CN110927808A - Large-scale movable type foldable X-ray scanning robot with detection frame - Google Patents
Large-scale movable type foldable X-ray scanning robot with detection frame Download PDFInfo
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- CN110927808A CN110927808A CN201911187038.3A CN201911187038A CN110927808A CN 110927808 A CN110927808 A CN 110927808A CN 201911187038 A CN201911187038 A CN 201911187038A CN 110927808 A CN110927808 A CN 110927808A
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- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 238000007689 inspection Methods 0.000 claims abstract description 15
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- G01V5/22—
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
Abstract
The invention discloses a large-scale movable X-ray scanning robot with a foldable detection frame, which comprises a high-power X-ray source, and further comprises an automatic moving walking chassis, a box body, a detection frame, a control console, a controller, a detection circuit board and a program, wherein the box body is arranged on the chassis, four wheels are arranged under the chassis, four servo motors are arranged under the chassis, the four wheels are fixedly connected with the four servo motors, the detection frame comprises a support, a transverse frame, a first vertical frame and a second vertical frame, the support is arranged on the box body, the transverse frame is movably connected with the support, the first vertical frame is movably connected with the transverse frame, the second vertical frame is movably connected with the first vertical frame, the controller is arranged in the box body, the box body is provided with a lead plate, the detection frame is foldable, and the detection frame is arranged on the box body, the detection circuit board is arranged in the detection frame and can carry out security inspection on the large container.
Description
Technical Field
The invention relates to the field of security inspection equipment, in particular to an X-ray scanning robot with a large movable foldable detection frame.
Background
The security inspection work of the security inspection machine is mainly realized by X-rays, the security inspection machine is an electronic device which finishes inspection by conveying an inspected object into an X-ray inspection channel by means of a security inspection machine conveyor belt, the inspected object enters the X-ray inspection channel through the conveyor belt, a detection sensor for blocking the inspected object is used, a detection signal is sent to a system control part, an X-ray trigger signal is generated, and an X-ray source is triggered to emit an X-ray beam. A fan-shaped X-ray beam passing through the collimator penetrates through an object to be detected on the conveying belt, the X-ray is absorbed by the object to be detected, and finally, the X-ray bombards the dual-energy semiconductor detector arranged in the channel. The detector converts the X-rays into signals, and these very weak signals are amplified and sent to a signal processing cabinet for further processing. The security check machine can present images with different colors on a screen according to the absorption degree of the X-ray by the object, for example, orange represents organic matters such as food, plastics and the like; books, ceramics and the like are displayed in green, metals are displayed in blue, and at the moment, a security inspector can determine whether the checked object is an illegal object according to experience by quickly checking a perspective image of X-ray scanning on a display device.
The large X-ray security check machine on the market is generally in a fixed arrangement, needs civil engineering operation for construction and installation, occupies a wide area, has low integration level, needs field workers to operate the security check machine, and needs manual work to judge the image at present.
However, in the prior art, because large-scale X-ray security inspection machines on the market are generally arranged in a fixed mode at present, civil engineering operation is required for construction and installation, the occupied area is wide, the integration level is low, field workers are required to operate the security inspection machines, and manual image judging operation is required at present.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the large-scale movable X-ray scanning robot with the foldable detection frame, which has the advantages of small occupied area, low failure rate, high integration level and low construction cost, can be used for security inspection of large-scale containers, can realize unmanned operation remote control, and avoids personnel being polluted by ray radiation.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a large-scale movable X-ray scanning robot with a foldable detection frame comprises a high-power X-ray source, and further comprises an automatic moving walking chassis, a box body, a detection frame, a control console, a controller, a detection circuit board and a program, wherein the box body is arranged on the chassis, four wheels are arranged under the chassis, four servo motors are arranged under the chassis, the four wheels are fixedly connected with the four servo motors, the detection frame comprises a support, a transverse frame, a first vertical frame and a second vertical frame, the support is arranged on the box body, the transverse frame is movably connected with the support, the first vertical frame is movably connected with the transverse frame, the second vertical frame is movably connected with the first vertical frame, the controller is arranged in the box body, the box body is provided with a lead plate, the detection frame is foldable, and the detection frame is arranged on the box body, the detection circuit board is arranged in the detection frame, the detection circuit board is provided with a processor, and the high-power X-ray source is provided with a collimator;
the program is stored in the probe circuit board, and when executed by the processor, the program can realize the following steps: when an X-ray inspection channel in an X-ray scanning robot passes through an object to be inspected, a high-power X-ray source emits an X-ray beam to penetrate through the object to be inspected to bombard a detection frame, the X-ray is converted into an electric signal through the detection frame, the electric signal is amplified, a processor performs image processing on data, whether the data are forbidden articles or not is judged after the image processing, and if the data are forbidden articles, an alarm is sent out and displayed on a screen of a control console.
Preferably, the support is movably connected with the box body.
Preferably, the included angle between the support and the upper surface of the box body is controlled through an electric hydraulic support rod.
Preferably, the included angle between the bracket and the upper surface of the box body is 0-90 degrees.
Preferably, a solar panel is arranged on the box body.
Preferably, be equipped with detachable lithium cell set box in the box, be equipped with lithium cell set in the lithium cell set box.
Adopt above-mentioned technical scheme, owing to be equipped with high-power X ray source and detection frame, make this X-ray scanning robot can carry out the security check scanning to large container, because the detection frame is folded cascade, make the detection frame fold during the standby, the removal of conveniently changeing, expand the detection frame during the use, because automatic movement walking chassis, make this X-ray scanning robot can control the walking, owing to be provided with control cabinet and controller, make this X-ray scanning robot can carry out remote control, owing to be equipped with lithium cell and solar circuit board, make this X-ray scanning robot not need external power supply electric wire, security check passageway size height 4.8 meters, wide 4 meters, can carry out the security check to large container.
Drawings
FIG. 1 is a perspective view of an X-ray scanning robot with a large mobile foldable probe carriage according to the present invention;
FIG. 2 is a front view of an X-ray scanning robot of a large mobile foldable probe carriage according to the present invention;
fig. 3 is a top view of an X-ray scanning robot with a large mobile foldable detection frame according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, a large mobile foldable detection rack X-ray scanner comprises a high-power X-ray source, and further comprises an automatic mobile walking chassis, a box body 1, a detection rack, a console, a controller, a detection circuit board and a program, wherein the box body 1 is arranged on the chassis and fixedly connected with a box, four wheels 2 are arranged under the chassis, the four wheels 2 are used for moving the X-ray scanner, four servo motors are arranged under the chassis, the four wheels 2 are fixedly connected with the four servo motors, the four servo motors respectively control the movement speeds of the four wheels 2, the console is used for remotely controlling the foldable detection rack X-ray scanner, the controller is arranged in the box body, the controller is used for controlling the movement of the wheels 2 and further controlling the movement of the X-ray scanner, the box body is provided with a lead plate for shielding X-rays and preventing the X-rays from radiating people and objects which do not need to be scanned, the detection frame is foldable, is folded when in standby, is convenient to move in a transition way, is automatically unfolded when in work scanning, and is used for scanning and detecting a large automobile container, the detection frame is arranged on the box body, the detection circuit board is arranged in the detection frame, is provided with a processor, and is provided with a collimator for restricting the beam-outgoing direction angle of rays;
when an X-ray inspection channel in the X-ray scanning robot passes through an object to be inspected, a high-power X-ray source emits an X-ray beam to penetrate through the object to be inspected to bombard a detection frame, the detection frame converts the X-ray into an electric signal, the electric signal is amplified, the processor performs image processing on data, judges whether the object is a forbidden object or not after the image processing, and sends out an alarm and displays the alarm on a screen of a console if the object is the forbidden object;
the detection frame comprises a support 3, a transverse frame 4, a first vertical frame 5 and a second vertical frame 6, the support is arranged on the box body 1, the transverse frame 4 is movably connected with the support 3, the first vertical frame 5 is movably connected with the transverse frame 4, and the second vertical frame 6 is movably connected with the first vertical frame 5; the support 3 is movably connected with the box body 1, the support 3 can rotate around an axis on the box body 1 and can be folded when not in work, an included angle between the support 3 and the upper surface of the box body 1 is controlled by the electric hydraulic support rod 7, the electric hydraulic support rod 7 controls an included angle between the support 3 and the upper surface of the box body 1, the support 3 is controlled to be unfolded or folded, the first vertical frame 5, the support 3, the second vertical frame 6 and the first vertical frame 5 are movably connected, the detection frame is folded when not in use and is convenient to move in a transition, the detection frame is automatically unfolded when in work scanning to scan and detect large-sized automobile containers, the large-sized automobile containers are connected through mechanical arm joints, the rotation is controlled by the RV speed reducer, the included angle between the support 3 and the upper surface of the box body 1 is 0-90 degrees, the support 3 can be adjusted to be in an upright state by the electric hydraulic support rod 7 when in normal use, namely, the included angle between the support, the bracket 3 is adjusted to be in an upright state firstly, in order to avoid interference, when the cross frame 4, the first vertical frame 5 and the second vertical frame 6 are folded, an angle is formed between the cross frame and the bracket 3, then the cross rod 4 is unfolded, the first vertical frame 5 and the second vertical frame 6 are unfolded, the detection frame is folded when the detection frame is not used, the support 3 is adjusted to a position with an included angle of 0 degree with the upper surface of the box body 1, the second vertical frame 6 is controlled to be folded to be in a state that the first vertical frame 5 is attached when the detection frame is folded, then the first vertical frame 5 is controlled to be attached to the transverse frame 4, at the moment, the first vertical frame 5 is arranged between the second vertical frame 6 and the transverse frame 4, then the transverse frame 4 is controlled to be folded, a certain angle is formed between the transverse frame and the support 3, the position of the support 3 on the box body 1 needs to be considered, and finally the detection frame is folded after the support 3 is adjusted by the electric hydraulic support rod 7 and is attached to the upper surface of the box body 1; be equipped with solar cell panel on the box, can carry out the electric quantity in outdoor operation and store, can improve X-ray scanning robot's the time of using, be equipped with detachable lithium cell group box in the box, be equipped with lithium cell group in the lithium cell group box, the lithium cell can be very simple install provide electric power for equipment on this X-ray scanning robot.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (6)
1. The utility model provides a large-scale portable collapsible detection frame X-ray scanning robot, includes high-power X-ray source, its characterized in that: also comprises an automatic moving walking chassis, a box body, a detection frame, a control console, a controller, a detection circuit board and a program, the box body is arranged on the chassis, four wheels are arranged below the chassis, four servo motors are arranged below the chassis, the four wheels are fixedly connected with the four servo motors, the detection frame comprises a support, a transverse frame, a first vertical frame and a second vertical frame, the support is arranged on the box body, the transverse frame is movably connected with the bracket, the first vertical frame is movably connected with the transverse frame, the second vertical frame is movably connected with the first vertical frame, the controller is arranged in the box body, the box body is provided with a lead plate, the detection frame is foldable, the detection frame is arranged on the box body, the detection circuit board is arranged in the detection frame, the detection circuit board is provided with a processor, and the high-power X-ray source is provided with a collimator;
the program is stored in the probe circuit board, and when executed by the processor, the program can realize the following steps: when an X-ray inspection channel in an X-ray scanning robot passes through an object to be inspected, a high-power X-ray source emits an X-ray beam to penetrate through the object to be inspected to bombard a detection frame, the X-ray is converted into an electric signal through the detection frame, the electric signal is amplified, a processor performs image processing on data, whether the data are forbidden articles or not is judged after the image processing, and if the data are forbidden articles, an alarm is sent out and displayed on a screen of a control console.
2. A large mobile foldable X-ray scanning robot for a probing rack according to claim 1, characterized in that: the bracket is movably connected with the box body.
3. A large mobile foldable X-ray scanning robot for a probing rack according to claim 1, characterized in that: the included angle between the support and the upper surface of the box body is controlled through an electric hydraulic support rod.
4. A large mobile foldable X-ray scanning robot for a probing rack according to claim 1, characterized in that: the included angle between the bracket and the upper surface of the box body is 0-90 degrees.
5. A large mobile foldable X-ray scanning robot for a probing rack according to claim 1, characterized in that: and a solar cell panel is arranged on the box body.
6. A large mobile foldable X-ray scanning robot for a probing rack according to claim 1, characterized in that: be equipped with detachable lithium battery pack box in the box, be equipped with lithium cell group in the lithium battery pack box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911187038.3A CN110927808A (en) | 2019-11-28 | 2019-11-28 | Large-scale movable type foldable X-ray scanning robot with detection frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911187038.3A CN110927808A (en) | 2019-11-28 | 2019-11-28 | Large-scale movable type foldable X-ray scanning robot with detection frame |
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| Publication Number | Publication Date |
|---|---|
| CN110927808A true CN110927808A (en) | 2020-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911187038.3A Pending CN110927808A (en) | 2019-11-28 | 2019-11-28 | Large-scale movable type foldable X-ray scanning robot with detection frame |
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| CN (1) | CN110927808A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2598045A (en) * | 2020-08-05 | 2022-02-16 | 2Xsystems Ltd | Boom apparatus and an article scanning system |
| CN114714375A (en) * | 2022-04-28 | 2022-07-08 | 北京诚志北分机电技术有限公司 | Portable back scattering X-ray security inspection robot |
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| CN110315548A (en) * | 2019-05-23 | 2019-10-11 | 武汉艾崴科技有限公司 | A kind of explosive-removal robot |
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2019
- 2019-11-28 CN CN201911187038.3A patent/CN110927808A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2227709B1 (en) * | 2007-12-31 | 2016-04-13 | Morpho Detection, LLC | System and method for inspecting containers for target material |
| CN106290420A (en) * | 2016-08-31 | 2017-01-04 | 同方威视技术股份有限公司 | Packaged type commodity inspection system and inspection method |
| CN107860782A (en) * | 2017-09-22 | 2018-03-30 | 北京华力兴科技发展有限责任公司 | Portable commodity inspection system |
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| CN110315548A (en) * | 2019-05-23 | 2019-10-11 | 武汉艾崴科技有限公司 | A kind of explosive-removal robot |
Non-Patent Citations (1)
| Title |
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| 戴贤春，等: "铁路旅客安检系统现状及发展研究", 《铁道技术监督》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2598045A (en) * | 2020-08-05 | 2022-02-16 | 2Xsystems Ltd | Boom apparatus and an article scanning system |
| GB2598045B (en) * | 2020-08-05 | 2022-08-10 | 2Xsystems Ltd | Boom apparatus and an article scanning system |
| CN114714375A (en) * | 2022-04-28 | 2022-07-08 | 北京诚志北分机电技术有限公司 | Portable back scattering X-ray security inspection robot |
| CN114714375B (en) * | 2022-04-28 | 2022-10-28 | 北京诚志北分机电技术有限公司 | Portable back scattering X-ray security check robot |
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Application publication date: 20200327 |