CN117191833A

CN117191833A - Object scanning device

Info

Publication number: CN117191833A
Application number: CN202311047705.4A
Authority: CN
Inventors: 季峥; 刘磊; 宋全伟; 喻卫丰; 史俊平; 迟豪杰; 刘必成; 宗春光
Original assignee: Nuctech Co Ltd
Current assignee: Nuctech Co Ltd
Priority date: 2023-08-18
Filing date: 2023-08-18
Publication date: 2023-12-08

Abstract

An object scanning device is provided, relating to the field of ray scanning. The object scanning device includes: an object recognition module configured to recognize size information of a subject in advance before scanning; a control module configured to determine a movement stroke of the mobile device according to the size information; the mobile device is connected with the back-scattering imaging device and is configured to drive the back-scattering imaging device to move along a preset direction in the moving stroke; the backscatter imaging device is configured to scan a bottom of the inspected object during movement in the predetermined direction to obtain a backscatter image. The device can be compatible with detected objects of various types or sizes, can perform bottom scanning, can realize the purposes of safety inspection, object identification, material analysis, nondestructive detection and the like according to the back scattering image, and has a wider application range.

Description

Object scanning device

Technical Field

The present disclosure relates to the field of radiographic imaging, and more particularly, to object scanning devices.

Background

Scanning imaging of target objects may be used in applications such as security inspection, object recognition, material analysis, and nondestructive testing. The bottom of some target objects is close to the ground and is easy to be blocked, so that the target objects have the requirement of targeted scanning. For example, the vehicle chassis inspection can effectively prevent the vehicle bottom from hiding suspects such as bombs, weapons or biochemical dangerous goods. An optical chassis inspection may be used, but this approach only inspects the chassis surface. An X-ray chassis back scattering inspection device with certain penetrating capacity can be adopted to better inspect hidden objects on the chassis.

In the process of implementing the inventive concept of the present disclosure, the inventor finds that at least the following technical problems exist in the related art: it is possible to have specialized scanning devices for the same class or size of target object, but there are more classes or sizes of target objects with bottom scanning requirements, but there are no scanning devices that can be used for multiple classes or sizes at the same time.

Disclosure of Invention

In view of the above, the present disclosure provides an object scanning apparatus.

An embodiment of the present disclosure provides an object scanning apparatus, including:

an object recognition module configured to recognize size information of a subject in advance before scanning;

a control module configured to determine and move a travel of the mobile device based on the size information;

the mobile device is connected with the back-scattering imaging device and is configured to drive the back-scattering imaging device to move along a preset direction in the moving stroke;

the backscatter imaging device is configured to scan a bottom of the inspected object during movement in the predetermined direction to obtain a backscatter image.

In some embodiments, the control module is configured to determine a ray angle of the backscatter imaging device from the size information; and the backscatter imaging device is configured to scan a portion or all of the area of the base in accordance with the ray angle.

In some embodiments, the backscatter imaging device is mounted within a floor pit, and the subject is adapted to receive a scan of the backscatter imaging device in a stationary state on the floor.

In some embodiments, the control module is configured to:

controlling the backscatter imaging device and the mobile device to scan the bottom one or more times;

wherein, at the multiple scans, the backscatter imaging device is configured to:

multiple scans using energy sources of different energies, and/or

And rescanning N bottom suspected areas after the bottom scanning is completed, wherein N is greater than or equal to 1.

In some embodiments, upon rescanning the N bottom suspicion regions, the backscatter imaging device is configured to:

determining target areas in the N bottom suspicion areas;

and adjusting the opening angle of the rays and/or the direction of the front collimator, and scanning the target area.

In some embodiments, the backscatter imaging device includes a dual energy ray scanning device, the multiple scans using energy sources of different energies including:

the dual energy ray scanning device is configured to scan using low energy rays and high energy rays, respectively.

In some embodiments, the object scanning device further comprises:

and S sets of the back-scattering imaging devices, wherein the positions and/or scanning angles of any set of the back-scattering imaging devices and at least one set of the back-scattering imaging devices are different, and S is greater than or equal to 2.

In some embodiments, the object scanning device further comprises:

an optical image acquisition device configured to acquire an optical image of the bottom;

the backscatter imaging device is configured to scan a bottom suspicious region determined based on the optical image.

In some embodiments, the control module is configured to:

the optical image is compared with a pre-stored bottom image to determine a bottom suspicion area based on the optical image.

In some embodiments, the object recognition module is configured to pre-recognize relative position information of the inspected object and the backscatter imaging device prior to scanning; the control module is configured to control the back-scattering imaging device to rotate according to the relative position information until a scanning surface of the back-scattering imaging device is perpendicular to a symmetry plane of the object to be detected, wherein the symmetry plane is parallel to the height direction of the object to be detected.

In some embodiments, the object scanning device further comprises:

a carrier grid above the backscatter imaging device having M grids to allow the backscatter signals to pass through, the carrier grid configured to carry the inspected object below the inspected object, M being greater than or equal to 1; or (b)

And a carrying plate positioned above the back scattering imaging device, wherein the carrying plate is configured to carry the detected object under the detected object.

In some embodiments, the backscatter imaging apparatus includes:

an X-ray source configured to emit X-rays forming the beam of rays to scan the bottom;

an opening angle adjusting part configured to form an opening angle adjusting region between the X-ray source and the bottom, the ray beam reaching the bottom from the X-ray source via the opening angle adjusting region.

In some embodiments, the opening angle adjusting means includes:

a first adjusting part located at one side of the opening angle adjusting area;

the second adjusting part is opposite to the first adjusting part and is positioned at the other side of the opening angle adjusting area;

wherein the first and second adjustment members are configured to be relatively movable to change the size of the opening angle adjustment region.

In some embodiments, the first adjustment component comprises:

a first shielding plate forming the opening angle adjusting region with a space between the second adjusting member;

and the first moving component is connected with the first shielding plate and is configured to drive the first shielding plate to move towards or away from the second adjusting component so as to change the size of the opening angle adjusting area.

In some embodiments, the second adjustment component comprises:

a second shielding plate parallel to the first shielding plate, and forming the opening angle adjusting region with a space between the first shielding plate and the second shielding plate;

and the second moving component is connected with the second shielding plate and is configured to drive the second shielding plate to move towards or away from the first shielding plate so as to change the size of the opening angle adjusting area.

In some embodiments, the opening angle adjusting means includes:

a fan-shaped adjustment member defining an angle-adjustable fan-shaped opening as the opening angle adjustment region, the radiation beam forming an X-ray fan-shaped beam via the fan-shaped opening.

In some embodiments, the sector adjustment member comprises:

a first side shield;

a second side shield cooperating with the first side shield to define the scalloped opening;

Wherein at least one of the first side shield and the second side shield is configured to be rotatable about a center of the fan-shaped opening to adjust an angle of the fan-shaped opening.

In some embodiments, the inspected object includes an inspected vehicle and the floor includes a chassis of the inspected vehicle.

One or more of the above embodiments have the following advantages: the size information is identified in advance, the moving travel of the mobile device is determined, then the back scattering imaging device can scan the bottom of the detected object, the mobile device moves in the moving travel matched with the size of the detected object, the bottom scanning can be carried out on the detected object with various categories or sizes, the purposes of safety inspection, object identification, material analysis, nondestructive detection and the like can be achieved according to the back scattering image, and the back scattering imaging device has a wide application range.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates an operation state diagram of an object scanning apparatus according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates an A-direction view of the object scanning apparatus of FIG. 1, in accordance with an embodiment of the present disclosure;

FIG. 3 schematically illustrates a structural schematic of a load-bearing grid according to an embodiment of the present disclosure;

FIG. 4 schematically illustrates a structural schematic of a second cylinder according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a schematic diagram of opening angle adjustment according to an embodiment of the present disclosure;

fig. 6 schematically illustrates a schematic view of a beam exiting at a gamma opening angle in accordance with an embodiment of the present disclosure.

Fig. 7 schematically illustrates a schematic view of an opening angle adjusting member according to another embodiment of the present disclosure.

Fig. 8 schematically illustrates a schematic view of an opening angle adjusting member according to another embodiment of the present disclosure.

It is noted that in the drawings for describing embodiments of the present disclosure, the dimensions of the overall/partial structure or the overall/partial region may be exaggerated or reduced for clarity, i.e., the drawings are not drawn to actual scale.

Reference numerals referred to in the above figures are as follows:

1. an object scanning device; 2. an object to be inspected; 3. ground surface; 31. a ground pit 31; 11. an object recognition module; 12. a control module; 13. a mobile device; 14. a backscatter imaging device; 141. an X-ray source; 142. an opening angle adjusting part; 1421. a first adjusting member; 14211. a first shielding plate; 14212. a first moving member; 1422. a second adjusting member; 14221. a second shielding plate; 14222. a second moving member; 143. an opening angle adjustment region; 310. a carrier grid; 410. a long slit; 420. a short slit; 610. a first motor; 620. a second motor; 710. a fan-shaped adjusting member; 711. a first side shield; 712. a second side shield; 720, arc-shaped adjusting plates; 810. a circular ring; 811. an opening.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

Fig. 1 schematically illustrates an operation state diagram of an object scanning apparatus according to an embodiment of the present disclosure. Fig. 2 schematically illustrates an a-direction view of the object scanning apparatus of fig. 1 according to an embodiment of the present disclosure.

As shown in fig. 1, the object scanning apparatus 1 includes an object recognition module l1, a control module 12, a mobile device 13, and a backscatter imaging device 14. The object recognition module 11 is configured to recognize size information of the object 2 to be inspected in advance before scanning. The control module 12 is configured to determine a movement stroke of the mobile device 13 based on the size information. The moving device 13 is connected to the backscatter imaging device 14 and configured to drive the backscatter imaging device 14 to move in a predetermined direction during a movement stroke. The backscatter imaging device 14 is configured to scan the bottom of the object 2 to be inspected during movement in a predetermined direction to obtain a backscatter image.

In particular, the positional relationship among the object recognition module 11, the control module 12, the mobile device 13, and the backscatter imaging device 14 shown in fig. 1 is merely illustrative, and the present disclosure is not limited thereto.

In some embodiments, the inspected object includes an inspected vehicle and the floor includes a chassis of the inspected vehicle. In the event that a full vehicle scan is required, the backscatter imaging device 14 scans the chassis throughout the travel. In addition, in the case where it is necessary to avoid scanning a portion (e.g., a cab) of the vehicle to be protected, the backscatter imaging apparatus 14 scans only the chassis of the vehicle other than the portion to be protected during the travel. In some embodiments, the subject 2 may include a small vehicle such as a sedan, a minibus, a light bus, a tricycle, or a light cargo vehicle. In other embodiments, the inspected object 2 may include a large-sized vehicle such as a general passenger car, a large-sized motor home, a special working vehicle, or a semi-trailer. The distinction between small vehicles and large vehicles can be determined according to the existing traffic control rule or according to the tonnage of the detected object 2.

The vehicle type information includes, for example, information of a type of the vehicle, a factory model, and size information, which are distinguished by common features of the vehicle, a purpose of use, and a function. The object 2 may be moved relative to the backscatter imaging device 14 to be scanned by the beam, e.g. the object 2 is moved while the backscatter imaging device 14 is stationary, the object 2 is stationary while the backscatter imaging device 14 is moving, or the object 2 and the backscatter imaging device 14 are simultaneously moved relative to each other. For example, when the subject 2 is stationary and the backscatter imaging device 14 is moving, the driver and passenger can get off the vehicle, free from the effect of radiation on the body.

In some embodiments, the object recognition module 11 may include a triggering device (to monitor whether the vehicle is in view), a camera device, a lighting device, an image acquisition device, a background processor for recognizing license plate numbers, etc., which are used to snap a picture of the vehicle, obtain vehicle model information, such as size and model number, etc., using image recognition technology. The image recognition technique may include template matching based on vehicle features or vehicle type classification based on machine learning models, and may also use a target tracking algorithm to identify one or more vehicles. In other embodiments, the object recognition module 11 may include a laser ranging device, where the main body is buried on the ground 3, and may emit a laser beam upward, wait for the object 2 to be inspected to pass therethrough, and may obtain the size information of the bottom.

Illustratively, the control module 12 may comprise a computer or microprocessor, may be locally mounted, such as integrated in the object recognition module 11 or the backscatter imaging device 14, or independently locally mounted. The control module 12 may also include a cloud server or a remote server communicatively coupled to the object recognition module 11, the mobile device 13, and the backscatter imaging device 14 via a network.

In some embodiments, the backscatter imaging device 14 includes a flying spot scanning component and a detector on the same side of the object 2, the flying spot scanning component for emitting a beam of radiation configured to scan the bottom of the object 2, the backscatter signal (backscatter radiation) reflected by the bottom being received by the detector, thereby obtaining a backscatter image. The scanned back-scattered image can be transmitted to the control module 12 of the communication connection for automatic image judgment, or transmitted to a display screen for image judgment by an image judgment staff.

Illustratively, the flying spot scanning component is implemented based on a flying spot scanning technique. The flying spot scanning means comprises, for example, an X-ray source, a collimator slit and a chopper wheel, which are arranged in this order in a direction perpendicular to the ground 3, and after the X-ray source emits radiation, a fan-shaped beam is collimated via the collimator slit and then irradiated onto the rotating chopper wheel. The chopper wheel is provided with one or more slits, and the area outside the slits is made of shielding materials (such as lead or tungsten and the like). The chopper wheel rotates around the axis to form a light beam, and performs one-dimensional scanning in the x direction (the ray angle alpha shown in fig. 2 is the scanning range). And as the mobile device 13 drives the back-scattering scanning device to move to perform another dimension scanning in the y direction (moving forward from the rear direction of the vehicle as shown in fig. 1), flying spot scanning in the x-y plane is realized. After the radiation beam irradiates the bottom, the detector receives the back scattering signal due to Compton scattering principle, and a back scattering image can be obtained.

In other embodiments, the backscatter imaging device 14 may include a fly-line scanning component including an X-ray source and a pre-collimator, and a detector. The front collimator may be a first cylinder parallel to the ground 3, comprising slits parallel to the ground 3, in which cylinder the X-ray source is located, the emitted X-rays forming fan-shaped X-rays through the slits in the first cylinder. The fan-shaped x-ray irradiates on the bottom to realize one-dimensional scanning in the x direction, and the other-dimensional scanning in the y direction is also carried out along with the movement of the back scattering scanning device driven by the mobile device 13, so that the fly-line scanning of the x-y plane is realized.

Illustratively, the detector may include a gas detector, a semiconductor detector, or a scintillator detector.

Referring to fig. 1, the movement stroke includes a movement distance of the moving device 13 driving the backscatter imaging device 14.

In some embodiments, the mobile device 13 may include a bottom translational transport mechanism over which the backscatter imaging device 14 is mounted. The bottom translation conveying mechanism includes, for example, a chain plate conveyor, a belt conveyor, a roller conveying mechanism, a guide rail conveying mechanism, or the like, so as to drive the backscatter imaging device 14 to move, and the inspected object 2 is stationary to realize bottom scanning. By way of example, a plurality of rollers may be disposed on two sides of the bottom of the backscatter imaging device 14, the rollers being connected by a chain, and a driving mechanism operative to drive the backscatter imaging device 14 to move.

In other embodiments, referring to fig. 1 and 2, the left and right ends of the backscatter imaging device 14 are fixed with a slider that is connected to a bearing that is sleeved on a lead screw that is connected to a motor. Two motors can be arranged at the left end and the right end, and a motor can be arranged at one side. The bottom of the backscatter imaging device 14 is wheeled to match the sliding motion.

In other embodiments, the mobile device 13 may include a tractor, such as a tractor coupled to the backscatter imaging device 14, that pulls the backscatter imaging device 14 in front.

In other embodiments, the mobile device 13 may comprise a telescopic rod, parallel to the ground 3. One end of the telescopic rod is fixed, and the other end is connected with one side of the backscatter imaging device 14. The telescopic rod is driven to extend and retract by the hydraulic means to push and pull the backscatter imaging device 14 to move.

In other embodiments, the mobile device 13 may include an AGV trolley (Automated Guided Vehicle) located at the bottom of the backscatter imaging device 14, carrying the backscatter imaging device 14 for movement.

In addition, some areas of the world are currently not available for driving through beam scanning due to relevant regulatory restrictions. According to the method and the device, the chassis is checked after the person gets off the vehicle under the condition that the vehicle is stationary, so that the person is safer, and comprehensive scanning can be performed.

According to the embodiment of the disclosure, the size information is recognized in advance, the moving stroke of the mobile device 13 is determined, then the backscatter imaging device 14 can scan the bottom of the detected object, the mobile device 13 moves in the moving stroke matched with the size information of the detected object, the detected object with various types or sizes can be compatible, the bottom scanning can be accepted, the purposes of security inspection, object recognition, material analysis, nondestructive detection and the like can be realized according to the backscatter image, and the method has a wide application range. In other words, the bottom scan may be performed for a plurality of categories or sizes of objects to be inspected within a maximum allowable range, which may be determined according to a maximum travel distance and/or a maximum opening angle range.

In the scene of scanning the detected vehicle, the device can be compatible with various vehicle types, can be used for detecting and scanning the chassis of large, medium and small vehicles, can detect hidden suspected objects according to the back scattering images, and has a wider application range.

In some embodiments, the inspected object may comprise a container, which may be subjected to a case number identification and security inspection based on the object scanning device 1. It will be appreciated that the subject may also include other types of objects, such as luggage, mechanical parts, or various electronic devices, etc.

In some embodiments, referring to fig. 2, the backscatter imaging device 14 is mounted within a pit of the ground 3, and the subject 2 is adapted to receive a scan of the backscatter imaging device 14 on the ground 3 (e.g., with the subject vehicle in a parked state).

According to an embodiment of the present disclosure, the object 2 to be examined can be moved directly from the ground 3 to the ground 3 above the backscatter imaging device 14 to receive a scan. For example, the object scanning device 1 may be installed at a position of an entrance or exit of a vehicle to be inspected, such as a road, a highway, or a public place, so that inspection efficiency can be improved.

In some embodiments, a relevant sensor (such as a laser ranging sensor, which may be used to obtain a real-time distance between the detected object 2 and the backscatter imaging device 2) may be integrated at the front end of the backscatter imaging device 14, and the turn-on time of the backscatter imaging device 14 is determined according to the feedback of the sensor, so as to assist in confirming whether the scanning of the current object is completed, improve the scanning efficiency, and avoid the situation that the bottom scanning is not completed in the above moving stroke.

In some embodiments, control module 12 is configured to control backscatter imaging device 14 and mobile device 13 to scan the bottom one or more times. Wherein, upon multiple scans, the backscatter imaging device 14 is configured to: multiple scans are performed using energy sources of different energies, and/or N bottom suspicion areas are rescanned after the bottom scan is completed, N being greater than or equal to 1.

Illustratively, the energy source (X-ray source) for each energy is enabled to scan once until a suspected object is detected or after all energy sources have been scanned. In some embodiments, information such as shape, thickness, material, or location of each bottom suspect region may also be determined, and targeted scanning using the corresponding energy source.

According to the embodiment of the disclosure, the probability of inquiring the suspicious object can be improved through multiple scans, and the accuracy of bottom inspection can be improved through rescanning the bottom suspicious region.

In some embodiments, the backscatter imaging device 14 is configured to determine a target region of the N bottom suspicion regions when rescanning the N bottom suspicion regions. The target area is scanned by adjusting the ray angle and/or the direction of the front collimator.

For example, for a second scan of a suspected area of a first scan, the beam angle can be reduced, the rotational speed can be increased, the energy can be increased, and the scanning efficiency can be increased. For example, the beam angle may be adjusted to match the size of the target region, and the back radiation from the target region may be more targeted by adjusting the direction of the front collimator.

In some embodiments, the backscatter imaging device 14 includes a dual energy ray scanning device, the multiple scans using energy sources of different energies including: the dual energy ray scanning device is configured to scan using low energy rays and high energy rays, respectively. Illustratively, a dual energy ray scanning apparatus includes a low energy source capable of high and low energy rays and a dual energy detector for receiving the high and low energy rays. Illustratively, the dual energy ray scanning device comprises a low energy ray scanning device comprising a low energy source for emitting low energy rays and a first detector for receiving low energy rays, and a high energy ray scanning device. The high energy ray scanning apparatus includes a high energy source for emitting high energy rays, and a second detector for receiving the high energy rays.

In some embodiments, the backscatter imaging device 14 includes a back-scatter chamber in which two different energy sources and two corresponding sets of detectors are placed, which is more compact, saves space, and reduces costs during shipping, installation, and civil engineering.

In some embodiments, the backscatter imaging device 14 includes two backscatter pods, each housing a high and low energy source and corresponding mating detector.

For example, when the object 2 is located in the scanning area of the object scanning apparatus 1, the low-energy scanning is performed first, and after confirming that the vehicle is not suspected, the high-energy scanning can be performed again for the important vehicle that is not suspected. After high-energy scanning, the vehicle is confirmed to be in a suspected release through the image. The influence of rays on staff and drivers can be reduced. Of course, the object 2 may be scanned with low energy and the vehicle may be released directly after confirming that there is no suspicious object.

In some embodiments, the object scanning apparatus 1 further comprises: s sets of backscatter imaging devices 14, where any set of backscatter imaging devices 14 is located differently and/or at different scan angles than the other at least one set of backscatter imaging devices 14, S is greater than or equal to 2.

Illustratively, referring to fig. 2, in addition to the illustrated backscatter imaging devices 14, the backscatter imaging devices 14 may be added to the left and right sides thereof, and the directions of the front collimators of the left and right backscatter imaging devices 14 may be adjusted, with different scan angles.

According to the embodiment of the present disclosure, the use of multiple sets of back-scattering imaging devices 14 enables a multi-view scanning field of view, a more comprehensive scanning bottom, avoidance of missing inspection areas, and improved detection accuracy.

In particular, the present disclosure is not limited to the multiple sets of backscatter imaging devices 14 of this embodiment, but may also enable bottom inspection as with the single set of backscatter imaging devices 14 of fig. 1 and 2.

In some embodiments, the object scanning apparatus 1 further comprises an optical image acquisition device configured to acquire an optical image of the bottom. The backscatter imaging device 14 is configured to scan a bottom suspected region determined based on the optical image.

For example, the optical image acquisition device is used for shooting, observing or comparing with the information stored before, and then the targeted scattering inspection is carried out on the suspicious part. For example, the optical image is acquired first, and compared with the information stored previously, the corresponding area of the back scattered image is checked at the suspicious place, and the inspection is completed once during running, so that the inspection efficiency is improved. For example, the optical image is acquired first, compared with the information stored previously, the high-energy rays are adopted for scanning in the suspicious places, the low-energy rays are adopted for scanning in other places, and the inspection is completed once during running, so that the inspection efficiency is improved. Repeated scans of the suspicious site may also be performed subsequently using the backscatter imaging apparatus.

In some embodiments, the control module 12 is configured to compare the optical image with a pre-stored bottom image to determine a bottom suspicion area based on the optical image.

For example, the similarity of the currently taken optical image to a pre-stored bottom image (e.g., one or more of the same model of vehicle) may be calculated. Taking the detected object as a vehicle for example, the pre-stored bottom image can come from a normal chassis, and the pre-stored bottom image passes through when the similarity between the optical image and the pre-stored chassis image is larger than a certain threshold value. If the similarity is smaller than a certain threshold, the current shooting optical image is segmented, each local area is compared with the corresponding local area of the pre-stored chassis image, and the area with lower similarity is determined to be the suspected chassis area. For example, the back scattering image can be automatically compared with a pre-stored back scattering image, so that the checking efficiency is improved. The speed of chassis inspection can be increased using the control module 12 for automatic alignment.

In some embodiments, the control module 12 is configured to fuse the optical image with the back-scattered image and determine the bottom suspect region based on the fused image.

In some embodiments, the object recognition module 11 is configured to pre-recognize the relative position information of the inspected object 2 and the backscatter imaging device 14 prior to scanning. The control module 12 is configured to control the rotation of the backscatter imaging device 14 according to the relative position information until the scanning plane of the backscatter imaging device 14 is perpendicular to the plane of symmetry of the object 2 being examined, which is parallel to the height direction of the object 2 being examined.

The relative position information includes, for example, a parking direction of the subject vehicle. The backscatter imaging device 14 is rotatably provided on the mobile device, and the rotation angle can be adjusted according to the parking direction of the vehicle so that the scanning surface is perpendicular to the plane of symmetry of the vehicle (e.g., the plane of the middle of the left and right wheels, which is parallel to the height direction). The scanning plane of the backscatter imaging device 14 is the x-y plane under the two-dimensional scanning described above.

According to the embodiment of the present disclosure, it is difficult to ensure that the chassis region is accurately captured by adjusting the rotation angle and/or the ray angle of opening within the scanning range of the current backscatter imaging apparatus 14 after the vehicle to be inspected is parked, avoiding missed inspection.

In some embodiments, the object scanning device 1 further comprises a carrier plate. The carrier plate may be a carbon fiber plate located above the back scatter imaging apparatus 14, the carrier plate being configured to carry the object 2 under the object 2.

According to an embodiment of the present disclosure, the carrier plate may be flush with the ground 3, creating a pit, the pit length being determined by the travel distance. A carrier plate or grid 310 is placed over the entire pit. The bearing plate can be a whole flat plate, the thickness can be relatively thin, and the bearing capacity can meet the requirement of the detected object 2 with the maximum tonnage. The use of the carrier plate can prevent dust and can protect the underlying backscatter imaging device 14 from contamination by impurities.

In some embodiments, the object scanning device 1 further comprises a carrier grid 310. The carrier grid 310 may be made of carbon fiber or steel material and located above the back-scatter imaging device 14, and has M grids to allow back-scatter signals to pass through, and the carrier grid 310 is configured to carry the object 2 under the object 2, where M is greater than or equal to 1.

Fig. 3 schematically illustrates a structural schematic of a carrier grid 310 according to an embodiment of the present disclosure.

Illustratively, the grid structure is that a plurality of grids are divided in the area bearing the detected object 2, and the M grids can be M through holes, which can serve to bear the detected object 2 and allow enough back scattering signals to pass through and be received by the detector without affecting imaging.

In some embodiments, the carrier grid 310 is configured to be movably mounted above the detector, which may be level with the ground 3. Wherein in case of examination of the object 2 the carrier grid 310 is located above the backscatter imaging device 14, in case of maintenance of the backscatter imaging device 14 the carrier grid 310 is allowed to move away from above the backscatter imaging device 14 facilitating maintenance operations.

Illustratively, the carrier grid 310 is movably mounted including at least one of: a. removably mounted, for example snapped into place using a snap design. b. The carrier grid 310 may be mounted in a reversible manner, such as by using a hinge to connect one side of the carrier grid 310 so that the carrier grid 310 may be flipped about that side axis. c. A drawably mounted, such as the edge of the carrier grid 310 is mounted on a drawer rail, can move horizontally with the external force of the drawer. In the case of a drawably mounted, when the backscatter imaging device 14 scans a stationary object 2 under test, the carrier grid 310 can be pulled apart sufficiently to expose the detector so that the detector can receive the backscatter signal without obstruction. It will be appreciated that the present disclosure is not limited to the above mounting methods, and that other mounting methods may be flexibly selected according to the actual environment.

Illustratively, the inspected vehicle is inspected on the carrier grid 310 and is moved relative to the backscatter scanning mechanism to accept the whole vehicle scan. In some embodiments, for example, the two sides of the carrying grid 310 or the carrying plate include a translation conveying mechanism, and the translation conveying mechanism may include a chain plate conveyor, a belt conveyor, a roller conveying mechanism, an AGV clamping wheel (for supporting the wheels of the inspected vehicle to move), or a rail conveying mechanism, so as to contact with the left and right wheels of the inspected vehicle to drive the inspected vehicle to move.

In some embodiments, the control module 12 is configured to determine the ray angle of the backscatter imaging device 14 from the size information of the inspected object 2; and the backscatter imaging device 14 is configured to scan a portion or all of the area of the bottom in terms of ray angle.

For example, referring to fig. 2, the ray angle α may be adjustable. For example, the corresponding-sized ray angle α may be determined accordingly according to the bottom width size of the object 2.

According to the embodiment of the present disclosure, by adaptively determining the corresponding ray angle according to the size information, objects of various categories or sizes can be scanned pertinently, and the following effects can be achieved.

On the one hand, the inspection accuracy can be improved, for example, if the scanning range in the beam angle is larger than the bottom width of the inspected object, part of the rays can irradiate the area outside the bottom, for example, even if the chassis widths of vehicles of different vehicle types are the same, the heights of the vehicles from the ground can be different, so that part of the rays can irradiate the chassis in the scanning range in the same beam angle. These radiation rays that strike the outside of the chassis may strike other undesirable scanning objects (e.g., non-chassis, non-vehicle components, or other objects outside of the inspected vehicle) and reflect off of the chassis and be received by the detector, thereby causing signal interference and affecting imaging quality.

On the other hand, the imaging speed can be increased. The scanning ranges corresponding to different ray angles are different, and if part of rays are irradiated outside the bottom, not only ray interference can be caused, but also the workload of collecting and processing signals by the detector can be increased, so that the rapid inspection is not facilitated.

On the other hand, the local area scanning at the bottom can be subjected to important imaging by adjusting the ray angle.

On the other hand, if the beam angle is fixed, the object to be inspected can be scanned and inspected only when the object to be inspected enters a fixed scanning range during the inspection. By adjusting the ray direction and/or the ray angle, the bottom inspection of the inspected objects at different positions can be very conveniently performed.

Fig. 4 schematically illustrates a structural schematic of a second cylinder according to an embodiment of the present disclosure. Fig. 5 schematically illustrates a schematic diagram of opening angle adjustment according to an embodiment of the present disclosure. Fig. 6 schematically illustrates a schematic view of a beam exiting at a gamma opening angle in accordance with an embodiment of the present disclosure.

In some embodiments, the backscatter imaging device 14 includes an X-ray source 141 and an aperture angle adjustment component 142, the X-ray source 141 configured to emit X-rays forming a beam of radiation to scan the bottom. The opening angle adjustment part 142 is configured to form an opening angle adjustment region 143 between the X-ray source 141 and the bottom, through which opening angle adjustment region 143 the radiation beam reaches the bottom from the X-ray source 141.

In some embodiments, the opening angle adjustment member 142 may be a front collimator, e.g. the front collimator may be a second cylinder parallel to the ground 3, in which the X-ray source 141 is located. The second cylinder has slits of different lengths parallel to the ground 3. When a larger beam angle is required, the second cylinder is rotated to align the long slit 410 on the second cylinder with the X-ray source 141, and when a smaller beam angle is required, the short slit 420 on the second cylinder is aligned with the X-ray source 141. The slit lengths corresponding to each other can be determined according to different vehicle model sizes.

Illustratively, the opening angle adjusting area 143, i.e. the slit area, may be penetrated by X-rays, which may be blocked when they are on the wall of the cylinder. It will be appreciated that fig. 4 is merely exemplary, and that there may be more slits in the second cylinder.

In some embodiments, the backscatter imaging device 14 includes a fly-line or spot scanning component, a detector, and an angle of field adjustment component 142, i.e., the angle of field adjustment component 142 is a component independent of the fly-line scanning component (including the pre-collimator) and the detector, which can provide for less modification to the original device and ease of installation and maintenance. In this embodiment, the opening angle adjusting component 142 may be, for example, a flat plate parallel to the ground 3 and having slits with different lengths, and the slits with corresponding lengths are aligned with the emitting direction of the ray beam according to the adjustment requirement of the opening angle of the ray.

In other embodiments, referring to fig. 5, the opening angle adjustment member 142 includes a first adjustment member 1421 and a second adjustment member 1422. The first adjusting part 1421 is located at one side of the opening angle adjusting region 143. The second adjusting part 1422 is opposite to the first adjusting part 1421 and is located at the other side of the opening angle adjusting region 143. Wherein the first adjustment component 1421 and the second adjustment component 1422 are configured to be relatively movable to change the size of the opening angle adjustment region 143.

Illustratively, in the x-direction, the first adjustment feature 1421 and the second adjustment feature 1422 are located on opposite sides of the opening angle adjustment region 143 (e.g., the pattern filling region in fig. 5). The first adjusting part 1421 and the second adjusting part 1422 may be used as front collimators, or may be provided as separate flying line scanning parts or flying spot scanning parts.

According to the embodiment of the disclosure, the opening angle adjusting area 143 is formed by the space between the two adjusting parts, and the two adjusting parts can change the size of the opening angle adjusting area 143 more flexibly in a relatively moving manner, so that the purpose of adjusting the opening angle of the rays is achieved.

In some embodiments, the first adjustment component 1421 includes a first shield 14211 and a first moving member 14212. The space between the first shielding plate 14211 and the second adjustment member 1422 forms an opening angle adjustment region 143. The first moving member 14212 is connected to the first shielding plate 14211, and is configured to move the first shielding plate 14211 toward or away from the second adjusting part 1422, so as to change the size of the opening angle adjusting region 143.

In some embodiments, the second adjustment component 1422 includes a second shield 14221 and a second moving member 14222. The second shielding plate 14221 is parallel to the first shielding plate 14211, and a space between the second shielding plate 14221 and the first shielding plate 14211 forms an opening angle adjusting region 143. The second moving member 14222 is connected to the second shielding plate 14221, and configured to move the second shielding plate 14221 toward or away from the first shielding plate 14211, so as to change the size of the opening angle adjustment region 143.

Illustratively, at least one of the first adjustment component 1421 and the second adjustment component 1422 is movable. Taking the first adjusting component 1421 as an example, the first moving component 14212 may include a screw and a nut, where the nut is fixedly connected to the lower portion of the first shielding plate 14211, and the screw is driven to rotate by the rotation of the first motor 610, and the nut moves along with the screw to drive the first shielding plate 14211 to move. Taking the second adjusting component 1422 as an example, the second moving component 14222 may include a screw and a nut, where the nut is fixedly connected to the lower portion of the second shielding plate 14221, and the second motor 620 rotates to drive the screw to rotate, and the nut moves to drive the second shielding plate 14221 to move. In some embodiments, the first moving member 14212 or the second moving member 14222 may also be a telescopic rod, one end of which is connected to the corresponding shield plate, and the corresponding push-pull shield plate moves through the telescopic. In some embodiments, pneumatic/hydraulic control or the like may be used instead of motor drive.

Referring to fig. 5 and 6, the maximum ray angle of the back-scatter imaging apparatus 14 is β, the current ray angle of the back-scatter imaging apparatus 14 is γ by the change of the first adjusting part 1421 and the second adjusting part 1422 to the angle adjusting region 143, and the ray beam is blocked by the shielding plate outside the angle adjusting region 143, so that the ray beam in the γ angle range scans the bottom.

Fig. 7 schematically illustrates a schematic view of an opening angle adjusting member according to another embodiment of the present disclosure. Fig. 8 schematically illustrates a schematic view of an opening angle adjusting member according to another embodiment of the present disclosure.

In some embodiments, the opening angle adjustment component 142 includes a fan adjustment component 710, the fan adjustment component 710 defining an angularly adjustable fan opening as the opening angle adjustment region, the beam of rays forming an X-ray fan beam via the fan opening.

Illustratively, referring to FIG. 7, the sector adjustment member 710 includes a sector box with a sector opening located inside the sector box. The X-ray source 141 is located at the center of the fan-shaped opening through which the radiation beam can pass. The fan-shaped adjusting part 710 further includes two arc-shaped adjusting plates 720 respectively disposed at both sides of an arc (arc indicated by a dotted line in fig. 7) of the fan-shaped opening for shielding the ray bundle, wherein at least one of the arc-shaped adjusting plates 720 is telescopically arranged to realize adjustment of the arc size of the fan-shaped opening to adjust the ray angle.

In other embodiments, referring to fig. 8, the sector adjustment member 710 includes a first side shield 711 and a second side shield 712. The second side shield 712 cooperates with the first side shield 711 to define a scalloped opening; wherein at least one of the first side shield 711 and the second side shield 722 is configured to be rotatable about a center of the sector opening to adjust an angle of the sector opening.

As shown in fig. 8, the X-ray source 141 may emit a beam of rays at the center of the fan-shaped opening. The beam forms an X-ray fan beam through a fan opening and then exits through an opening 811 in the ring 810 to produce an X-ray pencil beam scanning the bottom. In some embodiments, the bottom may be scanned directly by the X-ray fan beam without the ring 810.

When the radiation angle α needs to be increased, at least one of the first side shield 711 and the second side shield 712 is rotated in a direction away from the other shield, increasing the angle of the fan-shaped opening. When the radiation angle α needs to be adjusted to be small, at least one of the first side shield 711 and the second side shield 712 is rotated in a direction approaching the other shield, and the angle of the fan-shaped opening is reduced. The first side shield 711 and the second side shield 712 may be provided in a plate shape, a column shape, or other shapes, respectively.

In some embodiments, the backscatter imaging device 14 is mounted within the floor pit 31, and a lift mechanism may be provided mounted at the bottom of the floor pit 31 below the backscatter imaging device 14. For example, the lifting mechanism may comprise a scissor lift, whereby the carrier is lifted upwards by a scissor mechanical structure. For example, the lifting mechanism may comprise a lift-type elevator that lifts the backscatter imaging device 14 upward by a counterweight and a lifting platform on which the backscatter imaging device 14 is located.

In some embodiments, the lift mechanism may be mounted to the side of the floor pit 31 and connected to the side of the backscatter imaging device 14. For example, the lifting mechanism may comprise a chain-type lifting structure, with upward lifting being achieved by movement of chains connected to the sides of the backscatter imaging device in the height direction. For example, the lifting mechanism may comprise a telescopic column lifting structure, such as a telescopic column mounted on a plurality of sides of the backscatter imaging device 14 perpendicular to the ground, through which the backscatter imaging device 14 is lifted upwards.

The lifting mechanism comprises a lifting machine. The lift includes a lifting member located on the ground and configured to interface with the backscatter imaging device 14 to lift the backscatter imaging device 14.

By way of example, a lift is meant a device for lifting a target object, such as an automobile lift for lifting an automobile during an automobile repair process. The lift may include a single, double or four column lift, a hydraulic lift or a gantry lift, etc. At one or more ends of the tunnel, a lift may be placed on the ground and the backscatter imaging device 14 may be lifted when maintenance is required. The method comprises the following specific steps: (1) opening a portion of the cover plate. (2) The lift link is connected to the backscatter imaging device 14. (3) unscrewing the screws that secure the backscatter imaging device 14. (4) The lift switch is turned on to lift the backscatter imaging device 14.

Lifting the backscatter imaging device 14 to the ground for maintenance and replacement, so that an operator is not limited by space when installing and maintaining the backscatter scanning mechanism at least, the depth of the ground pit 31 can be effectively reduced compared with a mode of completing overhaul when entering the ground, the civil work load can be reduced due to shallower pit depth, and the operator works on the ground, thereby improving the safety guarantee of the operator.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims

1. An object scanning device, comprising:

a control module configured to determine a movement stroke of the mobile device according to the size information;

2. The object scanning device according to claim 1, wherein,

the control module is configured to determine a ray angle of the back-scattering imaging device according to the size information; and

the backscatter imaging device is configured to scan a portion or all of the area of the base in accordance with the ray angle.

3. The object scanning device according to claim 1, wherein:

the backscatter imaging device is mounted within a ground pit and the subject is adapted to receive a scan of the backscatter imaging device in a stationary state on the ground.

4. The object scanning apparatus of claim 2 wherein the control module is configured to:

Multiple scans using energy sources of different energies, and/or

5. The object scanning apparatus of claim 4, wherein upon rescanning the N bottom suspected regions, the backscatter imaging device is configured to:

determining target areas in the N bottom suspicion areas;

6. The object scanning apparatus of claim 5 wherein the backscatter imaging device comprises a dual energy ray scanning device, the multiple scans using energy sources of different energies comprising:

7. The object scanning device according to any one of claims 1 to 6, characterized in that the object scanning device further comprises:

8. The object scanning device according to any one of claims 1 to 6, characterized in that the object scanning device further comprises:

9. The object scanning device of claim 8, wherein the control module is configured to:

10. The object scanning device according to claim 1, wherein:

the object identification module is configured to identify the relative position information of the detected object and the back scattering imaging device in advance before scanning;

the control module is configured to control the back-scattering imaging device to rotate according to the relative position information until a scanning surface of the back-scattering imaging device is perpendicular to a symmetry plane of the object to be detected, wherein the symmetry plane is parallel to the height direction of the object to be detected.

11. The object scanning device according to any one of claims 1 to 6, characterized in that the object scanning device further comprises:

12. The object scanning apparatus according to claim 2, wherein the backscatter imaging device includes:

13. The object scanning apparatus according to claim 12, wherein the opening angle adjusting means includes:

a first adjusting part located at one side of the opening angle adjusting area;

14. The object scanning device according to claim 13, wherein the first adjusting means comprises:

15. The object scanning apparatus according to claim 14, wherein the second adjusting means includes:

16. The object scanning apparatus according to claim 12, wherein the opening angle adjusting means includes:

17. The object scanning apparatus according to claim 16, wherein the sector adjusting means includes:

a first side shield;

18. The object scanning device according to claim 1, wherein the object to be inspected includes an inspected vehicle, and the bottom portion includes a chassis of the inspected vehicle.