GB2519241B

GB2519241B - Security inspection robot

Info

Publication number: GB2519241B
Application number: GB1419955.8A
Authority: GB
Inventors: Albert Chamberlain Denis; Hlebarov Vejen
Original assignee: Epicuro Ltd
Current assignee: Epicuro Ltd
Priority date: 2014-11-10
Filing date: 2014-11-10
Publication date: 2019-09-04
Anticipated expiration: 2034-11-10
Also published as: GB201419955D0; GB2519241A

Description

SECURITY INSPECTION ROBOT

The present invention relates to an inspection device comprising an X-ray generator for inspection of motorised vehicles, in particular to an inspection device capable of inspecting a geometrically restricted opening provided beneath a target vehicle or object and the adjacent road surface.

Background to the invention X-ray is typically used for security inspection of motorised vehicles. There are two types of X-ray systems according to how they collect the data: a pulse X-ray generator and a continuous X-ray generator. Continuous X-ray generators are preferred as they can be used to provide a single, continuous image of the vehicle.

It has however been found that conventional continuous X-ray generators emit a substantially greater heat output than pulse X-ray generators. The conventional continuous X-ray generators therefore require an additional fluid filled cooling jacket to surround the generator in order to satisfy the additional cooling requirement. As a result, the dimensions of the continuous X-ray generator together with cooling jacket are much larger than pulse X-ray generators. The opening provided between the underside of a motorised vehicle and an adjacent road surface may be extremely small, for example in the region of 130 mm.

Conventional continuous X-ray generators can therefore not be used to inspect the geometrically restricted opening beneath motorised vehicles without using an additional elevator to raise the vehicle, Pulse X-ray generators may provide a number of individual scans. The distance between each individual scan may however be unknown or uncertain. As a result, gaps may occur between sequential scans when a final image is constructed. Sequential images may also be unrelated and difficult, if not impossible, to join together with any degree of accuracy to form a single X-ray image.

There is therefore a need for an inspection device comprising an X-ray generator for inspection of motorised vehicles, in particular for inspecting a geometrically restricted opening provided beneath motorised vehicles and the adjacent road surface without the disadvantages of the known X-ray generators.

Summary of the Invention

In accordance with a first aspect, the present invention provides a vehicle or object security inspection device comprising: a continuous X-ray generator comprising a substantially flat transverse profile, in which the continuous X-ray generator comprises an upper surface arranged in use to be positioned adjacent an underside of a target vehicle or object, and in which the X-ray generator further comprises a pair of opposed side portions and a pair of opposed end portions; and a cooling fluid mechanism comprising a source of cooling fluid, at least one cooling fluid pathway, and a pump arranged in use to pump the cooling fluid around the cooling fluid pathway; in which the cooling fluid pathway(s) surrounds a portion of the continuous X-ray generator by extending adjacent to and along at least a portion of each of the side portions and end portions of the X-ray generator, and in which the fluid pathway does not extend across the upper surface of the X-ray generator.

In accordance with a second aspect, the present invention provides a method for producing a single, continuous X-ray backscatter image of a target vehicle or object comprising inserting and moving a device as herein described within a cavity provided between an underside of the target vehicle or object and an adjacent road surface.

In accordance with a still further aspect, the present invention provides an apparatus for inspecting a target vehicle or object, comprising a device as herein described, and an elevator arranged in use to receive and raise the target vehicle or object to a predetermined height relative to an underside of a target vehicle or object. The elevator is arranged to raise the target vehicle or object to a predetermined height to provide sufficient clearance for the device when received within the cavity.

The cooling fluid may be selected from machine oil substantially free of water. It is important that the cooling fluid contains no water or moisture, as at the high operating temperature the water becomes gas which would produce damaging electrical arcing under the high voltage regime.

The X-ray generator preferably comprises a substantially flat transverse profile. The term "transverse profile" is used herein to refer to the profile when viewed from above when the generator is orientated in the desired position within the cavity provided for example between the underside of a target vehicle or object and the adjacent road surface.

At least a portion of the continuous X-ray generator is surrounded by the at least one cooling fluid pathway. At least a portion of the continuous X-ray generator is not surrounded by a cooling fluid pathway.

The continuous X-ray generator preferably comprises an amorphous insulator material. The amorphous insulator material may be selected from plastic and/or ceramic. The amorphous insulator material may be selected from one or more of ceramic; quartz; 'TOREUNA (RTM)' PPS polyphenylene sulphide; TFE tetrafluoroethylene; 'TEFLON (RTM)' PTFE polytetrafluoroethylene; PFA perfluoroalkoxy; 'TECAPEEK (RTM)1; or any other suitable material.

The device may be freely moveable and/or orientatable within the cavity.

The device may further comprise at least one manipulator arranged in use to move and/or position and/or orientate the X-ray generator within a cavity provided between the underside of a motorised vehicle and a road surface. The manipulator may be manually controlled or platform.

Brief Description of the Drawings

An embodiment of the invention will now be described, by way of example only, and with reference to the accompanying drawings, in which:

Figure 1 illustrates a side view of the security inspection device according to one embodiment of the present invention;

Figure 2 illustrates a front view of the device of Figure 1;

Figure 3 illustrates a view from above of the device of Figure 1;

Figure 4 illustrates a cross-sectional view of the device of Figure 1;

Figure 5 illustrates views of the wheels of the device of Figure 1;

Figure 6 illustrates a side view of the apparatus according to one embodiment of the present invention comprising the device of Figure 1 and an elevator;

Figure 7 illustrates a view from above of the apparatus of Figure 6;

Figure 8 illustrates a front view of the apparatus of Figure 6;

Figure 9 illustrates the scanning path of the device of Figure 1; and

Figure 10 illustrates the X-ray generator and cooling paths for the device of Figure 1.

Detailed Description of the invention

With reference to the Figures, the vehicle security inspection device 1 comprises an X-ray generator 13 in a continuous scanning mode. The X-ray generator 13 has a substantially flat transverse profile.

The X-ray generator 13 may have any suitable transverse shape depending on the requirements for the inspection device. In the illustrated embodiment, the X-ray generator 13 has a substantially rectangular transverse shape.

The X-ray generator 13 illustrated in the embodiment is rated at 40-80 kV/2-10 mA. It is however to be understood that any X-ray generator 13 with suitable ratings may be used within the range. For example, the X-ray generator is preferably rated between about 20 to 100 kV and with between 2 and 100 mA with a power of less than about 1 kW.

The device 1 further comprises a cooling fluid mechanism 60 as shown in Figure 10. The cooling mechanism 60 comprises oil which is substantially free of water. It is however to be understood that the cooling mechanism may comprise any suitable cooling fluid. The cooling mechanism comprises a cooling fluid pathway 62 and a pump 63 arranged in use to pump the oil around the cooling fluid pathway 62. The cooling fluid pathway 62 extends around the periphery of the continuous X-ray generator 13. The X-ray generator 13 has a pair of opposed side portions 64, 64' and a pair of opposed end portions 65, 65'. The cooling fluid pathway 62 is arranged to extend adjacent to and along at least a portion of each of the side portions 64, 64' and end portions 65, 65' as shown in the Figures. . It can be seen from the Figures that the cooling fluid pathway 62 does not completely surround the X-ray generator 13. In particular, the cooling fluid pathway 62 does not extend across the upper surface 66 of the X-ray generator 13. The cooling fluid pathway 62 extends from the pump 63 to a radiator 67 (composed of copper and/or aluminium) which provides a cavity for best heat exchange. The radiator 67 is exposed to the surface of the device 1. Two fans 68 provide additional cooling of the surface of the radiator 67. It is to be understood that the device 1 may include any suitable number of fans and/or radiators and/or cooling fluid pathways depending on the requirements of the device 1. The fans 68 are operable only when the temperature of the radiator 67 reaches a predetermined critical value. It is important that the X-ray generator 13 neither overheats nor is excessively cooled by the fans 68 as the X-ray generation depends on the temperature of the target (anode) and the cathode in the X-ray tube.

The continuous X-ray generator 13 comprises an amorphous insulator material of ceramic 69. It is however to be understood that the amorphous insulator material may be selected from any suitable plastic and/or ceramic, such as for example quartz; 'TORELINA (RTM)' PPS polyphenylene sulphide; TFE tetrafluoroethylene; 'TEFLON (RTM)' PTFE polytetrafluoroethylene; PFA perfiuoroalkoxy; 'TECAPEEK (RTM)'; or any other suitable material.

The device 1 further comprises two spaced apart X-ray detectors 3a, 3b. The X-ray detector(s) 3a, 3b are elongate in shape and extend spaced apart from and substantially parallel to each other to detect the X-ray images. The detectors 3a, 3b may however have any suitable shape and be arranged in any suitable configuration for detecting X-ray images from an adjacent surface 6 of the target vehicle or object which is to be inspected. The detectors 3a, 3b are photomultipliers cells with concentrators having a reflective coat with phosphor to produce light when hit by a photon. The captured X-Ray image is made up from a series of line scans made by the synchronous work of the X-ray generator and the detectors 3a,3b. Backscatter in the X-Ray inspection allows the mobile robotic system 4 to capture data for inaccessible areas that otherwise limit or obstruct its movement and positioning particularly to the perimeter of the under vehicle workspace. These areas correspond to such items as the elevators for the inspected vehicle, wheels, tires, wheel arches, brake drums, linkages and any other motor vehicle element.

The device 1 comprises a mobile robot system 4 arranged in use to move and/or position and/or orientate the X-ray generator 13 within a cavity 5 provided between for example the underside of a target vehicle or object 6 and a road surface 7. The mobile robot system 4 comprising a motorised platform. The mobile robot system 4 shown in the Figures is automated. It is however to be understood that the X-ray generator 13 may be in communication with a manipulator which is manually controlled.

The mobile robot system 4 is arranged to carry and locate the continuous X-ray generator and/or to move the X-ray generator 13 into the desired location and/or orientation within the cavity 5 relative to the adjacent surface 6 of the target vehicle or object being inspected with improved accuracy such that the device 1 may be used to inspect parts of trains, planes, missiles, boats, plants, machinery and other suitable structures requiring inspection. The continuous X-ray generator 13 may be operable, with the mobile robot system 4, to traverse

Application No. GB1419955.8

RTM

Date :27 February 2015

Intellectual Property Office

The following terms are registered trade marks and should be read as such wherever they occur in this document:

TrueTrack; Torelina; Teflon; Tecapeek

Intellectual Property Office is an operating name of the Patent Office www.gov.uk/ipo contoured surfaces and/or surfaces which extend at an angle to the adjacent road surface, such as for example the front, back, sides, roof or interior of a target vehicle or object.

The X-ray generator 13 is arranged to scan only when the motorised platform of the mobile robot system 4 is moving in a single direction. The X-ray generator 13 is therefore arranged on the motorised platform such that the generator does not scan when the platform is turning. It is however to be understood that the generator may be arranged such that the generator can scan while turning. It is also to be understood that the X-ray generator 13 may be operable independent of the motion of the motorised platform of the mobile robot system 4. The motion of the motorised platform is preferably synchronised with the detection rate of the Xray images by the X-ray detector(s). The detection rate may for example be in the range of from 15 to 100 lines per second.

Due to the unpredictability of the cavity and ground topography, the mobile robot system 4 comprising a motorised platform can not be driven or commanded to move along an exact path and/or at a constant speed within the cavity 5. Wheel slippage or partial loss of ground contact may occur during movement of the motorised platform of the mobile robot system 4, In order to provide a single continuous X-ray image, there needs to be accurate positioning and/or orientation of the X-ray generator 13 relative to the adjacent surface 6 of the target vehicle or object.

As shown in the Figures, the motorised platform of the mobile robot system 4 comprises four wheels 8. It is however to be understood that the motorised platform of the mobile robot system 4 may comprise any suitable number of wheels. Preferably, the motorised platform comprises at least three wheels.

The motorised platform has independent drives for each wheel 8, each capable of being orientated about a vertical' axis for steering purposes. It is however to be understood that the motorised platform may have no steering or be arranged such that the steering is associated with any number of wheels 8. Wheels with no steering preferably have a horizontal axis with a motion drive motor. In the illustrated embodiment each wheel 8 is associated with two motors. A first motor 9 is set on a horizontal axis and is arranged to provide wheel rotation. The second motor 10 is set on a vertical axis and is arranged to provide directional steering of the wheel. The first 9 and second 10 motors have continuous synchronisation with each other to avoid conflicts such as for example two wheels 8 driving in opposite directions.

The drive motors 9, 10 may be stepping motors or any type of motor capable of delivering a rotating action. Power and commanding of the mobile robot system 4 in respect of all its functions including mobility is delivered to the motorised platform by means of a flexible umbilical 11. It is however to be understood that the power and commands may be transmitted to the motorised platform by any suitable means. The umbilical 11 comprises an insulated outer tube. Power and/or signal communications are located within a hollow bore extending within the or each umbilical 11. The umbilical 11 extends between the mobile robot system 4 and the operator command module (not shown). It is to be understood that the device 1 may comprise any suitable number of umbilicals 11 depending on the particular requirements for the device 1.

The device 1 has improved tracking capability compared to conventional inspection devices. The device 1 may for example be arranged so as to track the locality of the X-ray generator 13 to within less than 1 mm of its actual location. It is however to be understood that the accuracy of the tracking capability of the device 1 may vary. Preferably, the device 1 enables the position of the X-ray generator 13 to be tracked to within less than 10 mm, more preferably less than 5 mm, for example less than 2mm of its actual position.

In order to achieve accurate positioning of the device 1, and in particular the X-ray generator 13, relative to an adjacent surface 6 of the target object or vehicle, the device, for example the mobile robot system 4, comprises a visual image processing system responsive to three independent input data streams to measure location and/or orientation of the X-ray generator in order to minimise location error. The three input data streams are: wheel encoder 12, 14; North star system 15; and computer vision. It is however to be understand that the visual image processing system may comprise any desired number of data streams, such as the ones mentioned above, in any suitable combination, depending on the particular requirements for the device 1.

As shown in the Figures, the motorised platform comprises four ultrasonic sensors 16. The four sensors 16 are arranged within two pairs. Each pair is located towards the front 18 and adjacent opposing sides 20, 22 of the mobile robot system 4. The ultrasonic sensors 16 are located ahead of the X-ray generator 13 with respect to the direction of travel of the mobile robot system 4. It is however to be understood that the number and/or location of the sensors 16 may vary depending on the requirements of the inspection device 1. The ultrasonic sensors 16 may detect signals within any suitable range, preferably in the range of from 50 mm to mm. The mobile robot system 4, preferably the motorised platform, may include any number of tactile sensing and/or force sensing sensors in any suitable location.

Slippage, loss of traction or resistance to motion of one or more wheels 8 may be detected.

In order to further improve the accuracy of the path travelled by the motorised platform, the mobile robot system 4 further includes a webcam 24. It is to be understood that the device 1 may include any suitable number of webcams 24 in any suitable location. In the illustrated embodiment, the webcam 24 is located on the upper surface 26 of the mobile robot system 4 and is located towards the rear side 30 of the device 1, i.e. behind the X-ray generator 13 with respect to the direction of travel of the device 1. The webcam includes a fixed focus wide angle lens with automatic electronic distortion correction by execution of image processing logic. It is to be understood that any suitable webcam may be located on the device 1.

The webcam(s) 24 may be mounted in any suitable way with respect to the device 1. For example, the or each webcam(s) 24 may be mounted on two motor driven axes. A first motor driven axis may be arranged to adjust the pitch of the webcam 24. The second motor driven axis may be arranged to give yawing of the webcam 24 to within, for example +/-180 degrees.

The mobile robot system 4, for example the motorized platform, may further include one or more light sources, such as for example low wattage LED light sources, located in any suitable location for the purposes of illumination digital image capture. Inthe illustrated embodiment, the device 1 comprises nine LED light sources 28. Three LED light sources 28 are spaced apart from each other and located adjacent the first side 20 of the mobile robot system 4. A further three LED light sources 28 are spaced apart from each other and located adjacent the second side 22 of the mobile robot system 4. A further three LED light sources 28 are spaced apart from each other and located adjacent the rear side 30 of the mobile robot system 4. It is to be understood that the device 1 may include any suitable number of light sources 28 in any suitable arrangement.

The mobile robot system 4 further includes two infrared detection cameras 32, 33. It is however to be understood that the device 1 may comprise any suitable number of infrared detection cameras in any suitable location and/or arrangement. A first infrared detection camera 32 is located on the upper surface 26 of the mobile robot system 4 and is located towards the rear side 30 of the device 1, i.e. behind the X-ray generator 13 with respect to the direction of travel of the device 1.

The first infrared detection camera 32 is located adjacent the webcam 24. The second infrared detection camera 33 is located on the front panel 18 of the mobile robot system 4. The infrared detection camera(s) 32, 33 may be mounted in any suitable way with respect to the mobile robot system 4. For example, one or more of the infrared detection cameras 32, 33 may be mounted on two motor driven axes. A first motor driven axis is arranged to adjust the pitch of the infrared detection camera 32, 33. The second motor driven axis is arranged to give yawing to the infrared detection camera 32, 33, in the range of for example between +/-180 degrees.

The ultrasound sensors 16, WebCam 24, infrared detection camera 32, 33 and the Northstar can be operated and used collectively, individually, or in any combination to enable the required motion paths and positioning of the mobile robot system 4 to be achieved. These sensors operate automatically, with optional operator intervention, supported by computer encoded logic that may be artificial neural networking, Baysian certainty, fuzzy logic, or any other logic or combination of such. The automatic control may perform self-configuring optimisation.

The mobile robot system 4 further comprises a Xray collimator 34. The Xray collimator 34 may be located on the mobile robot system 4 at any suitable position.

As shown in the Figures, the X-ray collimator 34 is shown as protruding from the upper surface 26 of the mobile robot system 4. The X-ray collimator 34 is substantially centrally located with respect to the mobile robot system 4. As shown in the Figures, the X-ray collimator 34 is located approximately equidistant from each of the X-ray detectors 3a, 3b. The X-ray collimator 34 is covered with a protective plastic strip (not shown). It is to be understood that the X-ray collimator 34 may be covered with any other suitable protective material which does not affect the xray function.

The Xray collimator 34 produces a beam having an intended angle of incident as determined by the particular requirements for inspection of an adjacent surface 5 of a target vehicle or object. In the illustrated embodiment, the Xray collimator 34 has an included angle of 120 degrees for a radius of 150mm. The Xray source is located at the center of this, which has protective covers to both sides of its circular form. The collimator 34, which rotates at high speed, has at least three radial holes for emitting the Xrays. An accelerator tube is included.

In use one or more of the following operations, in any suitable combination, may be carried out in order to inspect a target vehicle or object with the device of the present invention: (i) One or more of the dimensions of the target vehicle or object, such as for example the wheel base and/or track width, together with the minimum ground clearance dimensions between the underside of the target vehicle/object and the adjacent road surface are determined using available data or one of several measurement methods; (ii) a vehicle elevator, if required, is provided depending on the outcome of (i); (iii) the vehicle to be inspected is placed in the inspection area or located on the vehicle elevator within the inspection area; (iv) the inspection device is located adjacent to the vehicle to be inspected; (v) motion path(s) of the motorized platform within the cavity are planned; (vi) the device is operated to enter the cavity provided between the underside of the vehicle/object and the adjacent road surface. The device is operable to be maneuvered along one or more motion path(s) within the cavity to carry out an Xray survey to all or parts of the vehicle, Electrical power and/or signal communications are transferred between the device 1 and a command center by means of the one or more umbilicals 11. Using any data output means such as a visual display or alarm the attending operator is informed of anomalies in the Xray based imagery. Some causes of such anomalies can be chemicals, materials or any item incorporated in any way, located on the surface or buried within the parts of the inspected vehicle.

In use, the X-ray generator 13 is positioned as required on the mobile robot system 4, in this case on the motorised platform of the mobile robot system 4. The motorised platform, together with the X-ray generator 13 in a continuous scanning mode, is directed into the cavity 5 provided between the underside 6 of the vehicle and the adjacent road surface 7. The X-ray generator 13 only operates when the motorised platform is moving in a single direction. Cooling fluid is pumped along the cooling pathways to maintain the X-ray generator 13 at a workable operating temperature. The upper surface 26 of the mobile robot system 4 is preferably positioned at least 100 mm from the adjacent surface 6 of the target object or vehicle to be inspected . If the clearance is less than 100 mm, the target vehicle or object is placed on an elevator and raised to a sufficient height in order to provide at least the minimum clearance for the mobile robot system 4 prior to inspection.

As shown in the Figures, in order to provide a sufficient clearance, such as for example at least 350 mm, within the cavity 5 for the device 1 of the present invention an elevator 40 may be used. In the illustrated embodiment, the elevator has two elevating portions 42,42'. The first elevating portion 42 is arranged in use to provide an elevation path for the left hand side of the vehicle 100 to be inspected. The second elevating portion 42' is arranged in use to provide an elevation path for the right hand side of the vehicle 100 to be inspected. The first and second elevating portions 42, 42' are adjustable such that in use the vehicle or object to be inspected is raised to an approximately level standing position.

Many designs for the elevator are possible. The preferred design of the elevator 40 is a lightweight, modular constructions. The elevator is preferably composed of one or more of: aluminium, aluminium alloy, mild steel, metal, carbon fiber, reinforced composite, fiber glass composite, laminated timber, or other high strength to weight ratio components, or any combination thereof. The elevator 40 comprises a number of interlocking elements to stabilise the elevator 40 and to provide a structural tie along the length of each elevator portion 42,42'. The elevator 40 further comprises ramped elements located at opposing ends 43a, 43b, 44a, 44b of each elevating portion 42, 42' arranged to provide a ramp for receiving the vehicle 100. Each elevator element has a weight which does not exceed 20 kg. The maximum vertical height of the elevator 40 is typically in the region of between 220 mm and 250 mm. It is however to be understood that the maximum vertical height of the elevator 40 can vary or be adjusted depending on the particular requirements for the elevator 40.

It is to be understood that the number of elements within each elevator portion 42, 42' may vary depending on the particular requirements for inspecting a particular vehicle. For example, the number of elements within each elevator portion 42,42' between each ramped portion 43, 44 may vary depending on the particular requirements for inspecting a particular vehicle. The wheel base, track width and weight statisticsofa candidate vehicle for inspection by the invention may be gathered from a database such as occurring on the internet. Alternatively, the vehicle can be measured in respect to its wheel track width and wheel base dimensions. This can be done using various devices including calibrated image processing, survey wheel, tape measurement or an encoded pull wire, for example.

This data is then used to correctly interlock and position the elevator portions 42,42' to provide an elevator 40 having the correct dimensions and spacing for receiving the vehicle. The two elevator portions 42, 42' can be aligned substantially parallel and spaced apart from each other by a predetermined distance for a particular vehicle by means of distance measuring lasers and targets incorporated into opposite pairs of ramp elements at both ends of each elevator portion 42, 42'. The elevator 40 may be a permanent or temporary construction. Forced stop, chocks and/or stop warning devices can also be incorporated into the elevator 40 to ensure the candidate vehicle is correctly located and restrained in the standing zone 44 of the elevator.

The topography of the ground over which the device travels is not required to be in a single plane and/or horizontal. The manipulator can adjust the position of the X-ray generator relative to the ground topography in order to provide the relevant scanned image. The motorised platform, on the mobile robot system 4, is moved into the cavity 5.

The motorised platform follows a planned path looping backwards and forwards relative to the target vehicle or object. The number and/or spacing and/or length and/or orientation of the or each path depends on the particular requirements for each individual vehicle or object, such as for example the wheel base and track width of the vehicle.

As shown in Figure 9, in order to scan a vehicle with a wheel base of 4 m and a track width of 2 m the motorised platform follows the illustrated paths as indicated by arrows 50 illustrating the direction of travel of the device 1. The planned path of the motorised platform may however be modified automatically on a real time basis using microprocessor based logic that addresses collision avoidance, detection and collision recovery of the mobile robot system. The planned path may take any form, such as for example linear, curved or turn in any manner e.g. right angle. As shown in Figure 9, the device 1 passes across the underside of the vehicle three times. It is however to be understood that the device may pass across the underside of the vehicle any suitable number of times, for example 4, 5 or more passes, depending on the requirements for inspection of the vehicle, such as for example depending on the distance of the inspected underside of the vehicle from the device 1. The greater the distance the fewer passes are required as the X-ray frustrm is increased.

The device 1, for example the X-ray generator 13 on the motorised platform, is freely moveable and/or orientatable within the cavity 5. Movement of the device 1 in relation to the target vehicle or object is not restricted to a fixed path and/or speed, and/or orientation, and/or transit within an unstructured, undefined, unpredictable or dimensionally unknown cavity. The device 1 does not require guide members, such as for example rails, to define the pattern and/or range of movement of the device relative to the vehicle. In some embodiments, the device 1 may however be moveable along guide members relative to the vehicle.

The X-ray detectors 3a, 3b detect the X-rays received from the underside 6 of the target object or vehicle. The speed of the motorised platform is adjusted according to the detection rate by the X-ray detectors 3a, 3b. The device 1 generates accurately joined up X-ray images due to improved accuracy of locating the X-ray generator 13 within the cavity 5 to provide a single, continuous image of the underside 6 of a target vehicle or object of any dimensions, shape, axial and wheel configuration located on a surface of any topography.

The mobile robot system 4 may be driven in any suitable direction, such as for example along optimal straight lines to minimise image processing, keeping its course and by the fusion of the three data inputs. In order to assess the location of the X-ray generator 13 three systems are used, absolute North Star and/or relative encoders and/or image processing. The invention means that it is not necessary to position the target vehicle or object to be inspected in any special way. Unlike previous systems that use two beacons, the device of the present invention may be responsive to four TrueTrack infrared beacon sources for North Star irradiating on different frequencies. The electronic circuit uses computer implemented logic to locate at least two of the beacon markers in order to satisfy the necessary calculation for absolute position of the continuous series of X-Ray images. The relative position system relies on continuous feedback produced by the wheel encoders (multi-directional rotation and forward/backwards encoders). Slippage of encoder is compensated by application of the two other independent data sets. In this case the mobile robot system 4 will use both systems for calculation for its location. The visual image processing system (which is always on) gives indication if the mobile robot system 4 sharply moves in one or another direction. This may happen for example if one or more of the wheels is stepping on a stone, or if the robot 4 has touched another vehicle wheel. Based on this information, the mobile robot system 4 will precisely reduce the positional error to within a range of between 1 mm to 5 mm in the scanning plane, which is the important for continuous X-Ray scanning.

As a result, the device 1 of the present invention can be used to produce reliable, accurate images of the vehicle/object whilst avoiding loss of important fine detail between otherwise separate images which may be provided by pulse X-ray generators. This fine detail may for example include wire(s), hole(s), screw(s), bolt(s), rivet(s), pin(s), fixing(s), catch(s), slot(s), weld(s), weld splatter(s), cut(s), crack(s), scratch(s), chip(s), dent(s) and/or chemical(s) or any combination thereof.

Claims

1. A vehicle or object security inspection device comprising: a continuous X-ray generator comprising a substantially flat transverse profile, in which the continuous X-ray generator comprises an upper surface arranged in use to be positioned adjacent an underside of a target vehicle or object, and in which the X-ray generator further comprises a pair of opposed side portions and a pair of opposed end portions; and a cooling fluid mechanism comprising a source of cooling fluid, at least one cooling fluid pathway, and a pump arranged in use to pump the cooling fluid around the cooling fluid pathway; in which the cooling fluid pathway(s) surrounds a portion of the continuous X-ray generator by extending adjacent to and along at least a portion of each of the side portions and end portions of the X-ray generator, and in which the fluid pathway does not extend across the upper surface of the X-ray generator.

2. A device as claimed in claim 1, in which the upper surface of the X-ray generator is arranged in use to be positioned at least 100 mm from the adjacent underside of the target vehicle or object.

3. A device as claimed in any preceding claim, in which the cooling fluid is selected from oil.

4. A device as claimed in any preceding claim, in which the continuous X-ray generator comprises amorphous insulator material.

5. A device as claimed in claim 4, in which the amorphous insulator material is selected from plastic and/or ceramic.

6. A device as claimed in claim 5, in which the amorphous insulator material is selected from one or more of quartz; PPS polyphenylene sulphide; ThE tetrafluoroethylene; PTFE polytetrafluoroethylene; PFA perfluoroalkoxy;; or any combination thereof.

7. A device as claimed in any preceding claim, further comprising at least one manipulator arranged in use to move and/or position and/or orientate the X-ray generator within a cavity provided between the underside of a target vehicle or object and a surface.

8. A device as claimed in claim 7, in which the manipulator is mobile robot system comprising a motorised platform for receiving the X-ray generator.

9. A device as claimed in claim 8, in which the mobile robot system further comprises an electronic circuit responsive to three independent input data streams to measure location and orientation in order to minimise location error, in which the three input data streams are: wheel encoder; North star system; and computer vision.

10. A device as claimed in anyone of claims 7 to 9, in which the X-ray generator is arranged to be operable only when the X-ray generator is moving in a single direction.

11. A device as claimed in any preceding claim, further comprising at least one X-ray detector arranged to detect images.

12. A device as claimed in claim 11, in which the speed at which the X-ray generator moves relative to the target vehicle or object is arranged to be dependent on the detection rate of the X-ray detector(s).

13. A device as claimed in any preceding claim, further comprising a visual image processing system comprising one or more of: ultrasonic ranging sensor(s), webcam(s), IR detection camera(s), light source(s), and any combination thereof.

14. An apparatus for inspecting a target vehicle or object, comprising a device as claimed in any one of claims I to 13, and an elevator arranged in use to receive and raise the target vehicle or object to a predetermined height relative to an underside of the target vehicle or object.

15. A method for producing a single, continuous X-ray image of a target vehicle or object comprising inserting and moving a device as claimed in anyone of claims Ito 13 within a cavity provided between an underside of the vehicle or object and an adjacent surface.

16. A method as claimed in claim 15, in which the device is freely moveable and/or orientatable within the cavity.