Disclosed is a self-propelled container and/or vehicle inspection device, comprising: a rack, a power supply apparatus, a radiation source, a detector cabin, at least two driving motors, and a controller. A fixed beam, a first vertical beam, a transverse beam and a second vertical beam of the rack are fixed to one another; the bottom of the second vertical beam is rotatably mounted with a swing beam forming a balancing suspension. Where a road surface below the device is uneven, the swing beam correspondingly rotates relative to the second vertical beam so as to keep two wheels on the swing beam in close contact with the ground all the time. In the device, a cab of the inspection device is dispensed with, thus staff is not required to drive within the cab and any anxiety of the staff can be eliminated.