CN201021923Y - Dual source 3-dimension solid imaging system - Google Patents
Dual source 3-dimension solid imaging system Download PDFInfo
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- CN201021923Y CN201021923Y CNU2007201033154U CN200720103315U CN201021923Y CN 201021923 Y CN201021923 Y CN 201021923Y CN U2007201033154 U CNU2007201033154 U CN U2007201033154U CN 200720103315 U CN200720103315 U CN 200720103315U CN 201021923 Y CN201021923 Y CN 201021923Y
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Abstract
The utility model discloses a novel three-dimension imaging system, which adopts double X-ray sources and double detectors, wherein the two X-ray sources respectively move along two straight guide rails which form a certain angle and are interlacedly arranged, the detector array is fixed, and the article to be detected moves along a straight line which is perpendicular with the plane of the X-ray sources and the detectors. The imaging system can realize real three-dimension imaging and has the characteristics that the imaging system is relatively simple in structure, high in detecting speed, the article to be detected or the X-ray sources and the detectors do not need to rotate, the passing speed of the article is high, and the like, and thereby the utility model can be applied in the field of rapid safety-check and detection of large articles. Compared with a single-source single-line scanning structure, the utility model can realize real three-dimension image detection, and the image quality is obviously better than that of a single-source single-line scanning system.
Description
Technical Field
The present application relates to the field of radiation imaging, and more particularly, to a three-dimensional stereo imaging system.
Background
The safety inspection has very important significance in the fields of anti-terrorism, fighting against drug trafficking and smuggling, and the like. After 911 in the united states, public places such as aviation and railway have paid more and more attention to security inspection. With the progress of drug-trafficking and smuggling, the inspection requirements for customs containers, luggage, and the like are increasing.
The current safety inspection system mainly uses a radiation imaging system, mainly uses perspective imaging in the radiation imaging field, and has relatively few applications in a three-dimensional imaging system. This is because: practical safety inspection systems generally need on-line real-time inspection, which requires that the scanning imaging speed of the inspection system is very high, for example, the inspection speed of civil aviation articles requires the passing speed to be 0.5m/s, and at present, the requirement is difficult to be met by helical CT (computed tomography) with large screw pitch; in addition, for many large objects, such as customs containers, it is difficult to rotate the container or rotate the source and detector, and the cost of the CT system is high, which limits the wide use of the CT system capable of stereoscopic imaging in the security inspection field. However, compared with a radioscopic imaging system and a tomography imaging system, the CT three-dimensional imaging system has the greatest advantage of solving the overlapping effect of objects in the ray direction, and realizing real three-dimensional imaging, thereby greatly improving the capability of security inspection.
With the development of CT technology, especially the research and accumulation of people on CT technologies of various scanning modes such as helical scanning and linear scanning enable the research and production of CT stereo imaging inspection capable of realizing large-scale equipment such as shipping containers, aviation containers and large and medium-sized transportation vehicles. Conventional CT scanning systems typically have an X-ray source and a detector fixed, and an object rotating around a central axis; or the X-ray source and detector rotate along a fixed circular support while the object moves in a straight line. The second type of CT system is the helical CT scanning system which is most widely used in medical treatment, but the structure that the X-ray source and the detector rotate around the object is difficult to be implemented on large equipment such as containers and transportation vehicles, because the X-ray source and the detector are required to make circular motion along a circular support at a fast angular speed in order to ensure the passing speed and the imaging quality of the object to be inspected, and a large-radius support is required for large equipment such as containers, so that a large centrifugal force is generated when the X-ray source such as an accelerator and a detector array rotate, and thus, the large rotary CT equipment has great difficulty in engineering.
Research of the CT reconstruction theory proves that for a CT imaging system with a straight scanning path, if the straight line is infinitely long, a CT tomographic image can be accurately reconstructed; in practical application, the scanning path is always limited in length, so that the single-line scanning CT can only approximately reconstruct a three-dimensional image of the scanned object, and the imaging quality is poor and cannot meet the requirements of practical application. If the scanning track is two or more straight line segments, it is possible to acquire projection data within 180 degrees, thereby achieving accurate reconstruction of a tomographic image, and it is possible to greatly reduce the length of a detector required for a single-segment linear scan.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an utilize three-dimensional stereo imaging system of two sections linear rail scanning, solve X ray source, detector and wait to detect equipment rotation difficulty in the main equipment safety inspection, single section linear scanning imaging quality is difficult problem such as relatively poor, has realized the online three-dimensional stereo imaging inspection of main equipment such as container, transportation vehicle.
According to the utility model discloses, a three-dimensional stereo imaging system is provided, this system includes: a radiation generating device for radiating radiation back and forth along a first axis and a second axis to transmit an object to be inspected which moves linearly in a direction perpendicular to the first axis and the second axis, the first axis and the second axis being arranged at an angle to each other and being staggered with each other to be in different planes; the first array detector and the second array detector are respectively parallel to the first shaft and the second shaft and are oppositely arranged with the first shaft and the second shaft, and are used for detecting rays transmitted through an object to be detected to obtain projection data; and the data processing device is used for processing the projection data detected by the first array detector and the second array detector to obtain a three-dimensional image of the object to be detected.
The utility model discloses the biggest characteristics adopt two sections straight line orbit rather than circle or helical track to accomplish the three-dimensional scanning formation of image to big-and-middle-sized equipment such as container or vehicle. Because the object does not need to rotate and the characteristic that the object to be inspected in the safety inspection is generally in linear transmission is naturally utilized, the mechanical design is relatively simple. Since the X-ray generating device moves linearly, there is no problem of acceleration in a circle or a spiral, and the inspection passing speed can be relatively high. Compare with traditional perspective, the utility model discloses can obtain object tomogram, stereogram, solve the object overlapping problem that transmission image exists.
The utility model discloses a two sections straight line orbit realize being shone 180 degrees scans of object, can accurate reconstruction tomogram.
Therefore, the utility model discloses compare with traditional CT imaging system to straight line orbit scanning replaces the circular orbit scanning, realizes quick three-dimensional formation of image, and with low costs, the engineering of being convenient for realizes. Compare with traditional perspective formation of image, the utility model discloses can obtain perspective image, can obtain three-dimensional stereographic image again, break through traditional perspective image and can not solve the difficult problem that the object overlaps, both satisfied the requirement of quick clearance in the safety inspection, can solve the problem of big object (like container, oversize vehicle etc.) rotation difficulty again, have very high market potential. And simultaneously, the utility model discloses also can be applied to other nondestructive test fields.
Drawings
Fig. 1 shows a schematic top view of a three-dimensional stereo imaging system according to an embodiment of the present invention in the direction of motion of an object to be inspected;
fig. 2 shows a side schematic view of a three-dimensional stereoscopic imaging system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a perspective image from which a perspective view is extracted in a three-dimensional stereo imaging inspection system according to an embodiment of the present invention;
FIG. 4 shows a schematic representation of rebinning parallel beam projections from projection volume data;
fig. 5 shows a trajectory of the X-ray source which exhibits a polyline motion with respect to the object.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic top view of a three-dimensional stereo imaging system according to an embodiment of the present invention in the direction of motion of an object to be inspected; fig. 2 shows a schematic side view of the three-dimensional stereo imaging system according to the embodiment. As shown in FIGS. 1 and 2, the imaging system of the present invention comprises a ray generating device, a data collecting subsystem, a main control unit and a data processing computer.
The ray generating device comprises an X-ray accelerator, an X-ray machine or a radioactive isotope and corresponding auxiliary equipment. In this embodiment, the radiation generating means comprises two X-ray sources 101 and 102, which are linearly movable along two angularly disposed guide rails 201 and 202, respectively, which are arranged at a short distance from each other and not in one plane, as shown in fig. 2. The two rails are angularly offset and, for convenience, are assumed to be perpendicular to each other in the following description of the embodiments and in the drawings.
In such an embodiment, the system of the present invention further comprises a mechanical transmission control portion (not shown). The mechanical transmission control part comprises a transmission device and a control system for moving the X-ray sources 101 and 102 back and forth, wherein the two X-ray sources 101 and 102 are controlled by a motor to make reciprocating linear motion along the two guide rails 201 and 202 respectively so as to complete linear scanning. Further, the mechanical transmission control portion may further include a linear transfer device that transfers the object 301 to be inspected, wherein the object 301 to be inspected makes a linear motion along the linear transfer device (hereinafter, the moving direction of the object to be inspected is set to the Z direction). The object 301 to be inspected can also be loaded by the vehicle and pass through at a constant speed. In this case, a linear transport device that transports the object to be inspected is not required. The key of the mechanical transmission control part is to realize the smooth reciprocating linear motion of the two X-ray sources 101 and 102 along the two guide rails 201 and 202 respectively.
Alternatively, the X-ray source can also adopt two long target rails, and the electromagnetic field is used for controlling the electron beam to rapidly scan and target, so as to generate an X-ray beam which scans along a straight line, instead of the X-ray source moving along the guide rail. The X-ray source can complete quick linear scanning because the electron beam controlled by the electromagnetic field can realize quick scanning and target shooting. If the system is configured in this way, no moving guide rails and corresponding propulsion motors are required, since the X-ray source itself can perform a linear scan.
The data acquisition subsystem mainly comprises a linear array detector or an area array detector ( array detectors 401 and 402 in the figure), which are arranged at equal intervals generally or at equal angles and are used for acquiring transmission projection data of cone-beam or fan-beam rays; the part also comprises readout circuits for projection data on the detector, a logic control unit and the like. The detector can be a solid detector, a gas detector or a scintillator detector. The detectors may be single-row or multi-row, and generally, in order to obtain better CT reconstructed stereo images, multi-row detectors are used. The total length (K) of the array detector 401 or 402 is related to the vertical distance (T) from the X-ray source 101 or 102 to the array detector 401 or 402, and when the beam angle (Φ) emitted from the X-ray source 101 or 102 is certain (the beam angle is required to be 90 degrees in the present invention), the larger the distance is, the larger the total length is, the basic relationship is:
the array detectors 401 and 402 are fixedly disposed at opposite sides of the X-ray sources 101 and 102, respectively. During data acquisition, the spatial sampling interval (Δ d) of the projection data on the detector is fixed, and the X-ray sources 101 and 102 move at a constant speed along the linear guides 201 and 202, assuming that the movement speed is v X The time sampling interval (Δ t) is also uniform, and the distance that the X-ray source moves along the linear guide is sampled every time:
Δd X ＝v X ·Δt (2)
the object 301 to be inspected makes a uniform linear motion in a direction (Z direction) perpendicular to the X-ray beam, assuming that the motion velocity is v O . The two segments of array detectors 401 and 402 acquire data synchronously, and each time the X-ray source 101 or 102 moves from one end of the guide rail 201 or 202 to the other end to form a set of projection data, a tomographic image of an object can be reconstructed from the set of projection data. Multiple reciprocating movements of the X-ray sourceThe acquired projection volume data can reconstruct a complete three-dimensional image of the object. In addition, a transmission image can also be obtained from these projection data. The imaging method of the system will be described in detail below.
The main control and data processing computer 501 is responsible for the main control of the whole three-dimensional imaging system in the operation process, including mechanical control, electrical control, safety interlock control, etc., and processes the projection data obtained by the array detectors 401 and 402, extracts and combines the perspective images at the two view angles of the object, reconstructs the three-dimensional stereo image of the object, and displays the three-dimensional stereo image through the display. The computer may be a high performance single PC or may be a workstation or cluster. The display may be a CRT conventional display or a liquid crystal display.
An example imaging method that can be employed in the imaging system of the present invention is described below with reference to fig. 3 to 5.
Fig. 3 is a schematic perspective view of an X-ray generator in a three-dimensional imaging system for obtaining a viewing angle. Generally, only two perspective images at perpendicular viewing angles are required to meet the detection requirement; it should be noted that: the fluoroscopic image obtained here is a fan-beam fluoroscopic image. According to the perspective images under two vertical visual angles, a security inspector can relatively easily find whether suspicious articles exist in an inspected object, and meanwhile, an automatic processing function can be realized by utilizing image processing algorithms such as computer image segmentation and pattern recognition. The specific calculation method for extracting the combined perspective image from the projection volume data is as follows:
(1) The perspective images of the two vertical viewing angles are extracted from the projection data of the X-ray sources 101 and 102, respectively. Let perspective image in horizontal direction obtained by X-ray source 101 be view angle 1,X and perspective image in vertical direction obtained by source 102 be view angle 2.
(2) Taking the vertical viewing angle 2 as an example, the perspective image calculation process is described in detail (as shown in fig. 3): each time the X-ray source 102, moving back and forth along the horizontal trajectory 202, passes through the horizontal trajectory midpoint O, a corresponding fan beam or cone beam projection data is extracted, and then a plurality of projection data extracted after scanning a complete object is combined into a complete two-dimensional perspective image at view angle 2.
(3) The perspective image at horizontal view 1 can be extracted from the projection volume data obtained by the array detector 401 as described in step (2).
The utility model discloses an adopt rearrangement filtering back projection reconstruction algorithm (Rebinning FBP) among the imaging system, rebuild the tomograph from the projection data. A detailed description of a rebinned filtered backprojection reconstruction algorithm for a three-dimensional volumetric imaging system with a single detector array is provided below. Fig. 4 shows a schematic diagram of rebinning parallel beam projections from projection volume data. Fig. 5 is a polygonal line motion trajectory of the X-ray source 102 relative to the object, and the projection data obtained by the X-ray source 102 and the corresponding array detector 402 can be rearranged to obtain a parallel beam projection of a certain cross section of the object in the range of 0 ° to 90 °:
(1) Firstly, the following coordinate systems are established: an X-O' -y coordinate system is established on a plane vertical to the moving direction (Z direction) of the detected object 301, the X axis is parallel to the array detector 402 and the X source translation guide rail 202, and the distance from the array detector 402 is T 2 (ii) a The y-axis is perpendicular to the array detector 402 and the X-source translation rail 202 and passes through their center points O "and O.
(2) The rebinned parallel beam projection data, angularly represented by , may be rebinned out of an angular range from the projection data acquired by the array detector 402
Where the angle data of is based on the angle to the positive y-axis. In order to visually represent the rearranged parallel beam projection data, a virtual detector 601 is arranged through the coordinate system origin O', and the length of the virtual detector 601 is 2s m The size of the detecting unit is Δ s, the size of Δ s and the physical size of the detecting unit Δ d of the real array detector 402, and each time samplingX-ray source102 along linear guide 202 by a distance deltad X Are very close in value, and in general, the three values are taken to be equal. Likewise, the projection data obtained by the array detector 401 may be re-ordered out of angular range
The parallel beam projection data.
(3) As shown in fig. 4, the projection angle of the parallel beam to be rearranged is , the position of the X-ray source 102 where the emitted ray passes through O' is C, and at this time:
OC＝T 1 tan (3)
and the position where this ray hits the real array detector 402 is C', at this time:
O″C′＝T 2 tan (4)
the coordinates of the point a on the virtual detector 601 are represented by s, and to obtain the projection data of the angle at s, the position a' of the X-ray source 102 and the position a ″ of the corresponding ray on the real array detector 402 need to be obtained first.
From the above determined position A 'of the X-ray source 102 and the corresponding projection position A' of the X-ray on the real array detector 402, parallel beam projection data P (, s) at an angle of and passing through s-point in the virtual detector 601 can be obtained.
(4) As shown in FIG. 5, since the object 301 to be detected is shifted in the Z-axis direction with time t, the scanning trajectory of the X-ray source is in the form of a polygonal line with respect to the object, and therefore the rearrangement described in the previous step (3)The method also needs to take into account the factors of the translation of the object. When selecting the fault t to be reconstructed 0 (indicating the time t 0 Corresponding cross-section of an object scanned by the X-ray source), the rebinned parallel beam projection data required for tomographic reconstruction can be represented as P (t) 0 ，，s)。 t 0 The scan trajectory of the tomographic image and the X-ray source intersect at a point G ', that is, only when OC calculated when parallel beam projection data P (, s) are rearranged is exactly at the point G', P (, s) at this time can be directly obtained from projection data measured by the array detector 402 without interpolation in the direction of the time axis t. The other 0 ° to 90 ° rearranged projection data P (, s) are obtained by interpolation on the time axis t:
by P t (, s) represents a partial parallel beam projection line from time t, from which the X-ray source 102 moves to G' scan slice t to obtain projection data that can be re-ejected; when t = t 0 When is, P t0 (, s) can only provide a small number of rebinned parallel beam projections P (t) 0 ，，s 0 ) Passing other time t 1 、t 2 The remaining P (t) is obtained by parallel X-ray projection interpolation 0 ，，s)。t 1 、t 2 Can be calculated from the following formula:
(5) The process of reconstructing three-dimensional tomographic volume data from the rearranged parallel beam projection data can be regarded as two-dimensional parallel beam filtering back projection reconstruction, and assuming that the three-dimensional tomographic volume data after back projection reconstruction is represented as f (x, y, t), where t represents time, and can be regarded as a spatial coordinate of the detected object moving along the Z axis with time.
Wherein,
S＝xcos+ysin (11)
here, the virtual detectors 601 are arranged at equal intervals, and the detection unit size Δ s, P (t, , s) represents the parallel beam projection volume data previously rearranged. s m Representing half the length of the virtual detector array 601. h is a convolution function kernel, and the theoretical value is:
an S-L filter function is typically employed, the discrete form of which is:
in addition, in the stereo imaging system, if an X-ray accelerator or an X-ray machine is used as a radiation source, the radiation beam is a polychromatic spectrum instead of a monochromatic spectrum, so that the hardening effect exists. The system utilizes the transmission attenuation of rays, and in a practical system, scattering effects also exist. Due to the safety inspection, the related technologies of image processing and pattern recognition, such as image enhancement, edge detection, intelligent identification of dangerous goods, and the like, are also needed. Therefore, the imaging system of the present invention will also be applied to some data processing techniques, including hardening, scatter correction, metal artifact correction, and image processing and pattern recognition.
The foregoing describes exemplary, but non-limiting, embodiments of the present invention. It will be understood by those skilled in the art that various changes and substitutions may be made without departing from the scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. A three-dimensional imaging system comprises a ray generating device, a first array detector, a second array detector and a data processing device, and is characterized in that:
the X-ray generating device is used for radiating X-rays in a reciprocating motion along a first shaft and a second shaft so as to transmit an object to be inspected which moves linearly along a direction vertical to the first shaft and the second shaft, and the first shaft and the second shaft are arranged at a certain angle with each other and are staggered with each other to be positioned in different planes;
the first array detector and the second array detector are respectively parallel to the first shaft and the second shaft and are oppositely arranged with the first shaft and the second shaft, and the rays which penetrate through the object to be inspected are detected to obtain projection data; and
the data processing device is used for processing the projection data detected by the first array detector and the second array detector to obtain a three-dimensional image of the object to be detected.
2. The three dimensional volumetric imaging system of claim 1 wherein the first axis and the second axis are perpendicular to each other.
3. The three-dimensional stereoscopic imaging system of claim 1 wherein the radiation generating means comprises:
a first and second radiation source for generating radiation;
a first guide rail and a second guide rail on the first shaft and the second shaft, respectively,
the first ray source and the second ray source respectively carry out reciprocating linear motion along the first guide rail and the second guide rail.
4. The three-dimensional volumetric imaging system of claim 3 further comprising a mechanical transmission control portion for controlling the movement of the first and second radiation sources.
5. The three-dimensional stereoscopic imaging system of claim 1 wherein the radiation generating means comprises:
a first target rail and a second target rail at the positions of the first shaft and the second shaft, respectively;
and the electron beam scanning device is used for reciprocally scanning the first target rail and the second target rail by the electron beam to generate rays.
6. The three-dimensional volumetric imaging system as defined in any of claims 1-5, wherein the total length K of the first array detector or the second array detector is determined by the following equation:
wherein, T is the vertical distance between the first axis or the second axis of the ray generating device and the first array detector or the second array detector, and phi is the opening angle of the ray emitted by the ray generating device.
7. The three-dimensional volumetric imaging system as defined in claim 6 wherein the flare angle Φ is 90 degrees.
8. A three dimensional volumetric imaging system as defined in any of claims 1 to 5 wherein the radiation generated by the radiation generating means is shifted along the first axis or the second axis in each time sampling interval by a distance equal to the spatial sampling interval of the projection data on the first array detector or the second array detector.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231254B (en) * | 2007-01-24 | 2010-08-11 | 清华大学 | Double source three-dimensional image forming method and system |
| CN102590234A (en) * | 2009-05-27 | 2012-07-18 | 清华大学 | Dual-energy under-sampling substance identification system and method based on linear track scanning |
| CN106442580A (en) * | 2016-11-28 | 2017-02-22 | 深圳黎明镒清图像技术有限公司 | Double-view-angle channel type automobile scanning inspection system |
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2007
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231254B (en) * | 2007-01-24 | 2010-08-11 | 清华大学 | Double source three-dimensional image forming method and system |
| CN102590234A (en) * | 2009-05-27 | 2012-07-18 | 清华大学 | Dual-energy under-sampling substance identification system and method based on linear track scanning |
| CN102590234B (en) * | 2009-05-27 | 2014-04-09 | 清华大学 | Dual-energy under-sampling substance identification system and method based on linear track scanning |
| CN106442580A (en) * | 2016-11-28 | 2017-02-22 | 深圳黎明镒清图像技术有限公司 | Double-view-angle channel type automobile scanning inspection system |
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