A self-propelled container and/or vehicle inspection device comprising: a rack comprising a gantry, a fixed beam and a swing beam, wherein the gantry comprises a transverse beam and a first vertical beam and a second vertical beam arranged at left and right ends of the transverse beam, the fixed beam is arranged in a front-rear direction and is fixedly connected to the first vertical beam, and a first wheel and a second wheel are respectively mounted at front and rear ends of the fixed beam, the swing beam is arranged in the front-rear direction, and a third wheel and a fourth wheel are respectively mounted at front and rear ends of the swing beam; a power supply apparatus mounted on the rack; a radiation source mounted on the first vertical beam and connected to the power supply apparatus and configured to generate a ray beam; a detector cabin comprising a horizontal detector cabin mounted on the transverse beam and a vertical detector cabin mounted on the second vertical beam, wherein a detector array is mounted in the horizontal detector cabin and the vertical detector cabin, each of detectors is respectively connected to the power supply apparatus, each of the detectors is respectively aligned with a center of the ray beam; at least two driving motors respectively connected to the power supply apparatus, wherein each of the driving motors is connected to one wheel, and wheels connected to each of the driving motors are different, the driving motors are configured to drive the wheels around axes to rotate; and a controller connected to the power supply apparatus, the radiation source, each of the detectors and each of the driving motors; said device being characterized in that said swing beam is rotatably connected to the second vertical beam, such that said swing beam can rotate in a vertical direction relative to the second vertical beam to form a balanced suspension. a rack comprising a gantry, a fixed beam and a swing beam, wherein the gantry comprises a transverse beam and a first vertical beam and a second vertical beam arranged at left and right ends of the transverse beam, the fixed beam is arranged in a front-rear direction and is fixedly connected to the first vertical beam, and a first wheel and a second wheel are respectively mounted at front and rear ends of the fixed beam, the swing beam is arranged in the front-rear direction, and a third wheel and a fourth wheel are respectively mounted at front and rear ends of the swing beam; a power supply apparatus mounted on the rack; a radiation source mounted on the first vertical beam and connected to the power supply apparatus and configured to generate a ray beam; a detector cabin comprising a horizontal detector cabin mounted on the transverse beam and a vertical detector cabin mounted on the second vertical beam, wherein a detector array is mounted in the horizontal detector cabin and the vertical detector cabin, each of detectors is respectively connected to the power supply apparatus, each of the detectors is respectively aligned with a center of the ray beam; at least two driving motors respectively connected to the power supply apparatus, wherein each of the driving motors is connected to one wheel, and wheels connected to each of the driving motors are different, the driving motors are configured to drive the wheels around axes to rotate; and a controller connected to the power supply apparatus, the radiation source, each of the detectors and each of the driving motors; said device being characterized in that said swing beam is rotatably connected to the second vertical beam, such that said swing beam can rotate in a vertical direction relative to the second vertical beam to form a balanced suspension.