CN107680065A - Radiation image bearing calibration and means for correcting and correction system - Google Patents
Radiation image bearing calibration and means for correcting and correction system Download PDFInfo
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- 230000005855 radiation Effects 0.000 title claims abstract description 261
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- 238000003702 image correction Methods 0.000 claims abstract description 47
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4023—Scaling of whole images or parts thereof, e.g. expanding or contracting based on decimating pixels or lines of pixels; based on inserting pixels or lines of pixels
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Abstract
The present disclosure discloses a kind of radiation image bearing calibration and means for correcting and correction system, it is related to radiographic imaging arts.Bearing calibration therein includes：Gather the scan data of laser scanner；According to the scan data of laser scanner, determine the movement state information of checked object, the movement state information of the checked object include in the movement velocity and travel condition of checked object at least one of；At least one of in the movement velocity and travel condition of the checked object, the radiation image of the checked object is corrected.Sensing equipment of the disclosure by the use of laser scanner as image rectification, monitoring accuracy are higher, it is possible to increase the real-time of radiation image correction.
Description
Technical field
This disclosure relates to radiographic imaging arts, more particularly to a kind of radiation image bearing calibration and means for correcting and correction system
System.
Background technology
The correlation technique for the radiation image correction that inventor recognizes includes：Multigroup light curtain or light are installed in sense channel
Electric transducer, section is carried out to checked object using adjacent two sensors and tested the speed, is then tested the speed result pair using the section
The radiation image of checked object is corrected.
The content of the invention
Inventor has found that the foregoing correlation technique tachometric survey precision that refers to is low, the real-time for causing radiation image to correct
It is poor.For example, if the movement velocity of checked object changed in current interval, the calibration of the output results that tests the speed according to previous section
Radiation image afterwards still suffers from larger distortion.
The embodiment of the present disclosure technical problem to be solved is：The monitoring accuracy of checked object motion state is improved, is changed
The real-time of kind radiation image correction.
According to an aspect of this disclosure, a kind of radiation image bearing calibration is proposed, including：Collection laser scanner is swept
Retouch data；According to the scan data of laser scanner, the movement state information of checked object, the motion of the checked object are determined
Status information includes at least one in the movement velocity and travel condition of checked object；According to the motion of checked object speed
At least one of in degree and travel condition, the radiation image of the checked object is corrected.
Alternatively, in the case where the movement velocity of the checked object is more than the undistorted threshold speed set, to institute
The radiation image for stating checked object carries out interpolation processing；It is less than the undistorted speed set in the movement velocity of the checked object
In the case of threshold value, the radiation image of the checked object is carried out taking out column processing.
Alternatively, in the case where the movement velocity of the checked object is more than the undistorted threshold speed set, whenever
When the move distance of the checked object meets the image rectification step-length set, one is carried out to the radiation image of the checked object
Secondary interpolation processing；In the case where the movement velocity of the checked object is less than the undistorted threshold speed set, whenever described
When the move distance of checked object meets the image rectification step-length set, the radiation image of the checked object is once taken out
Column processing.
Alternatively, if the move distance of the checked object meets the image rectification step-length set, the checked object
Movement velocity do not update also, according to degree of correction corresponding to the movement velocity of preceding once described checked object, to described tested
The radiation image of object carries out a correction process, and the correction process includes interpolation processing or takes out column processing.
Alternatively, in the case where the movement velocity of the checked object is more than the undistorted threshold speed set, control
The scan frequency increase of radiation appliance, to be corrected to the radiation image of the checked object；In the checked object
In the case that movement velocity is less than the undistorted threshold speed set, the scan frequency of radiation appliance is controlled to reduce, so as to institute
The radiation image for stating checked object is corrected.
Alternatively, the image length and checked object scanned according to the scan frequency of radiation appliance and pulsatile once moves speed
Relation between degree, targeted scans frequency corresponding to the movement velocity of the checked object is determined, controls the scanning of radiation appliance
Frequency shift is to targeted scans frequency.
Alternatively, in the case where the travel condition of the checked object is retrogressing, to the radiation diagram of the checked object
As carrying out taking out column processing or controlling the scan frequency of radiation appliance to reduce；In the feelings that the travel condition of the checked object is off
Under condition, control radiation appliance stops scanning；In the case where the travel condition of the checked object is advance, and described tested
In the case that the movement velocity of object is more than the undistorted threshold speed set, the radiation image of the checked object is inserted
Value processing or the scan frequency increase of control radiation appliance, and it is undistorted less than what is set in the movement velocity of the checked object
In the case of threshold speed, the radiation image of the checked object is carried out taking out column processing or controls the scan frequency of radiation appliance
Reduce.
Alternatively, according to the scan data of laser scanner, the movement state information of each part of checked object is determined,
The movement state information of each part of the checked object includes the movement velocity and traveling shape of each part of checked object
At least one of in state；At least one of in the movement velocity and travel condition of each part of the checked object, it is right
The radiation image of each part of the checked object is corrected respectively.
According to another aspect of the present disclosure, a kind of radiation image means for correcting is proposed, including：Data acquisition module, it is used for
Gather the scan data of laser scanner；Moving state determining module, for the scan data according to laser scanner, it is determined that quilt
The movement state information of object is examined, the movement state information of the checked object includes the movement velocity and traveling shape of checked object
At least one of in state；Image correction module, in the movement velocity and travel condition according to the checked object at least
One, the radiation image of the checked object is corrected.
Alternatively, described image correction module includes the first image correction unit, the second image correction unit, the 3rd image
Correct at least one unit in unit, the 4th image correction unit；
Described first image corrects unit, is more than the undistorted speed set for the movement velocity in the checked object
In the case of threshold value, interpolation processing is carried out to the radiation image of the checked object；It is small in the movement velocity of the checked object
In the case of the undistorted threshold speed of setting, the radiation image of the checked object is carried out taking out column processing；
Second image correction unit, it is more than the undistorted speed set for the movement velocity in the checked object
In the case of threshold value, controlling the scan frequency of radiation appliance increases；It is less than the nothing set in the movement velocity of the checked object
Distort in the case of threshold speed, control the scan frequency of radiation appliance to reduce；
3rd image correction unit, in the case of being retrogressing in the travel condition of the checked object, to described
The radiation image of checked object carries out taking out column processing or controls the scan frequency of radiation appliance to reduce；In the row of the checked object
Enter in the case that state is off, control radiation appliance stops scanning；
4th image correction unit, in the case of being advance in the travel condition of the checked object, and
In the case that the movement velocity of the checked object is more than the undistorted threshold speed set, to the radiation diagram of the checked object
Picture carries out interpolation processing or controls the scan frequency increase of radiation appliance, and is less than setting in the movement velocity of the checked object
Undistorted threshold speed in the case of, the radiation image of the checked object is carried out smoking column processing or controls radiation appliance
Scan frequency reduces.
Alternatively, described first image correction unit, it is more than the nothing set for the movement velocity in the checked object
In the case of distortion threshold speed, when the move distance of the checked object meets the image rectification step-length set, to institute
The radiation image for stating checked object carries out an interpolation processing；It is less than the undistorted of setting in the movement velocity of the checked object
In the case of threshold speed, when the move distance of the checked object meets the image rectification step-length set, to the quilt
The radiation image of inspection object is once taken out column processing.
Alternatively, described first image correction unit, if the move distance for the checked object meets the figure set
During as calibration step, the movement velocity of the checked object does not update also, according to the movement velocity of preceding once described checked object
Corresponding degree of correction, a correction process is carried out to the radiation image of the checked object, the correction process includes interpolation
Handle or take out column processing.
Alternatively, second image correction unit, scanned for the scan frequency according to radiation appliance and pulsatile once
Image length and checked object movement velocity between relation, determine that target corresponding to the movement velocity of the checked object is swept
Frequency is retouched, controls the scan frequency of radiation appliance to change and arrives targeted scans frequency.
Alternatively, the moving state determining module, for the scan data according to laser scanner, checked object is determined
Each part movement state information, the movement state information of each part of the checked object includes the every of checked object
At least one of in the movement velocity and travel condition of individual part；Described image correction module, for according to the checked object
Each part movement velocity and travel condition at least one of, to the radiation image of each part of the checked object
It is corrected respectively.
According to the another further aspect of the disclosure, a kind of radiation image means for correcting is proposed, including：Memory；And it is coupled to
The processor of the memory, the processor are configured as, based on the instruction being stored in the memory, performing foregoing
Radiation image bearing calibration.
According to the another aspect of the disclosure, a kind of radiation image correction system is proposed, including：Laser scanner, radiation dress
Put, imaging device and foregoing radiation image means for correcting；Wherein, the laser scanner is configured as launching laser to quilt
Inspection object is scanned, and scan data is transferred into the radiation image means for correcting；The radiation appliance is configured as to quilt
Object transmitting radiation ray beam is examined, and the radiation ray signal through checked object detected is transferred to the imaging and filled
Put；The radiation ray signal that the imaging device is configured as being detected according to the radiation appliance is imaged；The radiation
Image correction apparatus be configured as the change scan frequency type that will be determined based on scan data correction data be transferred to it is described
Radiation appliance, the radiation appliance is set to change the scan frequency to checked object, or, it is configured as true based on scan data
In the case that fixed motion state meets preparatory condition, the radiation image formed to the imaging device enters row interpolation or takes out row
Correction process.
According to the another aspect of the disclosure, a kind of computer-readable recording medium is proposed, is stored thereon with computer program,
The computer program realizes the step of foregoing radiation image bearing calibration when being executed by processor.
Sensing equipment of the disclosure by the use of laser scanner as image rectification, the monitoring accuracy of checked object motion state
Compare high, it is possible to increase the real-time of radiation image correction.
Brief description of the drawings
The required accompanying drawing used in embodiment or description of Related Art will be briefly described below.According to following ginseng
According to the detailed description of accompanying drawing, the disclosure can be more clearly understood,
It should be evident that drawings in the following description are only some embodiments of the present disclosure, for the common skill in this area
For art personnel, without having to pay creative labor, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation that disclosure radiation image corrects system one embodiment.
Fig. 2 is the laser beam schematic diagram of the disclosure.
Fig. 3 is the schematic diagram of the monitored area of disclosure laser scanner.
Fig. 4 is the schematic diagram of disclosure checked object localization method.
Fig. 5 is the schematic flow sheet of disclosure radiation image bearing calibration one embodiment.
Fig. 6 is the schematic flow sheet of disclosure radiation image bearing calibration further embodiment.
Fig. 7 is the schematic flow sheet of another embodiment of disclosure radiation image bearing calibration.
Fig. 8 is the structural representation of disclosure radiation image means for correcting one embodiment.
Fig. 9 is the structural representation of another embodiment of disclosure radiation image means for correcting.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present disclosure, the technical scheme in the embodiment of the present disclosure is carried out clear, complete
Site preparation describes.
Fig. 1 is the structural representation that disclosure radiation image corrects system one embodiment.As shown in figure 1, the embodiment
Radiation image correction system 10 include：Laser scanner 110, radiation appliance 120, imaging device 130 and radiation image school
Equipment (abbreviation means for correcting) 140.
Wherein, laser scanner 110 is configured as launching laser is scanned to checked object, and scan data is transmitted
To radiation image means for correcting 140.Generally, laser scanner 110 can be with a default scan frequency at least one tested pair
Laser beam as launching a plurality of different angle, when certain laser beam runs into checked object reflection, return to the pip and laser
The distance between beam transmitting position, and the scan data such as angle of this laser beam.Fig. 2 is the laser beam schematic diagram of the disclosure.
As shown in Fig. 2 laser scanner 110, which can in real time detect and return to each multi-angle laser beam, launches position to laser beam reflection position
The distance between (the A points in such as Fig. 3 on headstock forward position) d and its corresponding launch angle θ.
Fig. 3 is the schematic diagram of the monitored area of disclosure laser scanner.As shown in figure 3, laser scanner 110 has two kinds
Mounting means：The first mounting means is as shown in laser scanner 111, such as can be arranged at the top of sense channel, and it is swept
It is vertical with the ground of sense channel to retouch section；Shown in second of mounting means such as laser scanner 111 ', such as it can be arranged at
Above the side of sense channel, the angle between its scanning cross-section and the ground of sense channel is in an acute angle or obtuse angle.Laser scanning
Instrument 111 or 111 ' with a default scan frequency, such as 100Hz (i.e. per second to scan 100 times), at least one checked object is carried out
Monitoring, it can once launch the laser beam of a plurality of different angle, the scanning cross-section institute coverage that multi-stripe laser beam is formed simultaneously
Starting point A be laser scanner 111 or 111 ' monitored area.The monitoring range of laser scanner is very big, generally can be to it
Front and rear 80 meters even longer scopes continuously monitor.
In certain embodiments, when being monitored using laser scanner 110 to checked object, because of its monitoring range very
Greatly, to avoid unnecessary Monitoring Data from storing, therefore before and would generally reach not by laser scanner when checked object
One predeterminated position just starts to handle its Monitoring Data (relative to the position of laser scanner), namely thinks default from this
Position initially enters its monitored area.In practice, such as the predeterminated position can be arranged on to laser scanner installation site
At 25 meters before, but the present invention is not limited.
Monitoring device using laser scanner as checked object motion state (such as position, test the speed, travel condition),
It is easily installed and cost is low, the strict angle of inclination of sensor in erection code, different peaces need not be emphasized in actual applications
Dress angle of inclination has no effect to required precision and algorithm.In addition, can essence when being tested the speed using laser scanner
The really movement velocity of the checked object of measurement low speed (such as 5 kilometers per hour).
Radiation appliance 120 is configured as launching radiation ray beam (such as X ray) to checked object, and saturating by what is detected
The radiation ray signal for crossing checked object is transferred to imaging device 130.Radiation appliance 120 includes radiographic source, is radiated for launching
Beam；And detector, for detecting the radiation ray through checked object.
The radiation ray signal that imaging device 130 is configured as being detected according to radiation appliance 120 is imaged.
Radiation image means for correcting 140 is configured as gathering the scan data of laser scanner 110, according to laser scanner
110 scan data, the movement state information of checked object is determined, including in the movement velocity and travel condition of checked object
At least one of at least one of, in the movement velocity and travel condition of checked object, the radiation image of checked object is entered
Row correction.The present disclosure proposes two kinds of bearing calibration.The bearing calibration of first type, radiation image means for correcting
140 electrically connect with radiation appliance 120, and are configured as the correction number of change scan frequency type that will be determined based on scan data
According to radiation appliance 120 is transferred to, radiation appliance 120 is changed the scan frequency to checked object, and make the basis of imaging device 130
The radiation ray signal that radiation appliance 120 detects is imaged.The bearing calibration of second of type, radiation image means for correcting
140 electrically connect with imaging device 130, and are configured as the feelings for meeting preparatory condition in the motion state determined based on scan data
Under condition, the radiation image formed to imaging device 130 enters row interpolation or takes out the correction process of row.
The scan data that radiation image means for correcting 140 gathers laser scanner 110 is described below, and determines checked object
The movement state information such as position, movement velocity, travel condition.
Radiation image means for correcting 140 is determined on the checked object extremely for each checked object in monitored area
A few fixing point, receive laser scanner 110 the checked object detected at different moments at least one fixing point with
The distance of transmitting position (i.e. the installation site of laser scanner 110) and its angle of departure of corresponding laser beam of multi-stripe laser beam
The scan datas such as degree.
First, when choosing above-mentioned fixing point, the change of the returned data of laser scanner 110 a bit can be chosen, such as quilt
Examine on obvious catastrophe point (such as certain point on checked object forward position or afterbody etc.) or the checked object sustained height of object
Point etc., the present invention is not limited.
Radiation image means for correcting 140 is directed to above-mentioned checked object, is detected according to the laser scanner 110 received
At least one fixing point of the checked object and the distance of radiating laser beams position and its launch angle of corresponding laser beam, energy
It is enough to determine and (selectively export) checked object at different moments apart from the relative position of laser scanner.
Fig. 4 is the schematic diagram of disclosure checked object localization method.Without loss of generality, in Fig. 4 to select checked object
Illustrate exemplified by the point that a certain fixing point A on 100 forward positions changes as the returned data of laser scanner 110.Such as Fig. 4 institutes
Show, when measurement range for sky, i.e., when no object enters monitored area, search and preserve apart from the closest approach of laser scanner 110
The corresponding angle γ of (B points in such as Fig. 4).When checked object 100 is located at No. 1 position, detected according to laser scanner 110
A little the distance between (i.e. fixing point A in Fig. 4) current distance radiating laser beams position S1 that returned data changes and
The angle [alpha] of the laser beam, to determine that the relative position L1 of No. 1 positional distance laser scanner 110 is：
L1=S1*cos α (1)
Or L1=S1*sin (γ-α) (2)
When checked object 100 is moved to No. 2 positions along the moving direction shown in arrow, according to laser scanner 110 again
Between a bit (i.e. fixing point A in Fig. 4) current distance radiating laser beams position that the secondary returned data detected changes
Distance S2 and the laser beam angle beta, to determine that the relative position L2 of No. 2 positional distance laser scanners 110 is：
L2=S2*cos β (3)
Or No. 2 positions can also be calculated by calculating displacement S3 of the checked object between No. 1 position and No. 2 positions
Put the relative position L2 between laser scanner 110.
It is possible, firstly, to angle, θ between S1 and S2 is calculated according to the angle [alpha] of two laser beams and β, further according to cosine law meter
Calculating S3 is：
And then the L1 calculating L2 tried to achieve according to formula (1) is：L2=L1-S3.
Further, in certain embodiments, in order to reduce radiation image means for correcting 140 processing data volume and raising
Its treatment effeciency, while emphasis monitoring is carried out to important monitoring range, to provide measurement accuracy, monitoring range can also be carried out
Region division, so as to being directed to different regions, using different displacement intervals or time interval measurement and export the position of checked object
Confidence ceases.Namely radiation image means for correcting 140 first judges that checked object is located in subregion relative to the position of laser scanner
Which region, so that it is determined that with corresponding displacement interval or time interval come determine and export the position of checked object letter
Breath.Wherein when checked object towards laser scanner move, and its apart from the relative position of laser scanner it is nearer when, when above-mentioned
Between interval or displacement interval it is smaller.For example, can with as shown in figure 3, monitored area is divided into 4 regions, in this 4 regions,
It is corresponding to determine and export the position of checked object when checked object is moved to No. 3 region nearest apart from laser scanner
It is fastest, namely checked object often moves a least displacement or at interval of a minimum time, it is determined that and export once by
Examine the position of object.The setting of specific region division and output frequency can determine according to practical application, the present invention not as
Limit.
Radiation image means for correcting 140 is directed to above-mentioned checked object, is detected according to the laser scanner 110 received
At least one fixing point of the checked object and the distance of radiating laser beams position and its launch angle of corresponding laser beam, really
Determine and export the movement velocity of the checked object.
For example, with continued reference to Fig. 4, as described above, No. 1 and No. 2 positions and laser scanner of checked object 100 is being determined
Between relative distance L1 and L2 or after determining displacement S3 between it, checked object 100 can be calculated according to following formula
Speed v：
Wherein T1 and T2 is respectively the time that checked object 100 is moved to No. 1 position and No. 2 positions.The time for example may be used
Obtained with the time calculation formula by radiation image means for correcting 140 itself, such as done when receiving first distance S1
T1 is marked, make marks T2 when receiving second distance S2；Or can also be by packet that laser scanner 110 returns
The time carried obtains.
In certain embodiments, multiple fixing points, such as multiple returned data change point (such as checked objects can also be chosen
On different height point or checked object on multiple obvious catastrophe points etc.), above-mentioned displacement is calculated based on each fixing point respectively
Afterwards, multiple shift values are fitted, such as carry out average computation, checked object is calculated according to the average displacement finally given
Speed.Tested the speed according to multiple fixing points, can further improve its accuracy value.
In addition, it is determined that and when exporting the speed of checked object, can also combine it is above-mentioned be based on different zones, that is, be detected pair
As the way of output with the relative position of laser scanner 110, determine and export tested with different displacement interval or time interval
The speed of object.
Radiation image means for correcting 140 detects the current travel condition of each checked object.Such as existed according to checked object
Current time and last moment determine the traveling at checked object current time apart from the different relative positions of laser scanner 110
State.First, the angle information in the returned data of laser scanner 110 knows that checked object is currently directed towards laser scanning
Instrument 110 moves, or is moved away from laser scanner 110.When checked object moves towards laser scanner 110, if worked as
Preceding moment checked object is less than last moment checked object apart from laser scanner 110 apart from the distance of laser scanner 110
Distance, then it is assumed that checked object is advance；If more than, then it is assumed that checked object to retreat；And if equal to, then it is assumed that
Checked object stops movement.And when checked object moves away from laser scanner 110, if current time checked object distance
The distance of laser scanner 110 is more than distance of the last moment checked object apart from laser scanner 110, then it is assumed that checked object
To advance；If less than, then it is assumed that checked object to retreat.
In addition, radiation image means for correcting 140 can also be directly according to the change of checked object return laser light beam angle degree twice
Change to judge its direct of travel.Such as when being moved towards laser scanner 110, the laser beam angular of return should be less and less；
And when being moved away from laser scanner 110, then the laser beam angular returned then should be increasing.
Some embodiments of the present disclosure can in real time, continuously measure the motion shape of checked object using laser scanner
State, monitoring accuracy are higher.The radiation image of checked object is corrected according to the motion state of measurement, it is possible to increase radiation image school
Positive real-time.
Radiation image means for correcting 140 is described below according at least one in the movement velocity and travel condition of checked object
, the radiation image of checked object is corrected.
Exemplary bearing calibration one
Use image interpolation according to the movement velocity of checked object or take out row mode and be corrected.
For example, in the case where the movement velocity of checked object is more than the undistorted threshold speed set, to checked object
Radiation image carry out interpolation processing；In the case where the movement velocity of checked object is less than the undistorted threshold speed set,
The radiation image of checked object is carried out taking out column processing.
Wherein, undistorted threshold speed can be obtained by test, and it can be a value or a scope.Interpolation processing
It is the bearing calibration that pixel is inserted in radiation image, for example, the pixel according to some pixels adjacent in radiation image
The Pixel Information of the pixel of information generation insertion.It is that the bearing calibration of pixel, example are extracted in radiation image to take out column processing
Such as, the pixel decimation of the several columns in radiation image is gone out, remaining pixel is as the radiation image after correction.
Because the movement velocity of checked object can by degree of precision measure, therefore, the motion speed according to checked object
Degree can real-time preferably correct the radiation image of checked object.
Further, it is also possible to processing is corrected with reference to image rectification step-length, with the further real-time for improving correction.Image
Calibration step can be configured according to business to the requirement for correcting real-time, and business is higher to correction requirement of real-time, image
Calibration step is set shorter.
In the case where the movement velocity of checked object is more than the undistorted threshold speed set, whenever the fortune of checked object
When dynamic distance meets the image rectification step-length set, an interpolation processing is carried out to the radiation image of checked object.If tested pair
When the move distance of elephant meets the image rectification step-length set, the movement velocity of checked object does not update also, according to it is preceding once by
Degree of correction corresponding to the movement velocity of object is examined, an interpolation processing is carried out to the radiation image of checked object.
In the case where the movement velocity of checked object is less than the undistorted threshold speed set, whenever the fortune of checked object
When dynamic distance meets the image rectification step-length set, column processing is once taken out to the radiation image of checked object.If tested pair
When the move distance of elephant meets the image rectification step-length set, the movement velocity of checked object does not update also, according to it is preceding once by
Degree of correction corresponding to examining the movement velocity of object, column processing is once taken out to the radiation image of checked object.
Exemplary bearing calibration two
It is corrected according to the movement velocity of checked object by the way of the scan frequency of radiation appliance is changed.
For example, in the case where the movement velocity of checked object is more than the undistorted threshold speed set, control radiation dress
The scan frequency increase put, to be corrected to the radiation image of checked object；It is less than in the movement velocity of checked object and sets
In the case of the undistorted threshold speed put, the scan frequency of radiation appliance is controlled to reduce, so as to the radiation diagram to checked object
As being corrected.
Because the movement velocity of checked object can by degree of precision measure, therefore, the motion speed according to checked object
Degree can real-time preferably correct the radiation image of checked object.
Wherein, changing the scan frequency of radiation appliance can be expired by setting the adjustment amplitude of scan frequency gradually to change
The scan frequency of prestige.Further, it is also possible to the following method proposed using the present embodiment is rapidly changed to desired scan frequency.
That is, according to the scan frequency f and pulsatile once of radiation appliance the image length C scanned and checked object movement velocity
Relation V/C=f between V, determines targeted scans frequency corresponding to the movement velocity of checked object, controls the scanning of radiation appliance
Frequency shift is to targeted scans frequency.Wherein, C is the constant determined according to the scan capability of radiation appliance.
Exemplary bearing calibration three
It is corrected according to the travel condition of checked object.
For example, in the case where the travel condition of checked object is retrogressing, the radiation image of checked object is carried out taking out row
Processing.
In another example in the case where the travel condition of checked object is retrogressing, the scan frequency of radiation appliance is controlled to reduce.
For another example in the case where the travel condition of checked object is off, control radiation appliance stops scanning.
Because the travel condition of checked object can by degree of precision measure, therefore, the traveling shape according to checked object
State can real-time preferably correct the radiation image of checked object.
Exemplary bearing calibration four
It is corrected according to the movement velocity of checked object and travel condition.
For example, in the case where the travel condition of checked object is advance, and it is more than and sets in the movement velocity of checked object
In the case of the undistorted threshold speed put, interpolation processing is carried out to the radiation image of checked object or controls sweeping for radiation appliance
Frequency increase is retouched, and in the case where the movement velocity of checked object is less than the undistorted threshold speed set, to checked object
Radiation image take out column processing or control the scan frequency of radiation appliance to reduce.
In another example in the case where the travel condition of checked object is retrogressing, according to astern speed, to the spoke of checked object
That penetrates image progress respective degrees takes out column processing.Astern speed is faster, the picture extracted away from the radiation image of checked object
Vegetarian refreshments is more.
For another example in the case where the travel condition of checked object is retrogressing, according to astern speed, control radiation appliance is pressed
Reduce its scan frequency according to respective degrees.Astern speed is faster, and the scan frequency of radiation appliance reduces more.
Because the movement velocity and travel condition of checked object can by degree of precision measure, therefore, according to tested pair
The movement velocity and travel condition of elephant can real-time preferably correct the radiation image of checked object.
In addition, radiation image means for correcting 140 according to laser scanner 110 in the checked object detected at different moments
Multiple points distance of transmitting position and its scan data such as launch angle of corresponding laser beam with multi-stripe laser beam respectively,
The profile of checked object can be determined.According to the profile of checked object, if checked object includes at least two parts, use
Foregoing movement state information determines method, determines the motion such as position, movement velocity, travel condition of each part respectively
Status information.Then, at least one in the movement velocity and travel condition of each part of checked object, to tested pair
The radiation image of each part of elephant is corrected respectively.For example, the radiation image of each several part to checked object, is carried out respectively
Interpolation takes out row, or, different degrees of interpolation is carried out respectively, or, what progress was different degrees of respectively takes out the correction process such as row.
Wherein, the bearing calibration of checked object of the bearing calibration of each part of checked object with being treated as an entirety is identical,
Here repeat no more.
As a kind of example, if gap in checked object be present, connection is had by gap segmentation and segmentation portion, then think
Checked object is divided into two parts by gap.For example, the vehicle with actuator, as shown in Fig. 2 between headstock and actuator
Gap be present, vehicle is split by gap and segmentation portion has connection, then the vehicle is divided into headstock and actuator two by gap
Individual part.In vehicular motion, headstock may be not fully consistent with the motion state of actuator, such as vehicle brake
When, headstock speed reduces quickly, and then actuator slows down again because inertia can maintain the speed before brake for a period of time.
The method corrected respectively for each part of checked object provided using the disclosure, can be improved due to tested pair well
The pattern distortion as caused by the motion state of each several part is inconsistent.
Fig. 5 is the schematic flow sheet of disclosure radiation image bearing calibration one embodiment.As shown in figure 5, the embodiment
Radiation image bearing calibration 50 can for example be performed by radiation image means for correcting 140, comprise the following steps：
Step 510, the scan data of laser scanner is gathered；
Step 520, according to the scan data of laser scanner, the movement state information of checked object, checked object are determined
Movement state information including checked object movement velocity and travel condition at least one of；
Step 530, at least one in the movement velocity and travel condition of checked object, the radiation to checked object
Image is corrected.
So as to which using the motion state of laser scanner measurement checked object, measurement accuracy is higher, according to the fortune of measurement
The radiation image of dynamic state correction checked object, it is possible to increase the real-time of radiation image correction.
Fig. 6 is the schematic flow sheet of disclosure radiation image bearing calibration further embodiment.As shown in fig. 6, the implementation
The radiation image bearing calibration 60 of example comprises the following steps：
Step 610, radiation image means for correcting 140 gathers the scan data of laser scanner；
Step 620, radiation image means for correcting 140 determines the fortune of checked object according to the scan data of laser scanner
Dynamic status information, the movement state information of checked object include at least one in the movement velocity and travel condition of checked object
；
Step 630, radiation image means for correcting 140 is according at least one in the movement velocity and travel condition of checked object
, it is determined that changing the scan frequency of radiation appliance 120, and the correction data for changing scan frequency type (is added deduct for example, increasing
Small scan frequency, scan frequency change amplitude etc.) radiation appliance 120 is transferred to, to be carried out to the radiation image of checked object
Correction.
Step 640, radiation appliance 120 changes the scanning to checked object according to the instruction of radiation image means for correcting 140
Frequency, and the radiation ray signal through checked object detected is transferred to imaging device 130.
Step 650, the radiation ray signal that imaging device 130 detects according to radiation appliance 120 is imaged.
So as to which using the motion state of laser scanner measurement checked object, measurement accuracy is higher, according to the fortune of measurement
Dynamic state, by the way of the scan frequency of radiation appliance 120 is changed, corrects the radiation image of checked object, it is possible to increase radiation
The real-time of image rectification.
Fig. 7 is the schematic flow sheet of another embodiment of disclosure radiation image bearing calibration.As shown in fig. 7, the implementation
The radiation image bearing calibration 70 of example comprises the following steps：
Step 710, radiation image means for correcting 140 gathers the scan data of laser scanner；
Step 720, radiation image means for correcting 140 determines the fortune of checked object according to the scan data of laser scanner
Dynamic status information, the movement state information of checked object include at least one in the movement velocity and travel condition of checked object
；
Step 730, radiation appliance 120 launches radiation ray beam (such as X ray) to checked object, and saturating by what is detected
The radiation ray signal for crossing checked object is transferred to imaging device 130.
Step 740, the radiation ray signal that imaging device 130 detects according to radiation appliance 120 is imaged.
Wherein, the execution sequence of step 710~720 and step 730~740 is in no particular order.
Step 750, radiation image means for correcting 140 is according at least one in the movement velocity and travel condition of checked object
, in the case where meeting preparatory condition, the radiation image formed to imaging device 130 enters row interpolation or taken out at the correction of row
Reason.
So as to which using the motion state of laser scanner measurement checked object, measurement accuracy is higher, according to the fortune of measurement
Dynamic state, enters row interpolation using the radiation image formed to imaging device 130 or takes out the processing mode of row, corrects checked object
Radiation image, it is possible to increase radiation image correction real-time.
Fig. 8 is the structural representation of disclosure radiation image means for correcting one embodiment.As shown in figure 8, the embodiment
Radiation image means for correcting 140 include：
Data acquisition module 1401, for gathering the scan data of laser scanner；
Moving state determining module 1402, for the scan data according to laser scanner, determine the motion of checked object
Status information, the movement state information of checked object include in the movement velocity and travel condition of checked object at least one of；
Image correction module 1403 is right at least one in the movement velocity and travel condition according to checked object
The radiation image of checked object is corrected.
In certain embodiments, image correction module 1403 include the first image correction unit, the second image correction unit,
At least one unit in 3rd image correction unit, the 4th image correction unit；
First image correction unit, for being more than the feelings of the undistorted threshold speed set in the movement velocity of checked object
Under condition, interpolation processing is carried out to the radiation image of checked object；It is less than the undistorted speed set in the movement velocity of checked object
In the case of spending threshold value, the radiation image of checked object is carried out taking out column processing；
Second image correction unit, for being more than the feelings of the undistorted threshold speed set in the movement velocity of checked object
Under condition, controlling the scan frequency of radiation appliance increases；It is less than the undistorted threshold speed set in the movement velocity of checked object
In the case of, control the scan frequency of radiation appliance to reduce；
3rd image correction unit, in the case of being retrogressing in the travel condition of checked object, to checked object
Radiation image carries out taking out column processing or controls the scan frequency of radiation appliance to reduce；It is off in the travel condition of checked object
In the case of, control radiation appliance stops scanning；
4th image correction unit, in the case of being advance in the travel condition of checked object, and in checked object
Movement velocity be more than the undistorted threshold speed set in the case of, the radiation image of checked object is carried out interpolation processing or
Control radiation appliance scan frequency increase, and checked object movement velocity be less than set undistorted threshold speed feelings
Under condition, the radiation image of checked object is carried out taking out column processing or controls the scan frequency of radiation appliance to reduce.
In certain embodiments, the first image correction unit, it is more than the nothing set for the movement velocity in checked object
In the case of distortion threshold speed, when the move distance of checked object meets the image rectification step-length set, to tested pair
The radiation image of elephant carries out an interpolation processing；It is less than the feelings of the undistorted threshold speed set in the movement velocity of checked object
Under condition, when the move distance of checked object meets the image rectification step-length set, the radiation image of checked object is carried out
Once take out column processing.
In certain embodiments, the first image correction unit, if the move distance for checked object meets the figure set
During as calibration step, the movement velocity of checked object does not update also, according to school corresponding to the movement velocity of a preceding checked object
Positive degree, a correction process is carried out to the radiation image of checked object, correction process includes interpolation processing or takes out column processing.
In certain embodiments, the second image correction unit, for the scan frequency and pulsatile once according to radiation appliance
Relation between the image length and checked object movement velocity of scanning, determines that target is swept corresponding to the movement velocity of checked object
Frequency is retouched, controls the scan frequency of radiation appliance to change and arrives targeted scans frequency.
In certain embodiments, moving state determining module 1402, for the scan data according to laser scanner, it is determined that
The movement state information of each part of checked object, the movement state information of each part of checked object include checked object
Each part movement velocity and travel condition at least one of；Image correction module 1403, for according to checked object
Each part movement velocity and travel condition at least one of, the radiation image of each part of checked object is distinguished
It is corrected.
Fig. 9 is the structural representation of another embodiment of disclosure radiation image means for correcting.As shown in figure 9, the implementation
The radiation image means for correcting 140 of example includes：Memory 910 and the processor 920 for being coupled to the memory 910, processor
920 are configured as based on the instruction being stored in memory 910, perform the radiation image correction in any one foregoing embodiment
Method.
Wherein, memory 910 is such as can include system storage, fixed non-volatile memory medium.System stores
Device is such as being stored with operating system, application program, Boot loader (Boot Loader) and other programs.
Those skilled in the art should be understood that embodiment of the disclosure can be provided as method, system or computer journey
Sequence product.Therefore, in terms of the disclosure can use complete hardware embodiment, complete software embodiment or combine software and hardware
The form of embodiment.Moreover, the disclosure can use the calculating for wherein including computer usable program code in one or more
Machine can use the meter implemented in non-transient storage medium (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
The disclosure is with reference to the flow according to the method for the embodiment of the present disclosure, equipment (system) and computer program product
Figure and/or block diagram describe.Being interpreted as can be by each in computer program instructions implementation process figure and/or block diagram
Flow and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer journeys can be provided
Sequence instruction to all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices processor with
Produce a machine so that produce and be used for by the instruction of computer or the computing device of other programmable data processing devices
Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
Put.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
The foregoing is only the preferred embodiment of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included within the protection domain of the disclosure.
Claims (17)
1. a kind of radiation image bearing calibration, including：
Gather the scan data of laser scanner；
According to the scan data of laser scanner, the movement state information of checked object, the motion shape of the checked object are determined
State information includes at least one in the movement velocity and travel condition of checked object；
At least one of in the movement velocity and travel condition of the checked object, to the radiation image of the checked object
It is corrected.
2. the method for claim 1, wherein
In the case where the movement velocity of the checked object is more than the undistorted threshold speed set, to the checked object
Radiation image carries out interpolation processing；
In the case where the movement velocity of the checked object is less than the undistorted threshold speed set, to the checked object
Radiation image carries out taking out column processing.
3. method as claimed in claim 2, wherein,
In the case where the movement velocity of the checked object is more than the undistorted threshold speed set, whenever the checked object
Move distance when meeting the image rectification step-length set, an interpolation processing is carried out to the radiation image of the checked object；
In the case where the movement velocity of the checked object is less than the undistorted threshold speed set, whenever the checked object
Move distance meet set image rectification step-length when, column processing is once taken out to the radiation image of the checked object.
4. method as claimed in claim 3, wherein,
If the move distance of the checked object meets the image rectification step-length set, the movement velocity of the checked object is also
Do not update, according to degree of correction corresponding to the movement velocity of preceding once described checked object, to the radiation diagram of the checked object
As carrying out a correction process, the correction process includes interpolation processing or takes out column processing.
5. the method for claim 1, wherein
In the case where the movement velocity of the checked object is more than the undistorted threshold speed set, sweeping for radiation appliance is controlled
Frequency increase is retouched, to be corrected to the radiation image of the checked object；
In the case where the movement velocity of the checked object is less than the undistorted threshold speed set, sweeping for radiation appliance is controlled
Frequency reduction is retouched, to be corrected to the radiation image of the checked object.
6. method as claimed in claim 5, wherein,
Pass between the image length and checked object movement velocity that are scanned according to the scan frequency of radiation appliance and pulsatile once
System, determines targeted scans frequency corresponding to the movement velocity of the checked object, controls the scan frequency of radiation appliance to change and arrives
Targeted scans frequency.
7. the method for claim 1, wherein
In the case where the travel condition of the checked object is retrogressing, the radiation image of the checked object take out at row
Reason or the scan frequency of control radiation appliance reduce；
In the case where the travel condition of the checked object is off, control radiation appliance stops scanning；
It is more than setting in the case where the travel condition of the checked object is advance, and in the movement velocity of the checked object
Undistorted threshold speed in the case of, interpolation processing is carried out to the radiation image of the checked object or controls radiation appliance
Scan frequency increase, and in the case where the movement velocity of the checked object is less than the undistorted threshold speed set, to institute
The radiation image for stating checked object carries out taking out column processing or controls the scan frequency of radiation appliance to reduce.
8. the method for claim 1, wherein
According to the scan data of laser scanner, the movement state information of each part of checked object is determined, described tested pair
In the movement velocity and travel condition of each part of the movement state information of each part of elephant including checked object at least
One；
At least one of in the movement velocity and travel condition of each part of the checked object, to the checked object
The radiation image of each part be corrected respectively.
9. a kind of radiation image means for correcting, including：
Data acquisition module, for gathering the scan data of laser scanner；
Moving state determining module, for the scan data according to laser scanner, the movement state information of checked object is determined,
The movement state information of the checked object includes at least one in the movement velocity and travel condition of checked object；
Image correction module, at least one in the movement velocity and travel condition according to the checked object, to described
The radiation image of checked object is corrected.
10. device as claimed in claim 9, wherein, described image correction module includes the first image correction unit, the second figure
As at least one unit in correction unit, the 3rd image correction unit, the 4th image correction unit；
Described first image corrects unit, is more than the undistorted threshold speed set for the movement velocity in the checked object
In the case of, interpolation processing is carried out to the radiation image of the checked object；It is less than in the movement velocity of the checked object and sets
In the case of the undistorted threshold speed put, the radiation image of the checked object is carried out taking out column processing；
Second image correction unit, it is more than the undistorted threshold speed set for the movement velocity in the checked object
In the case of, controlling the scan frequency of radiation appliance increases；It is less than the undistorted of setting in the movement velocity of the checked object
In the case of threshold speed, the scan frequency of radiation appliance is controlled to reduce；
3rd image correction unit, in the case of being retrogressing in the travel condition of the checked object, to the quilt
The radiation image of inspection object carries out taking out column processing or controls the scan frequency of radiation appliance to reduce；In the traveling of the checked object
In the case that state is off, control radiation appliance stops scanning；
4th image correction unit, in the case of being advance in the travel condition of the checked object, and described
In the case that the movement velocity of checked object is more than the undistorted threshold speed set, the radiation image of the checked object is entered
Row interpolation processing or control radiation appliance scan frequency increase, and the checked object movement velocity be less than set nothing
Distort in the case of threshold speed, the radiation image of the checked object is carried out taking out column processing or controls the scanning of radiation appliance
Frequency reduces.
11. device as claimed in claim 10, wherein,
Described first image corrects unit, is more than the undistorted threshold speed set for the movement velocity in the checked object
In the case of, when the move distance of the checked object meets the image rectification step-length set, to the checked object
Radiation image carries out an interpolation processing；It is less than the feelings of the undistorted threshold speed set in the movement velocity of the checked object
Under condition, when the move distance of the checked object meets the image rectification step-length set, the radiation to the checked object
Image is once taken out column processing.
12. device as claimed in claim 11, wherein,
Described first image corrects unit, if the move distance for the checked object meets the image rectification step-length set
When, the movement velocity of the checked object does not update also, the correction according to corresponding to the movement velocity of preceding once described checked object
Degree, a correction process is carried out to the radiation image of the checked object, the correction process includes interpolation processing or takes out row
Processing.
13. device as claimed in claim 10, wherein,
Second image correction unit, the image length scanned for the scan frequency according to radiation appliance and pulsatile once and
Relation between checked object movement velocity, targeted scans frequency corresponding to the movement velocity of the checked object is determined, controlled
The scan frequency of radiation appliance, which changes, arrives targeted scans frequency.
14. device as claimed in claim 9, wherein,
The moving state determining module, for the scan data according to laser scanner, determine each part of checked object
Movement state information, the movement state information of each part of the checked object includes the fortune of each part of checked object
At least one of in dynamic speed and travel condition；
Described image correction module, in the movement velocity and travel condition according to each part of the checked object extremely
One item missing, the radiation image of each part of the checked object is corrected respectively.
15. a kind of radiation image means for correcting, including：
Memory；And
The processor of the memory is coupled to, the processor is configured as based on the instruction being stored in the memory,
Perform claim requires the radiation image bearing calibration any one of 1-8.
16. a kind of radiation image corrects system, including：Laser scanner, radiation appliance, imaging device and claim 9-15
Any one of radiation image means for correcting；Wherein, the laser scanner is configured as launching laser to checked object
It is scanned, scan data is transferred to the radiation image means for correcting；The radiation appliance is configured as to checked object
Launch radiation ray beam, and the radiation ray signal through checked object detected is transferred to the imaging device；It is described
The radiation ray signal that imaging device is configured as being detected according to the radiation appliance is imaged；The radiation image correction
The correction data that device is configured as the change scan frequency type that will be determined based on scan data is transferred to the radiation appliance,
The radiation appliance is set to change the scan frequency to checked object, or, it is configured as in the motion determined based on scan data
In the case that state meets preparatory condition, the radiation image formed to the imaging device enters row interpolation or taken out at the correction of row
Reason.
17. a kind of computer-readable recording medium, is stored thereon with computer program, the computer program is executed by processor
The step of radiation image bearing calibration any one of Shi Shixian claims 1-8.
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| CN201711173570.0A CN107680065A (en) | 2017-11-22 | 2017-11-22 | Radiation image bearing calibration and means for correcting and correction system |
| PL435081A PL435081A1 (en) | 2017-11-22 | 2018-09-05 | Radiation image correction method, correction apparatus and correction system |
| PCT/CN2018/104173 WO2019100810A1 (en) | 2017-11-22 | 2018-09-05 | Radiation image correction method, correction apparatus and correction system |
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