraft.

11. The aircraft detection system based on the technology of ray scattering according to claim 10, characterized in that, Further comprising a first driving structure (3015) fixedly arranged on the shell of the scintillator (3011), the focusing collimator (3013) is connected with the first driving structure (3015), at least one end of the first driving structure (3015) is provided with a limit stopper (3016), the limit stopper (3016) is provided with a trigger unit, and the limit stopper (3016) and the first driving structure (3015) are respectively connected with the control device.

12. The aircraft detection system based on the technology of ray scattering according to claim 9, characterized in that, Further comprising: A rotating assembly (4) comprising a rotating shaft (401) and a second driving structure (402), the rotating shaft (401) is rotatably arranged on the main body (1), the second driving structure (402) is connected with the rotating shaft (401), the second driving structure (402) is connected with the control device, and the scanning device (2) is fixedly connected with the rotating shaft (401).

13. A system for detecting aircraft based on the scattering of radiation according to any one of claims 9 to 12, wherein, The main body (1) is a mechanical arm, the scanning device (2) is arranged at the movable end of the mechanical arm, and the control device is signal-connected with the mechanical arm.

14. The aircraft detection system based on the technology of scattering of rays according to claim 13, characterized in that, Further comprising a driving assembly (5) connected with the mechanical arm or the aircraft, and the driving assembly (5) is used for driving the mechanical arm or the aircraft to relatively move.

15. The aircraft detection system based on the technology of ray scattering according to claim 14, characterized in that, The driving assembly (5) comprises a third driving structure, a first movable element and a second movable element (502), the third driving structure is connected with the control device, and the second movable element (502) is fixedly connected with the mechanical arm. The first movable element is respectively connected with the third driving structure and the second movable element (502), the first movable element is used for moving under the driving of the third driving structure and driving the second movable element (502) to further drive the mechanical arm to move.

16. The aircraft detection system based on the technology of ray scattering according to claim 15, characterized in that, A first guide structure (6) is arranged below the mechanical arm. A second guide structure (501) is arranged on the second movable element (502), the second guide structure (501) cooperates with the first guide structure (6) to provide a guiding action for the movement of the mechanical arm.

17. The aircraft detection system based on the technology of scattering of rays according to claim 16, characterized in that, The first guide structure (6) is a track, and the second guide structure (501) is a sliding block. And / or, the first movable element is a lead screw, the lead screw is provided with a sliding element, the second movable element (502) is a sliding plate, and the sliding plate is fixedly connected with the sliding element.

18. The aircraft detection system based on the technology of ray scattering according to claim 9, characterized in that, The detection device (3) comprises a plurality of ray detectors (301), and the plurality of ray detectors (301) are arranged in an array.

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