WO2017107607A1 - 便携式背散射成像检查设备及成像方法 - Google Patents

便携式背散射成像检查设备及成像方法 Download PDF

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Publication number
WO2017107607A1
WO2017107607A1 PCT/CN2016/100519 CN2016100519W WO2017107607A1 WO 2017107607 A1 WO2017107607 A1 WO 2017107607A1 CN 2016100519 W CN2016100519 W CN 2016100519W WO 2017107607 A1 WO2017107607 A1 WO 2017107607A1
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Prior art keywords
inspection apparatus
backscatter imaging
imaging inspection
portable backscatter
controller
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PCT/CN2016/100519
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English (en)
French (fr)
Inventor
陈志强
李元景
赵自然
吴万龙
金颖康
唐乐
唐晓
丁光伟
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Nuctech Co Ltd
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Nuctech Co Ltd
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Priority to BR112017024214-1A priority Critical patent/BR112017024214B1/pt
Publication of WO2017107607A1 publication Critical patent/WO2017107607A1/zh
Anticipated expiration legal-status Critical
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    • 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
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/20—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
    • G01N23/203—Measuring back scattering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T7/00—Details of radiation-measuring instruments
    • 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
    • G01V5/232—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays having relative motion between the source, detector and object other than by conveyor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/05—Investigating materials by wave or particle radiation by diffraction, scatter or reflection
    • G01N2223/053—Investigating materials by wave or particle radiation by diffraction, scatter or reflection back scatter
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/40—Imaging
    • G01N2223/408—Imaging display on monitor

Definitions

  • the present invention relates to the field of X-ray imaging applications, and in particular, to a portable backscatter imaging inspection apparatus and an imaging method.
  • X-ray backscatter imaging technology is an imaging technique that detects the intensity of X-ray scattering by different substances and obtains images of matter within a certain depth of the surface of the object.
  • An imaging device for implementing X-ray backscatter imaging generally carries a radiation source and a detector system, wherein the radiation from the radiation source forms a pen beam through a rotational modulation mechanism, and performs a point-by-point scan on the surface of the object to be inspected; and the detector system receives A signal that is scattered back from the object and forms a depth image of the surface of the object based on the signal.
  • the system using such imaging equipment is mostly used in fixed security inspection equipment for containers, vehicles, personnel and parcels, that is, the security inspection equipment is fixed in position, and the inspection target moves to perform the pass-through inspection.
  • This method requires the object to be inspected to be kept at a certain distance from the device and imaged at a fixed angle, thus limiting the application range of the security device.
  • the portable backscatter imaging device can be close to the object to be inspected, and the target to be inspected can be imaged in multiple angles. At the same time, it is light and easy to carry, and fully expands the applicable applications of the device.
  • a backscatter imaging apparatus is generally only suitable for scanning imaging of an object to be inspected having a flat surface, but for an object having a curved surface or a plurality of irregular surfaces, the scanning imaging effect is not good, and the formed image is formed. It is also difficult for the depth image to clearly reflect the actual shape of the object as a whole and the inside, and thus the use range of the portable backscatter imaging device is also limited.
  • An object of the present invention is to provide a portable backscatter imaging inspection apparatus and an imaging method capable of achieving a better scanning imaging effect on an object to be inspected having a curved surface or a plurality of irregular surfaces.
  • the present invention provides a portable backscatter imaging inspection apparatus comprising: a device housing, an X-ray source, a rotation modulation mechanism, a radiation detector, a motion sensor and a controller, an X-ray source, a rotation modulation mechanism, and a ray
  • the detector and the motion sensor are fixedly disposed in the device housing, and the receiving surface of the radiation detector Located at the front end of the device housing for receiving scattered signal data on the surface of the object to be inspected to form a two-dimensional image, the motion sensor is used to collect the three-dimensional motion trajectory and scanning angle of the portable backscatter imaging inspection device during scanning, and the controller
  • the ray detector and the motion sensor signal are connected to combine the plurality of two-dimensional images received by the ray detector with the three-dimensional motion trajectory and the scanning angle, and splicing and merging into a stereoscopic image of the surface of the object to be inspected.
  • the motion sensor comprises an accelerometer and a gyroscope for measuring the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning process, and the gyroscope is used for measuring the rotation of the portable backscatter imaging inspection device in three dimensions.
  • the three components of pitch, heading and roll, through the collaborative recording of the accelerometer and the gyroscope, obtain the position of the portable backscatter imaging inspection device in the three-dimensional space at various moments during the scanning process to form a three-dimensional space motion trajectory. And determining the scanning angle of the receiving surface of the radiation detector facing the surface of the object to be inspected at each moment.
  • controller is further configured to perform image aspect ratio correction on the scanned two-dimensional image according to the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device measured by the accelerometer.
  • controller is further configured to measure the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning according to the accelerometer, and the pitch of the portable backscatter imaging inspection device measured by the gyroscope in three-dimensional space, The heading and roll three components perform stretching or affine correction on the scanned two-dimensional image.
  • controller is further configured to combine the plurality of two-dimensional images scanned by the radiation detector with the portable backscatter imaging inspection according to the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device measured by the accelerometer.
  • the two-dimensional spatial motion trajectory of the device is spliced and fused into a planar image of the surface of the object to be inspected.
  • the device further includes a display disposed on a side of the device casing away from the radiation detector for receiving a stereoscopic image of the surface of the detected object transmitted by the controller and displaying the same.
  • the present invention also provides an imaging method based on the aforementioned portable backscatter imaging inspection apparatus, comprising:
  • the X-ray source emits an X-ray beam, scans the surface of the object to be inspected by a rotation modulation mechanism, and receives the scattered signal data of the surface of the object to be inspected by the radiation detector to form a two-dimensional image;
  • the motion sensor collects a three-dimensional spatial motion trajectory and a scanning angle of the portable backscatter imaging inspection apparatus
  • the controller combines the two-dimensional images received by the radiation detector with the three-dimensional spatial motion trajectory and the scanning angle acquired by the motion sensor, and splices and fuses into a stereoscopic image of the surface of the object to be inspected.
  • the motion sensor comprises an accelerometer and a gyroscope, and the operation of the motion sensor to collect the three-dimensional motion trajectory and the scanning angle of the portable backscatter imaging inspection device is specifically:
  • the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning process are measured by an accelerometer, and the three components of the pitch, heading and rolling of the portable backscatter imaging inspection device in three-dimensional space are measured by the gyroscope;
  • the position of the portable backscatter imaging inspection device in the three-dimensional space at various times during the scanning process is obtained to form a three-dimensional spatial motion trajectory, and the receiving surface of the ray detector at each moment is determined.
  • the scan angle facing the surface of the object being inspected is obtained.
  • controller further comprises: performing, according to the magnitude and direction of the speed and the acceleration of the portable backscatter imaging inspection device measured by the accelerometer, the image aspect ratio correction on the scanned two-dimensional image.
  • the method further includes: measuring, by the accelerometer, the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning process, and the pitch of the portable backscatter imaging inspection device measured by the gyroscope in three-dimensional space, The heading and roll three components perform stretching or affine correction on the scanned two-dimensional image.
  • the controller further comprises: the controller measures the speed and acceleration of the portable backscatter imaging inspection device according to the accelerometer, and combines the plurality of two-dimensional images scanned by the radiation detector with the portable backscatter imaging inspection.
  • the two-dimensional spatial motion trajectory of the device is spliced and fused into a planar image of the surface of the object to be inspected.
  • the portable backscatter imaging inspection apparatus further includes a display disposed on a side of the device casing away from the radiation detector, the imaging method further comprising: the display receiving the stereoscopic image of the surface of the detected object transmitted by the controller, and displaying.
  • the present invention also provides a controller comprising a memory; and a processor coupled to the memory, the processor being configured to perform a method performed by the controller as mentioned above based on instructions stored in the memory.
  • the present invention also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method performed by the controller mentioned above.
  • the present invention provides a motion sensor capable of collecting a three-dimensional motion trajectory and a scanning angle of the device during the scanning process in the portable backscatter imaging inspection apparatus, so that the controller can receive according to the ray detector.
  • a motion sensor capable of collecting a three-dimensional motion trajectory and a scanning angle of the device during the scanning process in the portable backscatter imaging inspection apparatus, so that the controller can receive according to the ray detector.
  • Combining multiple 2D images with 3D spatial motion trajectories and scanning angles Forming a stereo backscattered image embodying the surface of the object to be inspected, thereby solving the problem of scanning imaging of the object to be inspected with a curved surface or a plurality of irregular surfaces by the portable backscatter imaging inspection apparatus, and realizing the internal structure and information of the object to be inspected A more comprehensive and intuitive display.
  • FIG. 1 is a schematic diagram showing the external structure of an embodiment of a portable backscatter imaging inspection apparatus of the present invention.
  • FIG. 2 is a schematic view showing the internal structure of the embodiment of FIG. 1.
  • FIG. 2 is a schematic view showing the internal structure of the embodiment of FIG. 1.
  • FIG. 3 is a flow chart showing an embodiment of an imaging method based on the portable backscatter imaging inspection apparatus of the present invention.
  • FIG. 4 is a flow chart showing another embodiment of an imaging method based on the portable backscatter imaging inspection apparatus of the present invention.
  • FIG. 1 is a schematic diagram showing the external structure of an embodiment of the portable backscatter imaging inspection apparatus of the present invention.
  • the portable backscatter imaging inspection apparatus of the present embodiment includes a device housing 1, an X-ray source 2, a rotation modulation mechanism 3, a radiation detector 4, a motion sensor 5, and a controller 6.
  • the X-ray source 2, the rotation modulation mechanism 3, the radiation detector 4, and the motion sensor 5 are all fixedly disposed in the device casing 1.
  • the receiving surface of the radiation detector 4 is located at the front end of the device casing 1 for receiving the surface of the object to be inspected. Scatter signal data to form a two-dimensional image.
  • the motion sensor 5 is responsible for collecting the three-dimensional spatial motion trajectory and scanning angle of the portable backscatter imaging inspection apparatus during scanning, and the controller 6 is connected with the ray detector 4 and the motion sensor 5 to receive a plurality of ray detectors 4
  • the two-dimensional image combines the three-dimensional motion trajectory and the scanning angle, and is spliced and fused into a stereoscopic image of the surface of the object to be inspected.
  • the X-ray source 2 emits a large-angle X-ray
  • the rotation modulation mechanism 3 modulates the radiation into a high-speed rotating pencil bundle, and the projection thereof reciprocates in a straight line on the surface of the object to be inspected to form a one-dimensional scan.
  • the device is attached to the surface of the object to be inspected by the handheld device and moved in the vertical direction of the projection motion direction to sweep the projection over a certain width to form a two-dimensional image having a certain depth on the surface of the object.
  • the X-ray source 2, the rotation modulation mechanism 3, and the radiation detector 4 can all adopt conventional devices for backscatter imaging, and in order to enable the motion sensor 5 to accurately detect the three-dimensional spatial motion trajectory and scanning angle of the portable backscatter imaging inspection apparatus. It is necessary to fix the motion sensor 5 together with the X-ray source 2, the rotation modulation mechanism 3, and the radiation detector 4 in the device casing 1 to maintain relative staticness with each other.
  • the controller 6 can be disposed within the device housing 1 as shown in FIG. 2, for example, disposed on the side of the device housing 1 remote from the radiation detector, or can be selected at any suitable location within the device housing 1. In other embodiments, the controller 6 can also be externally or implemented by an external or remote control system.
  • At least one handle may be disposed on the outer side of the device casing 1, such as the handle 11 shown in FIG. 1 for facilitating the positive and left hand holding, by which the handle 11 can be realized.
  • the continuous scanning operation of the hand can also perform the pressing operation on the surface of the object to be inspected, and ensure the close contact of the receiving surface of the radiation detector 4 with the surface of the object to be inspected.
  • the device user performs continuous scanning along the surface of the object to be inspected by the hand-held portable backscatter imaging detecting device (hereinafter or simply referred to as a device) when performing backscatter scanning of the object to be inspected, regardless of whether the object to be inspected has a curved surface or multiple
  • a device the hand-held portable backscatter imaging detecting device
  • the three-dimensional spatial position points can form a three-dimensional motion trajectory of the device, and when the ray detector receives the scanning angle of the two-dimensional image, the surface image of the object to be inspected can be generated.
  • the information is spliced and fused to form a stereoscopic image of the surface of the object to be inspected, thereby solving the backscatter scanning imaging problem of the object with multiple scanning surfaces or curved surfaces, and realizing the internal structure and information of the object to be inspected.
  • More comprehensive and intuitive display which not only expands the application of the device The scope also enhances the ability of the device to display the structure and information of the object being inspected, and enhances the function of integrating information of the device.
  • Motion sensor 5 is preferably a six-axis sensor including, but not limited to, an accelerometer and a gyroscope, as well as other existing sensors capable of acquiring three-dimensional spatial motion trajectories and scan angles.
  • the accelerometer is responsible for measuring the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning process, while the gyroscope is responsible for measuring the pitch, heading and roll of the portable backscatter imaging inspection device in three-dimensional space rotation. Component.
  • the position in between is to form a three-dimensional spatial motion trajectory, and the scanning angle of the receiving surface of the radiation detector 4 facing the surface of the object to be inspected at each moment is determined.
  • the user of the device can use a linear reciprocating bow scanning method when scanning, but it is difficult for the device user to accurately maintain the speed in different moving directions when the handheld device scans the object to be inspected, which is prone to being too fast or too slow.
  • the problem that the scanned image often has distortion problems such as image aspect ratio stretching, so that the accelerometer can be used to detect the placement state of the device, and the controller 6 measures the speed and acceleration of the device during the scanning process according to the accelerometer.
  • the size and orientation of the image are corrected for the aspect ratio of the scanned two-dimensional image.
  • the detection function of the accelerometer and the gyroscope can be utilized, and the controller 6 measures the speed and acceleration of the device during the scanning process according to the accelerometer.
  • the size and direction, as well as the three components of the pitch, heading and roll of the device measured by the gyroscope in three-dimensional space, are stretched or affine corrected for the scanned two-dimensional image.
  • the portable backscatter imaging inspection apparatus of the present invention is equally applicable to backscatter imaging inspection of an object having a large scanning surface, in this
  • the process mainly uses the magnitude and direction of the speed and acceleration of the device detected by the accelerometer during the scanning process.
  • the controller combines the two-dimensional images scanned by the ray detector 4 with the two-dimensional spatial motion trajectory of the device, splicing and merging into A planar image of the surface of the object being inspected.
  • a display 7 can also be provided for receiving a stereoscopic image of the surface of the object to be inspected transmitted by the controller 6, and displaying it.
  • the display 7 can also be arranged independently of the portable backscatter imaging inspection device or integrated into an external or remote control system. The scanned image can be presented on the display 7 in a strip shape.
  • the present invention also provides the following imaging method, as shown in FIG. 3, which is a schematic flowchart of an embodiment of an imaging method based on the portable backscatter imaging inspection apparatus of the present invention. .
  • the imaging method includes:
  • Step 101 The X-ray source 2 emits an X-ray beam, scans the surface of the object to be inspected by the rotation modulation mechanism 3, and receives the scattered signal data of the surface of the object to be inspected by the radiation detector 4 to form a two-dimensional image;
  • Step 102 During the scanning process, the motion sensor 5 collects a three-dimensional spatial motion trajectory and a scanning angle of the portable backscatter imaging inspection apparatus;
  • Step 103 The controller 6 combines the plurality of two-dimensional images received by the ray detector 4 with the three-dimensional spatial motion trajectory and the scanning angle acquired by the motion sensor 5, and splices and fuses them into a stereoscopic image of the surface of the object to be inspected.
  • the motion sensor 5 in this embodiment includes an accelerometer and a gyroscope, and the step 102 specifically includes:
  • Step 102a measuring the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning process by the accelerometer, and measuring the three components of the pitch, heading and rolling of the portable backscatter imaging inspection device in three-dimensional space by the gyroscope ;
  • Step 102b obtaining a position of the portable backscatter imaging inspection device in a three-dimensional space at various times during the scanning process by cooperative recording of the accelerometer and the gyroscope to form a three-dimensional spatial motion trajectory, and determining the ray detector at each moment.
  • the receiving surface of 4 faces the scanning angle of the surface of the object to be inspected.
  • the imaging method may further include: the controller 6 performs an image on the scanned two-dimensional image according to the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device measured by the accelerometer during the scanning process. The steps of the aspect ratio correction.
  • the imaging method may further include the controller 6 measuring the magnitude and direction of the speed and acceleration of the portable backscatter imaging inspection device during the scanning according to the accelerometer, and the portable backscatter imaging measured by the gyroscope.
  • the step of inspecting the stretched or affine correction of the scanned two-dimensional image by examining the three components of the pitch, heading and rolling of the device in three-dimensional space.
  • the imaging method may further include: the controller 6 detects the magnitude and direction of the velocity and acceleration during the scanning process of the portable backscatter imaging inspection device according to the accelerometer, and scans the radiation detector 4 to a greater extent.
  • the two-dimensional image combines with the two-dimensional spatial motion trajectory of the portable backscatter imaging inspection apparatus, and is spliced and fused into a planar image of the surface of the object to be inspected.
  • the imaging method further includes the step of the display 7 receiving a stereoscopic image of the surface of the object to be inspected transmitted by the controller 6, and performing display.
  • controller 6 can include a memory and a processor. among them:
  • the memory can be a disk, flash memory or any other non-volatile storage medium.
  • the memory is used to store instructions executed by the controller in the above embodiment.
  • the processor is coupled to the memory and can be used as one or more integrated circuits Implemented, such as a microprocessor or microcontroller.
  • the processor is configured to execute instructions stored in the memory, and can combine the plurality of two-dimensional images received by the ray detector 4 with the three-dimensional spatial motion trajectory and the scanning angle acquired by the motion sensor 5, and splicing and merging into a stereoscopic image of the surface of the object to be inspected. .
  • a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps performed by a controller of the above-described embodiments.
  • the controller in the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • the invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .

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Abstract

一种便携式背散射成像检查设备及成像方法，设备包括：设备外壳(1)、X射线源(2)、旋转调制机构(3)、射线探测器(4)、运动传感器(5)和控制器(6)，X射线源(2)、旋转调制机构(3)、射线探测器(4)和运动传感器(5)均固定设置于设备外壳(1)内，射线探测器(4)用于接收被检物体表面的散射信号数据以形成二维图像，运动传感器(5)用于采集设备在扫描过程中的三维空间运动轨迹和扫描角度，控制器(6)用于将射线探测器(4)接收到的多幅二维图像结合三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像，从而对具有曲面或者多个不规则表面的被检物体实现更好的扫描成像效果。

Description

便携式背散射成像检查设备及成像方法 技术领域
本发明涉及X射线成像应用领域，尤其涉及一种便携式背散射成像检查设备及成像方法。
背景技术
X射线背散射成像技术是一种通过探测不同物质对X射线散射的强弱，得到物体表面一定深度以内的物质图像的成像技术。用于实现X射线背散射成像的成像设备通常携带有射线源和探测器系统，其中射线源发出的射线经过旋转调制机构形成笔束，在被检物体表面进行逐点扫描；而探测器系统接收从物体散射回来的信号，并根据该信号形成物体表面的深度图像。
目前，采用此类成像设备的系统较多应用于集装箱、车辆、人员及包裹的固定式安检设备中，也就是安检设备位置固定，由被检目标移动来进行通过式检查。这种方式要求被检目标与设备保持一定距离，且以固定角度成像，因此限制了安检设备的应用范围。
随着射线源与探测器技术的进步，背散射设备得以实现小型化、便携化。目前便携式的背散射成像装置可以贴近被检目标，多角度全方位对被检目标实施成像。同时轻巧便于携带，充分扩展了设备的可应用场合。但是，这种背散射成像装置通常只适用于具有平坦表面的被检物体的扫描成像，但对于具有曲面或者多个不规则表面的被检物体来说，扫描成像效果不佳，而且所形成的深度图像也难以清楚地体现出被检物体整体及内部的实际形态，因此也限制了这种便携式背散射成像装置的使用范围。
发明内容
本发明的目的是提出一种便携式背散射成像检查设备及成像方法，能够对具有曲面或者多个不规则表面的被检物体实现更好的扫描成像效果。
为实现上述目的，本发明提供了一种便携式背散射成像检查设备，包括：设备外壳、X射线源、旋转调制机构、射线探测器、运动传感器和控制器，X射线源、旋转调制机构和射线探测器和运动传感器均固定设置于设备外壳内，射线探测器的接收面 位于设备外壳的前端，用于接收被检物体表面的散射信号数据以形成二维图像，运动传感器用于采集便携式背散射成像检查设备在扫描过程中的三维空间运动轨迹和扫描角度，控制器与射线探测器和运动传感器信号连接，用于将射线探测器接收到的多幅二维图像结合三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像。
进一步的，运动传感器包括加速度计和陀螺仪，加速度计用于测量便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，陀螺仪用于测量便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量，通过加速度计和陀螺仪的协同记录，获得便携式背散射成像检查设备在扫描过程中各个时刻在三维空间中所处的位置，以形成三维空间运动轨迹，并确定各个时刻下射线探测器的接收面面向被检物体表面的扫描角度。
进一步的，控制器还用于根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正。
进一步的，控制器还用于根据加速度计测量到便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，以及陀螺仪测量到的便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或仿射校正。
进一步的，控制器还用于根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，将射线探测器扫描到的多幅二维图像结合便携式背散射成像检查设备的二维空间运动轨迹，拼接并融合成被检物体表面的平面图像。
进一步的，还包括显示器，显示器设置在设备外壳远离射线探测器的一侧，用于接收控制器传送的被检物体表面的立体图像，并进行显示。
为实现上述目的，本发明还提供了一种基于前述的便携式背散射成像检查设备的成像方法，包括：
X射线源发出X射线束，通过旋转调制机构扫描被检物体表面，再通过射线探测器接收被检物体表面的散射信号数据以形成二维图像；
在扫描过程中，运动传感器采集便携式背散射成像检查设备的三维空间运动轨迹和扫描角度；
控制器将射线探测器接收到的多幅二维图像结合运动传感器采集的三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像。
进一步的，运动传感器包括加速度计和陀螺仪，运动传感器采集便携式背散射成像检查设备的三维空间运动轨迹和扫描角度的操作具体为：
通过加速度计测量便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，并通过陀螺仪测量便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量；
通过加速度计和陀螺仪的协同记录，获得便携式背散射成像检查设备在扫描过程中各个时刻在三维空间中所处的位置，以形成三维空间运动轨迹，并确定各个时刻下射线探测器的接收面面向被检物体表面的扫描角度。
进一步的，还包括：控制器根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正。
进一步的，还包括：控制器根据加速度计测量到便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，以及陀螺仪测量到的便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或仿射校正。
进一步的，还包括：控制器根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，将射线探测器扫描到的多幅二维图像结合便携式背散射成像检查设备的二维空间运动轨迹，拼接并融合成被检物体表面的平面图像。
进一步的，便携式背散射成像检查设备还包括设置在设备外壳远离射线探测器的一侧的显示器，成像方法还包括：显示器接收控制器传送的被检物体表面的立体图像，并进行显示。
为实现上述目的，本发明还提供了一种控制器，包括存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器的指令执行如上文中提到的控制器执行的方法。
为实现上述目的，本发明还提供了一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现上文中提到的控制器执行的方法。
基于上述技术方案，本发明在便携式的背散射成像检查设备内设置了能够采集设备在扫描过程中自身的三维空间运动轨迹和扫描角度的运动传感器，从而使控制器能够根据射线探测器所接收到多幅二维图像和三维空间运动轨迹及扫描角度结合起来， 形成体现被检物体表面的立体背散射图像，从而解决了便携式的背散射成像检查设备对具有曲面或者多个不规则表面的被检物体的扫描成像问题，实现对被检物体的内部结构和信息的更为全面和直观的展示。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明便携式背散射成像检查设备的一实施例的外部结构示意图。
图2为图1实施例的内部结构示意图。
图3为基于本发明便携式背散射成像检查设备的成像方法的一实施例的流程示意图。
图4为基于本发明便携式背散射成像检查设备的成像方法的另一实施例的流程示意图。
具体实施方式
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
如图1所示，为本发明便携式背散射成像检查设备的一实施例的外部结构示意图。结合图2所示的内部结构，本实施例的便携式背散射成像检查设备包括：设备外壳1、X射线源2、旋转调制机构3、射线探测器4、运动传感器5和控制器6。其中，X射线源2、旋转调制机构3、射线探测器4和运动传感器5均固定设置于设备外壳1内，射线探测器4的接收面位于设备外壳1的前端，用于接收被检物体表面的散射信号数据以形成二维图像。
运动传感器5负责采集便携式背散射成像检查设备在扫描过程中的三维空间运动轨迹和扫描角度，控制器6与射线探测器4和运动传感器5信号连接，能够将射线探测器4接收到的多幅二维图像结合三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像。
在本实施例中，X射线源2发出大张角的X射线，由旋转调制机构3将射线调制成高速旋转的笔束，其投影在被检物体表面沿直线往复运动，形成一维扫描，而操作 员通过手持设备使其贴合被检物体表面，并沿着投影运动方向的垂直方向移动，使投影扫过一定宽度的面积，形成物体表面具有一定深度的二维图像。
X射线源2、旋转调制机构3和射线探测器4均可采用背散射成像用的常规器件，而为了使运动传感器5能够准确的检测出便携式背散射成像检查设备的三维空间运动轨迹和扫描角度，需要使运动传感器5与X射线源2、旋转调制机构3和射线探测器4一同固定设置在设备外壳1内，保持相互之间的相对静止。
控制器6可以如图2所示设置在设备外壳1内，例如设置在设备外壳1内远离射线探测器的一侧，也可以选择设备外壳1内任意适合的位置。在另外的实施例中，也可以将控制器6外置，或者由一外部或远程的控制系统实现其作用。
为了使便携式背散射成像检测设备便于手持使用，在设备外壳1的外侧还可以设置至少一个手柄，例如图1中示出的便于左右手正向握持的手柄11，通过这样的手柄11除了能够实现手持扫描动作的持续进行，还能够实现对被检物体表面的压紧操作，确保射线探测器4的接收面与被检物体表面的紧密贴合。
设备使用人在进行被检物体背散射扫描时，通过手持便携式背散射成像检测设备(后或简称设备)沿着被检物体表面进行连续的扫描，无论被检物体是否为带有曲面或者多个扫描面的情形，这种扫描都可以持续进行，而在扫描过程中，每个时刻(这里指获取扫描图像对应的信号数据的时间记录点)设备都存在一个三维空间位置点和扫描角度值，通过运动传感器将这些信息记录下来后，这些三维空间位置点就能够形成一条设备的三维空间运动轨迹，结合射线探测器接收二维图像时的扫描角度，就能够在生成被检物体表面图像时，利用这些信息进行拼接和融合，从而形成被检物体表面的立体图像，而这样就解决了具有多扫描面或者曲面的被检物体的背散射扫描成像问题，实现对被检物体的内部结构和信息的更为全面和直观的展示，从而不仅扩大了设备的适用范围，还提高了设备对被检物体结构和信息的展示能力，增强了设备整合信息的功能。
运动传感器5优选六轴传感器，包括但不限于加速度计和陀螺仪，还可以选择其他能够获取三维空间运动轨迹和扫描角度的其他现有传感器。加速度计负责的是测量便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，而陀螺仪负责的是测量便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量。通过加速度计和陀螺仪的协同记录，就能够获得设备在扫描过程中各个时刻在三维空 间中所处的位置，以形成三维空间运动轨迹，并确定各个时刻下射线探测器4的接收面面向被检物体表面的扫描角度。
设备使用者在扫描时可以采用直线往复的弓形扫描方式，但考虑到设备使用者在手持设备扫描被检物体时难以精确的保持在不同运动方向上的速度均匀，容易出现有时过快或过慢的问题，这样扫描得到的图像往往存在图像纵横比例拉伸等失真问题，因此可以利用加速度计对设备的放置状态的检测功能，控制器6根据加速度计测量到的设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正。此外，有时候手持移动的过程中，还可能会出现变速或旋转的情况，此时可以利用加速度计和陀螺仪的检测功能，控制器6根据加速度计测量到设备在扫描过程中速度和加速度的大小和方向，以及陀螺仪测量到的设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或仿射校正。
除了上述提到的带有曲面或者多扫描面的被检物体之外，本发明的便携式背散射成像检查设备也同样可以适用在具有较大扫描表面的被检物体的背散射成像检查，在这个过程中主要利用加速度计所检测的设备在扫描过程中速度和加速度的大小和方向，控制器将射线探测器4扫描到的多幅二维图像结合设备的二维空间运动轨迹，拼接并融合成被检物体表面的平面图像。
在设备外壳1远离射线探测器4的一侧上还可以设置显示器7，用来接收控制器6传送的被检物体表面的立体图像，并进行显示。在另一个实施例中，显示器7也可以独立于便携式背散射成像检查设备设置，或者集成在外部或远程的控制系统中。扫描图像可以以带状呈现在显示器7上。
基于上述的便携式背散射成像检查设备的各实施例，本发明还提供了以下的成像方法，如图3所示，为基于本发明便携式背散射成像检查设备的成像方法的一实施例的流程示意图。在本实施例中，成像方法包括：
步骤101、X射线源2发出X射线束，通过旋转调制机构3扫描被检物体表面，再通过射线探测器4接收被检物体表面的散射信号数据以形成二维图像；
步骤102、在扫描过程中，运动传感器5采集便携式背散射成像检查设备的三维空间运动轨迹和扫描角度；
步骤103、控制器6将射线探测器4接收到的多幅二维图像结合运动传感器5采集的三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像。
如图4所示，为基于本发明便携式背散射成像检查设备的成像方法的另一实施例的流程示意图。与上一实施例相比，本实施例中的运动传感器5包括加速度计和陀螺仪，而步骤102具体包括：
步骤102a、通过加速度计测量便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，并通过陀螺仪测量便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量；
步骤102b、通过加速度计和陀螺仪的协同记录，获得便携式背散射成像检查设备在扫描过程中各个时刻在三维空间中所处的位置，以形成三维空间运动轨迹，并确定各个时刻下射线探测器4的接收面面向被检物体表面的扫描角度。
在另一个实施例中，成像方法中还可以进一步包括控制器6根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正的步骤。
在又一个实施例中，成像方法中还可以进一步包括控制器6根据加速度计测量到便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，以及陀螺仪测量到的便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或仿射校正的步骤。
在再一个实施例中，成像方法中还可以进一步包括控制器6根据加速度计测量到的便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，将射线探测器4扫描到的多幅二维图像结合便携式背散射成像检查设备的二维空间运动轨迹，拼接并融合成被检物体表面的平面图像的步骤。
对于前面的在设备外壳1远离射线探测器4的一侧设置了显示器7的设备实施例，成像方法还包括显示器7接收控制器6传送的被检物体表面的立体图像，并进行显示的步骤。
本领域技术人员应当明白，本发明所涉及的设备及方法主题之间的内容是存在关联的，尤其是方法主题下的一些功能及效果的描述可以对应到设备的描述中，因此文中不再赘述。
在一个实施例中，控制器6可以包括存储器和处理器。其中：
存储器可以是磁盘、闪存或其它任何非易失性存储介质。存储器用于存储图上述实施例中控制器所执行的指令。处理器耦接至存储器，可以作为一个或多个集成电路 来实施，例如微处理器或微控制器。该处理器用于执行存储器中存储的指令，能够将射线探测器4接收到的多幅二维图像结合运动传感器5采集的三维空间运动轨迹和扫描角度，拼接并融合成被检物体表面的立体图像。
在另一个实施例中，一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现上述实施例中控制器所执行的步骤。本领域内的技术人员应明白，本发明的实施例可提供为方法、装置、或计算机程序产品。因此，本发明中的控制器可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制；尽管参照较佳实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本发明技术方案的精神，其均应涵盖在本发明请求保护的技术方案范围当中。

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  1. 一种便携式背散射成像检查设备，其特征在于，包括：设备外壳(1)、X射线源(2)、旋转调制机构(3)、射线探测器(4)、运动传感器(5)和控制器(6)，所述X射线源(2)、旋转调制机构(3)、射线探测器(4)和运动传感器(5)均固定设置于所述设备外壳(1)内，所述射线探测器(4)的接收面位于所述设备外壳(1)的前端，用于接收被检物体表面的散射信号数据以形成二维图像，所述运动传感器(5)用于采集所述便携式背散射成像检查设备在扫描过程中的三维空间运动轨迹和扫描角度，所述控制器(6)与所述射线探测器(4)和所述运动传感器(5)信号连接，用于将所述射线探测器(4)接收到的多幅二维图像结合所述三维空间运动轨迹和扫描角度，拼接并融合成所述被检物体表面的立体图像。
  2. 根据权利要求1所述的便携式背散射成像检查设备，其特征在于，所述运动传感器(5)包括加速度计和陀螺仪，所述加速度计用于测量所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，所述陀螺仪用于测量所述便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量，通过所述加速度计和陀螺仪的协同记录，获得所述便携式背散射成像检查设备在扫描过程中各个时刻在三维空间中所处的位置，以形成所述三维空间运动轨迹，并确定各个时刻下所述射线探测器(4)的接收面面向所述被检物体表面的扫描角度。
  3. 根据权利要求2所述的便携式背散射成像检查设备，其特征在于，所述控制器(6)还用于根据所述加速度计测量到的所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正。
  4. 根据权利要求2所述的便携式背散射成像检查设备，其特征在于，所述控制器(6)还用于根据加速度计测量到所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，以及所述陀螺仪测量到的所述便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或仿射校正。
  5. 根据权利要求2所述的便携式背散射成像检查设备，其特征在于，所述控制器(6)还用于根据所述加速度计测量到的所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，将所述射线探测器(4)扫描到的多幅二维图像结合所述便携式背散射成像检查设备的二维空间运动轨迹，拼接并融合成所述被检物体表面的 平面图像。
  6. 根据权利要求1所述的便携式背散射成像检查设备，其特征在于，还包括显示器(7)，所述显示器(7)设置在所述设备外壳(1)远离射线探测器(4)的一侧，用于接收控制器(6)传送的所述被检物体表面的立体图像，并进行显示。
  7. 一种基于权利要求1～6任一所述的便携式背散射成像检查设备的成像方法，其特征在于，包括：
    X射线源(2)发出X射线束，通过旋转调制机构(3)扫描被检物体表面，再通过射线探测器(4)接收所述被检物体表面的散射信号数据以形成二维图像；
    在扫描过程中，运动传感器(5)采集所述便携式背散射成像检查设备的三维空间运动轨迹和扫描角度；
    控制器(6)将所述射线探测器(4)接收到的多幅二维图像结合所述运动传感器(5)采集的所述三维空间运动轨迹和扫描角度，拼接并融合成所述被检物体表面的立体图像。
  8. 根据权利要求7所述的成像方法，其特征在于，所述运动传感器(5)包括加速度计和陀螺仪，所述运动传感器(5)采集所述便携式背散射成像检查设备的三维空间运动轨迹和扫描角度的操作具体为：
    通过加速度计测量所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，并通过所述陀螺仪测量所述便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量；
    通过所述加速度计和陀螺仪的协同记录，获得所述便携式背散射成像检查设备在扫描过程中各个时刻在三维空间中所处的位置，以形成所述三维空间运动轨迹，并确定各个时刻下所述射线探测器(4)的接收面面向所述被检物体表面的扫描角度。
  9. 根据权利要求8所述的成像方法，其特征在于，还包括：
    所述控制器(6)根据所述加速度计测量到的所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，对扫描到的二维图像进行图像纵横比例校正。
  10. 根据权利要求8所述的成像方法，其特征在于，还包括：
    所述控制器(6)根据加速度计测量到所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，以及所述陀螺仪测量到的所述便携式背散射成像检查设备在三维空间旋转的俯仰、航向和横滚三个分量对扫描到的二维图像进行拉伸或 仿射校正。
  11. 根据权利要求8所述的成像方法，其特征在于，还包括：
    所述控制器(6)根据所述加速度计测量到的所述便携式背散射成像检查设备在扫描过程中速度和加速度的大小和方向，将所述射线探测器(4)扫描到的多幅二维图像结合所述便携式背散射成像检查设备的二维空间运动轨迹，拼接并融合成所述被检物体表面的平面图像。
  12. 根据权利要求7所述的成像方法，其特征在于，所述便携式背散射成像检查设备还包括设置在所述设备外壳(1)远离射线探测器(4)的一侧的显示器(7)，所述成像方法还包括：
    所述显示器(7)接收所述控制器(6)传送的所述被检物体表面的立体图像，并进行显示。
  13. 一种控制器，其特征在于，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器的指令执行如权利要求1至12任一项中所述控制器执行的方法。
  14. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，该指令被处理器执行时实现权利要求1至12任一项中所述控制器执行的方法。
PCT/CN2016/100519 2015-12-25 2016-09-28 便携式背散射成像检查设备及成像方法 Ceased WO2017107607A1 (zh)

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