Radiation protection robot and backscatter inspection apparatus

Abstract

Provided in the present disclosure are a radiation protection robot and a backscatter inspection apparatus. The radiation protection robot comprises: a first wheel enabling the radiation protection robot to move; a shielding device capable of reflecting and / or absorbing radiation; and radiation sensors configured to sense the radiation. The radiation protection robot is configured to move, by means of the first wheel, towards an area where a radiation dose value sensed by the radiation sensors increases, and to block the propagation of the radiation by means of the shielding device.

Description

Radiation protection robot and backscatter inspection equipment

[0001] This disclosure claims priority to Chinese Patent Application No. 202411508869.7, filed on October 25, 2024, and Chinese Patent Application No. 202411506050.7, filed on October 25, 2024, the contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure pertains to the field of security inspection, specifically to radiation protection robots and backscatter inspection equipment. Background Technology

[0003] X-ray inspection can obtain images of the object being inspected and has a good detection effect on dangerous goods such as drugs and explosives. Therefore, it is widely used in the security inspection of goods, vehicles and bags in customs, civil aviation, border inspection and other fields.

[0004] X-ray backscatter imaging technology utilizes a flying-spot X-ray machine to emit a pencil-shaped X-ray beam. Based on the relative motion between the equipment and the object being inspected, it scans the entire object point by point, collecting the returned backscattered light information through a detector to obtain an image of the entire object. Compared to other X-ray radiation imaging products, this technology offers lower radiation doses, better safety, and greater sensitivity to lightweight materials. It also demonstrates better detection capabilities for low atomic number hazardous materials such as drugs and explosives. Because this technology places the flying-spot X-ray machine and backscatter detector on the same side of the object being inspected, it is easy to create mobile backscatter security inspection systems, offering flexibility and mobility. These products are increasingly widely used in customs, civil aviation, border inspection, and other fields for the security inspection of goods, vehicles, and bags.

[0005] However, in practical applications, backscattered radiation beams often pass through the object being inspected, thus posing a risk of radiation exposure to people in the surrounding area.

[0006] To protect the human body, an improved safety protection device and a highly secure inspection device are needed to further enhance the user-friendliness of security checks. Summary of the Invention

[0007] One aspect of this disclosure provides a radiation protection robot, comprising:

[0008] The first round is positioned at the bottom of the radiation protection robot to support it and allow it to move.

[0009] Shielding devices capable of reflecting and / or absorbing radiation; and

[0010] A radiation sensor, used to sense radiation;

[0011] The radiation protection robot is configured to move via the first wheel toward an area where the radiation dose value sensed by the radiation sensor increases, and to shield the propagation of radiation via the shielding device.

[0012] In one embodiment, the radiation sensor includes multiple radiation sensors mounted at multiple locations around the periphery of the radiation protection robot, so that the radiation protection robot can sense radiation emanating from any direction around the radiation protection robot toward the radiation protection robot.

[0013] In one embodiment, the plurality of radiation sensors include a plurality of first-side radiation sensors disposed on a first side of a shielding surface extending in a first direction of the shielding device and a plurality of second-side radiation sensors disposed on a second side of the shielding surface opposite to the first side. The radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel, such that the radiation dose values ​​sensed by the sensors of the plurality of first-side radiation sensors are greater than the radiation dose values ​​sensed by the sensors of the plurality of second-side radiation sensors.

[0014] 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, such that the radiation dose value sensed by the sensors of the plurality of second-side radiation sensors is zero.

[0015] 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, such that the radiation dose value sensed by the middle of the plurality of first side radiation sensors is the largest, and / or such that the radiation dose values ​​sensed by the first side radiation sensors located near both 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 is located.

[0016] In one embodiment, the radiation protection robot is configured to move along a second direction perpendicular to the first direction by moving the first wheel, thereby increasing the radiation dose value sensed by the first side radiation sensor.

[0017] In one embodiment, the plurality of radiation sensors include a plurality of first-side radiation sensors disposed on a first side of a shielding surface extending in a first direction of the shielding device and a plurality of second-side radiation sensors disposed on a second side of the shielding surface opposite to the first side. The radiation protection robot is configured to move by means of the first wheel, such that the radiation dose values ​​sensed by the sensors of the plurality of first-side radiation sensors and the plurality of second-side radiation sensors increase.

[0018] In one embodiment, the radiation protection robot further includes a navigation device configured to guide the radiation protection robot to avoid obstacles during a first round of movement.

[0019] In one embodiment, the radiation protection robot further includes a navigation device configured to identify a human body during movement and, upon identification, alert the person to leave the radiation exposure area, and / or be configured to guide the radiation protection robot to move to the side of the human body such that the radiation protection robot is upstream of the human body relative to the incident radiation.

[0020] In one embodiment, the radiation protection robot further includes a navigation device configured to identify objects in the location and guide the radiation protection robot to actively approach and move around the objects in order to actively detect whether radiation is detected; or the navigation device is configured to guide the radiation protection robot to cruise within the location in order to actively detect radiation.

[0021] In one embodiment, the shielding device includes a radiation protection material and a fixed steel structure shell, the fixed steel structure shell extending vertically upward from the bottom of the radiation protection robot and attaching and securing the radiation protection material.

[0022] In one embodiment, the shielding device includes a radiation protection column, and the radiation protection material is disposed between the fixed steel structure shell and the radiation protection column.

[0023] In one embodiment, the shielding device includes two radiation protection columns located between a space defined by a fixed steel structure shell, and the radiation protection material is disposed between the fixed steel structure shell and the radiation protection columns.

[0024] In one embodiment, the radiation protection material is granular.

[0025] Another aspect of this disclosure provides a backscattering inspection apparatus, comprising:

[0026] A backscattering robot, configured to self-propelledly move to the vicinity of an object to be inspected, emit radiation toward the object, and detect the radiation reflected from the object, thereby scanning the object; and

[0027] The aforementioned radiation protection robot.

[0028] In one embodiment, the radiation protection robot is configured to move self-propelled to the side of the object away from the backscattering robot to shield against radiation emitted from the backscattering robot;

[0029] The object is located between the backscattering robot and the radiation protection robot.

[0030] In one embodiment, the backscattering robot includes:

[0031] In the second round, the configuration was adjusted to enable the backscattering robot to move in a self-propelled manner; and

[0032] A backscattering device configured to perform a backscattering inspection on the object.

[0033] In one embodiment, the radiation protection robot is configured to self-drive to the relative position of the backscattering robot, and to shield the propagation of radiation penetrating the object or the propagation of radiation not irradiated by the object through the radiation shielding device.

[0034] In one embodiment, the radiation protection robot includes a first visual sensor and at least one first lidar, configured to identify objects to be inspected and to navigate and perform three-dimensional obstacle avoidance; and / or

[0035] The backscattering robot includes a second vision sensor and at least one second lidar, configured to identify objects to be inspected and to navigate and perform three-dimensional obstacle avoidance.

[0036] In one embodiment, the radiation protection robot includes a first positioning module, and the backscattering robot includes a second positioning module, to determine the position between the backscattering robot and the radiation protection robot, such that the backscattering robot and the radiation protection robot move relative to each other in a predetermined positional relationship.

[0037] In one embodiment, the radiation protection robot includes a first attitude sensor configured to detect its own turning angle and movement position information; and / or

[0038] The backscattering robot includes a second pose sensor configured to detect its own turning angle and movement position information.

[0039] In one embodiment, the radiation protection robot includes a first wireless communication module, and the backscattering robot includes a second wireless communication module, enabling the radiation protection robot and the backscattering robot to transmit information through the first wireless communication module and the second wireless communication module.

[0040] In one embodiment, the backscatter inspection device further includes a remote inspection terminal configured to communicate with the first wireless communication module and / or the second wireless communication module, receive backscatter image data from the backscatter robot, and include a software interface for real-time display of the backscatter image.

[0041] In one embodiment, the backscattering robot is configured to automatically construct a fitted outer contour of the object to be inspected, and scan at least one side of the object to be inspected based on the fitted outer contour; and / or

[0042] The radiation protection robot is configured to automatically construct a fitted outer contour of the object to be inspected, and move along the side of the object to be inspected away from the backscattering robot based on the fitted outer contour.

[0043] In one embodiment, the backscattering inspection device is configured to scan multiple sides of the object to be inspected one by one by the backscattering robot moving along multiple sides of the object to be inspected, while the radiation shielding robot shields the backscattering robot from radiation.

[0044] In one embodiment, during the scanning of the object by the backscattering robot, the radiation protection robot moves synchronously with the backscattering robot.

[0045] In one embodiment, the backscatter inspection device is configured to scan one side of the object under inspection using a radiation beam oscillation by the backscatter robot, and the radiation protection robot moves according to the radiation beam oscillation to shield the radiation beam penetrating the object under inspection.

[0046] In one embodiment, the backscattering device includes a flying-spot X-ray machine. Attached Figure Description

[0047] Figure 1 is a frontal schematic diagram of a radiation protection robot according to an embodiment of the present disclosure;

[0048] Figure 2 is a side view of a radiation protection robot according to an embodiment of the present disclosure;

[0049] Figure 3 is a cross-sectional schematic diagram of a shielding device for a radiation protection robot according to an embodiment of the present disclosure.

[0050] Figure 4 is a schematic diagram of a backscatter inspection device according to an embodiment of the present disclosure;

[0051] Figure 5 is a schematic diagram of a backscattering robot according to an embodiment of the present disclosure;

[0052] Figure 6 is a schematic diagram of a radiation protection robot according to an embodiment of the present disclosure;

[0053] Figure 7 is a schematic diagram of backscatter reciprocating scanning imaging and radiation protection of a backscatter inspection device according to an embodiment of the present disclosure;

[0054] Figure 8a is a schematic diagram of a backscattering inspection device scanning along the upper edge of the fitted outer contour of the vehicle under inspection according to an embodiment of the present disclosure, and a radiation protection robot moving along the lower edge of the fitted outer contour of the vehicle under inspection to protect against radiation beams.

[0055] Figure 8b is a schematic diagram of a backscattering inspection device scanning along the right edge of the fitted outer contour of the vehicle under inspection according to an embodiment of the present disclosure, and a radiation protection robot moving along the left edge of the fitted outer contour of the vehicle under inspection to protect against the radiation beam.

[0056] Figure 8c is a schematic diagram of a backscattering inspection device scanning along the lower edge of the fitted outer contour of the vehicle under inspection according to an embodiment of the present disclosure, and a radiation protection robot moving along the upper edge of the fitted outer contour of the vehicle under inspection to protect against radiation beams.

[0057] Figure 8d is a schematic diagram of a backscattering inspection device scanning along the left edge of the fitted outer contour of the vehicle under inspection according to an embodiment of the present disclosure, and a radiation protection robot moving along the right edge of the fitted outer contour of the vehicle under inspection to protect against the radiation beam.

[0058] Figure 8e is a schematic diagram of a backscatter inspection device according to an embodiment of the present disclosure after an inspection is completed;

[0059] Figure 9 is a schematic diagram of a backscattering inspection apparatus according to an embodiment of the present disclosure performing a scan in a swinging manner. Detailed Implementation

[0060] This disclosure has multiple embodiments, which are provided to better understand the technical solutions and inventive concepts of this disclosure in conjunction with the accompanying drawings. It should be understood that the embodiments of this disclosure are not intended to limit the scope of this disclosure.

[0061] Figure 1 illustrates a specific product according to one embodiment of the present disclosure. However, it should be noted that the various components of the specific product shown in Figure 1 are not essential, and other embodiments of the present disclosure may have different structures and different constituent components than those shown in Figure 1. Figure 1 is merely an example to illustrate the technical solutions of the present disclosure.

[0062] Embodiments of this disclosure provide a radiation protection robot capable of autonomous movement to block or protect against radiation in the environment. Here, "blocking or protecting" refers to the ability to block radiation, such as X-rays and gamma rays, which are harmful or even detrimental to the human body. The radiation protection robot is designed to at least block the passage of radiation so that the radiation dose on the side facing away from the radiation is reduced, thereby minimizing potential harm to the human body.

[0063] In one embodiment, the radiation protection robot 200 includes a body 204 capable of self-driven movement, such as electric movement. It may have its own power supply or be connected to an external power source, such as the site's power supply. Here, the body 204 refers to the various physical components of the radiation protection robot. For ease of description in this specification, the radiation protection robot 200 may include software or other control programs in addition to the body 204. The body 204 may have one, two, three, four, or more first wheels 203, thus enabling free movement within the site. In one embodiment, the body 204 may have a portion that slides on the ground to support the body 204, etc. The body 204 may have an outer perimeter and can be of any shape, such as a quadrilateral with four substantially straight sides; a circle with a generally circular outer perimeter; an ellipse with a generally elliptical outer perimeter; or other regular or irregular irregular shapes.

[0064] In one embodiment, the body 204 of the radiation protection robot 200 includes a shielding device capable of reflecting and / or absorbing radiation, and thus the shielding device can be considered part of the body 204. The shielding device includes a radiation protection material 211. The radiation protection material 211 can be, for example, a metal such as lead or other materials, and can be, for example, in the form of a plate or in the form of particulate matter. The shielding device may also include a fixed steel structure shell 212, which forms part of the body 204 and fixes and supports the radiation protection material 211. The radiation protection material 211 can be surrounded by the fixed steel structure shell 212, for example, the radiation protection material 211 can be sandwiched within the fixed steel structure shell 212.

[0065] In one embodiment, as shown in FIG1, the shielding device may further include a radiation protection column 207, which is disposed on one side of the fixed steel structure shell 212, and can further stabilize and fix the steel structure shell 212.

[0066] In one embodiment, as shown in FIG3, the shielding device includes a radiation shielding material 211 and a fixed steel structure shell 212 and a radiation shielding column 207 respectively arranged on both sides of the radiation shielding material 211. The radiation shielding column 207 is attached to the fixed steel structure shell 212 to further reinforce the fixed steel structure shell 212. In one embodiment, the fixed steel structure shell 212 is arranged only on one side of the radiation shielding material 211. The fixed steel structure shell 212 and the radiation shielding column 207 may have a plate-like shape.

[0067] In one embodiment, radiation shielding columns 207 are disposed inside the fixed steel structure shell 212, dividing the internal space of the fixed steel structure shell 212 into multiple compartments, such that radiation shielding material 211 is sandwiched between the radiation shielding columns 207 and the fixed steel structure shell 212. In this embodiment, the two columns inside the fixed steel structure shell 212 in the structure shown in FIG3 schematically represent the radiation shielding columns 207. In this embodiment, the radiation shielding material 211 may be in the form of particulate matter filling the multiple compartments divided by the radiation shielding columns 207 inside the fixed steel structure shell 212.

[0068] The two fixed steel structure shells 212 can be two plate-shaped components; in other embodiments, the two fixed steel structure shells 212 shown in Figure 3 can be a cross-sectional schematic diagram of an integral shell component. The structure formed by the fixed steel structure shells 212 and the two radiation protection columns 207 is beneficial to strengthening the shielding device and allows the shielding device to have a greater height.

[0069] It should be understood that fixing the steel structure shell 212 and the radiation protection column 207 is not necessary. In one embodiment, the shielding device only includes radiation protection material 211, such as only lead plate.

[0070] In one embodiment, the body 204 may have a quadrilateral periphery, and the surface of the shielding device may form part of the surface of the body 204. In one embodiment, the top of the shielding device forms the top of the body 204. In one embodiment, the radiation protection material 211 of the shielding device extends from the top of the body 204 to the bottom of the body 204.

[0071] In one embodiment, the shielding device extends along one side of the outer periphery of the body 204, as shown in Figures 1-2. The body 204 has a first side, and the shielding device extends along this first side, referred to here as the first direction. The shielding device has a shielding surface 213, which may be generally planar and extends along the first direction in a vertical plane. In one embodiment, the length of the shielding device in the first direction is shorter than that of the body 204; however, this is not mandatory. For example, in the structure shown in Figure 2, the length of the shielding device in the first direction is the same as the length of the body 204. The shielding device can be located in the middle of the body 204 (in the lateral direction of the first direction); however, it can also be located anywhere on the body 204. In the embodiment shown in Figure 3, the shielding device of the radiation protection robot is configured to form part of the body 204 of the radiation protection robot, extending a certain range in a vertical plane. The shielding device includes a shielding surface extending a certain range in the vertical plane, the length of which may be equal to or less than the length of the body 204. The shielding device may be configured such that the shielding surface extends as close to the ground as possible to prevent radiation from passing under the shielding surface.

[0072] In one embodiment, the body 204 has an elliptical outer periphery, and the shielding device is located inside the elliptical outer periphery of the body 204, extending along a first direction. The body 204 can travel in any direction, thus the body 204 can carry the shielding device in any direction, and the shielding surface 213 of the shielding device can face any direction. Here, for convenience, the direction facing the shielding surface 213 is referred to as the second direction, which is perpendicular or orthogonal to the first direction.

[0073] In one embodiment, the shielding device extends along a first direction and can be considered as dividing the body 204 into two parts. For convenience, the two sides of the body 204 located on the shielding device are referred to as the first side and the second side. In Figure 1, the first side of the body 204 can refer to the right side of the shielding device in Figure 1, and the second side can refer to the left side of the shielding device in Figure 1. However, it should be understood that the first side and the second side are merely used to represent two different sides of the body 204.

[0074] The radiation protection robot includes a radiation sensor 202 for sensing radiation. The robot is configured to move self-propelled by first wheels 203, moving towards an area that increases the radiation dose value sensed by the radiation sensor 202, thereby shielding the propagation of radiation through the shielding device.

[0075] In one embodiment, the radiation sensor 202 includes multiple radiation sensors 202 installed at various locations on the periphery of the radiation protection robot, so that the radiation protection robot can sense radiation emanating from any direction around it. In one embodiment, as shown in FIG1, multiple radiation sensors 202 are installed on the periphery of the body 204, for example, multiple radiation sensors 202 are installed on the first side of the body 204 and multiple 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 a shielding device; here, the radiation sensors 202 on the first side are configured not to sense radiation incident on the second side, and the radiation sensors on the second side are configured not to sense radiation incident on the first side. In one embodiment, as shown in FIG2, multiple radiation sensors 202 are installed on one side of the body 204, for example, extending at a certain height along the shielding surface 213 (first direction) of the shielding device on the first side of the body 204. It should be understood that multiple radiation sensors 202 are used to sense radiation in the environment and can be installed at other locations on the body 204, such as the bottom of the outer peripheral surface of the first or second side of the body 204, as long as it is convenient for radiation detection. The number of radiation sensors 202 can be set according to the size of the radiation protection robot or as needed.

[0076] In one embodiment, as shown in FIG3, which illustrates a cross-sectional view of the shielding device, multiple sensors 202 are arranged around the outer periphery of the body 204. In the embodiment shown in FIG3, the body 204 has a base plate and sidewalls, which define a space. For example, the body 204 may have four sidewalls surrounding an internally recessed space. The shielding device is integrally mounted on the base plate of the body 204, and the opposing sidewalls can be connected by a connecting plate, which can connect the shielding device to further secure it. In one embodiment, the body 204 may also have two sidewalls, which can be connected by a connecting plate, which can connect the shielding device. In another embodiment, the body 204 has no sidewalls and only a base plate. Multiple sensors 202 may be arranged on the front, middle, and rear of the first and second sides of the body 204 along a first direction. In this embodiment, the radiation sensor is arranged outside the recessed space.

[0077] 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 to adjust the orientation of the body 204, thereby adjusting the orientation of the shielding device. This ensures that the radiation dose value sensed by 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 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 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 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, a radiation sensor 202 is installed on the first side and the second side of the body 204, respectively. The movement and / or rotation of the first wheel 203 increases the radiation dose sensed by the radiation sensor 202 on the first side, while decreasing the radiation dose sensed on the second side. Subsequently, the body 204 can move, causing the radiation dose sensed by the radiation sensor 202 on the first side to continue to increase. Here, the radiation protection robot can move back and forth. When the movement of the main body 204 reduces the radiation dose sensed by the radiation sensor 202 on the first side, the main body 204 stops moving, changes its direction of movement, and moves in the opposite direction, thereby increasing the radiation dose sensed by the radiation sensor 202 on the first side.

[0078] In one embodiment, when radiation sensors 202 on the first and / or second sides of the radiation protection robot detect radiation, the body 204 moves, increasing the radiation dose sensed by the first and second side radiation sensors 202. During the movement, the body 204 changes direction, increasing the radiation dose sensed by the first side radiation sensor 202 while decreasing the radiation dose sensed by the second side radiation sensor 202, until the radiation dose sensed by the second side radiation sensor 202 is zero, while the radiation dose sensed by the first side radiation sensor 202 increases or remains unchanged. Conversely, the body 204 moves via the first wheel 203, decreasing the radiation dose sensed by the first side radiation sensor 202 while increasing the radiation dose sensed by the second side radiation sensor 202, until the radiation dose sensed by the first side radiation sensor 202 is zero, while the radiation dose sensed by the second side radiation sensor 202 increases or remains unchanged.

[0079] In another embodiment, the radiation protection robot is configured such that when radiation sensors 202 on the first and / or second sides sense radiation, the body 204 turns via the first wheel 203, thereby making the radiation dose sensed by one of the radiation sensors 202 on the first and second sides zero. For example, the radiation dose sensed by the radiation sensor 202 on the first side is zero. Then, the radiation protection robot 200 moves in a straight line along the extension direction of the shielding surface. During this process, the radiation dose sensed by the radiation sensor 202 on the first side is zero. If the radiation dose sensed by the radiation sensor 202 on the second side increases, it continues to move forward. When the radiation dose sensed by the radiation sensor 202 at the middle position of the second side begins to decrease, it stops moving forward. At this time, the shielding surface is basically facing the incident direction of the radiation. The radiation protection robot 200 can move along a second direction (the transverse direction of the shielding surface), thereby increasing the radiation dose sensed by all the radiation sensors 202 on the second side.

[0080] In one embodiment, the radiation protection robot has multiple 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 multiple radiation sensors 202 installed on the same side of the shielding device. For example, if the radiation dose detected by the left radiation sensor 202 on the first side in Figure 2 (Figure 2 shows three radiation sensors 202) is greater than that detected by the right radiation sensor 202, or if the radiation dose detected by the left radiation sensor 202 decreases progressively from the right radiation sensor 202, then this gradient of radiation dose values ​​sensed by the multiple radiation sensors 202 indicates that the left radiation sensor 202 is closer to the radiation source. The radiation protection robot can then move to the left, and / or the radiation protection robot can turn to the left at a certain angle around its central position, causing the radiation dose value sensed by the right radiation sensor 202 to increase.

[0081] In one embodiment, the radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning via the first wheel 203, such that the radiation irradiates the middle of the shielding surface 213 of the shielding device and the incident direction of the radiation is orthogonal to the plane containing the shielding surface 213, i.e., the incident direction is along a second direction. In this embodiment, the radiation sensor located at the middle position of the plurality of radiation sensors 202 on the first side of the shielding surface 213 (the middle of the left and right sides on the paper in FIG2) senses the largest radiation dose value. In this embodiment, it is advantageous to provide a plurality of first-side radiation sensors 202 on the first side, as the plurality of radiation sensors 202 can realize a gradient of 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 can move toward the radiation source. In one embodiment, a radiation sensor 202 is provided in the middle of the shielding surface 213, that is, the middle radiation sensor 202 among the three radiation sensors 202 shown in FIG2 (it should be known that there can be more than three). This is advantageous because when the radiation protection robot moves to a certain position, the radiation dose value sensed by the central radiation sensor 202 in Figure 2 is the maximum, and the radiation protection robot stops moving along the first direction. At this time, the radiation protection robot can keep the central radiation sensor 202 stationary and rotate the body 204 left and right around the central radiation sensor 202 as an 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. Then, the shielding surface 213 of the radiation protection robot is orthogonal to the incident radiation, and the radiation protection robot can move along the second direction closer to the radiation source. In one embodiment, when the incident radiation is a pencil-shaped radiation beam, the radiation dose value sensed by the central radiation sensor 202 is greater than the radiation dose values ​​sensed by the left and right radiation sensors 202, which can substantially achieve the blocking of the pencil-shaped radiation beam at the central position of the shielding device.

[0082] In one embodiment, the radiation protection robot may further include a navigation device 201 configured to guide the robot to avoid obstacles during movement. For example, the navigation device 201 may be an image recognition device, such as identifying objects based on optical images, or identifying objects based on millimeter waves, or identifying objects based on point clouds of laser beams.

[0083] In one embodiment, the radiation protection robot may further include a navigation device 201, which is configured to identify a person during movement and, upon identification, alert the person to leave the radiation exposure area. For example, the person may be alerted to move to the side where the radiation sensor of the radiation protection robot detects a dose value of zero; in another embodiment, the person may be alerted to move away from the radiation exposure area; in one embodiment, the navigation device may alert the person that radiation is nearby and they should leave as soon as possible; in another embodiment, the radiation protection robot may deflect towards the direction of incident radiation, bypassing the person so that the robot moves upstream of the incident radiation. In this embodiment, the navigation device 201 is able to distinguish objects, identifying whether the object is a person or an obstacle. If it is an obstacle, it avoids or bypasses it; if it is a person, it emits sound or flashes lights to alert the person to leave the radiation exposure area or move upstream of the person relative to the incident radiation.

[0084] In embodiments of this disclosure, the navigation device 201 can be mounted at any location on the radiation protection robot, for example, on the front side of the body 204 (relative to the first direction in which the shielding surface 213 extends), as shown in FIG1; in another embodiment, the navigation device 201 is mounted, for example, on the left outer periphery of the body 204 on the first side as shown in FIG2. For example, the body 204 shown in FIG2 may have a rectangular outer periphery, and the navigation device 201 may be mounted on the front side of the body 204 in the first direction, that is, on the left side in FIG2. In embodiments where the body 204 has an elliptical outer periphery, the shielding surface 213 extends along the first direction through the two pointed arc ends of the ellipse (major axis), and the navigation device 201 may be mounted on the more pointed arc end of the ellipse of the body 204 to guide the body 204 to identify objects or human bodies located in front of the body 204 during movement.

[0085] In one embodiment, the navigation device 201 is configured to identify objects in the site, such as airports, docks, schools, stations, etc. After identifying the objects in the site, it guides the radiation protection robot to actively approach the objects and move around the objects in order to actively detect whether radiation is detected.

[0086] In one embodiment, the navigation device 201 is configured to guide the radiation protection robot to cruise within its location, such as an airport, dock, school, or train station, in order to actively detect whether radiation is detected.

[0087] In one embodiment, when the radiation protection robot moves under the guidance of the navigation device 201, and the radiation sensor of the radiation protection robot senses radiation, it determines the incident direction of the radiation or the source of the radiation by adjusting the direction of movement.

[0088] In one embodiment, when the radiation protection robot detects radiation through a radiation sensor, it issues an alarm, such as an audible alarm, a light alarm, or contacts nearby staff.

[0089] In other embodiments of this disclosure, the radiation protection robot may have other structures, and those skilled in the art can modify the structure and arrangement of the first wheel, the shielding device, and the radiation sensor as needed based on the content disclosed in this disclosure.

[0090] According to one aspect of this disclosure, a backscatter inspection device is provided, which may include a backscatter robot and a radiation protection robot.

[0091] In this embodiment, the backscattering robot of the backscattering inspection device is configured to move to the vicinity of the object to be inspected, emit radiation toward the object, and detect the radiation reflected from the object. The backscattering robot may include: a second wheel capable of self-propelled movement; and a backscattering device carried by the second wheel, capable of performing backscattering inspection on the object. The second wheel may be similar to the first wheel 203, or may have a different form and arrangement. The radiation protection robot and the backscattering robot can communicate with each other or move independently. The radiation protection robot and the backscattering robot have independent drive sources, each independently driving its free movement. The backscattering device may include a flying-spot X-ray machine, such as one that emits a pencil beam.

[0092] Another embodiment of this disclosure provides a backscatter inspection device, comprising: a backscatter robot 100 configured to self-drive to move near an object to be inspected, emit radiation toward the object, and detect radiation reflected from the object; and a radiation protection robot 200 configured to self-drive to move to a side of the object away from the backscatter robot to shield against radiation emitted from the backscatter robot 100; wherein the object is located between the backscatter robot 100 and the radiation protection robot 200. In one embodiment, the object may be, for example, a vehicle 400 to be inspected as shown in FIG. 4. In other embodiments, the object may be other objects, such as containers, bags, luggage, etc.

[0093] In one embodiment, the backscatter inspection device includes a backscatter robot 100, which automatically locates the vehicle 400 to be inspected according to control instructions via, for example, a control system. After adjusting its initial position, it automatically moves and initiates backscatter scanning imaging to scan the vehicle 400, simultaneously completing image processing, such as data acquisition and algorithm processing. The backscatter inspection device also includes a radiation protection robot 200, which adjusts its posture in real time according to a predetermined interval during the scanning process via a control system, follows the backscatter robot 100 in parallel, and ensures that the radiation shielding device can shield the backscattered beam throughout its width. The backscatter inspection device also includes a remote inspection terminal 300, which supports remote operation and control, receives backscattered image data from the backscatter robot 100, and includes, for example, a software interface for real-time display. The software interface can be, for example, a monitor. The backscatter robot 100, radiation protection robot 200, and remote inspection terminal 300 of the backscatter inspection device exchange data information via a wireless network, and no mechanical or electrical hard connection is required between them. In one embodiment, the backscattering robot 100 can act as the master and the radiation protection robot 200 can act as the slave; however, it should be understood that the backscattering robot 100 and the radiation protection robot 200 can be independent entities that can cooperate through communication.

[0094] As shown in Figure 5, the backscattering robot 100 may include a second vision sensor 101 located at its front, and two second lidar sensors 102 located at the front right and rear left of the robot, respectively, for line-following navigation and obstacle avoidance. The second vision sensor 101 can be used to locate and identify the inspected vehicle, and the second lidar sensors 102 can be used to detect the shape (e.g., outer contour), distance, and position of the inspected vehicle relative to it. The backscattering robot 100 can automatically drive four second wheels (also referred to as the first steering wheel assembly) 103 via a control system; however, it should be understood that other numbers of second wheels 103 are possible. The second vision sensor 101 can be any existing device with visual detection capabilities, and the second lidar sensors 102 can be existing general-purpose lidar sensors.

[0095] In this embodiment, as shown in FIG5, the backscattering robot 100 may include a flying-spot X-ray machine 121 and a backscattering detector 122. With the forward direction (outside the paper in FIG5) as the reference direction, the flying-spot X-ray machine 121 is enabled to emit a pencil beam of X-rays to the right. The backscattering detector 122 mounted on the right side is used to collect the X-ray signal backscattered from the vehicle being inspected, thereby performing an inspection of the vehicle being inspected.

[0096] In one embodiment, the flying-spot X-ray machine 121 may include a metal-ceramic tube and an electric spindle direct-drive rotary structure, which can improve X-ray quality and the stability and consistency of the pencil beam, and help reduce internal X-ray leakage. The backscatter detector 122 may include composite high-sensitivity materials, which helps improve the signal-to-noise ratio and spatial distribution uniformity of the backscattered line detection signal, resulting in clearer and more detailed backscattered images, while also being thin and lightweight, enabling miniaturization and modularization of the backscatter detector. The flying-spot X-ray machine 121 and the backscatter detector 122 can be mounted on the same side of the backscatter robot 100.

[0097] The backscattering robot 100 can transmit data at high speed to the control system via data acquisition. After algorithm processing, the backscattered image is displayed in real time on the software interface of the remote inspection terminal 300 using a wireless network. In one embodiment, the remote inspection terminal 300 may include a display or a tablet computer with wireless communication capabilities, facilitating remote operation and real-time image viewing by a single person. The remote inspection terminal 300 can be placed on the bracket 301 or replaced by other computing and display machines.

[0098] In one embodiment, the backscattering robot 100 may include a second positioning module 105 for adjusting the relative position of the backscattering robot 100 and the radiation protection robot 200. The second positioning module 105 may be any existing device with positioning functionality.

[0099] In one embodiment, the backscattering robot 100 may include a second pose sensor 104 for detecting its own turning angle and movement position information. The second pose sensor 104 may be any existing device with pose determination capabilities.

[0100] In one embodiment, the backscattering robot 100 may include a second wireless communication module 106, which is used for wireless interconnection between the backscattering robot 100, the radiation protection robot 200, and the remote inspection terminal 300. The second wireless communication module 106 may be a wireless communication device, such as a wireless communication module in a local area network environment, a wireless communication module in an Internet environment, or any other available communication module.

[0101] As shown in Figure 6, the radiation protection robot 200 may include a first vision sensor 221, which is located in front of the radiation protection robot 200.

[0102] In one embodiment, the radiation protection robot 200 may include a first lidar 222, for example, two first lidars 222, located at the left front and right rear of the radiation protection robot 200 respectively, for line-following navigation and three-dimensional obstacle avoidance. In one embodiment, a control system drives four first wheels (also referred to as second steering wheel assemblies) 203 to follow the robot. The first vision sensor 221 can be any existing device with visual detection capabilities, and the first lidar 222 can be an existing general-purpose lidar. In one embodiment, the second vision sensor 101 and the first vision sensor 221 can be, for example, a binocular depth camera. In one embodiment, the second lidar 102 and the first lidar 222 can be, for example, a multi-line lidar, which facilitates three-dimensional target recognition and navigation obstacle avoidance.

[0103] In one embodiment, the radiation protection robot 200 may include a first positioning module 205, which is used to adjust the relative position of the radiation protection robot 200 and the backscattering robot 100. The first positioning module 205 may be any existing device with positioning function.

[0104] In one embodiment, the radiation protection robot 200 may include a first pose sensor 224 for detecting its own turning angle and movement position information. The first pose sensor 224 can be any existing device with pose determination capabilities. In one embodiment, the second pose sensor 104 of the backscattering robot and the first pose sensor 224 of the radiation protection robot 200 are configured such that the poses of the backscattering robot 100 and the radiation protection robot 200 can be maintained at a predetermined angle relative to each other, such as being parallel to each other, or at a small angle to each other, or in other forms.

[0105] In one embodiment, the radiation protection robot 200 may include a first wireless communication module 206, which is used for wireless interconnection between the radiation protection robot 200, the backscattering robot 100, and the remote inspection terminal 300. The first wireless communication module 206 may be a wireless communication device, such as a wireless communication module in a local area network environment, a wireless communication module in an Internet environment, or any other available communication module.

[0106] As shown in Figure 6, in one embodiment, the radiation protection robot 200 may include a radiation shielding device, which includes a radiation protection column 207, a shielding partition 231, and a fixed steel structure 212 for shielding flying X-ray beams. The fixed steel structure 212 may include two parts to clamp the shielding partition 231 between the two parts of the fixed steel structure 212. The radiation protection column 207 is disposed on one side of the fixed steel structure 212, thereby the radiation protection column 207, the fixed steel structure 212, and the shielding partition 231 clamped between the two parts of the fixed steel structure 212 constitute the radiation shielding device.

[0107] In one embodiment, as shown in FIG5, the sandwich structure consisting of the two parts of the fixed steel structure 212 and the shielding partition 231 sandwiched between the two parts of the fixed steel structure 212 can have a first height, and the radiation shielding column 207 can have a second height, wherein the first height can be greater than the second height. The radiation shielding column 207 serves to strengthen the radiation shielding device in terms of height. The smaller second height of the radiation shielding column 207 can reduce the weight of the radiation shielding device.

[0108] The radiation shielding device can be arranged along, for example, the length of the radiation protection robot, and generally has a plate-like shape. The radiation protection material of the shielding plate 231 may include a lead-antimony alloy material, with appropriate thickness, width, and height, and is fastened to the supporting chassis by a fixing steel structure 212. In particular, the initial height of the shielding plate 231 must be sufficient to cover the highest point of the pencil-shaped X-ray beam.

[0109] In one embodiment of the backscatter inspection device, the backscatter robot 100 may include two second lidars 102 positioned at the front right and rear left, and the radiation protection robot 200 may include two first lidars 222 positioned at the front left and rear right. Thus, the multiple lidars of the backscatter inspection device can cover a 360-degree area around the device, facilitating omnidirectional obstacle avoidance and precise omnidirectional movement. In other embodiments, the visual sensors and lidars may be configured in other numbers and / or installed in other locations.

[0110] In one embodiment of the backscattering inspection equipment, the backscattering robot 100 may include a second wheel 103, and the radiation protection robot 200 may include a first wheel 203. In one embodiment, the second wheel 103 and the first wheel 203 may include an integrated steering wheel structure capable of omnidirectional movement, using a servo controller and servo motor for precise drive. The backscattering robot 100 can move via the second wheel 103, for example, by controlling the system, the backscattering robot 100 can move to one side of the vehicle being inspected via the second wheel 103. The radiation protection robot 200 can move via the first wheel 203, for example, by controlling the system, the radiation protection robot 200 can move to the other side of the vehicle being inspected via the first wheel 203, blocking the radiation emitted by the backscattering robot 100 through a radiation shielding device.

[0111] Figure 7 shows a schematic diagram of backscatter reciprocating scanning imaging and radiation protection according to an embodiment of the backscatter inspection device of the present invention.

[0112] In the embodiment shown in Figure 7, the second wireless communication module 106 of the backscattering robot 100, the first wireless communication module 206 of the radiation protection robot 200, and the remote inspection terminal 300 form an internal wireless communication network for the backscattering inspection equipment via wireless communication, enabling real-time interaction of image data, pose data, and control data. The backscattering robot 100 and the radiation protection robot 200 utilize the second pose sensor 104, the second positioning module 105, and the first pose sensor 224, the first positioning module 205, respectively, to detect the positional deviation ΔP and angular deviation ΔA between the two robots in real time, and interact with each other in real time through the internal wireless communication network.

[0113] In one embodiment, the remote inspection terminal 300 issues a reciprocating scanning command (e.g., by the user inputting a command into the remote inspection terminal 300, which is then issued by the remote inspection terminal 300). Upon receiving the reciprocating scanning command from the remote inspection terminal 300, the backscattering robot 100 automatically locates the vehicle 400 to be inspected using the second vision sensor 101 and the second lidar 102. The control system drives the second wheel 103, causing the backscattering robot 100 to adjust its initial position and move to the left rear of the vehicle 400. Then, the position of the backscattering robot 100 is fine-tuned according to a preset scanning margin. The X-ray pencil beam envelope 131 emitted by the flying-spot X-ray machine 121 is at a distance DX11 from the left edge (along the X direction) of the fitted outer contour 401 of the inspected vehicle 400 as shown in the figure, and at a distance DY11 from the right front of the second lidar 102 (e.g., the center) of the backscattering robot 100 to the upper edge (along the Y direction) of the fitted outer contour 401 as shown in the figure. In this embodiment, the forward direction of the backscattering robot 100 is parallel to the fitted outer contour 401 as a whole. For example, the backscattering robot 100 can move along the -X direction, wherein the fitted outer contour 401 of the inspected vehicle 400 is formed by the second lidar 102. In this embodiment, the radiation protection robot 200 obtains the positional relationship between the inspected vehicle and the radiation protection robot 200 through the first vision sensor 221 and the first lidar 222. The control system then controls the first wheel 203 to automatically travel to the opposite side of the backscattering robot 100. Similarly, based on the data from the first attitude sensor 224 and the first positioning module 205, ΔP and ΔA are calculated, and optimal adjustment parameters are provided. The control system drives the first wheel 203 to fine-tune the position of the radiation protection robot 200 according to a preset safety margin, ensuring that the shielding partition 231... The distance DX11 from the center line to the left (along the X direction) of the fitted outer contour 401 of the vehicle under inspection 400, as shown in the figure, and the distance DY12 from the left front of the first lidar 222 (e.g., the center) of the radiation protection robot 200 to the lower edge (along the Y direction) of the fitted outer contour 401, as shown in the figure, are also considered. In this embodiment, the forward direction of the radiation protection robot 200 is parallel to the fitted outer contour 401 as a whole. For example, the radiation protection robot 200 can move along the -X direction. The fitted outer contour 401 of the vehicle under inspection 400 is formed by the second lidar 102. In another embodiment, the fitted outer contour 401 of the vehicle under inspection 400 formed by the second lidar 102 can also be obtained through an internal wireless communication network, thus omitting the process of the first lidar 222 forming the fitted outer contour 401 of the vehicle under inspection 400. In one embodiment, the X-ray pencil beam envelope 131 of the backscattering robot 100 is centered and perpendicular to the end face of the shielding partition 231 of the radiation protection robot 200.

[0114] According to an embodiment of the present invention, when the backscattering inspection device inspects a vehicle under inspection, the backscattering robot 100 first moves to a predetermined position to the left rear of the vehicle under inspection 400, and the radiation protection robot 200 moves to a predetermined position to the right rear of the vehicle under inspection 400, as described above. Then, the backscattering robot 100 moves forward in the forward direction (e.g., the -X direction) and controls the flying-spot X-ray machine 121 to emit a pencil beam of X-rays. The backscattering signal is collected by the backscattering detector 122 to perform backscattering scanning imaging of the vehicle under inspection 400. During the scanning process, the radiation protection robot 200 dynamically adjusts its posture to synchronously follow the backscattering robot 100, ensuring that the shielding partition 231 shields or blocks all flying-spot X-ray beams that penetrate the vehicle under inspection 400 or X-rays not reflected by the vehicle under inspection 400, thus ensuring radiation safety. When the distance from the X-ray pencil beam envelope 131 to the right edge of the fitted outer contour 401 as shown in the figure is greater than or equal to DX12, it is determined that the beam scanning task has been completed, the flying point X-ray machine 121 stops emitting X-rays, and the robot stops moving.

[0115] In one embodiment, the remote inspection terminal 300 sends control commands and receives image data via an internal wireless communication network, displaying backscattered images in real time on the software interface. Specifically, during the backscatter reciprocating scanning imaging process, the backscatter inspection device activates an obstacle avoidance function to ensure both radiation safety and driving safety.

[0116] After the backscatter scanning task is completed, the backscatter robot 100 and the radiation protection robot 200 fine-tune their poses to maintain overall parallelism and spacing, and align the X-ray pencil beam envelope 131 with the centerline of the end face of the shielding partition 231. The inspected vehicle 400 drives away from the inspected area. When the next inspected vehicle enters the inspected area, a reverse backscatter scanning image is performed according to the aforementioned procedure.

[0117] This aspect also discloses a backscattered surround scanning imaging and radiation protection, and Figures 8a, 8b, 8c, 8d, and 8e show schematic diagrams of backscattered surround scanning imaging and radiation protection.

[0118] As shown in Figure 8a, the backscatter robot 100 receives a surround scan command from the remote inspection terminal 300 (e.g., a reciprocating scan command issued by the remote inspection terminal 300 after the user inputs the command). The backscatter robot 100 then automatically adjusts its position via the control system so that the inspected vehicle 400 is positioned to its right front. Then, the position of the backscatter robot 100 is fine-tuned according to a preset scan margin so that the distance between the X-ray pencil beam envelope 131 emitted by the flying-spot X-ray machine 121 and the inspected vehicle 400 is... The distance DX21 along the left edge (along the X direction) of the fitted outer contour 401 as shown in the figure, and the distance DY21 from the right front of the second lidar 102 (e.g., the center) of the backscattering robot 100 to the upper edge (along the Y direction) of the fitted outer contour 401 as shown in the figure, and in this embodiment, the forward direction of the backscattering robot 100 is parallel to the fitted outer contour 401 as a whole. For example, the backscattering robot 100 can move along the -X direction, wherein the fitted outer contour 401 of the inspected vehicle 400 is formed by the second lidar 102. The radiation protection robot 200 fine-tunes its position according to a preset safety margin, such that the distance DX21 from the center line of the shielding partition 231 to the left (along the X direction) of the fitted outer contour 401 of the vehicle under inspection 400, as shown in the figure, and the distance DY22 from the left front of the first lidar 222 (e.g., the center) of the radiation protection robot 200 to the lower edge (along the Y direction) of the fitted outer contour 401, as shown in the figure, are also present. In this embodiment, the forward direction of the radiation protection robot 200 is parallel to the fitted outer contour 401 as a whole; for example, the radiation protection robot 200 can move along the -X direction. The fitted outer contour 401 of the vehicle under inspection 400 is formed by the second lidar 102. In this embodiment, the X-ray pencil beam envelope 131 of the backscattering robot 100 is centered and can be perpendicular to the end face of the shielding partition 231 of the radiation protection robot 200. The backscattering robot 100 moves forward and emits an X-ray pencil beam to begin backscattering scanning imaging of the first side of the vehicle under inspection 400. The radiation protection robot 200 dynamically adjusts its posture through the control system to synchronously follow the backscattering robot 100, ensuring that all flying point X-ray beams penetrating the vehicle under inspection 400 are effectively shielded. When the distance from the X-ray pencil beam envelope surface 131 to the right edge of the fitted outer contour 401 is greater than or equal to DX22, it is determined that the first side beam scanning task has been completed, and the emission of the X-ray pencil beam is prohibited. The backscattering robot 100 stops moving and simultaneously turns 90 degrees clockwise in place. The radiation protection robot 200 reverses clockwise to the opposite side of the backscattering robot 100, keeping the two parallel as a whole, with the X-ray pencil beam envelope surface 131 centered and perpendicular to the end face of the shielding partition 231.

[0119] In this embodiment, as shown in FIG8b, the radiation protection robot 200 can travel clockwise along the route indicated by the dashed arrow in FIG8b to the opposite side of the backscattering robot 100; however, the radiation protection robot 200 can travel along other routes to the position shown in FIG8b. The backscattering robot 100 completes a turning maneuver in place, and then moves forward in coordination with the radiation protection robot 200 (along the -Y direction) to perform backscattering scanning imaging on the second side of the inspected vehicle 400.

[0120] As shown in Figure 8c, after completing the scan of the right side of the vehicle under inspection 400, the radiation protection robot 200 can move clockwise along the route indicated by the dashed arrow in Figure 8c to the opposite side of the backscattering robot 100; however, the radiation protection robot 200 can move along other routes to the position shown in Figure 8c. The backscattering robot 100 completes a turning maneuver in place, and then works in conjunction with the radiation protection robot 200 to perform backscattering scan imaging of the third side of the vehicle under inspection 400 (the lower side of the vehicle under inspection 400 as shown in Figure 8c).

[0121] As shown in Figure 8d, after completing the lower side scan of the inspected vehicle 400, the radiation protection robot 200 can move clockwise along the route indicated by the dashed arrow in Figure 8d to the opposite side of the backscattering robot 100; however, the radiation protection robot 200 can move along other routes to the position shown in Figure 8d. The backscattering robot 100 completes a turning maneuver in place, and then works in conjunction with the radiation protection robot 200 to perform a backscattering scan imaging of the fourth side of the inspected vehicle 400 (the left side of the inspected vehicle 400 as shown in Figure 8d).

[0122] As shown in Figure 8e, after completing backscatter scanning imaging of the four sides of the inspected vehicle 400, the backscatter robot 100 turns 90 degrees clockwise in place; the radiation protection robot 200 reverses clockwise to the opposite side of the backscatter robot 100; both adjust their pose parameters to return to their initial positions; and the inspected vehicle 400 leaves the inspection area. However, the operation in Figure 8e is not mandatory; the backscatter inspection equipment can begin inspecting the next object in any manner.

[0123] During the backscatter surround scanning imaging process, the remote inspection terminal 300 sends control commands and receives image data through the internal wireless communication network, and displays backscatter images of each side of the inspected vehicle in real time on the software operation interface.

[0124] Figure 9 shows a schematic diagram of a backscatter inspection device implementing swing scanning and radiation protection according to another embodiment of the present invention.

[0125] In this embodiment, after receiving the surround scan command from the remote inspection terminal 300, the backscattering robot 100 automatically travels to the side of the vehicle under inspection 400 and stops at a centered position relative to the fitted outer contour 401 of the vehicle under inspection 400, aligning itself accordingly. Then, it fine-tunes the position of the backscattering robot 100 according to a preset scanning margin, such that the Y-direction distance DY31 from the center of the second lidar 102 on the right front of the backscattering robot 100 to the upper edge of the fitted outer contour 401 of the vehicle under inspection 400 is equal to the distance in the Y direction. The radiation protection robot 200 automatically follows and travels to the opposite side of the vehicle under inspection 400, stopping at a centered position relative to the fitted outer contour 401 of the vehicle under inspection 400, aligning itself accordingly. Then, it fine-tunes the position of the radiation protection robot 200 according to a preset safety margin, such that the Y-direction distance DY32 from the center of the first lidar 222 on the left front of the radiation protection robot 200 to the lower edge of the fitted outer contour 401 is equal to the distance in the Y direction. The backscattering robot 100 calculates the swing scanning angle α based on the distance DY33 from the endpoint of the X-ray pencil beam envelope 131 to the upper edge of the fitted outer contour 401 and the side length of the fitted outer contour 401, and stops after turning counterclockwise by an angle of α / 2. The radiation protection robot 200 calculates the radiation protection zone width S based on the distance DY34 from the endpoint of the X-ray pencil beam envelope 131 to the end face of the shielding partition 231 and the swing scanning angle α, and stops after moving forward to the rightmost X-ray pencil beam shielding position.

[0126] The backscattering robot 100 rotates clockwise at a preset angular velocity and emits an X-ray pencil beam. The radiation protection robot 200 calculates its travel speed and follows in reverse (or forward) to ensure that the X-ray pencil beam envelope 131 is projected onto the centerline of the end face of the shielding partition 231, thereby effectively shielding the flying point X-ray beam that penetrates the inspected vehicle 400. However, those skilled in the art know that the X-ray pencil beam envelope 131 can be projected onto other positions of the shielding partition 231. When the backscattering robot 100 rotates to angle α, it determines that the oscillating scan has ended, stops emitting the beam, and then rotates counterclockwise to reset to the initial state parallel to the fitted outer contour 401. The radiation protection robot 200 moves forward to the initial center position. The inspected vehicle 400 drives away from the inspected area.

[0127] During the backscattered swing scanning imaging process, the remote inspection terminal 300 sends control commands and receives image data through the internal wireless communication network, and displays the backscattered image in real time on the software operation interface.

[0128] In other embodiments, the backscattering robot 100 may start scanning from the scanning direction shown by the rightmost dashed line in Figure 9, i.e., from the rightmost side of the vehicle under inspection 400. In this case, the radiation protection robot 200 may first move to the rightmost position shown in Figure 9 and start moving in the direction of the arrow to block the rays emitted by the backscattering robot 100 until the backscattering robot 100 scans the leftmost side of the vehicle under inspection 400.

[0129] In other embodiments, the backscattering robot 100 may scan the inspected vehicle 400 in other scanning methods, and the radiation protection robot 200 may move at the same pace as the backscattering robot 100 via wireless communication in order to block or shield radiation.

[0130] In addition, for specific application scenarios, backscatter inspection equipment can also build maps in advance and carry out backscatter scanning imaging according to the planned route.

[0131] According to the above technical solution, the present invention is applicable to the security inspection of cars, trucks, containers, cargo containers, bags, etc.

[0132] It should be noted that the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude multiple; "upper," "lower," "bottom," "upper part," and "lower part" are used only to indicate the orientation of the components in the illustrated structure, and not to limit their absolute orientation; "first" and "second" are used to distinguish the names of different components, not for ordering or indicating importance or priority. In addition, any element reference numerals in the claims should not be construed as limiting the scope of this disclosure.

[0133] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A radiation protection robot, comprising: The first round is positioned at the bottom of the radiation protection robot to support it and allow it to move. Shielding devices capable of reflecting and / or absorbing radiation; and A radiation sensor, used to sense radiation; The radiation protection robot is configured to move via the first wheel toward an area where the radiation dose value sensed by the radiation sensor increases, and to shield the propagation of radiation via the shielding device.

2. The radiation protection robot according to claim 1, wherein the radiation sensor comprises a plurality of radiation sensors installed at multiple locations on the periphery of the radiation protection robot, so that the radiation protection robot can sense radiation emanating from any direction around the radiation protection robot toward the radiation protection robot.

3. The radiation protection robot according to claim 2, wherein the shielding device includes the shielding surface extending along the first direction, and The plurality of radiation sensors include a plurality of first-side radiation sensors arranged on a radiation protection robot on a first side of the shielding surface and a plurality of second-side radiation sensors arranged on a second side of the shielding surface opposite to the first side. The radiation protection robot is configured to adjust the orientation of the shielding device by moving and / or turning the first wheel, such that the radiation dose values ​​sensed by the sensors of the plurality of first-side radiation sensors are greater than the radiation dose values ​​sensed by the sensors of the plurality of second-side radiation sensors.

4. The radiation protection robot of claim 3, wherein 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, such that the radiation dose value sensed by the sensors of the plurality of second-side radiation sensors is zero.

5. The radiation protection robot of claim 2, wherein 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, such that the radiation dose value sensed by the middle of the plurality of first side radiation sensors is the largest, and / or such that the radiation dose values ​​sensed by the first side radiation sensors located near both 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 is located.

6. The radiation protection robot according to claim 4 or 5, wherein the radiation protection robot is configured to move along a second direction perpendicular to the first direction by moving the first wheel, thereby increasing the radiation dose value sensed by the first side radiation sensor.

7. The radiation protection robot of claim 2, wherein the plurality of radiation sensors comprises a plurality of first-side radiation sensors disposed on a first side of a shielding surface extending in a first direction of the shielding device and a plurality of second-side radiation sensors disposed on a second side of the shielding surface opposite to the first side, the radiation protection robot being configured to move by means of the first wheel such that the radiation dose values ​​sensed by the sensors of the plurality of first-side radiation sensors and the plurality of second-side radiation sensors increase.

8. The radiation protection robot according to claim 1 further includes a navigation device configured to guide the radiation protection robot to avoid obstacles while moving through the first wheel.

9. The radiation protection robot of claim 1 further includes a navigation device configured to recognize human bodies, and After recognizing a 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 upstream of the human body relative to the incident radiation.

10. The radiation protection robot according to claim 1 further includes a navigation device. The navigation device is configured to identify objects in the location and guide the radiation protection robot to actively approach and move around the objects in order to actively detect whether radiation is detected; or the navigation device is configured to guide the radiation protection robot to cruise within the location in order to actively detect radiation.

11. The radiation protection robot according to claim 1, wherein the shielding device comprises a radiation protection material and a fixed steel structure shell, the fixed steel structure shell extending vertically upward from the bottom of the radiation protection robot by a certain height, and attaching and fixing the radiation protection material.

12. The radiation protection robot according to claim 11, wherein the shielding device includes a radiation protection column, and the radiation protection material is disposed between the fixed steel structure shell and the radiation protection column.

13. The radiation protection robot according to claim 12, wherein the shielding device comprises two radiation protection columns located between the space defined by the fixed steel structure shell, and the radiation protection material is disposed between the fixed steel structure shell and the radiation protection columns.

14. The radiation protection robot according to claim 12 or 13, wherein the radiation protection material is granular.

15. A backscattering inspection device, comprising: A backscattering robot is configured to move autonomously to the vicinity of an object to be inspected, emit radiation toward the object, detect the radiation reflected from the object, and perform a scan of the object. and The radiation protection robot according to any one of claims 1-14.

16. The backscatter inspection apparatus of claim 15, wherein, The radiation protection robot is configured to move self-propelled to the side of the object away from the backscattering robot to shield against radiation emitted from the backscattering robot; The object is located between the backscattering robot and the radiation protection robot.

17. The backscatter inspection apparatus of claim 15, wherein the backscatter robot comprises: In the second round, the configuration was made so that the backscattering robot could move in a self-propelled manner; and A backscattering device configured to perform a backscattering inspection on the object.

18. The backscattering inspection device according to claim 15 or 17, The radiation protection robot is configured to self-drive to the relative position of the backscattering robot and shield the propagation of radiation penetrating the object or shield the propagation of radiation not irradiated by the object through the shielding device.

19. The backscattering inspection device according to any one of claims 15-18, wherein, The radiation protection robot includes a first visual sensor and at least one first lidar, configured to identify objects to be inspected and to navigate and perform three-dimensional obstacle avoidance; and / or The backscattering robot includes a second vision sensor and at least one second lidar, configured to identify objects to be inspected and to navigate and perform three-dimensional obstacle avoidance.

20. The backscattering inspection device according to any one of claims 15-18, wherein, The radiation protection robot includes a first positioning module, and the backscattering robot includes a second positioning module, so as to determine the position between the backscattering robot and the radiation protection robot, so that the backscattering robot and the radiation protection robot move relative to each other in a predetermined positional relationship.

21. The backscattering inspection device according to any one of claims 15-18, wherein, The radiation protection robot includes a first attitude sensor configured to detect its own turning angle and movement position information; and / or The backscattering robot includes a second pose sensor configured to detect its own turning angle and movement position information.

22. The backscattering inspection device according to any one of claims 15-18, wherein, The radiation protection robot includes a first wireless communication module, and the backscattering robot includes a second wireless communication module, enabling the radiation protection robot and the backscattering robot to transmit information through the first wireless communication module and the second wireless communication module.

23. The backscatter inspection device according to any one of claims 15-18 further includes a remote inspection terminal configured to communicate with the first wireless communication module and / or the second wireless communication module, receive backscatter image data from the backscatter robot, and includes a software interface for real-time display of the backscatter image.

24. The backscattering inspection device according to any one of claims 15-18, wherein, The backscattering robot is configured to automatically construct a fitted outer contour of the object to be inspected, and scan at least one side of the object to be inspected based on the fitted outer contour; and / or The radiation protection robot is configured to automatically construct a fitted outer contour of the object to be inspected, and move along the side of the object to be inspected away from the backscattering robot based on the fitted outer contour.

25. The backscattering inspection apparatus of claim 24, wherein the backscattering inspection apparatus is configured to scan multiple sides of the object to be inspected one by one by the backscattering robot moving along multiple sides of the object to be inspected, while the radiation shielding robot shields the radiation from the backscattering robot.

26. The backscatter inspection apparatus of claim 25, wherein the radiation shielding robot moves in synchronization with the backscatter robot as the backscatter robot scans the object under inspection.

27. The backscatter inspection apparatus of claim 24, wherein the backscatter inspection apparatus is configured to use a radiation beam swing to scan one side of the object under inspection by the backscatter robot, and the radiation shielding robot moves in accordance with the radiation beam swing to shield the radiation beam that penetrates the object under inspection.

28. The backscatter inspection apparatus of claim 17, wherein, The backscatter apparatus includes a flying spot x-ray machine.

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