边境日益繁忙的贸易往来，使边贸通道逐渐扩展，运输方式更为多样。当前的边境X射线安检设备多为透射式成像系统，设备自身体积及重量大，通常配备于固定安检场所，不具备随机部署、机动查验的能力。将X射线检查技术与机器人技术进行结合，研发一款可以随机部署，具备高度自动化的安检机器人，以应对当前安检形势的需求，是课题研究的目的。论文首先分析了透射成像和散射成像的内容，确定了采用康普顿背散射成像技术作为产品开发的方向。根据背散射成像的特点，结合安全需求，确定了斜向下的飞点扫描方式。根据市场调研的数据，对安检机器人的结构布局进行了设计，并对这种方法可能会带来的影响进行了分析。机器人的内部空间、负载能力和续航能力有限，因此轻量化和紧凑型设计是背散机器人需要研究的内容。为解决此问题，将成像机构进行了功能性拆分，不同位置采用不同的材料，并采用射线源偏置的设计充分利用空间。在飞点方式的背散射成像设备中，飞点机构既是准直器也是屏蔽体，它是飞点扫描的核心。因此，课题对飞点的结构展开了详细设计，包括射线源选型、射线的屏蔽和准直、电机参数等。利用理论结果，进行了测试平台的搭建，并对扫描装置的设计进行了部分指标的验证，初步确定了设计方法的可行性。然后，介绍了安检机器人的安全联锁内容，它是X射线类装置的安全保障。机器人采用激光雷达作为判断射线触发的条件，并设计了以激光雷达探测技术作为检测手段的安全防护区联锁系统，该系统分级防护的方式有效保障了机器人的作业效率和辐射安全。论文最后，从产品开发和实际应用的角度，提出了下一步需要改进和解决的问题，为后续优化的方向提供了思路。

The increasingly busy trade on the border has gradually expanded the border trade channels with various methods of transportation. The current X-ray security inspection equipment used in the border is mostly by transmission radiography systems. The equipment is large and heavy, usually fixed in security inspection places, without the capability of random deployment and mobile inspection. The purpose of this research is to develop a security inspection robot that is highly automated and can be randomly deployed combining X-ray inspection with robot technology, aiming to address the current security inspection situation.The thesis analyzes transmission imaging and scattering imaging firstly and then selects Compton backscatter imaging technology as the direction of product development. The characteristics of backscatter imaging and security requirements leads to the obliquely downward flying-spot scanning method. Based on the market research, the structural layout of the security inspection robot is designed, and the potential impact of this method is analyzed.The robot's internal space, load capacity and endurance are limited, so the lightweight and compact design is what the robot needs to achieve. The solution provided in this paper is to functionally split the imaging framework, use different materials in different positions, and make full use of the space benefited from the offset design of the X-ray source.For backscatter imaging device adopting the method of the flying-spot, the flying-spot mechanism is both a collimator and a shield, and it is the core of flying-spot scanning system. Therefore, this thesis designs the structure of the flying-spot in detail, including the selection of the X-ray source, the shielding and collimation of the X-ray, and the motor parameters. Also, it builds the test platform based the theoretical results, and verifies some indicators on the design of the scanning device, to ensures the feasibility of the design method.Then, the paper discusses the safety interlock of security inspection robot, which is the essential safety part of X-ray device. The robot uses lidar as a condition for judging the X-ray trigger and designs a safety protection zone interlocking system that uses lidar detection technology as a detection method. The system's hierarchical protection method effectively guarantees the robot's operating efficiency and radiation safety.In the end, from the perspective of product development and practical application, this thesis puts forward the problems that need to be improved and solved in the next step, providing ideas for the direction of subsequent optimization.