CN105403926B - Walking crawler belt base back scattering imaging instrument - Google Patents
Walking crawler belt base back scattering imaging instrument Download PDFInfo
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- CN105403926B CN105403926B CN201510713652.4A CN201510713652A CN105403926B CN 105403926 B CN105403926 B CN 105403926B CN 201510713652 A CN201510713652 A CN 201510713652A CN 105403926 B CN105403926 B CN 105403926B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
- G01V5/222—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays measuring scattered radiation
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- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention discloses a kind of walking crawler belt base back scattering imaging instrument, including：Shell is shielded, bottom is equipped with rotating disc type crawler belt base, interior to drive shielding shell rotation and mobile pedestal driving device and transmission parts equipped with driving disc formula crawler belt base；Detector is located at the side in shielding shell, acquires image and is processed into complete image；X-ray production apparatus is located in shielding shell, and by detector, the X-ray production apparatus light-emitting surface is towards detector；Rotating cylinder is located at outside the light-emitting surface of X-ray production apparatus, and the light-emitting surface that can surround X-ray production apparatus rotates, and which is provided with light-emitting window, and light-emitting window corresponds to detector；Rotating cylinder driving device, connect with rotating cylinder, rotating cylinder can be driven at the uniform velocity to rotate；Drive dynamic control device controls pedestal driving device and rotating cylinder driving device respectively.The imager area of detection is big, can detect wall, rough ground can operate in the wild, and rotatable detector is imaged sector region, and has preferably protection to X ray.
Description
Technical field
The invention belongs to safety monitoring device field, the walking back of the body for being related to a kind of back scattering imaging using X ray dissipates
Penetrate imaging device.
Background technology
To entering personnel, luggage and the counter of important place, implement non-contacting safety inspection, it has also become at present most extensively
The safety check measure of use.Each metalloid or non-metallic weapons, poison, explosive are the emphasis of detection.At present, it is most commonly used to be
X-ray transmission imaging technique, principle are since X ray has very strong penetration capacity, when by different densities substance, are transmitted
Luminous intensity is different, and the light intensity that receiver receives is different, this signal is sent out greatly, can be imaged.Make in X imaging devices
There are subway safe examination system and Portable X-ray detector with relatively broad.Subway safe examination system is by conveyer belt by detected material
Body is sent into crawler type channel and is detected, and advantage is detection efficiency height, can carry out continuous-flow type detection to the luggage of mobile personnel,
Shortcoming is that volume is big, and it is inconvenient to carry, and since the limitation of conveyer belt makes equipment that can only detect the object that can be put into channel, right
Detection object volume has limitation, and equipment is weaker to X-ray protection in itself, and X ray is easily revealed from conveyer belt entrance.It is portable
The advantages of Formula X optical detector is to be convenient for carrying, if every instrument is matched, there are one detection cases and an X-ray production apparatus and supply to match
Part only needs one to two people that can carry to field of employment, and shortcoming is that the area of detection depends on the size of detection case, it is impossible to
Larger object is detected, and due to needing detection body being placed between X-ray ray machine and detection case during detection, so can not detect
This kind of detection body of wall, equipment is substantially unshielded to X ray in itself, needs operating personnel far from equipment to avoid by X ray
It influences.
Invention content
Based on the problems of above-mentioned prior art, the present invention provides a kind of walking crawler belt base back scattering imaging
Instrument, area of detection is big, can detect wall, rough ground can operate in the wild, rotatable detector carries out sector region
Imaging, and there is preferably protection to X ray.
In order to solve the above technical problems, the present invention provides a kind of walking crawler belt base back scattering imaging instrument, including：
Shell is shielded, bottom is equipped with rotating disc type crawler belt base, is equipped in the shielding shell and drives the rotating disc type crawler belt
Pedestal drives shielding shell rotation and mobile pedestal driving device and transmission parts；
Detector is located at the side in the shielding shell, for acquiring image and being processed into complete image；
X-ray production apparatus is located in the shielding shell, and by the detector, the light-emitting surface of the X-ray production apparatus is described in
Detector；
Rotating cylinder is located at outside the light-emitting surface of the X-ray production apparatus, and the light-emitting surface that can surround the X-ray production apparatus rotates, and sets thereon
There is light-emitting window, the light-emitting window corresponds to the detector；
Rotating cylinder driving device is located on the outside of the rotating cylinder, is connect with rotating cylinder, and the rotating cylinder can be driven to surround the X ray
Machine at the uniform velocity rotates；
Drive dynamic control device is electrically connected respectively with the pedestal driving device and rotating cylinder driving device, for controlling respectively
Make the pedestal driving device and rotating cylinder driving device.
Beneficial effects of the present invention are：The imager by X-ray production apparatus and detector by being located at homonymy, and be fixed on shielding
Enclosure does not need to detection body being placed between X-ray ray machine and detection case, you can detection wall, it can be achieved that back scattering imaging
The detection body of wall class；Using rotating disc type crawler belt base, structure mobile and that scanning machinery is separated is realized.Crawler belt is used when mobile
Formula structure is adapted to field complicated geographical environment.During scan image, crawler belt stops movement, and rotating disc type pedestal smooth pivotal has
Higher stability ensures to obtain accurately image, and can realize remote control operation；Since X-ray production apparatus is equal with detector
Be integrated in shielding shell, miniature low-power X-ray machine and detector can be used, small in volume is easy to carry, be suitble to be moved to compared with
It is detected at the object of big wall kind；Using shielding shell, X ray can be effectively shielded, to X ray there is preferable protection, keep away
Exempt from X-ray injury Field Force in work.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this
For the those of ordinary skill in field, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is that imager provided in an embodiment of the present invention integrally faces schematic three dimensional views；
Fig. 2 is that imager integral inverted provided in an embodiment of the present invention regards schematic three dimensional views；
Fig. 3 is that the rotating cylinder of imager provided in an embodiment of the present invention goes to X-ray production apparatus light emitting anger upper end position schematic diagram；
Fig. 4 is that the rotating cylinder of imager provided in an embodiment of the present invention goes to X-ray production apparatus light emitting anger lower end position schematic diagram；
Fig. 5 is the X-ray production apparatus light emitting region schematic diagram of imager provided in an embodiment of the present invention；
Fig. 6 is the X-ray production apparatus of imager provided in an embodiment of the present invention and rotating cylinder two dimension main perspective position view；
Acquisition range schematic diagram when Fig. 7 is the pedestal rotation of imager provided in an embodiment of the present invention；
The corresponding component of each label is in figure：1. detector, 2. rotating cylinder electric rotating machines, 3. rotating cylinders, the light extraction on 31. rotating cylinders
Mouthful, 4.X X-ray machine Xs, the external shielding case of 40.X X-ray machine Xs, the light outlets on 41. external shielding cases, 5. rotating disc type crawler belt bases, 51.
Pedrail mechanism, 52. rotating disc type pedestals, 6. turns of pedestal driving devices, 61. transmission parts, 7. shielding shells, 10. imagers, 20.
Testee.
Specific embodiment
The technical solution in the embodiment of the present invention is clearly and completely described below, it is clear that described embodiment
Only part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to protection scope of the present invention.
As shown in Figure 1, 2, the embodiment of the present invention provides a kind of walking crawler belt base back scattering imaging instrument, including：
Shell is shielded, bottom is equipped with rotating disc type crawler belt base, driving disc formula crawler belt base is equipped in the shielding shell
Drive shielding shell rotation and mobile pedestal driving device and transmission parts；Preferably, pedestal driving device 6 is using electricity
Machine, transmission parts 61 use transmission gear；
Detector is located at the side in shielding shell, for acquiring image and being processed into complete image；
X-ray production apparatus is located in shielding shell, and by detector, the light-emitting surface of the X-ray production apparatus is towards detector；
Rotating cylinder is located at outside the light-emitting surface of X-ray production apparatus, and the light-emitting surface that can surround X-ray production apparatus rotates, and which is provided with light extraction
Mouthful, light-emitting window corresponds to detector；
Rotating cylinder driving device is located on the outside of rotating cylinder, is connect with rotating cylinder, and rotating cylinder can be driven at the uniform velocity to rotate (ginseng around X-ray production apparatus
See Fig. 6)；
Drive dynamic control device is electrically connected respectively with pedestal driving device and rotating cylinder driving device, for controlling bottom respectively
Seat driving device and rotating cylinder driving device.
In above-mentioned imager, rotating disc type crawler belt base includes：Pedrail mechanism and the rotating disc type pedestal being located on pedrail mechanism,
The pedestal driving device set in shielding shell is connect through transmission parts with rotating disc type pedestal, and driving disc formula pedestal drives shielding
Shell rotates.
In above-mentioned imager, among detector position be equipped with X ray for X-ray production apparatus by channel, channel both sides are
Receive the light receiving surface for being scattered back from testee and carrying out X.
In above-mentioned imager, external shielding case is covered with outside X-ray production apparatus, the external shielding case of the X-ray production apparatus is equipped with as hair
The perpendicular slit of optical port；Light-emitting window on rotating cylinder is several elongated horizontal slits being evenly distributed on the rotating cylinder, each elongated horizontal slit
Position it is corresponding with the perpendicular slit on the external shielding case of X-ray production apparatus respectively.Preferably, the elongated horizontal slit on rotating cylinder is four.
The X-ray production apparatus of this structure coordinates with rotating cylinder, can be matched by the perpendicular slit of the external shielding case of X-ray production apparatus with horizontal slit elongated on rotating cylinder
It closes, the X ray of vertical sector can be sent out.The size of the perpendicular slit of the X-ray production apparatus external shielding case and the elongated horizontal slit on rotating cylinder
Without particular/special requirement, if can meet X ray go out optical scanning and the reception of detector imaging.
In above-mentioned imager, shielding shell 7 can be used gently using the shell being made of front panel and lead rear shell, front panel
Matter hard material is made, such as any one of carbon fiber front panel, wooden front panel or plastic front panel can be used in front panel,
Front panel facilitates detector to receive back scattered X-ray, and lead rear shell can protect radiation of the X-ray to operating personnel；X ray
The external shielding case of machine 4 also uses lead shell and rotating cylinder as using rotating cylinder made of lead.X ray is only vertical narrow from X-ray production apparatus 4
It stitches in the hole intersected with slit horizontally long on rotating cylinder 3 and projects to testee, grasp equipment under the premise of imaging effect is not influenced
Effective protection, dose of radiation very little are obtained as personnel.Above-mentioned imager further includes：Camera 8 and communication device (do not show in figure
Go out), wherein, camera 8 is located on shielding shell, may be provided in shielding cover top portion；Communication device, respectively camera and driving
Control device is electrically connected, for communicating with remote control terminal, the image of transmission camera acquisition, and according to the remote of reception
The instruction at process control end is transferred to drive dynamic control device, so that drive dynamic control device performs corresponding operating according to instruction.It can know
Wirelessly or non-wirelessly communication device can be used in road, communication device, as long as can facilitate realization telecommunication, which is carried out long-range
Control.
Preferably, PLC control devices can be used in drive dynamic control device, and control pedestal driving device 6 and rotating cylinder can be facilitated to drive
Dynamic device 2 can use as long as can facilitate the electrical control gear of control pedestal driving device 6 and rotating cylinder driving device 2.
For the imager of the present invention using X ray back scattering imaging, what back scattering detection principle utilized is Compton scattering reason
By X ray, which encounters different substances, can occur different scatterings.The x-ray source and detector of back scattering equipment are in the same side, X
The object emission low energy X ray that radiographic source is detected to needs, radiation exposure are scattered to after being detected object, and scattered photon
Intensity is only related with following factor Q with the relationship of object to be detected：
For substance due to low Z or containing more protium, value it is bigger, and in the case of low energy low Z-material matter
Amount absorption coefficient will be significantly less than high Z-material, therefore the low Z-material and the scattering light of organic matter detected in back scattering imaging
Subnumber with respect to other substances will height, i.e., image can automatically highlighted, thus can well organic matter, explosive, drugs and metal,
The inorganic matters such as ceramics distinguish.Wherein, explosive and drugs etc. rich in hydrogen, oxygen, carbon, nitrogen by low-Z element group
Into substance, scattering power is very strong, and image is brighter；Metal, such as gun and dagger, it is very weak to the scattering power of X ray,
Dark images.In this way, it is located at the detector of homonymy by detecting back scattered radial imaging of different strengths and weaknesses with X-ray production apparatus, this
Sample is achieved that the detection of the suspicious object to leaning against wall.
There is the imager rotating cylinder collimating X-ray to make the pencil beam that it is up and down reciprocatingly scanned into one, and detector receives every
Intensity value of all scattered ray of the pencil beam irradiation position of a moment as the point image, since the imager bottom makes
Shielding shell and the detector and X-ray production apparatus that are arranged inside are carried with rotating disc type crawler belt base, makes detector and X-ray production apparatus can be
Rotation sweep on pedestal covers a curved surface, obtains complete backscatter images.
The imager is compressed to minimum volume and weight, light-weight, and each component, turntable are carried using rotating disc type crawler belt base
The pedrail mechanism of formula crawler belt base can move ahead, retreats, turn, and can cross more rugged road, can explosive safety check in the wild
In the process, it is not limited by geographical environment.Further, which can set camera and communication device, can realize remote
Process control can be remotely controlled the imager automatic moving and stop to before being detected article, then rotate smoothly scanning by turntable, obtain
Obtain backscatter images.
Due to, the shielding shell of the imager, the external shielding case and rotating cylinder of X-ray production apparatus are made of lead, X ray only from turn
It is projected in the hole that gap intersects with X-ray production apparatus collimating slit on cylinder to testee, makes to set under the premise of imaging effect is not influenced
Standby operating personnel obtain effective protection, dose of radiation very little.
The X-ray production apparatus of the imager of the present invention is integrated with detector, can control and voluntarily walk, and area of detection is big, can be with
Wall is detected, rough ground can be operated in the wild, rotatable detector is imaged sector region, and has to X ray
The imaging device preferably protected.Before being placed on the barriers such as corner, to Portable X-ray can not be used to have an X-rayed detection device
In the case of, which can effectively detect the prohibited items concealed.And since scattering is imaged, there is automatic add for organic matter
The characteristics of deep image, it can not only detect metal contraband, such as：Steel edge, rifle etc., particularly to nonmetallic contraband
Detection is more accurate, such as：Plastics weapons, sintex, drugs, liquid solid explosive etc..By the way of simple scan
Imaging, X ray are collimated into a pen type light beam, and single checks that dose of radiation is very faint, almost can be ignored, protect significantly
The physical safety of operating personnel is hindered.
As shown in fig. 7, during detection, explosive member or explosive-removal robot is only needed to move the close detected article of the imager, with
Article parallel is detected, operating personnel are scanned by being completed before the remote control imager automatic moving to inspected object, detection
It is convenient and efficient, greatly reduce the danger of explosive detection.
Advantages of the present invention is as follows：(1) it is shielded in shell due to being integrated in one, small-sized ray machine and detector can be used,
Small in volume, and the image effect of back scattering is not influenced.(2) using rotating disc type crawler belt base, mobile and scanning is realized
The separated structure of machinery.Using track structure when mobile, it is adapted to field complicated geographical environment.During scan image, crawler belt
Stop movement, turntable smooth pivotal has higher stability, ensures to obtain accurately image.(3) using X-ray production apparatus and detection
Device is fixed on shielding enclosure in homonymy, realizes back scattering imaging, and the imager is allow to detect this kind of detection of wall
Body.(4) imager is controlled to move using PLC, can be further coordinated by the setting camera on imager and communication device,
Realize monitoring remote operation.(5) using lead protection, lead molecule density is big, and X ray is difficult to penetrate, and X-ray luminescence is removed inside equipment
Mouth has outside superfine slit, and lead guard shield is respectively arranged with around X-ray production apparatus.
The imager of the present invention is described further with reference to specific embodiment.
As shown in Figure 1 and Figure 2, in imager of the invention, detector 1 is placed in side in shielding shell 7, and X-ray production apparatus 4 is put
By detector 1,4 light-emitting surface of X-ray production apparatus is towards detector 1, and the base electrical machinery as pedestal driving device is by being used as transmission
The gear control rotating disc type crawler belt base 5 of component 61 rotates, and rotating disc type crawler belt base 5 carries entire imager and moved.Screen
Shell 7 is covered using the lead rear shell made with stereotype, effective protection X ray.
As shown in figure 3, the external shielding case 40 of the lead of X-ray production apparatus 4 covers, and set at the light outlets 41 of X-ray production apparatus 4
Perpendicular slit uniformly processes four elongated horizontal slits on rotating cylinder 3 as light-emitting window 31, make X ray from perpendicular slit project after using
The horizontally long slit of rotating cylinder forms horizontal strip type X ray, and X ray, which is got on testee, forms Compton reflection and return detector
Form image.The rotating cylinder driving device 2 (electric rotating machine can be used) of driving rotating cylinder makes rotating cylinder 3 at the uniform velocity to be revolved around X-ray production apparatus 4
Turn, detector 1 is made to receive equivalent image information in the unit interval.
Fig. 3 show rotating cylinder 3 and rotates to light emitting region schematic diagram during 4 light outlets upper end of X-ray production apparatus；Fig. 4 show rotating cylinder 3
It rotates to light emitting region schematic diagram during 4 light outlets lower end of X-ray production apparatus；Fig. 5 show X-ray production apparatus 4 when rotating cylinder 3 at the uniform velocity rotates and shines
Range overall schematic.The sweep length decision of the image of back scattering imaging acquisition as shown in Figure 5, each one slit of acquisition
Image, the program finally run by detector 1 are processed into complete image.
As shown in fig. 6, rotating cylinder driving device 2 connects rotating cylinder 3, rotating cylinder 3 is driven at the uniform velocity to be rotated around X-ray production apparatus 4.
Schematic diagram is acquired when being illustrated in figure 7 the pedestal rotation of imager 10, imager 10 revolves after testee 20
Turn acquisition image, obtain result of detection.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (7)
1. a kind of walking crawler belt base back scattering imaging instrument, which is characterized in that including：
Shell is shielded, bottom is equipped with rotating disc type crawler belt base, is equipped in the shielding shell and drives the rotating disc type crawler belt base
Drive shielding shell rotation and mobile pedestal driving device and transmission parts；
Detector is located at the side in the shielding shell, for acquiring image and being processed into complete image；
X-ray production apparatus is located in the shielding shell, and by the detector, the light-emitting surface of the X-ray production apparatus is towards the detection
Device；
Rotating cylinder is located at outside the light-emitting surface of the X-ray production apparatus, and the light-emitting surface that can surround the X-ray production apparatus rotates, and which is provided with out
Optical port, the light-emitting window correspond to the detector；
External shielding case is covered with outside the X-ray production apparatus, the external shielding case of the X-ray production apparatus is equipped with as the perpendicular narrow of light outlets
Seam；Light-emitting window on the rotating cylinder is several elongated horizontal slits being evenly distributed on the rotating cylinder, the position of each elongated horizontal slit
It is corresponding with the perpendicular slit on the external shielding case of the X-ray production apparatus respectively；
Rotating cylinder driving device is located on the outside of the rotating cylinder, is connect with rotating cylinder, and the rotating cylinder can be driven even around the X-ray production apparatus
Speed rotation；
Drive dynamic control device is electrically connected respectively with the pedestal driving device and rotating cylinder driving device, for controlling institute respectively
State pedestal driving device and rotating cylinder driving device.
2. walking crawler belt base back scattering imaging instrument according to claim 1, which is characterized in that the rotating disc type crawler belt
Pedestal includes：
Pedrail mechanism and the rotating disc type pedestal being located on the pedrail mechanism, the interior pedestal driving set of the shielding shell
Device is connect through transmission parts with the rotating disc type pedestal, and driving disc formula pedestal drives the shielding shell rotation.
3. walking crawler belt base back scattering imaging instrument according to claim 1, which is characterized in that among the detector
Position be equipped with for the X-ray production apparatus X ray by channel, the channel both sides for receive be scattered back from testee come
The light receiving surface of X.
4. walking crawler belt base back scattering imaging instrument according to claim 1, which is characterized in that thin on the rotating cylinder
Long horizontal slit is four.
5. walking crawler belt base back scattering imaging instrument according to claim 1, which is characterized in that the X-ray production apparatus
External shielding case is lead shell；
The rotating cylinder is using rotating cylinder made of lead.
6. walking crawler belt base back scattering imaging instrument according to any one of claims 1 to 5, which is characterized in that described
Shielding shell is the shell being made of front panel and lead rear shell.
7. walking crawler belt base back scattering imaging instrument according to any one of claims 1 to 5, which is characterized in that also wrap
It includes：Camera and communication device, the camera are located on the shielding shell；
The communication device, respectively the camera and the drive dynamic control device electrical connection, for remote control terminal into
Row communication, the image of transmission camera acquisition, and the driving is transferred to according to the instruction of the remote control terminal of reception and is controlled
Device processed, so that the drive dynamic control device performs corresponding operating according to instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510713652.4A CN105403926B (en) | 2015-10-28 | 2015-10-28 | Walking crawler belt base back scattering imaging instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510713652.4A CN105403926B (en) | 2015-10-28 | 2015-10-28 | Walking crawler belt base back scattering imaging instrument |
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| Publication Number | Publication Date |
|---|---|
| CN105403926A CN105403926A (en) | 2016-03-16 |
| CN105403926B true CN105403926B (en) | 2018-07-10 |
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|---|---|---|---|
| CN201510713652.4A Active CN105403926B (en) | 2015-10-28 | 2015-10-28 | Walking crawler belt base back scattering imaging instrument |
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| CN105810281A (en) * | 2016-05-03 | 2016-07-27 | 北京华力兴科技发展有限责任公司 | Chopper and back scatter imaging device |
| CN106054270B (en) * | 2016-07-01 | 2018-03-30 | 长春理工大学 | A kind of X-ray detection display device for being used to detect wall interiors material |
| CN108267111A (en) * | 2017-01-04 | 2018-07-10 | 上海诺司纬光电仪器有限公司 | Collimation device and distance measuring equipment for measuring with auxiliary distance measuring device |
| CN106841239B (en) * | 2017-04-06 | 2023-11-10 | 北京华力兴科技发展有限责任公司 | Shielded container for accommodating X-ray tube and radiation scanning inspection system |
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| CN111060538B (en) * | 2019-11-12 | 2021-02-26 | 倪其棍 | Vehicle safety inspection equipment |
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| CN2356345Y (en) * | 1998-11-04 | 1999-12-29 | 孙法远 | Automatic crawling X-ray flaw detector for ship and tank welding seam |
| US6661867B2 (en) * | 2001-10-19 | 2003-12-09 | Control Screening, Llc | Tomographic scanning X-ray inspection system using transmitted and compton scattered radiation |
| CN2872353Y (en) * | 2006-01-10 | 2007-02-21 | 上海英迈吉东影图像设备有限公司 | Safety determiner by back scattering technology |
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN202275161U (en) * | 2011-10-20 | 2012-06-13 | 天津重方科技有限公司 | Device for widening linear scanning range of ray |
| CN104613274B (en) * | 2015-01-29 | 2016-06-08 | 温州大学瓯江学院 | A kind of self-adapting pipe sniffing robot |
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