Radiation scanning device and inspection apparatus

Abstract

A radiation scanning device (RS), comprising: a chassis (10); a radiation source assembly (20) which is disposed on the chassis (10); an arm frame assembly (30), which is connected to the chassis (10) or the radiation source assembly (20) and used for forming a detection region; and a detector assembly (40), which is disposed on the arm frame assembly (30) and cooperates with the radiation source assembly (20) so as to perform scanning imaging on an object to be detected (DO). The height of the chassis (10) is adjustable. An inspection apparatus is further involved.

Description

Radiation scanning device and inspection equipment

[0001] Cross-reference of related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202411918627.5, filed on December 24, 2024, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to the field of radiation scanning technology, and in particular to a radiation scanning device and inspection equipment. Background Technology

[0004] In some related techniques of radiation scanning, a gantry structure is used to create an inspection channel for vehicles to be inspected. Radiation sources emit rays from the side of the vehicle to perform a radiation scan. Summary of the Invention

[0005] Research has revealed that the radiation source in related technologies is limited by its own location, making it difficult to completely scan the entire underside of a vehicle. Furthermore, if the vehicle is excessively tall or wide, it may be impossible to capture a complete image of the top. Additionally, key areas of the inspected object may be located relative to the edge of the fan-shaped beam emitted by the radiation source. To ensure the scanned images of these key areas meet quality requirements, higher energy output and a reduced scanning speed are needed to provide sufficient dose. This negatively impacts imaging efficiency and increases energy consumption.

[0006] In view of this, the present disclosure provides a radiation scanning device and inspection equipment that can improve the radiation scanning effect.

[0007] In one aspect of this disclosure, a radiation scanning apparatus is provided, comprising:

[0008] Chassis;

[0009] The radiation source assembly is mounted on the chassis;

[0010] The boom assembly, connected to the chassis or the radiation source assembly, is used to form a detection area; and

[0011] A detector assembly is mounted on the boom assembly and works in conjunction with the radiation source assembly to scan and image the object being detected.

[0012] The height of the chassis is adjustable.

[0013] In some embodiments, the chassis includes:

[0014] Vehicle body;

[0015] A first moving component, disposed on the vehicle body, is configured to enable the vehicle body to steer and move; and

[0016] A lifting mechanism, disposed on the vehicle body, is configured to adjust the ground clearance of the vehicle body relative to the surface of the field on which the first moving component operates in the height direction.

[0017] In some embodiments, the radiation scanning device further includes:

[0018] The processor, signal-connected to the lifting mechanism, is configured to adjust the ground clearance of the vehicle body via the lifting mechanism based on received information about the detected object.

[0019] In some embodiments, the processor is signal-connected to the first moving component and configured to adjust the scanning mode of the radiation scanning device via the first moving component.

[0020] In some embodiments, the first movable component includes a caster wheel.

[0021] In some embodiments, the radiation scanning device further includes:

[0022] The source drive mechanism is disposed on the vehicle body and connected to the radiation source assembly.

[0023] The source drive mechanism is configured to drive the radiation source assembly to rotate, move vertically, and move horizontally relative to the vehicle body at least one of these functions.

[0024] In some embodiments, the radiation scanning device further includes:

[0025] The processor is signal-connected to the source drive mechanism and the lifting mechanism.

[0026] The processor is configured as follows:

[0027] Based on the received information about the object being detected, the ground clearance of the vehicle body is adjusted by the lifting mechanism, and / or the position of the radiation source assembly relative to the vehicle body is adjusted by the source drive mechanism.

[0028] In some embodiments, the boom assembly includes a plurality of booms for forming the detection area, and the shape and size of the detection area are adjustable.

[0029] In some embodiments, the plurality of arms includes a first vertical arm, a horizontal arm, and a second vertical arm. The first vertical arm is rotatably connected to the vehicle body, and the horizontal arm is connected to the first vertical arm and the second vertical arm respectively. The first vertical arm, the horizontal arm, and the second vertical arm can together form the detection area, and at least one of the first vertical arm, the horizontal arm, and the second vertical arm is a telescopic structure with adjustable length to achieve adjustment of the width and height of the detection area.

[0030] In some embodiments, the first vertical arm, the horizontal arm, and the second vertical arm all include a telescopic structure with adjustable length.

[0031] In some embodiments, the boom assembly further includes:

[0032] The second moving component is disposed at the bottom of the second vertical arm and is configured to support the second vertical arm in the extended state, and cooperate with the first moving component to realize the steering and movement of the vehicle body.

[0033] In some embodiments, the radiation scanning device further includes:

[0034] A boom drive mechanism is connected to at least one of the plurality of boom bodies.

[0035] The boom drive mechanism is configured as follows:

[0036] At least one of the plurality of booms is driven to rotate, move vertically, and move horizontally relative to the vehicle body.

[0037] Drive at least one of the plurality of arms to rotate relative to the adjacent arm; and / or

[0038] The arm body at least one of the plurality of arms is driven to adjust the arm body length by telescopic adjustment.

[0039] In some embodiments, the radiation scanning device further includes:

[0040] The processor is signal-connected to the boom drive mechanism and the lifting mechanism.

[0041] The processor is configured as follows:

[0042] Based on the received information about the object being detected, the ground clearance of the vehicle body is adjusted by the lifting mechanism, and / or the position of at least one of the multiple arms relative to the vehicle body, the relative position between the multiple arms, and the arm length of at least one of the multiple arms are adjusted by the boom drive mechanism.

[0043] In some embodiments, the radiation scanning device further includes:

[0044] An optical sensing element is configured to perform optical sensing on the object being detected;

[0045] The processor is signal-connected to the optical sensing element and configured to perform three-dimensional modeling of the object being detected based on the sensing data of the optical sensing element, so as to obtain at least a portion of the three-dimensional model as relevant information of the object being detected.

[0046] In one aspect of this disclosure, an inspection device is provided, comprising: the aforementioned radiation scanning device.

[0047] According to the embodiments of this disclosure, a height-adjustable chassis is used to set up the radiation source assembly, and a boom assembly for setting up the detector assembly is connected to the chassis or the radiation source assembly to form a detection area. In this way, by adjusting the height of the chassis, the radiation source and the boom assembly can be adjusted accordingly according to the size of the object being detected or the parts that need to be scanned, thereby meeting actual scanning requirements such as the integrity of the scanned image and targeted scanning of key parts, and improving the radiation scanning effect. Attached Figure Description

[0048] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0049] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0050] Figure 1 is a schematic diagram of the structure of some embodiments of the radiation scanning apparatus according to the present disclosure;

[0051] Figure 2 is a schematic diagram of the adjusted structure of the components in an embodiment of the radiation scanning device according to the present disclosure;

[0052] Figure 3 is a schematic diagram of signal relationships according to an embodiment of the radiation scanning device of this disclosure;

[0053] Figure 4 is a structural schematic diagram of some embodiments of the inspection equipment according to the present disclosure.

[0054] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components.

[0055] Explanation of reference numerals in the attached drawings: 10-Chassis; 11-Vehicle body; 12-First moving component; 121-Wheel caster; 13-Lifting mechanism; 20-Radiation source assembly; 30-Boom assembly; 31-First vertical arm; 32-Horizontal arm; 33-Second vertical arm; 34-Second moving component; 40-Detector assembly; 50-Optical sensing element; 60-Processor; 70-Source drive mechanism; 80-Boom drive mechanism; DO-Object being detected; GC-Ground clearance; RS-Radiation scanning device; IE-Inspection equipment. Detailed Implementation

[0056] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0057] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0058] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0059] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0060] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0061] In some related techniques of radiation scanning, a gantry structure is used to create an inspection channel for vehicles to be inspected. Radiation sources emit rays from the side of the vehicle to perform a radiation scan.

[0062] Research has revealed that the radiation source in related technologies is limited by its own location, making it difficult to completely scan the entire underside of a vehicle. Furthermore, if the vehicle is excessively tall or wide, it may be impossible to capture a complete image of the top. Additionally, key areas of the inspected object may be located relative to the edge of the fan-shaped beam emitted by the radiation source. To ensure the scanned images of these key areas meet quality requirements, higher energy output and a reduced scanning speed are needed to provide sufficient dose. This negatively impacts imaging efficiency and increases energy consumption.

[0063] In view of this, embodiments of the present disclosure provide a radiation scanning device that can improve the radiation scanning effect.

[0064] Figure 1 is a structural schematic diagram of some embodiments of the radiation scanning apparatus according to the present disclosure. Figure 2 is a structural schematic diagram of the components after adjustment in an embodiment of the radiation scanning apparatus according to the present disclosure.

[0065] Referring to Figures 1 and 2, this disclosure provides a radiation scanning device, including a chassis 10, a radiation source assembly 20, a boom assembly 30, and a detector assembly 40. The height of the chassis 10 is adjustable. The radiation source assembly 20 is disposed on the chassis 10. The boom assembly 30 is connected to the chassis 10 or the radiation source assembly 20 to form a detection area. The detector assembly 40 is disposed on the boom assembly 30 and cooperates with the radiation source assembly 20 to scan and image the target object (DO).

[0066] The chassis 10 can be a fixed chassis set on the site, or a mobile chassis that can move on the site. The movement of the chassis 10 relative to the site can be achieved by a moving component that can be actively driven on the chassis 10, or by other equipment (such as towing equipment or mobile vehicles) towing or carrying it and moving it.

[0067] The chassis 10 can carry the radiation source assembly 20, boom assembly 30 and detector assembly 40, and can install the necessary systems to support the operation of the radiation source assembly 20, boom assembly 30 and detector assembly 40, such as electrical system, hydraulic system, etc.

[0068] The height of the chassis 10 is adjustable. By adjusting the height of the chassis 10, the radiation source assembly 20, the boom assembly 30, and the detector assembly 40 can be adjusted accordingly. In some embodiments, the height of the chassis 10 is the overall height of the chassis 10 itself, and the height adjustment of the chassis 10 can be achieved through a drive component in the chassis 10 that enables lifting.

[0069] In other embodiments, the height of chassis 10 is the maximum height of chassis 10 relative to a reference surface (e.g., the surface of the site where chassis 10 is located). Accordingly, the height of chassis 10 can be adjusted by other devices that can act on chassis 10, such as by suspending chassis 10 with a suspension device, or by performing a lifting operation on chassis 10 through a support device on the underside of chassis 10.

[0070] The radiation source assembly 20 may include a radiation source capable of emitting radiation, such as a radiation source capable of emitting X-rays or gamma rays. The radiation source assembly 20 may also include other radiation source-related components, such as a container for housing the radiation source, a shielding structure, a cooling structure, etc.

[0071] The detector assembly 40 is mounted on the boom assembly 30 and is capable of receiving optical or electrical signals generated when the radiation emitted by the radiation source in the radiation source assembly 20 acts on the object being detected (DO). The detector assembly 40 may include one or more detector modules, which are arranged on the boom assembly 30. Each detector module may include a scintillator array. The detector assembly 40 may also include multiple scintillators arranged on the boom assembly 30.

[0072] The boom assembly 30 can adopt various boom forms to form the detection area, such as a boom forming a gantry structure, a boom forming a closed ring structure, or a boom forming a fan-shaped ring structure. The detector assembly 40 can be mounted on the surface of the boom assembly 30 or installed by embedding it into the boom assembly 30.

[0073] In this embodiment, a height-adjustable chassis is used to set up the radiation source assembly, and the boom assembly that sets up the detector assembly is connected to the chassis or the radiation source assembly to form a detection area. In this way, by adjusting the height of the chassis, the radiation source and the boom assembly can be adjusted accordingly according to the size of the object being detected or the parts that need to be scanned, thereby meeting the actual scanning requirements such as the integrity of the scanned image and the targeted scanning of key parts, and improving the radiation scanning effect.

[0074] For objects of different sizes, the height of the chassis can be adjusted accordingly. For example, for taller objects, the height of the radiation source assembly, boom assembly, and detector assembly can be increased by adjusting the height of the chassis. On the one hand, this adjusts the scanning range formed by the radiation source assembly so that it can cover the necessary scanning area of ​​the taller object, thereby obtaining a more complete scanning image. On the other hand, it allows the detection area formed by the boom assembly to adapt to the outer contour of the object being detected, reducing the risk of mutual interference.

[0075] For shorter objects to be detected, the height of the radiation source assembly, boom assembly, and detector assembly can be reduced by adjusting the height of the chassis. On the one hand, this adjusts the scanning range formed by the radiation source assembly, enabling it to cover the necessary scanning area of ​​the shorter object to be detected. On the other hand, it reduces the space occupied by the boom assembly, allowing it to be used in more compact areas, thereby improving adaptability to different scenarios.

[0076] For objects with specific areas requiring focused scanning, the height of the chassis can be adjusted to allow the scanning range formed by the radiation source components to apply greater radiation energy to the key areas, thereby enabling more efficient and targeted scanning to meet the imaging requirements of these key areas.

[0077] Referring to Figures 1 and 2, in some embodiments, the chassis 10 includes a vehicle body 11, a first moving component 12, and a lifting mechanism 13. The vehicle body 11 can be used to mount the radiation source assembly 20 and the boom assembly 30, etc. The first moving component 12 is disposed on the vehicle body 11 and configured to enable the vehicle body 11 to steer and move. The lifting mechanism 13 is disposed on the vehicle body 11 and configured to adjust the ground clearance GC of the vehicle body 11 relative to the surface of the field on which the first moving component 12 operates in the height direction.

[0078] The first moving component 12 can be integrally or partially installed at the bottom of the vehicle body 11. Through its own active drive or under the action of an external driving force, it enables the vehicle body 11 to turn and move relative to the operating area of ​​the first moving component 12, thereby enabling different scanning modes according to actual working conditions. The first moving component 12 can be driven for movement and steering using existing methods such as electric motors, pneumatic motors, or hydraulic motors.

[0079] The lifting mechanism 13 can use, for example, a motor, pneumatic or hydraulic system to adjust the height of the vehicle body 11. In some embodiments, the lifting mechanism 13 uses a motor-driven chain transmission mechanism or a rack and pinion transmission mechanism to drive the vehicle body 11 to perform the lifting operation. In some embodiments, the lifting mechanism 13 uses an electric push rod, a cylinder or a hydraulic cylinder to drive the vehicle body 11 to perform the lifting operation.

[0080] The lifting mechanism 13 can adjust the ground clearance GC of the vehicle body 11 relative to the surface of the playing field on which the first moving component 12 operates. In Figure 2, the ground clearance GC is schematically shown as the vertical distance of the bottom of the vehicle body 11 relative to the playing field surface. By adjusting the ground clearance GC, the vehicle body 11 can be moved upward or downward as a whole, thereby achieving the effect of adjusting the height of the chassis 10.

[0081] In some embodiments, the first moving component 12 may include an axle and wheels disposed on the axle, and the lifting mechanism 13 may be installed between the vehicle body 11 and the axle, and may drive the vehicle body 11 away from or closer to the axle to adjust the ground clearance GC of the vehicle body 11.

[0082] In other embodiments, the first moving part 12 may include a frame with axles and wheels, and the lifting mechanism 13 may be installed between the vehicle body 11 and the frame, and can drive the vehicle body 11 away from or closer to the frame to adjust the ground clearance GC of the vehicle body 11.

[0083] Referring to Figures 1 and 2, in some embodiments, the first moving component 12 includes casters 121. The casters 121 can rotate flexibly in multiple directions, thereby making the operation and steering of the chassis 10 more flexible.

[0084] Figure 3 is a schematic diagram of signal relationships according to an embodiment of the radiation scanning device of this disclosure.

[0085] Referring to Figure 3, in some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is signal-connected to the lifting mechanism 13 and is configured to adjust the ground clearance GC of the vehicle body 11 via the lifting mechanism 13 based on received information related to the detected object DO.

[0086] The processor 60 can connect to various parts of the radiation scanning device using various interfaces and lines, and can effectively control the operation of the radiation scanning device by running or executing instructions stored in external or internal memory and calling data stored in external or internal memory.

[0087] Processor 60 may include one or more processing units, which may be implemented on the same chip as the memory or on separate chips. Processor 60 may be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, and may implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0088] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc.

[0089] The processor 60 can communicate with the lifting mechanism 13 wirelessly or via a wired connection and can send control commands to the lifting mechanism 13. The information related to the detected object DO received by the processor 60 may include information directly input from the outside of the detected object DO, or it may include sensing signals related to the detected object DO sensed by the sensing element.

[0090] Based on the received information about the detected object DO, the processor 60 sends a control command to the lifting mechanism 13, which can then adjust the ground clearance GC of the vehicle body 11. The control command may include parameters such as the lifting height adjusted by the lifting mechanism 13, or the timing of the adjustment.

[0091] In addition to being connected to the lifting mechanism 13, the processor 60 can also be connected to other mechanisms shown in Figure 3, which will be described in detail later. Furthermore, the processor 60 can also be connected to the radiation source assembly 20 and the detector assembly 40 to control them to perform different scanning processes.

[0092] Referring to FIG3, in some embodiments, the processor 60 is signal-connected to the first moving component 12 and is configured to adjust the scanning mode of the radiation scanning device via the first moving component 12.

[0093] The processor 60 can communicate with the first moving part 12 wirelessly or via a wired connection and can send control commands to the first moving part 12. In this way, the processor 60 can adjust the scanning mode of the radiation scanning device through the first moving part 12.

[0094] For example, a passive scanning mode can be achieved by keeping the first moving part 12 stationary relative to the site, while the object being detected (DO) passes through the detection area on its own or by being dragged. Another example is an active scanning mode, where the object being detected (DO) is kept stationary relative to the site, and the detection area passes through the DO by moving the first moving part 12. Yet another example is a multi-object continuous scanning mode, where multiple objects being detected (DO) are kept stationary relative to the site and arranged in a preset manner, and the detection area passes through each object sequentially by moving the first moving part 12.

[0095] Referring to Figures 1 and 2, in some embodiments, the radiation scanning device further includes a source drive mechanism 70. The source drive mechanism 70 is disposed on the vehicle body 11 and connected to the radiation source assembly 20. The source drive mechanism 70 is configured to drive the radiation source assembly 20 to rotate, move vertically, and move horizontally relative to the vehicle body 11 at least one of these actions.

[0096] The source drive mechanism 70 can drive the radiation source assembly 20 using a motor, pneumatic, or hydraulic method. In some embodiments, the source drive mechanism 70 uses a motor-driven gear transmission or ball screw transmission mechanism to drive the source drive mechanism 70 to rotate or translate. The direction of translation can include the vertical direction, the horizontal direction, or other directions that form an angle with the vertical and horizontal directions. The source drive mechanism 70 can also use an electric push rod, a cylinder, or a hydraulic cylinder to drive the radiation source assembly 20.

[0097] In this embodiment, the radiation source assembly 20 is driven by the source drive mechanism 70, which enables the radiation source assembly 20 to rotate and / or move as needed, thereby changing the coverage area of ​​the emitted radiation by adjusting the position and angle of the radiation source assembly 20.

[0098] Referring to Figure 3, in some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is signal-connected to the source drive mechanism 70 and the lifting mechanism 13, and is configured to: adjust the ground clearance GC of the vehicle body 11 via the lifting mechanism 13, and / or adjust the position of the radiation source assembly 20 relative to the vehicle body 11 via the source drive mechanism 70, based on received information related to the detected object DO.

[0099] The processor 60 can communicate with the source drive mechanism 70 and the lifting mechanism 13 wirelessly or via wired means, and can send control commands to the source drive mechanism 70 and the lifting mechanism 13 respectively. In this way, the processor 60 can adjust the ground clearance GC of the vehicle body 11 via the lifting mechanism 13 based on the relevant information of the detected object DO, and can also adjust the position of the radiation source component 20 relative to the vehicle body 11 via the source drive mechanism 70 based on the relevant information of the detected object DO.

[0100] By combining the adjustment functions of the source drive mechanism 70 and the lifting mechanism 13, the radiation source assembly 20 can achieve a wider range of adjustable space, enabling on-demand or real-time adjustment of its position or angle. Based on the vehicle height adjustment capability of the lifting mechanism 13, the requirements for the height adjustment capability of the source drive mechanism 70 can be correspondingly reduced, thereby facilitating cost reduction and space occupancy by decreasing the structural dimensions of the source drive mechanism 70.

[0101] Referring to Figures 1 and 2, in some embodiments, the boom assembly 30 includes a plurality of booms for forming the detection area, and the shape and size of the detection area are adjustable.

[0102] The multiple booms in boom assembly 30 can easily form the desired detection area, such as the passable area enclosed by the gantry structure shown in Figures 1 and 2. This area can accommodate the object being detected (DO) or allow the DO to pass through, thereby enabling a radiation scan of the DO within this area.

[0103] By changing the size and relative position of the multiple arms of the boom assembly 30, the shape and size of the detection area can be adjusted to meet the actual needs of different objects being detected (DOs) or different working modes. The multiple arms of the boom assembly 30 can be extended or retracted as needed; in some embodiments, the boom assembly 30 can be folded and stored into a complete cube.

[0104] Referring to Figures 1 and 2, in some embodiments, the plurality of arms includes a first vertical arm 31, a horizontal arm 32, and a second vertical arm 33. The first vertical arm 31 is rotatably connected to the vehicle body 11, and the horizontal arm 32 is connected to both the first vertical arm 31 and the second vertical arm 33. The first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 together form the detection area. At least one of the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 is an adjustable-length telescopic structure to allow for adjustment of the width and height of the detection area.

[0105] The first vertical arm 31 is rotatably connected to the vehicle body 11, which allows for angle adjustment of the boom assembly 30 relative to the vehicle body 11. This enables the boom assembly 30 to extend laterally relative to the vehicle body 11 in various working modes and to retract relative to the vehicle body 11 in transport or transfer modes. It also enables working modes of vertical scanning or small-angle scanning.

[0106] The horizontal arm 32 can be fixedly or rotatably connected to the arm body or end of the first vertical arm 31, and can be parallel to the field surface or at an angle to the field surface in various working modes, transportation modes or transfer modes.

[0107] The second vertical arm 33 can be rotatably connected to the body or end of the horizontal arm 32 to enable the second vertical arm 33 to be extended and retracted relative to the horizontal arm 32. In other embodiments, the second vertical arm 33 can also be fixedly connected to the body or end of the horizontal arm 32.

[0108] The first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 can together form a gantry-type detection area, as shown in Figures 1 and 2. The vehicle body 11 can also, together with the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33, enclose this detection area.

[0109] At least one of the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 can be an adjustable-length telescopic structure. The length can be adjusted by telescoping, thereby further adjusting the width and height of the detection area to meet the scanning imaging requirements of the object being detected.

[0110] In Figures 1 and 2, the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33 may each include a telescopic structure with adjustable length.

[0111] The telescopic structure can take many forms, such as a sliding telescopic arm with multiple sliding arm sections, a scissor telescopic arm with a scissor structure, or a spiral telescopic arm that telescopically extends and retracts through a spiral motion.

[0112] By incorporating adjustable-length telescopic structures into the first vertical arm 31, the horizontal arm 32, and the second vertical arm 33, the boom assembly 30 can be more easily adjusted to adapt to a wider range of detection needs, thereby improving the scene adaptability of the radiation scanning device.

[0113] Referring to Figures 1 and 2, in some embodiments, the boom assembly 30 further includes a second moving part 34, which is disposed at the bottom of the second vertical arm 33 and configured to support the second vertical arm 33 in the extended state, and cooperate with the first moving part 12 to realize the steering and movement of the vehicle body 11.

[0114] For the second vertical arm 33, a movable component can be provided at its bottom to support the second vertical arm 33 on the field and to enable the second vertical arm 33 to move smoothly on the field. The second movable component 34 can be actively driven or can move with the vehicle body 11. The second movable component 34 may also include casters to enable smooth multi-directional movement on the field.

[0115] In other embodiments, no moving part may be provided at the bottom of the second vertical arm 33, so that the support function of the second vertical arm 33 is achieved by the horizontal arm 32.

[0116] Referring to Figures 1 and 2, in some embodiments, the radiation scanning device further includes a boom drive mechanism 80, which is connected to at least one of the plurality of booms. The boom drive mechanism 80 may be configured to drive at least one of the plurality of booms to rotate, move vertically, and move horizontally relative to the vehicle body 11; it may also be configured to drive at least one of the plurality of booms to rotate relative to an adjacent boom; and it may further be configured to drive at least one of the plurality of booms to adjust its length by telescoping.

[0117] The boom drive mechanism 80 may include multiple components, such as an electric motor or pneumatic motor for driving the boom to rotate, an electric push rod, cylinder or hydraulic cylinder for driving the boom to translate, or a cylinder or hydraulic cylinder for driving the boom to extend or retract.

[0118] In this embodiment, the arm body is driven by the arm drive mechanism 80, which enables at least one of the multiple arms to rotate, move and / or adjust its length as needed, thereby changing the scanning area by adjusting the shape, size, position and angle of the arm assembly 30.

[0119] Referring to Figure 3, in some embodiments, the radiation scanning device further includes a processor 60. The processor 60 is signal-connected to the boom drive mechanism 80 and the lifting mechanism 13, and is configured to: adjust the ground clearance GC of the vehicle body 11 via the lifting mechanism 13, and / or adjust the position of at least one of the plurality of booms relative to the vehicle body 11, the relative positions between the plurality of booms, and the boom length of at least one of the plurality of booms via the boom drive mechanism 80.

[0120] The processor 60 can communicate wirelessly or wiredly with the boom drive mechanism 80 and the lifting mechanism 13, respectively, and can send control commands to the boom drive mechanism 80 and the lifting mechanism 13. In this way, the processor 60 can adjust the ground clearance GC of the vehicle body 11 via the lifting mechanism 13 based on the relevant information of the detected object DO, and can also adjust the position of at least one of the multiple booms relative to the vehicle body 11, the relative positions of the multiple booms, and the boom length of at least one of the multiple booms via the boom drive mechanism 80 based on the relevant information of the detected object DO.

[0121] By combining the adjustment functions of the boom drive mechanism 80 and the lifting mechanism 13, the boom assembly 30 can achieve a wider range of adjustable space, enabling on-demand or real-time adjustment of its shape, size, position, or angle. Based on the vehicle height adjustment capability of the lifting mechanism 13, the requirements for the height adjustment capability of the boom drive mechanism 80 can be correspondingly reduced, thereby facilitating cost reduction and space occupancy by decreasing the structural dimensions of the boom assembly 30.

[0122] Combined with the driving of the radiation source component 20 by the source drive mechanism 70 and the control of the source drive mechanism 70 by the processor 60, the lifting mechanism 13, the source drive mechanism 70 and the boom drive mechanism 80 can work together to meet richer adjustment needs and support more business modes based on the relevant information of the detected object DO.

[0123] Referring to FIG3, in some embodiments, the radiation scanning apparatus further includes an optical sensing element 50. The optical sensing element 50 is configured to optically sense the object to be detected (DO). The processor 60 is signal-connected to the optical sensing element 50 and is configured to perform three-dimensional modeling of the object to be detected (DO) based on the sensing data from the optical sensing element 50 to obtain a three-dimensional model that is at least a portion of the relevant information of the object to be detected (DO).

[0124] In the above embodiments, the relevant information of the detected object DO may include at least one aspect of the detected object DO, such as its shape, size, material, region of interest, and type. Some or all of this information can be provided to the processor 60 for processing in various ways. For example, parameters of the detected object can be input via an external device; or, another computing device can transmit the parameters of the detected object to the processor 60 via a wired or wireless means; or, another computing device can transmit the data link of the detected object to the processor 60 via a wired or wireless means, and the processor 60 can access the data link to obtain the relevant information; or, sensing elements such as cameras and photoelectric sensors can transmit sensed signals to the processor 60, and the processor 60 can further process these signals to obtain the relevant information.

[0125] The optical sensing element 50 may include a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) to obtain a partial or overall optical image of the object being detected (DO). It may also include a lidar to obtain point cloud data of the external contour of the object being detected (DO) by scanning.

[0126] The processor 60 can perform three-dimensional modeling of the object to be detected (DO) based on the sensing data from the optical sensing element 50. The relevant information of the object to be detected (DO) may include the three-dimensional model obtained through this modeling. Based on the three-dimensional model of the object to be detected (DO), the processor 60 can more accurately control the relevant components included in the above embodiments of the radiation scanning device, thereby more fully meeting the radiation scanning requirements of the object to be detected (DO).

[0127] The radiation scanning apparatus of the above embodiments of this disclosure can be applied to various business scenarios that require radiation scanning, such as security inspection, medical examination, and mineral flaw detection.

[0128] Figure 4 is a structural schematic diagram of some embodiments of the inspection equipment according to the present disclosure.

[0129] Referring to Figure 4, this disclosure also provides an inspection device IE, including the radiation scanning device RS of any of the foregoing embodiments. The inspection device IE can be used for the inspection of goods, vehicles, and other objects in customs, security, and other situations.

[0130] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0131] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A radiation scanning device (RS) comprising: a chassis (10); a radiation source assembly (20) arranged on the chassis (10); a gantry assembly (30) connected to the chassis (10) or the radiation source assembly (20) for forming a detection region; and a detector assembly (40) arranged on the gantry assembly (30) and cooperating with the radiation source assembly (20) for scanning an object of detection (DO); wherein a height of the chassis (10) is adjustable. The chassis (10) comprises:

2. The radiation scanning apparatus (RS) according to claim 1, wherein a vehicle body (11); a first moving component (12) arranged on the vehicle body (11) and configured to realize steering and walking of the vehicle body (11); and a lifting mechanism (13) arranged on the vehicle body (11) and configured to adjust a ground clearance (GC) of the vehicle body (11) in a height direction relative to a surface on which the first moving component (12) runs.

3. The radiation scanning device (RS) according to claim 2, further comprising: a processor (60) in signal connection with the lifting mechanism (13) and configured to adjust the ground clearance (GC) of the vehicle body (11) by the lifting mechanism (13) according to received information related to the object of detection (DO). The processor (60) is in signal connection with the first moving component (12) and configured to adjust a scanning mode of the radiation scanning device (RS) by the first moving component (12).

4. The radiation scanning apparatus (RS) according to claim 3, wherein The first moving component (12) comprises a universal wheel (121).

5. The radiation scanning apparatus (RS) according to any one of claims 2-4, wherein, 6. The radiation scanning device (RS) according to any one of claims 2-5, further comprising: a source driving mechanism (70) arranged on the vehicle body (11) and connected to the radiation source assembly (20), wherein the source driving mechanism (70) is configured to drive the radiation source assembly (20) to at least one of rotate, vertically move and horizontally move relative to the vehicle body (11).

7. The radiation scanning device (RS) according to claim 6, further comprising: a processor (60) in signal connection with the source driving mechanism (70) and the lifting mechanism (13), wherein the processor (60) is configured to: adjust the ground clearance (GC) of the vehicle body (11) by the lifting mechanism (13), and / or adjust a position of the radiation source assembly (20) relative to the vehicle body (11) by the source driving mechanism (70), according to received information related to the object of detection (DO). The gantry assembly (30) comprises a plurality of arm bodies for forming the detection region, and a shape and a size of the detection region are adjustable.

8. The radiation scanning apparatus (RS) according to any one of claims 2-7, wherein, ​ 9. The radiation scanning apparatus (RS) according to claim 8, wherein The plurality of arm bodies comprises a first vertical arm (31), a horizontal arm (32) and a second vertical arm (33), the first vertical arm (31) is rotatably connected with the vehicle body (11), the horizontal arm (32) is connected with the first vertical arm (31) and the second vertical arm (33) respectively, the first vertical arm (31), the horizontal arm (32) and the second vertical arm (33) can jointly form the detection area, and at least one of the first vertical arm (31), the horizontal arm (32) and the second vertical arm (32) is a telescopic structure with adjustable length, so as to realize the adjustment of the width and height of the detection area.

10. The radiation scanning apparatus (RS) according to claim 9, wherein, The first vertical arm (31), the horizontal arm (32) and the second vertical arm (33), each comprise a telescopic structure with adjustable length.

11. The radiation scanning arrangement (RS) according to claim 9 or 10, wherein The arm support assembly (30) further comprises: A second moving component (34) is arranged at the bottom of the second vertical arm (33) and is configured to support the second vertical arm (33) in the unfolded state and cooperate with the first moving component (12) to realize the steering and walking of the vehicle body (11).

12. The radiation scanning device (RS) according to any one of claims 8-11, further comprising: An arm support driving mechanism (80) connected with at least one of the plurality of arm bodies, Wherein the arm support driving mechanism (80) is configured to: Drive at least one of the plurality of arm bodies to rotate, vertically move and horizontally move relative to the vehicle body (11), Drive at least one of the plurality of arm bodies to rotate relative to an adjacent arm body; and / or Drive at least one of the plurality of arm bodies to adjust the length of the arm body through telescoping.

13. The radiation scanning device (RS) according to claim 12, further comprising: A processor (60) in signal connection with the arm support driving mechanism (80) and the lifting mechanism (13), Wherein the processor (60) is configured to: According to the received relevant information of the detected object (DO), adjust the ground clearance (GC) of the vehicle body (11) through the lifting mechanism (13), and / or adjust the position of at least one of the plurality of arm bodies relative to the vehicle body (11), the relative position between the plurality of arm bodies and the arm body length of at least one of the plurality of arm bodies through the arm support driving mechanism (80).

14. The radiation scanning device (RS) according to any one of claims 3, 7 and 13, further comprising: An optical sensing element (50) configured to optically sense the detected object (DO); Wherein the processor (60) is in signal connection with the optical sensing element (50) and is configured to three-dimensionally model the detected object (DO) according to the sensing data of the optical sensing element (50) to obtain a three-dimensional model as at least part of the relevant information of the detected object (DO).

15. An inspection equipment (IE) comprising: The radiation scanning device (RS) according to any one of claims 1-14.

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