WO2012174265A1 - Surveillance furtive par détection multimodale - Google Patents

Surveillance furtive par détection multimodale Download PDF

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Publication number
WO2012174265A1
WO2012174265A1 PCT/US2012/042493 US2012042493W WO2012174265A1 WO 2012174265 A1 WO2012174265 A1 WO 2012174265A1 US 2012042493 W US2012042493 W US 2012042493W WO 2012174265 A1 WO2012174265 A1 WO 2012174265A1
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WO
WIPO (PCT)
Prior art keywords
radiation
detector
ray
passive
pencil beam
Prior art date
Application number
PCT/US2012/042493
Other languages
English (en)
Inventor
Joseph Bendahan
Edward James Morton
Original Assignee
Rapiscan Systems, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rapiscan Systems, Inc. filed Critical Rapiscan Systems, Inc.
Priority to EP12801343.0A priority Critical patent/EP2748628A4/fr
Priority to CA2863363A priority patent/CA2863363C/fr
Publication of WO2012174265A1 publication Critical patent/WO2012174265A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
    • G01V5/222—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays measuring scattered radiation
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
    • G21K1/00—Arrangements for handling particles or ionising radiation, e.g. focusing or moderating
    • G21K1/02—Arrangements for handling particles or ionising radiation, e.g. focusing or moderating using diaphragms, collimators
    • G21K1/04—Arrangements for handling particles or ionising radiation, e.g. focusing or moderating using diaphragms, collimators using variable diaphragms, shutters, choppers
    • G21K1/043—Arrangements for handling particles or ionising radiation, e.g. focusing or moderating using diaphragms, collimators using variable diaphragms, shutters, choppers changing time structure of beams by mechanical means, e.g. choppers, spinning filter wheels

Definitions

  • the present specification generally relates to the field of covert surveillance for detecting threat items and contraband, either in a vehicle or on a person, and more specifically to a covert mobile inspection vehicle which combines a plurality of detection and prevention components that may be deployed rapidly to a threat zone to aid detection and prevention of subversive activities. More specifically, the present specification relates to an inspection system and method for simultaneous active backscatter and passive radiation detection.
  • X-ray imaging systems are the most commonly used.
  • Transmission based X-ray imaging systems are traditionally used to inspect trucks and cargo containers for contraband. Inspection of a certain larger structures, such as complete aircraft, however, can be challenging with a transmission-based geometry wherein, typically, the source is located on one side of the aircraft and detectors are located on the other side of the aircraft. This geometry has many challenges, and in particular, when scanning around the landing gear and engines there is difficulty in placing detectors and thus, in producing radiographic images.
  • backscatter-based inspection systems In backscatter-based inspection systems, X-rays are used for irradiating a vehicle or object being inspected, and rays that are scattered back by the object are collected by one or more detectors. The resultant data is appropriately processed to provide images which help identify the presence of contraband. Since aircraft are typically made of lighter materials, a backscatter-based detection system would provide adequate penetration in most cases and thus would only require equipment to be placed on one side of the aircraft.
  • backscatter technology may not be suitable when all areas of the aircraft have to be penetrated with a high detection probability, such as is the case with nuclear materials detection. Areas of high attenuation as measured by the backscattered radiation include fuel tanks, transformers, counterweights, among other aircraft components. In addition, backscatter technology cannot effectively discriminate between typical metals and special nuclear materials.
  • Aircraft inspection calls for unique requirements such as the capability of inspecting large aircraft from more than one side.
  • varying aircraft sizes would require the inspection head to scan at different heights, and several sections of the aircraft, such as the wings and tails, would require different head and detector scanning configurations.
  • Conventional X-ray backscatter and transmission systems do not have adequate scanning robustness, ability to work in various orientations, scanning range, or field of view for aircraft inspection applications.
  • the present specification discloses a covert mobile inspection vehicle comprising: a backscatter X-ray scanning system comprising an X-ray source and a plurality of detectors for obtaining a radiographic image of an object outside the vehicle; at least one sensor for determining a distance from at least one of the plurality of detectors to points on the surface of the object; a processor for processing the obtained radiographic image by using the determined distance of the object to obtain an atomic number of each material contained in the object; and one or more sensors to obtain surveillance data from a predefined area surrounding the vehicle.
  • the senor is a scanning laser range finder causing a beam of infra-red light to be scattered from the surface of the object wherein a time taken for the beam of infra-red light to return to the sensor is indicative of the distance to the surface of the object.
  • the present invention is an inspection system and method for simultaneous active backscatter and passive radiation detection.
  • the present invention is a simultaneous low energy backscatter (100-600 kV) and passive radiation (gamma rays and neutrons) detection system and method.
  • the present invention is a non-intrusive inspection system that includes an inspection head having an x-ray source, a scanning wheel, a dual-purpose detector and associated electronics.
  • the dual purpose detector can detect both backscatter x- rays and passive radiation.
  • the x-ray and gamma ray detectors are combined in the same module.
  • the x-ray detector is different from the gamma-ray detector.
  • the x-ray source of the present invention is constantly on, producing x-rays in a fan beam.
  • a spinning wheel having a plurality of pinholes therein is employed to produce a pencil beam of radiation through at least one pinhole.
  • the spinning wheel is employed to "block" the x-ray fan beam (and resultant pencil beam) from exiting, by blocking the slits in the spinning wheel, during which time passive radiation detection is active.
  • a beam chopping mechanism is employed, wherein the beam chopping mechanism is designed to present a helical profile shutter (aperture), formed on a cylinder, for X-ray beam scanners.
  • a radiation shield is provided on a radiation source such that only a fan beam of radiation is produced from the source. The fan beam of radiation emits X-rays and then passes through the spin-roll chopper, which acts as an active shutter.
  • the spin-roll chopper and therefore, helical aperture(s) is rotating, there is only a small opening for the X-ray fan beam to pass through, which provides the moving flying spot beam.
  • at least one gap between the spin-roll slits is used to block the exiting radiation to allow for passive measurements.
  • a scanning pencil beam is generated by any one of the approaches described above or any other approach as is known to those of ordinary skill in the art and deactivated by turning off the X-ray source (in contrast with previous embodiments, where the source is "blocked" by use of the spinning wheel or spin-roll chopper).
  • suitable x-ray sources include, but are not limited to gridded sources, field emission electron sources (e.g. carbon nanotubes) or any other source that can switch the beam on-off within a few microseconds.
  • the present invention is a system for detecting concealed threats in an object by simultaneously performing active and passive radiation detection, the system comprising: an X-ray source with a modulating device to produce a pencil beam of radiation for scanning the object, said modulating device capable of blocking the pencil beam at regular intervals; a detector module for detecting both radiation backscattered by the object when scanned with the pencil beam of radiation and passive radiation emitted from threats within said object when the pencil beam of radiation is blocked, wherein said detector module comprises at least one detector; and a controller to measure backscattered radiation only when the x-ray pencil beam is on, and to measure only passive radiation when the x-ray pencil beam is blocked.
  • the present invention is a system for detecting concealed threats in an object by simultaneously performing active and passive radiation detection, the system comprising: an X-ray source with a modulating device to produce a pencil beam of radiation for scanning the object; a controller for switching the X-ray source on and off at regular intervals; and a detector module comprising an X-ray detector for detecting radiation backscattered by the object when scanned with the pencil beam, and a passive radiation detector for detecting radiation emitted from threats inside said object when the pencil beam is switched off.
  • the system further comprises control electronics to measure backscattered radiation only when the beam is on, and to measure only passive radiation when the x-ray pencil beam is off.
  • the detector module comprises a detector array, wherein said detector array is capable of detecting both backscattered x-rays and passive radiation.
  • the passive radiation detector is at least one of a gamma ray detector, a neutron detector, or a gamma-neutron detector.
  • the neutron detector is used to passively measure neutrons simultaneously with backscatter radiation and passive gamma rays.
  • the modulating device comprises a disc with at least one pinhole. In another embodiment, the modulating device comprises a cylindrical chopper with at least one helical slit. In one embodiment, the modulating device is rotated to produce a pencil beam that is blocked at regular intervals and the system does not illuminate the object with radiation when the pencil beam is blocked.
  • the X-ray source is switched on and off at least once in a time period determined by a rotational frequency of the X-ray source, on the order of less than 1% of the rotational time.
  • the present invention is a method for detecting concealed threats in an object by simultaneously performing active and passive radiation detection, the method comprising: modulating an X-ray source to produce a pencil beam of radiation for scanning the object, such that the pencil beam is blocked at regular intervals; and detecting radiation backscattered by the object when scanned with the pencil beam, and detecting passive radiation emitted from threats inside said object when the pencil beam is blocked.
  • radiation is detected by using a dual-purpose detector adapted to detect both backscattered x-rays and passive radiation.
  • passive radiation is detected using a separate passive radiation detector that is at least one of a gamma ray detector, a neutron detector, or a combined gamma -neutron detector.
  • the neutron detector passively measures neutrons simultaneously with backscatter radiation and passive gamma rays.
  • backscattered radiation is measured when the x-ray pencil beam is on, and only passive radiation is measured when the beam is blocked.
  • the X-ray beam is modulated using a modulating device that comprises a disc with at least one pinhole.
  • the beam is modulated using a modulating device that comprises a cylindrical chopper with helical slits.
  • the modulating device is rotated to produce a pencil beam and is adapted to block said pencil beam at regular intervals.
  • the measured backscatter radiation and passive radiation data is combined to determine the presence of threats.
  • the present invention is a system for detecting concealed threats in an object by simultaneously performing active and passive radiation detection, the system comprising: an X-ray source with a modulating device to produce a pencil beam of radiation for scanning the object; a detector module comprising a detector for detecting radiation backscattered by the object when scanned with the pencil beam and radiation emitted from threats inside said object; and control electronics to measure a resultant backscatter signal having energies less than a first threshold and to measure passive gamma rays above a second threshold that is set at approximately the first threshold.
  • the system further comprises a processor, wherein said processor is programmed to subtract background noise produced by the high-energy gamma rays from the backscatter signal.
  • the system comprises a neutron detector to passively measure neutrons simultaneously with the backscatter radiation and passive gamma rays.
  • a processor is employed to analyze both the x-ray image and the passive gamma and neutron information for potential threats.
  • FIG. 1 A is an illustration of a covert mobile inspection vehicle, in accordance with an embodiment of the present invention
  • FIG. IB is a schematic representation of one embodiment of a four-sided X-ray imaging system that may be employed in accordance with the present invention.
  • FIG. 1C is an illustration of an embodiment of the X-ray scanning system on-board the surveillance vehicle of FIG. 1A in accordance with one embodiment of the present invention
  • FIG. 2A depicts a representation, as a step function, of an X-ray source being switched rapidly from its beam-off condition to its beam-on condition, that may be employed in accordance with the present invention
  • FIG. 2B diagrammatically illustrates an operation of time of flight backscatter imaging, that may be employed in accordance with the present invention
  • FIG. 3A depicts a backscatter radiographic image without using intensity or effective atomic number scaling
  • FIG. 3B depicts a backscatter radiographic image where intensity of object images has been scaled for distance, in accordance with an embodiment of the present invention
  • FIG. 3C depicts a backscatter radiographic quantitative image scaled by effective atomic number, in accordance with an embodiment of the present invention
  • FIG. 4 is a graphical representation of a Bremsstrahlung spectrum with a typical tungsten anode X-ray tube
  • FIG. 5 is a graphical representation of a high mean energy spectrum for high Z materials and a low mean energy spectrum for lower Z materials, in accordance with an embodiment of the present invention
  • FIG. 6 is a graphical representation of a gamma ray spectrum with higher energies as compared with X-rays, in accordance with an embodiment of the present invention
  • FIG. 7 is a flowchart illustrating a method of obtaining an atomic number of each material contained in an object being scanned by the covert mobile inspection vehicle of the present invention
  • FIG. 8 is a cross-sectional view of a backscatter head of the present invention comprising a backscatter module
  • FIG. 9 is a flowchart illustrating serial X-ray backscatter and passive gamma ray detection
  • FIG. 10 is a flowchart illustrating interleaved X-ray backscatter and passive gamma ray detection
  • FIG. 11 is an illustration of one embodiment of a spinning wheel as used in the system of the present invention, showing the pencil beam in an "on" position, wherein a backscatter measurement is taken;
  • FIG. 12 is an illustration of one embodiment of a spinning wheel as used in the system of the present invention, showing the pencil beam in an "off position, wherein a passive measurement is taken;
  • FIG. 13A is a mechanical illustration of an exemplary design of one embodiment of a spin-roll chopper as used in the present invention;
  • FIG. 13B illustrates the spin-roll chopper mechanism employed in one embodiment of the present invention with an X-ray source
  • FIG. 14 is a block diagram showing signal processing with two different sets of electronics when the backscatter x-ray detector and passive gamma ray detector are the same;
  • FIG. 15 illustrates the basic functional design of the backscatter-based aircraft inspection system of the present invention
  • FIG. 16 illustrates an exemplary vehicle that can be used with the mobile aircraft inspection system of the present invention
  • FIG. 17 illustrates an exemplary manipulator arm used for mounting the inspection head or radiation source of the system of present invention
  • FIG. 18 is an illustration of another embodiment of the covert mobile inspection vehicle, shown in FIG. 1, further illustrating an on-board X-ray scanning system;
  • FIG. 19 is a schematic representation of components of a scanning system that may be employed in accordance with the present invention.
  • FIG. 20 is a schematic representation of components of a scanning system that may be employed in accordance with the present invention.
  • FIG. 21 is a schematic representation of components of a scanning system that may be employed in accordance with the present invention.
  • FIG. 22 shows a schematic view of a detector element that may be employed in accordance with the present invention.
  • FIG. 23 is a schematic representation of a radiation imaging system that may be employed in accordance with the present invention.
  • the present specification is directed towards a covert mobile inspection system, comprising a vehicle, which is equipped with a plurality of multi-modality sensors. Surveillance information from the plurality of sensors is utilized to detect and prevent subversive activities.
  • the present specification describes a system and method for providing covert and mobile surveillance/inspection of subversive activities using a plurality of multi-modality surveillance sensors.
  • the present specification is directed toward using a backscatter X-ray scanning system that has improved threat detection capabilities as at least one of the plurality of surveillance sensors utilized.
  • the present specification describes a covert mobile inspection vehicle having an improved on-board backscatter X-ray scanning system and further equipped with a plurality of prevention and inspection components or devices.
  • the backscatter X-ray scanning system includes a sensor, such as a scanning laser range finder, that measures the distance of the detectors from the surface of the object under inspection.
  • a sensor such as a scanning laser range finder
  • the present specification describes an improved method of generating a radiographic image of the object under inspection, using this known distance to generate an intensity-corrected image at a given equivalent distance.
  • the corrected image is then used to map an effective atomic number of all materials in the radiographic image. Additionally, this distance data is also used to provide an accurate geometric correction in the image to produce a true likeness of the shape of the object under inspection.
  • adaptive region based averaging is applied (such as by using a statistical filter and/or median filter). This results in an image which has equivalent statistical properties useful in determining an accurate effective atomic number for all regions in the object under investigation.
  • the knowledge of effective atomic numbers and their ranges or variations is used to colour code the radiographic image.
  • the present specification describes a method for measuring individual X-ray energies as they interact within at least one detector in order to form an analysis of the spectral content of the scattered X-ray beam.
  • the backscatter X-ray scanning system additionally uses a multi-element scatter collimator to allow use of fan-beam X-ray irradiation to generate the backscatter image. Therefore, scattered X-rays which lie within an acceptance angle of, for example, the collimator element are detected and associated to the appropriate corresponding part of the generated radiographic X-ray image.
  • the plurality of multi-modality surveillance sensors comprise any or all combinations of components such as GPS receivers, scanning lasers, CCTV cameras, infra-red cameras, audio microphones, directional RF antennas, wideband antennas, chemical sensors, jamming devices.
  • the present specification describes an automated detection processor for integrating and analysing all surveillance information from the plurality of sensors, in real-time, to highlight threat items for review by an operator seated inside the covert vehicle and/or remotely through a secured wireless network.
  • FIG. 1A shows a covert mobile inspection system 100 in accordance with an embodiment of the present invention.
  • the system 100 comprises a relatively small vehicle 102, such as a van, which is equipped with a plurality of detection and prevention sensors 104 such as scanning, listening and broadcasting devices.
  • the vehicle is a 3.5 ton chassis having a height less then 3m above road level, length ranging from 4m to 6m and width ranging from 2.2m to 2.5m.
  • the vehicle may comprise small vans having a weight ranging from 1.5T to 3.5T.
  • One aspect of the embodiments disclosed herein is the use of surveillance data from these multi-modality sensors in correlation and/or aggregation with data from an on-board X-ray scanning sensor.
  • the X-ray scanning system on-board the surveillance vehicle of FIG. 1A also comprises a sensor in order to measure its distance to the scattering object, material or point.
  • the X-ray sensor generates a backscatter radiographic image of an object from a single side utilizing Compton scattering. This allows the vehicle 105 to collect scan data, in a covert fashion, at a low dose to allow scanning of individuals, small as well as large vehicles/cargo for detection of threat devices, materials and individuals.
  • the X-ray scanning system allows for scanning of several sides of a vehicle under inspection.
  • FIG. IB is a schematic representation of one embodiment of the four-sided X-ray imaging system 100B disclosed in United States Patent Application Number 12/834,890 and Patent Cooperation Treaty (PCT) Application Number US10/41757.
  • vehicle 105 drives over a ramp 110 and underneath an archway 115, which defines an inspection portal.
  • the portal is defined by a first (left) side, a second (right) side, a top side and a bottom platform, which is a portion of the ramp 110.
  • ramp 110 comprises a base, a first angled surface leading upward to a flat transition point defining the highest part of the ramp, which also functions as the bottom platform, and a second angled surface leading back down to the ground.
  • the highest part of the ramp is typically between 50 and 150mm in height.
  • archway 115 houses multiple X-ray transmission detectors 117 and at least one X-ray source 119, housed within an enclosure, shown as 220 in Figure 2.
  • the enclosure housing the X-ray is physically attached to the exterior face of the first side and is approximately 1 meter tall. The position of the enclosure depends upon the size of the inspection portal. In one embodiment, the enclosure occupies 20% to 50% of the total height of the first side.
  • a slit or opening is provided on first side, through which X-rays are emitted. Slit or opening extends substantially up first side to approximately 100% of the height.
  • slit or opening is covered with a thin coating that is substantially transparent to an X-ray.
  • the thin coating is comprises of a material such as aluminium or plastic and further provides an environmental shield.
  • the enclosure and X-ray unit further comprise a first collimator close to the source of X-rays and a second collimator close to the exit, described in greater detail below.
  • detectors 117 are positioned on the interior face of the second side and the interior face of top side and occupy the full height of second side and the full length of top side, proximate to second side.
  • the enclosure housing the X-ray is physically attached to the exterior face of the second side and is approximately 1 meter tall. The position of the enclosure depends upon the size of the inspection portal. In one embodiment, the enclosure occupies 20% to 50% of the total height of the first side. As described above with respect to first side, if the enclosure housing the X-ray is on second side, a slit or opening is similarly provided on second side. The detectors are also similarly positioned on the interior faces of top side and first side when the enclosure is on second side. In one embodiment, with a dual- view system, an enclosure housing an X-ray source can be provided on both the first side and second side.
  • the X-ray scanning system 200 comprises an X-ray source 205 collimated by a rotating disk with a small aperture which allows X-rays to scan in at least one pencil beam 206, and preferably a series of "moving" pencil beams, within a substantially vertical plane from the X-ray source 205 to the object 210.
  • X-rays 207 scatter back from the object 210 under inspection and some of these reach at least one detector array 215 located adjacent to the X-ray source 205 but outside the plane described by the moving X-ray beam 206.
  • the intensity of the backscatter signal 207 is representative of the product of distance to the object and atomic number of the object.
  • the signal size due to Compton scattering from objects varies as the inverse fourth power of distance between the X-ray source and the scattering object. It is also known to persons of ordinary skill in the art that low atomic number materials are less efficient at scattering X-rays than high atomic number materials while high atomic number materials are more efficient at absorbing X-rays of a given energy than low atomic number materials. Therefore, the net result is that more X- rays having a greater intensity are scattered from low atomic number materials than from high atomic number materials. However, this effect varies approximately linearly with atomic number while the X-ray signal varies as the inverse fourth power of distance from the source to the scattering object.
  • a sensor 220 is provided (adjacent to the X-ray source and detectors) which is capable of detecting the distance to each point at the surface of the object 210.
  • the sensor 220 is advantageously a scanning laser range finder in which a beam of infra-red light 221 is scattered from the surface of the object 210 and the time taken for the pulsed beam to return to the sensor 220 is indicative of the distance to the surface of the object 210.
  • United States Patent Application Number 12/959,356 and Patent Cooperation Treaty Application Number USlO/58809 also by the Applicant of the present specification, entitled “Time of Flight Backscatter Imaging System” and filed on December 22, 2010, both of which are herein incorporated by reference in their entirety, describes a method in which the time of flight of the X-ray beam to and from the surface of the object under inspection is used to determine the distance between the source and scattering object.
  • the distances between the surface of the object and the planar detector arrays are variable, since the object is not straight sided. Further, since the distance from the X-ray source to the object under inspection is not known in general, an assumption is generally made that the object is planar and at a fixed distance from the source. Thus, if the object is closer than assumed, then the object will appear smaller in the image and conversely, if the object is further away then it will appear to be larger. The result is an image which is representative of the object under inspection but not with correct geometry. This makes it difficult to identify the precise location of a threat or illicit object within the object under inspection.
  • United States Patent Application Number 12/959,356 and Patent Cooperation Treaty Application Number USlO/58809 address the above problem by integrating time of flight processing into conventional backscatter imaging.
  • X-rays travel at a constant speed which is equal to the speed of light (3 x 10 8 m/s). An X-ray will therefore travel a distance of 1 m in 3.3 ns or equivalent ly, in 1 ns (10 ⁇ 9 s) an X-ray will travel 0.3 m.
  • the distance between a backscatter source and the object under inspection is on the order of 1 m, it corresponds to around 3 ns of transit time.
  • the backscatter X-ray detector is also located around 1 m from the surface of the object, it corresponds to an additional 3 ns of transit time.
  • the signal received at the detector should be received, in this example, 6 ns after the X-ray beam started its transit from the X-ray tube.
  • the X-ray's transit time is directly related to the detectors' distance to or from the object. Such times, although quite short, can be measured using detection circuits known to those of ordinary skill in the art.
  • the minimum distance is practically associated with the time resolution of the system.
  • Objects can be proximate to the source, but one will not see much scattered signal since the scatter will generally be directed back to the X-ray source rather than to a detector.
  • FIG. 2A depicts a representation, as a step function, of an X-ray source being switched rapidly from its beam-off condition to its beam-on condition. While 201 represents the step function at the source, 202 represents the detector's response. Thus, as can be seen from 201 and 202, after the beam is switched on from its off state at the source, the detector responds with a step-function like response after a time delay At 203. Referring to FIG.
  • the source 209 emits a pencil beam 211 of X-rays towards the object 212, some of the X-rays 213 transmit into the object 212, while some X-rays 214 backscatter towards the detectors 217.
  • the detector size (minimum and/or maximum) that would avoid such blurring effects described above is commensurate with the time resolution of the system.
  • a system with 0.1 ns time resolution has detectors of the order of 50 mm in size.
  • a system with 1 ns time resolution has detectors of the order of 500 mm in size.
  • smaller detectors can be used to improve statistical accuracy in the time measurement, but at the expense of reduced numbers of X-ray photons in the intensity signal, so there is a trade-off in a practical system design which is generally constrained by the product of source brightness and scanning collimator diameter.
  • radiographic image 305 represents an image of two objects obtained using an X-ray scanning system without intensity or effective atomic number scaling, the lower one 302 being close to the X-ray source and the upper one 304 being farther away from the source.
  • the lower object 302 is shown to be bright while the upper image 304 is seen to be faint.
  • image 310 shows the result of scaling intensity for distance where the lower object 307 is now lighter than in image 305 while the upper object 308 is now brighter than the lower object 307. This suggests that the upper object 308 is of lower atomic number than the lower object 307. This is in contrast to the original image 305, wherein the relative atomic numbers are typically prone to misrepresentation.
  • the distance measurement can be further utilized to implement an adaptive region based averaging method whereby signal from regions far from the source are averaged over a larger region, such that the linear dimension of these regions is scaled as the square of the distance from source to object.
  • This effect is shown in image 315 of FIG. 3C.
  • the upper object 313 has been averaged over larger regions than the lower object 312 thereby resulting in equivalent statistical properties useful in determining an accurate effective atomic number for all regions in the object under investigation.
  • the adaptive region averaging method is implemented using a statistical filter to determine if a given pixel is likely to be a part of the main scattering object, or part of an adjacent object in which this value should not be used to compute the region average.
  • a suitable statistical filter lists all pixel values within a region (for example a 7x7 block), ranks them in order and then determines the mean value and standard deviation of the central range of values. Any pixel within the whole block whose intensity is more than 2 standard deviations from the mean value within that block is considered to be part of an adjacent object.
  • a range of statistical filters can be developed which may use higher order statistical attributes, such as skewness, to refine the analysis. Alternate methods, such as median filtering, which can mitigate against boundary effects between image features are well known to persons of ordinary skill and all such methods can be suitably applied within the scope of the present invention.
  • the individual pixels in image 310 are colored according to the values in the quantitative image 315 scaled by effective atomic number.
  • the distance normalized pixels are colored on an individual basis (to ensure a sharp looking image) based on results from the region averaged image 315 with improved statistics.
  • Alternative schemes can also be used for pixel coloring. For example, pixels with effective atomic number below 10 are colored orange (corresponding to organic materials such as explosives), pixels with effective atomic numbers between 10 and 20 are colored green (corresponding to low atomic number inorganic materials such as narcotics) while materials with effective atomic numbers greater than 20, such as steel, are colored blue. Still alternatively, a rainbow spectrum can be used in which pixel colored changes from red through yellow, green and blue as effective atomic number increases. Many other color tables can be selected depending on preference and application.
  • the beam from the X-ray source is diverging from a point which is generally located at least one meter from ground level.
  • the raw image 305 is actually distorted - with regions at the centre of the image being unnaturally wide compared to regions at the top and bottom of the image which are unnaturally narrow.
  • a geometric correction is applied according to a cosine-like function which makes the assumption of a flat sided object at a fixed distance from the source.
  • the distance data from the scanning laser sensor 220 of FIG. 1C is used to provide an accurate geometric correction to produce a true likeness of the shape of the object under inspection.
  • the present invention also lays focus on spectral composition of the X-ray beam that is incident on the object under inspection. Accordingly, in one embodiment it is advantageous to create the X-ray beam using an X-ray tube with cathode-anode potential difference in the range 160 kV to 320 kV with tube current in the range of 1 mA to 50 mA depending on allowable dose to the object under inspection and weight and power budget for the final system configuration. Regardless of tube voltage and current, a broad spectrum of X-ray energies is produced as shown in FIG. 4. Here, a broad Bremsstrahlung spectrum 405 is visible complimented by fluorescence peaks 410 at 60 keV with a typical tungsten anode tube.
  • the X-rays backscattered towards the detectors are generally of lower energy than those interacting in the object itself, and so the scattered beam has a lower mean energy than the incident beam.
  • the impact of the scattering object is to preferentially filter the X-ray beam - removing more and more of the lower energy components of the beam the higher the effective atomic number of the scattering object. This phenomenon is shown in FIG. 5 where a high atomic number (Z) material represents higher mean energy spectrum 505 while a lower atomic number (Z) material is represented by the relatively lower mean energy spectrum 510, thereby enabling discerning of low Z items from relatively high Z items.
  • each detector 215 measures the energy of the X-rays 207 that arrive at the detectors 215 after being scattered by the object 210.
  • each detector 215 comprises an inorganic scintillation detector such as Nal(Tl) or an organic scintillator such as polyvinyl toluene coupled directly to one or more light sensitive readout devices such as a photomultiplier tube or a photodiode.
  • the detectors comprise semiconductor sensors such as semiconductors having a wide bandgap including, but not limited to, CdTe, CdZnTe or Hgl which can operate at room temperature; or semiconductors having a narrow bandgap such as, but not limited to, HPGe which needs to be operated at low temperatures.
  • the objective is to measure individual X-ray energies as they interact in the detector in order to form an analysis of the spectral content of the scattered X-ray beam 207.
  • the data acquisition module (typically comprising detectors, photomultipliers/pho to diodes and analog-to-digital converter circuitry and well known to persons skilled in the art) will be synchronized to the position of the primary X-ray beam 206 in order to collect one spectrum for each interacting X-ray source point.
  • the X-ray system 200 may be configured to collect 300 lines per second with 600 pixels per image line.
  • one embodiment uses a small number of fast responding detectors (such as polyvinyl toluene plastic scintillators with photomultiplier readout) or a larger number of slow responding detectors (such as Nal scintillators with photomultiplier readout), depending upon factors such as cost and complexity.
  • fast responding detectors such as polyvinyl toluene plastic scintillators with photomultiplier readout
  • slow responding detectors such as Nal scintillators with photomultiplier readout
  • the statistical properties of the X-ray spectrum can provide additional information on the effective atomic number of the scattering material at each primary beam interaction site.
  • the area of the spectrum may be corrected to yield an improved quantitative result (as discussed earlier), while properties such as mean energy, peak energy and skewness of the spectrum provide the quantitative parameters that are required for accurate materials analysis.
  • a scattering object far from the detector will produce a naturally faint signal, with the displayed brightness of this object being corrected through the use of known distance information, such as that provided by a scanning laser.
  • known distance information such as that provided by a scanning laser.
  • the properties of the signal can be described using Gaussian statistics. Gain correction to account for distance from the source is applied in a linear fashion, and so the region still maintains its original statistical properties even though its mean value has been scaled to a larger value.
  • FIG. 7 is a flowchart illustrating a method of obtaining an atomic number of each material contained in an object being scanned by the covert mobile inspection vehicle of the present invention.
  • a true extent of each region of the radiographic image is obtained by using a suitable statistical filter as described earlier.
  • a true extent of a region enables determining a boundary of each constituent material.
  • the true extent refers to the physical area over which the object extends. It is desirable to find the point at which one object finishes and at which the next object begins so that only pixels for the current object are used in quantitative imaging, without the effects of contamination from adjacent objects.
  • a mean energy of each detected signal is calculated along with a standard deviation and skewness of energies of pixels present in each region.
  • a product of the calculated standard deviation and a mean energy of the pixels energies of pixels present in each region is calculated.
  • the calculated product is compared with a pre-determined scale where a low value of the product corresponds to a low atomic number material and a high value of the product corresponds to a high atomic number material.
  • the present invention is directed towards a combination of active low-energy backscatter radiation (100-600 kV) detection and passive radiation (gamma rays and neutrons) detection for non-intrusive inspection of vehicles, trucks, containers, railcars, aircraft and other objects for nuclear, radiological and other contraband materials.
  • active low-energy backscatter radiation 100-600 kV
  • passive radiation gamma rays and neutrons
  • the X-ray scatter data is generally at low energy and often below 100 keV in magnitude.
  • gamma -rays from radioactive sources that may be present in the object under inspection, will typically be at much higher energy (for example Co-60 has gamma-rays at 1.1 and 1.3 MeV while Cs-137 emits gamma rays at 662 keV).
  • Co-60 has gamma-rays at 1.1 and 1.3 MeV while Cs-137 emits gamma rays at 662 keV.
  • FIG. 6 it is therefore possible to discriminate these high energy gamma rays, represented by spectrums 605 and 606, from the low energy scattered X-rays 610 thereby allowing simultaneous acquisition of active X-ray backscatter signals along with passive gamma-ray detection in accordance with an aspect of the present invention.
  • control electronics are employed to measure the resultant backscatter signal 610 having an upper threshold 611 set at or near the highest backscatter energy and to measure passive gamma rays 606, 605 above a threshold level 608 that is at or around the upper backscatter threshold 607.
  • the low-energy backscatter spectrum is contaminated with the Compton background produced in the detector from incomplete energy deposition. In general, this background is very low compared to the backscatter signal. However, if needed, this background can be subtracted based on the signals measured at high energy.
  • the non-intrusive inspection system includes an inspection head having an x-ray source, a mechanism for producing a scanning pencil beam, a dual-purpose detector and associated electronics.
  • the dual purpose detector can detect both backscatter x- rays and passive radiation.
  • the x-ray source of the present specification is constantly on, producing x-rays in a fan beam.
  • a spinning wheel having a plurality of "slits” or “pinholes” therein is employed to "block” the x-ray fan beam (and resultant pencil beam) from exiting, during which time passive radiation detection is active.
  • a beam chopping mechanism such as a spin-roll chopper, is employed, wherein the beam chopping mechanism is designed to present a helical profile shutter (aperture), formed on a cylinder, for X-ray beam scanners.
  • the slits are configured in such a way that there is at least one gap where no pencil beam is produced and the beam is effectively turned “off.
  • the present invention employs X-ray backscatter imaging, although one of ordinary skill in the art would appreciate that screening of the object may be performed using any available radiation imaging technique.
  • the X-ray energy delivered by the source is optimized to be in the range of 150 kV to 600 kV. This range allows adequate penetration of the object under inspection. For better quality of imaging and to allow for shorter inspection times, the beam current is maximized, especially since the dose of radiation delivered to the object under inspection is less of a concern.
  • the beam scanning mechanism further comprises a beam chopper, and is designed to include shielding material as well.
  • the angle of the X-ray beam with respect to the normal to the front of the detector head is kept preferentially at about 10 degrees. This angle avoids the beam having to travel through the full length of an object which is commonly vertical, and provides some depth information to the screener. It should be appreciated that other ranges of energy levels may be used and other forms of radiation or energy can be used, including gamma, millimeter wave, radar or other energy sources. Any imaging system that has the potential for displaying object detail may be employed in the system and methods of the present invention.
  • FIG. 8 is a cross-sectional view of an inspection head used in one embodiment of the present invention.
  • backscatter module 800 comprises X-ray source 801, a mechanism for producing a scanning pencil beam 802, and detectors 803.
  • a front panel 804 of backscatter module 800 employs a scintillator material 805, which detects the backscattered X-rays resultant from a pencil beam of X-rays 806 that is scanned over the surface of the object (and in this example, aircraft) 807 being inspected.
  • detector 803 is a dual-purpose detector capable of detecting both backscatter x-rays and passive radiation.
  • the x-ray and gamma- ray detectors are combined in the same module, and therefore, the same detector is employed for detecting both the backscatter x-rays and passive gamma rays.
  • the x-ray detector is different from the gamma-ray detector, especially in cases when the preferred gamma-ray detector has a response slower than few microseconds such that the detector is not appropriate for backscatter inspection.
  • Gamma-ray detectors and neutron detectors are also employed for passive measurements along with x-ray inspection.
  • the passive detector consists of at least one gamma-ray detector and an optional moderated 3 He or other neutron detectors.
  • the system scans the object employing the inspection module. The object, or part of the object, is then rescanned using a passive detector.
  • nuclei As described in United States Patent Application Number 12/976,861, several nuclei have a high cross-section for detection of thermal neutrons. These nuclei include He, Gd, Cd and two particularly high cross-section nuclei: Li-6 and B-10. In each case, after the interaction of a high cross-section nucleus with a thermal neutron, the result is an energetic ion and a secondary energetic charged particle.
  • the interaction of a neutron with a B-10 nucleus can be characterized by the following equation:
  • materials such as Cd, Gd and other materials having a high thermal capture cross section with no emission of heavy particles produce low energy internal conversion electrons, Auger electrons, X-rays, and gamma rays ranging in energy from a few keV to several MeV emitted at substantially the same time. Therefore, a layer of these materials, either when mixed in a scintillator base or when manufactured in a scintillator, such as Gadolinium Oxysulfide (GOS) or Cadmium Tungstate (CWO) will produce light (probably less than heavier particles).
  • GOS typically comes with two activators, resulting in slow (on the order of 1 ms) and fast (on the order of 5 ⁇ ) decays.
  • CWO has a relatively fast decay constant. Depending on the overall energy, a significant portion of the energy will be deposited in the layer, while some of the electrons will deposit the energy in the surrounding scintillator. In addition, the copious X-rays and gamma rays produced following thermal capture will interact in the surrounding scintillator. Thus, neutron interactions will result in events with both slow and fast decay constants. In many cases, neutron signals will consist of a signal with both slow and fast components (referred to as "coincidence") due to electron interlacing in the layer and gamma rays interacting in the surrounding scintillator.
  • the scintillation response of the material that surrounds the Li-6 or B-10 nuclei can be tuned such that this light can be transported through a second scintillator, such as a plastic scintillator in one embodiment, with a characteristic which is selected to respond to gamma radiation only.
  • a second scintillator such as a plastic scintillator in one embodiment, with a characteristic which is selected to respond to gamma radiation only.
  • the material that surrounds the Li-6 or B-10 is not a scintillator, but a transparent non-scintillating plastic resulting in a detector that is only sensitive to neutrons.
  • the plastic scintillator is both neutron and gamma sensitive.
  • a neutron is thermalized and subsequently captured by the H in the detector, a 2.22 MeV gamma ray is also emitted and often detected.
  • the invention disclosed in United States Patent Application Number 12/976,861 achieves a composite gamma-neutron detector capable of detecting neutrons as well as gamma radiation with high sensitivity. Further, the composite detector also provides an excellent separation of the gamma and neutron signatures. It should be noted herein that in addition to charged particles, B-10 produces gamma rays.
  • FIG. 9 is a flowchart illustrating serial X-ray backscatter and passive gamma ray detection.
  • the X-ray source is turned on and the beam chopping mechanism is started.
  • the system is moved to the location where scan is to be started.
  • the backscatter passive inspection module is moved relative to the object for scanning, as shown in step 903.
  • the object is scanned and backscatter data is received.
  • the X-ray source is then turned off, as shown in step 905.
  • the area is then rescanned with passive detectors, as shown in step 906.
  • image generated from backscatter data and passive measurement results are displayed, as shown in step 907.
  • the system checks if the scan is complete, as shown in step 908. In cases where the scan is not complete, the system moves to the next scanning location, as shown in step 909.
  • the X-ray source is then turned back on, as shown in step 910, and the scan process is repeated until complete.
  • the backscatter and passive detector works in an interleaved mode, in such a way that there is no need to rescan the object. In this mode, the backscatter measurement is performed when the beam of radiation impinges on the object.
  • the X-ray system (via the inspection head) collects data to produce images.
  • the passive detectors are enabled to collect gamma-rays and neutrons.
  • the main advantage of simultaneous inspection is the reduced logistic complexity and shorter scan time compared with performing X-ray and passive detection separately.
  • FIG. 10 is a flowchart illustrating interleaved X-ray backscatter and passive gamma ray detection.
  • X-ray is turned on and the beam chopping mechanism is started.
  • the beam chopping mechanism comprises, in one embodiment, a spinning wheel that can be rotated to periodically block the beam.
  • the backscatter passive inspection module is moved relative to the object for scanning.
  • neutron data is collected passively, as shown in step 1003.
  • the system checks if X-rays are being emitted, in step 1004. Thus, if X-ray beam is being emitted, and is not blocked, the system collects backscatter data, as shown in step 1005.
  • the system collects data pertaining to passive gamma rays emitted from the object. This is shown in step 1006.
  • image generated from backscatter data and passive measurement results are displayed, as shown in step 1007.
  • the results of the passive detection measurements and the X-ray images are data fused to improve detection of nuclear and radioactive materials. For example, dark areas in the backscatter image may indicate the presence of partially shielded nuclear or radioactive materials. If higher levels of radiation occur in these dark areas, there is a stronger indication of the presence of these threat materials.
  • a spinning wheel having a plurality of pinholes therein is employed to produce a pencil beam of radiation through at least one pinhole, during which time backscatter radiation detection is active.
  • the spinning wheel effectively "blocks" the x-ray fan beam (and resultant pencil beam) from exiting, due to the position of the pinholes in the spinning wheel, during which time passive radiation detection is active.
  • passive radiation measurement proceeds when the beam is "off or blocked by the spinning wheel geometry, where there is no pinhole for the radiation to exit.
  • FIG. 11 is an illustration of an embodiment of a spinning wheel as used in the system of the present invention, showing the pencil beam in an "on" position, wherein a backscatter measurement is taken.
  • spinning wheel 1100 comprises a disc fabricated from shielding material defining at least one pinhole 1105 through which a fan beam 1110 "exits" through the spinning wheel as pencil beam 11 15.
  • spinning wheel 1100 comprises two pinholes 1105.
  • the pencil beam radiation, and thus backscatter measurement capability, is "on” when the fan beam 1110 exits the spinning wheel as a pencil beam 1115.
  • FIG. 12 is an illustration of one embodiment of a spinning wheel as used in the system of the present invention, showing the pencil beam in an "off position, wherein a passive measurement is taken.
  • spinning wheel 1200 As shown in FIG. 12, as spinning wheel 1200 is rotated, there are times when the fan beam 1210 does not coincide with at least one slit 1205. During this time, the fan beam 1210 is shielded by the spinning wheel 1200, and therefore, no radiation exits the system. It is during these times when the fan beam 1210 is "off that a passive radiation measurement is taken.
  • a beam chopping mechanism is employed, wherein the beam chopping mechanism is designed to present a helical profile shutter (aperture), formed on a cylinder, for X-ray beam scanners.
  • a radiation shield is provided on a radiation source such that only a fan beam of radiation is produced from the source whereby the fan beam of radiation emits X-rays which then pass through the spin-roll chopper, which acts as an active shutter.
  • the slits are configured in such a way that there is at least one gap where no pencil beam is produced.
  • United States Patent Application Number 13/047,657 entitled “Beam Forming Apparatus” and assigned to the Applicant of the present invention, is herein incorporated by reference in its entirety.
  • FIG. 13A illustrates an exemplary design for one embodiment of the spin -roll chopper, as used in various embodiments of the present invention.
  • Beam chopper 1302 is, in one embodiment, fabricated in the form of a hollow cylinder having helical slits 1304 for "chopping" the X-ray fan beam.
  • the cylindrical shape enables the beam chopper 1302 to rotate about the Z-axis and along with the helical apertures 1304, create a spin-roll motion, which provides effective scanning and therefore good image resolution, as described below, while at the same time keeping the chopper lightweight and having less moment of inertia as the spin-roll mass is proximate to the axis of rotation.
  • the radius of the spin-roll chopper is small compared to spinning wheel or disc beam chopping mechanisms, and is advantageous in some cases.
  • the helical twist angle 1325 represents the angle of motion of the helical aperture from the y-axis (center line) when the cylinder is spun about the z-axis a total of 90 degrees.
  • an X-ray beam scanner employing the spin-roll chopper as in one embodiment of the present invention effectuates beam chopping by rotating the hollow cylinder 1302 machined with at least two helical slits 1304, enabling X-ray beam scanning with both constant and variable linear scan beam velocity and scan beam spot size.
  • the spin-roll chopper enables both constant and variable linear scan beam velocity by manipulating the geometry of the helical apertures. In one embodiment, the velocity is varied or kept constant by manipulating the pitch and roll of the helical apertures along the length of the spin-roll chopper. Thus, it is possible to have a constant speed or to slow the scan down towards areas where more resolution is desired.
  • the spin-roll chopper as described with respect to the present invention also enables variable and constant beam spot size by manipulating the geometry of the helical apertures, thus varying the resultant beam power.
  • the actual width of the aperture is manipulated to alter the beam spot size.
  • the width of the helical aperture varies along the length of the spin-roll chopper cylinder to compensate for the varying distance of the aperture from the center of the source and allow for uniform beam spot projection along the scan line.
  • the farther the aperture is away from the source the narrower the width of the helical aperture to create a smaller beam spot size.
  • closer the aperture is to the source wider the helical aperture to create a larger beam spot size.
  • Helical slits 1304 are fabricated to ensure that the projection of the X-ray beam is not limited by dual collimation of the two slits. Dual collimation refers to the concept whereby the X-ray beam will pass through two helical slits at any given point in time.
  • the resultant X-ray beam trajectory 1330 is also shown in FIG. 13 A.
  • a pair of helices will produce one travelling beam.
  • additional pairs of helices may optionally be added to produce additional travelling or flying spot beams depending upon scanning requirements.
  • FIG. 13B illustrates a beam chopping mechanism using the spin-roll chopper described with respect to FIG. 13 A.
  • the cylindrical spin-roll chopper 1352 is placed in front of a radiation source 1354, which, in one embodiment, comprises an X-ray tube.
  • rotation of the chopper 1352 is facilitated by including a suitable motor 1358, such as an electromagnetic motor.
  • the speed or RPM of rotation of the spin-roll chopper system is dynamically controlled to optimize the scan velocity.
  • the spin-roll chopper system is capable of achieving speeds up to 80K RPM.
  • a scanning pencil beam is generated by any one of the approaches described above or any other approach as is known to those of ordinary skill in the art and deactivated by turning off the X-ray source (in contrast with previous embodiments, where the source is "blocked" by use of the spinning wheel or spin-roll chopper).
  • suitable x-ray sources include, but are not limited to gridded sources, field emission electron sources (e.g. carbon nanotubes) or any other source that can switch the beam on-off within a few microseconds.
  • the wheel or spin-roll chopper is spinning slower, then the time between switching the X-ray source on and off can be longer.
  • the time it takes for the X-ray source to be switched on and off is relative to the rotational frequency of the spinning wheel, on the order of a fraction of the rotational time of the source, which is in the range of less than 1%.
  • the rotational frequency if 2400 rpm (rotations per minute) and there are four pinholes, the time would be 6.25 ms ON and 6.25 ms OFF. If the spinning wheel is rotating at 240 rpm, then the times would be 62.5 ms ON and 62.5 ms OFF.
  • the expression for the preferred time is as follows:
  • FIG. 14 is a block diagram 1400 showing signal processing with two different sets of electronics when the backscatter x-ray detector and passive gamma-ray detector are the same. That is, the detector is dual-purpose, capable of detecting both backscattered X-rays and passive radiation.
  • the backscatter system uses integrating electronics 1405, while the passive detector uses spectroscopic electronics 1410. Both set of electronics 1405, 1410 are gated with a gating signal 1415 from the spinning wheel control 1417. This produces a high signal when the system emits a pencil beam of radiation.
  • the backscatter integrating electronics 1405 employs an AND gate 1420 to measure backscatter radiation only when the beam is on, as described above with respect to FIG. 3A.
  • the passive detector 1425 uses a NAND gate 1430 to measure only gamma rays when the x- ray pencil beam is off, as described above with respect to FIG. 13B.
  • the optional neutron detector (not shown) need not be gated and can measure neutrons at all times.
  • the inspection system refers to any backscatter and passive radiation detection system that can be deployed in a scanning vehicle, portal, gantry, trailer, mobile platform or other scanning configurations.
  • the system is also designed such that it can be moved relative to the object or such that the object can be moved relative to the system.
  • FIG. 15 illustrates the overall system design of one embodiment of the present invention.
  • aircraft inspection system 1500 in one embodiment, comprises inspection head 1501, vehicle or transport cart 1502, and manipulator arm 1503.
  • inspection head 1501 comprises an inspection module, further comprising an X-ray source, a beam scanning mechanism and X-ray detectors. The inspection module is described in greater detail above with respect to FIG. 8.
  • vehicle or transport cart 1502 is any standard vehicle suitable for movement about an aircraft 1505.
  • vehicle 1502 is movably connected to first, proximal end 1609a of manipulator arm 1503 and inspection head 1501 is movably connected to second, distal end 1509b of manipulator arm 1503 via a customized attachment 1504.
  • Manipulator arm 1503 is described in greater detail below.
  • customized attachment 1504 is designed for use with the system of the present invention.
  • customized attachment 1504 may be available as an off-shelf component, as long as it achieves the objectives of the present invention, as described below.
  • the inspection head 1501 is mounted on manipulator arm 1503 in such a manner that it allows for scanning of a variety of aircraft sizes, shapes and configurations.
  • the manipulator arm 1503 is also capable of rotating and moving the inspection head 1501 in all directions.
  • customized attachment 1504 is movably attached to manipulator arm 1503 at a first joint 1504a and movably attached to inspection head 1501 at a second joint 1504b.
  • customized attachment 1504 allows for the inspection head 1501 to be moved and rotated about first joint 1504a and second joint 1504b.
  • first joint 1504a and/or second joint 1504b is a ball and socket type joint that allows for at least one movement, such as but not limited to tilt, swivel and/or rotation at the joint, and in one embodiment, full motion.
  • the ability to move and rotate the source at both the first attachment joint 1504a and at the second attachment joint 1504b allow for the system to follow the contour of the aircraft and thus, adjust to its shape using several degrees of movement freedom.
  • manipulator arm 1503 has multiple articulation or pivot joints 1507 that allow for complex motions.
  • the inspection head 1501 in order to avoid damage to the aircraft 1505 being inspected, includes at least one proximity sensor 1506.
  • the sensors are redundant, so if one fails to operate, another sensor will still alert when the system is too close to the aircraft.
  • the at least one proximity sensor 1506 is configured to avoid collision and keep the inspection head 1501 at a safe distance from the aircraft 1505. Therefore, once the at least one proximity sensor 1506 is triggered, the inspection system 1500 will cease operation. When inspection system 1500 ceases operation, the scanning head is retracted and the system cannot be operated until the sensor alarm is cleared.
  • the at least one proximity sensor 1506 is connected and controlled via hardware.
  • manipulator arm 1503 includes at least one proximity sensor.
  • vehicle 1502 also includes at least one proximity sensor.
  • the critical areas of focus are: a) the distance from the source/detector to the aircraft, b) the controlled motion of the source/detector, and c) collision avoidance for both the vehicle and the manipulator with the aircraft.
  • an optimal distance from the source/detector arrangement to the aircraft rages from 1 ⁇ 2 meter up to two meters. In one embodiment, the distance is chosen to provide optimal image resolution, inspection coverage and signal strength. The weight of the source/detector in conjunction with the maximum height and maximum reach that the manipulator arm must obtain further determines the dimensions of the vehicle platform.
  • the weight of the source is largely dependent on source type, and that source type is chosen based on the object under inspection and scanning requirements. Scanning sequence, motion speed, and tolerances for position and vibration also direct the specifications for the manipulator arm and/or any special attachments or tooling. As mentioned earlier, in order to minimize development time and costs in one embodiment, any suitable off-the-shelf vehicle and/or manipulator arm may be employed and modified as per the design requirements of the present invention. In one embodiment, the height and reach of the manipulator arm and weight and/or dimensions of the inspection head are a function of the size of the airplane or large cargo containing entity being scanned.
  • FIG. 16 illustrates an exemplary vehicle 1600 that is connected to a backscatter module (not shown), via manipulator arm 1601, for the aircraft inspection system of the present invention.
  • the vehicle 1600 may be a wheeled excavator or a similar vehicle.
  • FIG. 17 illustrates an exemplary manipulator arm 1700 that is used for mounting a backscatter module (not shown) for the aircraft inspection system of the present invention.
  • the manipulator arm 1700 comprises a multi-purpose hydraulic boom.
  • the boom design allows for the flexibility of attaching the vehicle (not shown) to a first, proximal end 1709a while attaching standard or custom tools at its second, distal end 1709b.
  • Second, distal end 1709b in one embodiment, is modified to allow for attachment of a backscatter inspection module at joint 1703.
  • manipulator arm 1700 is operated using computer-controlled motion and has at least five degrees of freedom for positioning in all directions, including up- down, left-right, in/out and rotation.
  • the system further comprises a controller unit, which can be remote from the system or located within the vehicle, for communicating motion instructions to controllers located in the scanning head or gantry unit which, in turn, directs motors to move the scanning head and/or gantry unit in the requisite direction.
  • controller unit which can be remote from the system or located within the vehicle, for communicating motion instructions to controllers located in the scanning head or gantry unit which, in turn, directs motors to move the scanning head and/or gantry unit in the requisite direction.
  • This database enables the motion-control program to generate a scan plan, which is used to control the motion of the arm and the head to scan the airplane according to the plan. Further, for some planes, it may not be possible to scan the entire plane from one vehicle position. Therefore, the motion control program analyzes the various positions required and the system scans the plane accordingly.
  • the arm is capable of full 360 degree rotation.
  • the manipulator 1700 is linearly extensible and contractible, and the extension and contraction can be achieved with a complex motion of the various parts of the manipulator arm.
  • the system scans the aircraft by moving the arm at a nearly constant distance from the surface of the aircraft.
  • the manipulator arm 1700 is also equipped with the capability of source rotation at the joint 1703, as described above.
  • the manipulator arm of the present invention has multiple articulation or pivot points 1705 that allow for complex motions, including but not limited to extension and contraction.
  • the aircraft inspection system of the present invention is capable of producing high-resolution images that enable the operator to easily identify concealed threat and contraband items.
  • a database or threat library containing standard images of airplanes is employed to compare resultant scans of the aircraft under inspection with images collected from planes of the same model to determine anomalies.
  • the images of parts of the planes are collected separately. These images can then be displayed separately, or they could be "stitched” together show a combined image.
  • the aircraft inspection system of the present invention is capable of accurately detecting both organic materials, such as solid and liquid explosives, narcotics, ceramic weapons, as well as inorganic materials, such as metal.
  • the aircraft imaging system uses automated threat software to alert an operator to the presence of potential inorganic and organic threat items.
  • the system is capable of transmitting backscatter and photographic images to an operator or remote inspector wirelessly.
  • the aircraft inspection system of the present invention is designed to be modular to enhance transportability and ease of assembly.
  • the individual modules - the vehicle, the manipulator arm, the scanning head, and optionally detector cart can be assembled on site and/or customized per application.
  • the system is ready to deploy and requires no assembly.
  • the system is also designed to be rugged so that it can withstand harsh environments for outdoor deployments even in inclement conditions.
  • the power required to run the system is provided on-board allowing the system to operate anywhere on the airfield.
  • the aircraft inspection system of the present invention is scalable for inspecting any aircraft size from executive jets to Airbus 380. Thus, the size of the vehicle and arm can be scaled to the size of the aircraft.
  • FIG. 18 shows another embodiment of the X-ray scanning system 1800 of the present invention that additionally uses a multi-element scatter collimator 1816 to allow use of fan- beam X-ray irradiation to generate the backscatter image.
  • the X-ray source 1805 emits a fan beam 1806 of radiation towards the object 1810.
  • a segmented detector array 1815 is located behind a multi-element collimator 1816, one detector element per collimator section.
  • the collimator 1816 is designed to permit X-rays to enter from a narrow angular range, typically less than +/- 2 degrees to the perpendicular to the detector array 1815.
  • X-rays 1807 scattering from various points in the object 810 which lie within the acceptance angle of, for example, the collimator element 1816 are detected and associated to the appropriate corresponding part of the generated radiographic X-ray image.
  • a sensor 1820 is provided to measure distance to the surface of the object 1810 in order to correct the X-ray backscatter signal and produce a quantitative image scaled by effective atomic number.
  • FIG. 19 A system configuration according to an embodiment of the invention disclosed in United States Patent Application Number 12/993,831 is outlined in Figures 19 to 21.
  • an X-ray linear accelerator 20 is used to fire a collimated fan-beam of high energy (at least 900 keV) X-radiation through an object 22 under inspection and to a set of X-ray detectors 24 which can be used to form a high resolution transmission X-ray imaging of the item under inspection.
  • the X-ray linear accelerator beam is pulsed, so that as the object under inspection moves through the beam, the set of one-dimensional projections can be acquired and subsequently stacked together to form a two-dimensional image.
  • an X-ray backscatter detector 26 is placed close to the edge of the inspection region on the same side as the X-ray linear accelerator 20 but offset to one side of the X-ray beam so that it does not attenuate the transmission X-ray beam itself.
  • the backscatter detectors may be arranged differently. In some embodiments there may be only one backscatter detector. In other embodiments there may be more than two such detectors.
  • the backscatter imaging detector described is able to spatially correlate the intensity of backscattered X-ray signals with their point of origin regardless of the extended fan-beam shape of the X-ray beam.
  • this spatial mapping is performed using a segmented collimator 28 in zone plate configuration as shown schematically in FIG.21.
  • a zone plate will comprise a series of sharply defined patterns whose impulse response function is well known in the plane of a two-dimensional imaging sensor that is located behind the sensor.
  • the energy of the X-ray beam to be detected is typically in the range 10 keV to 250 keV and so the edges of the zone plate pattern will not be sharp.
  • a zone plate fabricated using lead will require material of thickness typically 2 mm to 5 mm. Further, it is expensive to fabricate a high resolution two- dimensional imaging sensor of the size that is required in this application.
  • the radiation beam is well collimated in one direction (the width of the radiation fan beam) and therefore the imaging problem is reduced to a one- dimensional rather than a two-dimensional problem. Therefore a backscatter detector in the form of an effectively one dimensional imaging sensor 30 is provided behind the zone plate 28.
  • a backscatter detector in the form of an effectively one dimensional imaging sensor 30 is provided behind the zone plate 28.
  • the detector 30 comprises a plurality of detector elements 32.
  • FIG. 22 illustrates a detector element 32 suitable for use in this example.
  • the detector element 32 comprises a bar of scintillation material (about 100mm long in this example) and is supplied with a photo-detector 34 at either end.
  • the photo -detector 34 may advantageously be a semiconductor photodiode or a photomultiplier tube. X-ray photons that interact in the scintillation material emit light photons and these will travel to the two photo -detectors where they may be detected. It may be shown that the intensity of the light reaching each photo- detector is in proportion to the distance of the point of interaction from the face of the photo - detector. Therefore, by measuring the relative intensity at the two photo detectors, the point of interaction of the X-ray photon with the detector can be resolved.
  • the covert surveillance vehicle 105 is equipped with a plurality of other sensors 110, apart from the X-ray scanning system, in accordance with an aspect of the present invention.
  • the vehicle 105 is equipped with a GPS receiver the output of which is integrated with the on-board X-ray scanning system to provide the absolute location at which each scan line is conducted. Again, output from a scanning laser is reconstructed into a 2D image to provide a quantitative analysis of the scene around the vehicle. This 2D image is archived for subsequent analysis and review.
  • the 2D laser scanner image may also be used to determine when the overall scan of a particular object should start and when the scan for that object is complete.
  • optical wavelength colour CCTV images are collected at the front and sides of the vehicle, ideally using pan-tilt-zoom capability, to allow clear review of all locations around the vehicle.
  • images from the CCTV cameras are analysed to read licence plate and container codes and this data is also archived along with the X-ray, GPS and all other surveillance data.
  • infra-red cameras can also be used to monitor the scene around the vehicle to look for unexpectedly warm or cold personnel as indication of stress or presence of improvised explosive devices. This data is also archived along with X-ray and all other surveillance data.
  • audio microphones are also installed around the vehicle to listen for sounds that are being produced in the vicinity of the vehicle.
  • Specialist microphones with pan-tilt capability are installed to listen to sounds from specific points at some distance from the vehicle, this direction being analysed from the CCTV and IR image data.
  • Directional RF (Radio Frequency) antennas are installed in the skin of the vehicle to listen for the presence of electronic devices in the vicinity of the vehicle. This data is integrated with the rest of the surveillance data.
  • wide band antennas are installed with receiving devices that monitor communications channels that may be used by law enforcement, military and emergency services.
  • RF antennas are installed to monitor mobile phone communications including text messaging from the local region around the vehicle.
  • chemical sensors are also installed to monitor composition of the air around the vehicle to detect trace quantities of explosives, narcotics and other relevant compounds with this data being integrated with that generated by the imaging and other sensors.
  • an automated detection processor integrates and analyses all surveillance information from the plurality of sensors 110, in real-time, to highlight threat items for review by an operator seated inside the vehicle 105 and/or remotely through a secured wireless network.
  • data from the individual sensors is analysed for key signatures.
  • the X-ray data is analysed for detection of improvised explosive devices or for the presence of organic materials in unexpected places (such as the tyres of a car).
  • CCTV data is analysed for licence plates with cross-checking against a law enforcement database.
  • Audio information is analysed for key words such as "bomb” or "drugs", for unexpectedly fast or deliberate phrasing which may indicate stress, or for a non-native language in the presence of a native language background for example.
  • a piece of information has been analysed to comprise a threat or risk, this is escalated up a decision tree and is then compared against automated risk analysis from other sensors. If correlated risks are detected, a significant threat alarm is raised for immediate action by a human operator. If no correlated risk is detected, a moderate threat alarm is raised for review by the operator.
  • the result is a managed flow of information where all sensor surveillance information is analysed at all times, and only significant threat information is passed up the decision tree to reach the final level of an alert to a system operator.
  • the detection processor in one embodiment, is a microprocessor computer running relevant code programmed for managing information and decision flow based on correlation and aggregation of the plurality of surveillance information.
  • a scanner system comprising a radiation generator arranged to generate radiation to irradiate an object, and detection means arranged to detect the radiation after it has interacted with the object and generate a sequence of detector data sets.
  • a scanner system comprises an X-ray beam generation system which includes a shielded radiation source 10, a primary collimator set 12A and a secondary collimator set 12B, and a set of radiation detectors 14 configured into a folded L-shaped array 16, are disclosed.
  • the primary collimator set 12 A acts to constrain the radiation emitted by the source 10 into a substantially fan-shaped beam 18.
  • the beam 18 will typically have a fan angle in the range + /- 20 degrees to + /- 45 degrees with a width at the detector elements 14 in the range 0.5mm to 50mm.
  • the second collimator set 12B is adjustably mounted and the position of the two second collimators 12B can be adjusted by means of actuators 20, under the control of a decision processor 22.
  • the detectors 14 output detector signals indicative of the radiation intensity they detect and these form, after conversion and processing described in more detail below, basic image data that is input to the decision processor 22.
  • the decision processor 22 is arranged to analyse the image data and to control the actuators 20 to control the position of the second collimator set 12B in response to the results of that analysis.
  • the decision processor 22 is also connected to a control input of the radiation source 10 and arranged to generate and vary a control signal it provides to the control input to control the energy and timing of X-ray pulses generated by the radiation source 10.
  • the decision processor 22 is also connected to a display 24 on which an image of the imaged object, generated from the image data, can be displayed.
  • the radiation source 10 may comprise a high energy linear accelerator with a suitable target material (such as tungsten) which produces a broad X-ray spectrum with a typical beam quality in the range from 0.8 MV to 15 MV from a relatively small focal spot typically in the range 1mm to 10mm diameter.
  • the radiation source 10 in this case would be pulsed with a pulse repetition frequency generally in the range 5 Hz to 1 kHz where the actual rate of pulsing is determined by the decision processor 22.
  • the detectors 14 in this case are advantageously fabricated from a set of scintillation crystals (generally high density scintillator such as Csl, CdW04, ZnW04, LSO, GSO and similar are preferred) which are optically coupled to a suitable light detector, such as a photodiode or photomultiplier tube. Signals from these detectors 14 converted to digital values by a suitable electronic circuit (such as a current integrator or trans impedance amplifier with bandwidth filtering followed by an analogue to digital converter) and these digital values of the sampled intensity measurements are transferred to the decision processor 22 for analysis.
  • the primary 12 A and secondary 12B collimators in this case are advantageously fabricated from high density materials such as lead and tungsten.
  • a plurality of active devices are installed on the vehicle 105 to help mitigate against threats that may be present proximate to the covert inspection vehicle itself.
  • a jamming device can be installed to block mobile phone communication. This device may be turned on automatically in certain situations based on results from the automated decision processor. For example, should an improvised explosive device be detected in the vicinity of the vehicle the jamming device is turned on automatically to block spoken commands to a subversive or to prevent direct communication to the trigger of the explosive device.
  • a jamming device can also be installed to block satellite communications required in order to prevent satellite phone communications that may result in subversive activity.
  • the covert inspection vehicle 105 is operated by a single person with the primary responsibility for driving the vehicle. Surveillance data can be broadcast back to a central intelligence location in real time, as required, with download of the full archived surveillance data once the vehicle returns to its home location.
  • the automated decision processor can action or trigger appropriate events, depending upon the decision steps programmed therein, without operator intervention to avoid the driver loosing focus on their primary task.
  • the covert inspection vehicle 105 is also provided with space for another security operative whose task is to monitor the surveillance data stream as it arrives from the plurality of sensors either in parallel with the automated decision processor or as a consequence of information from the automated decision processor. This operator is provided with two way secure wireless communication back to a central intelligence location in order to transact instructions and actions as required.

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Abstract

La présente invention concerne un véhicule furtif d'inspection mobile doté d'un système de balayage de rayons X à rétrodiffusion comportant une source de rayons X et des détecteurs pour obtenir une image radiographique d'un objet se trouvant hors du véhicule. Le système est également conçu pour détecter simultanément un rayonnement passif. Les systèmes comprennent de préférence au moins un capteur pour déterminer une distance entre au moins un des détecteurs et des points se trouvant sur la surface de l'objet à analyser, un processeur pour traiter l'image radiographique obtenue au moyen de la distance déterminée de l'objet pour obtenir un nombre atomique de chaque matière contenue dans l'objet et un ou plusieurs capteurs pour obtenir des données de surveillance provenant d'une zone prédéfinie entourant le véhicule.
PCT/US2012/042493 2011-06-14 2012-06-14 Surveillance furtive par détection multimodale WO2012174265A1 (fr)

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US11681068B2 (en) 2020-06-02 2023-06-20 Viken Detection Corporation X-ray imaging apparatus and method
US12125605B2 (en) 2023-07-07 2024-10-22 Viken Detection Corporation Rotating hoop chopper wheel for x-ray imagers

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US10007019B2 (en) 2002-07-23 2018-06-26 Rapiscan Systems, Inc. Compact mobile cargo scanning system
US9052403B2 (en) 2002-07-23 2015-06-09 Rapiscan Systems, Inc. Compact mobile cargo scanning system
US10670769B2 (en) 2002-07-23 2020-06-02 Rapiscan Systems, Inc. Compact mobile cargo scanning system
US9223049B2 (en) 2002-07-23 2015-12-29 Rapiscan Systems, Inc. Cargo scanning system with boom structure
US11143783B2 (en) 2002-07-23 2021-10-12 Rapiscan Systems, Inc. Four-sided imaging system and method for detection of contraband
US9285498B2 (en) 2003-06-20 2016-03-15 Rapiscan Systems, Inc. Relocatable X-ray imaging system and method for inspecting commercial vehicles and cargo containers
US9223050B2 (en) 2005-04-15 2015-12-29 Rapiscan Systems, Inc. X-ray imaging system having improved mobility
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US11307325B2 (en) 2011-02-08 2022-04-19 Rapiscan Systems, Inc. Covert surveillance using multi-modality sensing
US11822041B2 (en) 2011-02-08 2023-11-21 Rapiscan Systems, Inc. Systems and methods for improved atomic-number based material discrimination
US9562866B2 (en) 2011-02-08 2017-02-07 Rapiscan Systems, Inc. Covert surveillance using multi-modality sensing
US8908831B2 (en) 2011-02-08 2014-12-09 Rapiscan Systems, Inc. Covert surveillance using multi-modality sensing
US9218933B2 (en) 2011-06-09 2015-12-22 Rapidscan Systems, Inc. Low-dose radiographic imaging system
US11579327B2 (en) 2012-02-14 2023-02-14 American Science And Engineering, Inc. Handheld backscatter imaging systems with primary and secondary detector arrays
US10317566B2 (en) 2013-01-31 2019-06-11 Rapiscan Systems, Inc. Portable security inspection system
US11550077B2 (en) 2013-01-31 2023-01-10 Rapiscan Systems, Inc. Portable vehicle inspection portal with accompanying workstation
US9791590B2 (en) 2013-01-31 2017-10-17 Rapiscan Systems, Inc. Portable security inspection system
US9557427B2 (en) 2014-01-08 2017-01-31 Rapiscan Systems, Inc. Thin gap chamber neutron detectors
EP2963454A1 (fr) * 2014-07-04 2016-01-06 Nuctech Company Limited Système d'inspection de sécurité de rétrodiffusion à rayons x comportant une source de rayons x distribuée et procédé utilisant celui-ci
US9846258B2 (en) 2014-07-04 2017-12-19 Nuctech Company Limited X-ray backscattering safety inspection system having a distributed-type X-ray source and method using the same
US11495366B2 (en) 2014-11-20 2022-11-08 Viken Detection Corporation X-ray scanning system
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US11561320B2 (en) 2015-03-20 2023-01-24 Rapiscan Systems, Inc. Hand-held portable backscatter inspection system
US11200998B2 (en) 2017-04-05 2021-12-14 Viken Detection Corporation X-ray chopper wheel assembly
US10770195B2 (en) 2017-04-05 2020-09-08 Viken Detection Corporation X-ray chopper wheel assembly
US11776706B2 (en) 2017-04-05 2023-10-03 Viken Detection Corporation X-ray chopper wheel assembly and method
US11525930B2 (en) 2018-06-20 2022-12-13 American Science And Engineering, Inc. Wavelength-shifting sheet-coupled scintillation detectors
US20220296181A1 (en) * 2019-08-09 2022-09-22 Université Grenoble Alpes Rotating collimator for an x-ray detection system
US11944473B2 (en) * 2019-08-09 2024-04-02 Université Grenoble Alpes Rotating collimator for an X-ray detection system
CN110967685A (zh) * 2019-12-09 2020-04-07 Oppo广东移动通信有限公司 评价干扰信号的方法及系统、电子装置和存储介质
US11681068B2 (en) 2020-06-02 2023-06-20 Viken Detection Corporation X-ray imaging apparatus and method
US11175245B1 (en) 2020-06-15 2021-11-16 American Science And Engineering, Inc. Scatter X-ray imaging with adaptive scanning beam intensity
US11726218B2 (en) 2020-11-23 2023-08-15 American Science arid Engineering, Inc. Methods and systems for synchronizing backscatter signals and wireless transmission signals in x-ray scanning
US11340361B1 (en) 2020-11-23 2022-05-24 American Science And Engineering, Inc. Wireless transmission detector panel for an X-ray scanner
EP4086668A3 (fr) * 2021-05-05 2023-02-15 Varex Imaging Corporation Système d'imagerie de rétrodiffusion
WO2023009793A1 (fr) * 2021-07-30 2023-02-02 Illinois Tool Works Inc. Systèmes et procédés de contrôle de taille de caractéristiques dans une imagerie radiographique numérique
US12125605B2 (en) 2023-07-07 2024-10-22 Viken Detection Corporation Rotating hoop chopper wheel for x-ray imagers

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CA3078117A1 (fr) 2012-12-20
EP2748628A4 (fr) 2015-07-08
CA2863363A1 (fr) 2012-12-20
CA3078087A1 (fr) 2012-12-20
EP2748628A1 (fr) 2014-07-02
CA3078087C (fr) 2021-11-02

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