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WO2020139162A1 - System for screening vehicles and method of radioscopic control of moving objects - Google Patents

System for screening vehicles and method of radioscopic control of moving objects Download PDF

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Publication number
WO2020139162A1
WO2020139162A1 PCT/RU2019/001030 RU2019001030W WO2020139162A1 WO 2020139162 A1 WO2020139162 A1 WO 2020139162A1 RU 2019001030 W RU2019001030 W RU 2019001030W WO 2020139162 A1 WO2020139162 A1 WO 2020139162A1
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WO
WIPO (PCT)
Prior art keywords
radiation
inspected object
source
zone
scanning
Prior art date
Application number
PCT/RU2019/001030
Other languages
French (fr)
Inventor
Aleksandr Vladimirovich SIDOROV
Sergej Petrovich NOVIKOV
Vladimir Vital'evich GREBENSHCHIKOV
Andrej Mihajlovich FIALKOVSKIJ
Evgenij Vladimirovich KRIVCHIKOV
Original Assignee
Obshhestvo S Ogranichennoj Otvetstvennost`Yu "Isb.A" (Ooo "Isb.A")
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 Obshhestvo S Ogranichennoj Otvetstvennost`Yu "Isb.A" (Ooo "Isb.A") filed Critical Obshhestvo S Ogranichennoj Otvetstvennost`Yu "Isb.A" (Ooo "Isb.A")
Priority to BR112021010576-0A priority Critical patent/BR112021010576B1/en
Priority to MA53576A priority patent/MA53576B1/en
Publication of WO2020139162A1 publication Critical patent/WO2020139162A1/en
Priority to ZA2021/03909A priority patent/ZA202103909B/en

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Classifications

    • 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
    • G01N23/02—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 transmitting the radiation through the material
    • G01N23/04—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 transmitting the radiation through the material and forming images of the material
    • 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
    • G01N23/02—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 transmitting the radiation through the material
    • G01N23/06—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 transmitting the radiation through the material and measuring the absorption
    • G01N23/10—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 transmitting the radiation through the material and measuring the absorption the material being confined in a container, e.g. in a luggage X-ray scanners
    • 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
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/045—Investigating materials by wave or particle radiation combination of at least 2 measurements (transmission and 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
    • G01N2223/60—Specific applications or type of materials
    • G01N2223/639—Specific applications or type of materials material in a container

Definitions

  • the group of inventions relates to the field of controlling the self- propelled vehicles and other mobile objects and could be used for screening in order to detect illegally transported people, animals, hidden items, substances and materials for reasons of security and reliability of such a control.
  • the object screening is carried out by scanning the object with probing radiation, in this case either the radiation passed through the object is registered with resulting shadow image or the backscattered one. Movement of scanning area relative to a radiation source can be carried out both due to the vehicle movement and due to the radiation source movement relative to a stationary object of control.
  • a quite important parameter of the inspection complex is its performance usually measured in quantity of inspected objects per hour.
  • the screening technology based on shadow image formation and its subsequent analysis is quite effective for detecting the items consisting of materials having relatively high atomic number, e.g. fire arms. Due to the strong dependence of X-Ray (deceleration) radiation absorption on the density and atomic number of inspected substances, in the above case the high-contrast, convenient for analysis shadow image is formed. Because of high absorption of probing radiation the inspection of large-sized objects should be carried out using strong sources (e.g. electron linear accelerators) which, without proper protection, can create abnormally high radiation exposure for a man (driver) in the screening zone. For that reason in such systems a driver leaves a vehicle at the time of inspection which results in the reduced capacity commonly being not more than 25-30 units per hour [2].
  • strong sources e.g. electron linear accelerators
  • a driver does not leave a cabin and the object moves in a self-propelled mode but in this case the protective measures are needed to protect a driver from radiation.
  • the driver safety is ensured by that the motor vehicle comes, prior to the scanning, to the predetermined position where the driver’s cabin is out of the scanning zone. After fixing that position, the command is issued to start the vehicle movement and to switch on the X-Ray radiation source. In this case the driver’s cabin is not scanned.
  • the main disadvantage of these systems consists in a necessity of stopping the vehicle prior to starting the scanning, which reduces substantially the capacity, and in that an inevitable non-uniformity of movement in the course of scanning affects adversely on both the shadow image quality and the overall scanning control quality.
  • the driver's cabin and the vehicle part in front of the cabin are not controlled. In such systems, a higher capacity coming up to 60 units per hour is achieved.
  • Such systems comprise sensors registering the passage of the object section not subject to radiation, determine automatically the radiation scanning zone and control the radiation source on/off switching process [3].
  • One of such systems is a system based on laser scanning of vehicle before the radiation zone [4].
  • the laser scanning makes it possible in many cases to determine the radiation scanning zone by the presence of a gap between the driver’s cabin and cargo module of the inspected object.
  • the improvement of such systems are the screening systems [5] which allow one to change the scanning radiation energy, i.e. to scan a vehicle cabin with the low-energy radiation and a cargo - with the high-energy radiation.
  • the main disadvantage of such a system consists in limitedness of its use, because such a system can be used with regard to only specific vehicle types having a gap between the driver’s cabin and the cargo section.
  • the technology based on registering the scattered radiation also finds wide application in the inspection complexes [6].
  • One of the advantages of this technology consists in that it allows effective detecting of hidden items consisting of light substances with low density (e.g. biological objects, explosive substances, narcotic drugs). It is difficult to detect such objects from the analysis of shadow image obtained with the use of X-Ray with high penetrating power.
  • Another apparent advantage of this technology consists in that the radiation dose absorbed by the inspected object can be made extremely low, harmless to a man being in the radiation scanning zone. For that reason (a driver) people should not leave a vehicle during screening.
  • a specific feature of vehicle screening complexes which use the back scattering consists in that the probing radiation energy is essentially lower than the probing radiation energy of complexes using the X-Ray inspection and does not exceed, as a rule, several hundred keV. This fact is a key feature of units which use back scattering because they allow one to control only near-surface layers of the inspected object. For that reason the screening complexes for vehicles can consist of several same-type apparatuses with low energy probing beam which use both the scattered radiation and the radiation passed though the object.
  • the most advanced system is known [7] which uses the X-Ray source (or sources) and a set of non-pixel detecting systems which register the radiation passed through the object and backscattered.
  • the main disadvantage of this system despite the combined use of both technologies (transmission and back scattering) consists in a limitedness of its use, with regard to only specific vehicle types, mainly light vehicles, because the relatively low energy of probing radiation is insufficient for inspecting the large- scale (cargo vehicles) objects.
  • the claimed group of inventions is free from the indicated disadvantages.
  • Highly-efficient screening complex can be built only if a driver does not leave a cabin during screening and a zone subject to scanning is determined automatically.
  • Existing methods of determination of scanning zone beginning based on optical (laser) measurements have a restricted field of application.
  • a system for screening cargo and self-propelled vehicles including cargo, passengers and driver being there, comprising a X-Ray radiation source having high penetrating power, with a collimator, the source control device, a portal having consoles and detectors mounted on them, an electronic tract for forming and collecting signals from the detectors and a shadow image forming device connected to it, laser scanners, one of which being disposed at a distance from the radiation zone not less than a length of a size, maximally permissible by the portal, of the inspected object in the direction of movement thereof, the X-Ray source control device made with the use of laser scanners to determine a section of inspected object not subject to radiation, in accordance with the claimed invention, in front of the portal with consoles in the direction of movement the additional radiation source is mounted which has a lower penetrating power and mechanical beam sweep in the horizontal plane and a detecting system of backscattered radiation.
  • the indicated technical result is achieved by that the X-Ray radiation source with a lower penetrating power jointly with mechanical beam sweep of this source have a needle beam for vertical scanning of the inspected object.
  • the indicated technical result is achieved by that the mechanical beam sweep of radiation source with a lower penetrating power in vertical direction has a rotating collimator.
  • the indicated technical result is achieved by that the X- Ray impulse source is used as a source with high penetrating power.
  • the indicated technical result is achieved by that the betatron is used as the X-Ray impulse source.
  • the method of automatic radioscopic control of moving objects and determination of X-Ray scanning zone in the system of screening of self-propelled vehicles including cargo, passengers and driver being there including steps of: switching on a radiation source when an inspected object enters the radiation zone and its section not subject to the radiation passes that zone; and switching off the radiation source when the inspected object passes entirely the radiation zone, wherein, in accordance with the method implemented in the claimed system, the beginning and the end of cargo zone of inspected object subject to radiation scanning by the source with high penetrating power is determined when the inspected object moves in the scanning zone of the source with lower penetrating power, by the fixed at that moment position of the inspected object obtained from the laser scanners, and by the decrease of density of backscattered radiation flow of the source with lower penetrating power below the predetermined level.
  • the indicated technical result is also achieved by the method for forming an image of the inspected object in the system of screening of self-propelled vehicles including cargo, passengers and driver being there, the method consisting in forming a shadow image of cargo section of the inspected object on the basis of image numerical matrix which is built according to data of radiation detection system and data of inspected object position obtained from the laser scanners, by which, in accordance with the method implemented in the claimed system , the additional image of the inspected object is obtained in the backscattered radiation by way of forming a numerical matrix of image according to data of scattered radiation detection system and data of inspected object position relative to laser scanners.
  • the claimed group of inventions - a system for screening self-propelled vehicles including cargo, passengers and driver being there, a method of automatic radioscopic control of moving objects and radiation scanning zone and a method for forming a shadow image and a backscattered image of inspected object are illustrated by Figs.l to 4.
  • Fig. 1 shows relative position of main elements of the system and position of the inspected object when it comes to the zone of radiation screening (Fig. la is the side view, Fig. lb is the plan view).
  • Fig. 1 shows the route (10) along which the inspected object (1) moves, the radiation source having high penetrating power (14) with collimator (15) is situated alongside of the route (10); a system of radiation detectors (7) is situated opposite the radiation source having high penetrating power (14) on another side of the route; a first laser scanner for scanning a beam in the horizontal plane (9) is mounted at one side of the route (10) at a distance from the radiation zone exceeding the maximum allowable size of the inspected object (1) in the movement direction, for detecting the inspected object (1) and its position during the movement along the route (10); a second laser scanner for scanning a beam in the vertical plane (5) across the route (10) is mounted above the route at a short distance from the radiation zone, for detecting the section of the inspected object (1) not subject to the radiation; source with low penet
  • Fig. 2 shows a block scheme demonstrating the relationship of all elements of the system, where the connection of the detection system (7) with the electronic tract of analog-to-digital converter (ADC) (18) is shown as well as its connection with the electronic device for forming a shadow image (19); the system of back scattering detectors (2) is connected with the system for forming the backscattered image (16) and the connection of controller (17) with all main elements of the system is also shown.
  • ADC analog-to-digital converter
  • Fig. 3 shows possible positions of the inspected object (1) relative to the laser scanner (5).
  • Fig. 4 shows the results of back scattering intensity modeling depending on a distance traveled by a vehicle in the scanning zone. To illustrate the practical feasibility of such method the numerical modeling was carried out.
  • the system working principle consists in forming two numerical matrices of images - a shadow image of cargo section of the inspected object and a backscattered image of the whole object.
  • the shadow image of cargo section of the inspected object is obtained by its scanning using the source with high penetrating power.
  • the backscattered image is formed by scanning the object using the source with low penetrating power. Detection of the beginning of cargo section of a vehicle is carried out automatically in two ways. The first one - using the data on the inspected object position obtained from the laser scanners (1 and 5), and the second (2 and 9) -on the basis of analysis of backscattered image. More detailed review of each way is presented below.
  • the interaction of the system main elements during operation can be described as follows.
  • the first laser scanner (5) runs continuously scanning the space region at the place where the inspected object enters the radiation zone.
  • the results of each scanning - distances to the inspected objects meeting on the laser beam, within scanning angle limits with discrete step in terms of angle (LMS of the“SICK” firm provides the scanning angle up to 180 degrees with an angle step up to a quarter of a degree).
  • Data of each laser scan in the form of number group for the LMS of the“SICK” firm the data array dimension of one scan, with the scanning angle 180 degrees, is up to 720 numbers
  • the interface RS-422 are transmitted by the laser scanner to a controller (17).
  • Processing of data in the controller (17) is carried out in several steps. At the first step, for further processing only those data are selected which correspond to the position of the object (1) within the route (10). In the absence of such data the controller (17) registers the absence of the inspected object (1) and, correspondingly, does not compute its position. When the data indicating the presence of the inspected object (1) occur the controller (17) registers its appearance and begins computing the corresponding relative position of the moving inspected object (1) for each laser scanning.
  • Algorithm for computing the inspected object (1) position depends on its position relative to the center of laser scanning.
  • the inspected object (1) is placed in front of the laser scanner (Fig.
  • the inspected object (1) is placed opposite to the laser scanner (Fig. 3b).
  • the inspected object (1) is placed behind the laser scanner (Fig. 3c).
  • the end points of the inspected object (1) are singled out.
  • the controller (17) computes the relative coordinates of these points in the Cartesian coordinate system where the coordinate“X” corresponds to the movement direction and the coordinate“Y” - to the direction across the route (10). Further, in case of variants 1 and 3 X-coordinates of selected points close to the end point are averaged, the obtained value corresponds to the relative coordinate of the object position relative to the radiation zone plane.
  • the X-coordinate of selected end point corresponds to the relative coordinate of the object position.
  • the second laser scanner (9) switches on for scanning only upon detecting the inspected object (1) on the route (10) with the aid of the first laser scanner (5). It operates in the same manner as the first laser scanner (5), obtained results of laser scanning are transmitted via the interface RS-422 to the controller (17).
  • Primary data processing in the controller (17) consists in deducting the received data from the data array which corresponds to the absence of the inspected object (1) in the laser scanning plane of this scanner. Thereby, the inspected object (1) profile is formed relative to ground, corresponding to this scan. In the absence of the inspected object (1) in the plane (when the profile is equal to zero) further data processing in not carried out and the controller (17) waits for the next scan data. When the inspected object (1) appears (when the profile is different from zero) the controller (17) carries out primary processing for several further scans in order to confirm that the inspected object (1) enters the laser scanning zone.
  • the controller (17) analyzes the inspected object (1) profile in the subsequent data regarding detecting the end of the zone not subject to radiation. Using the known value of the distance between the laser scanning plane and radiation plane the controller (17) further registers the point when the gap passes the radiation plane and generates a command for switching on the source of radiation (14). After that, the controller (17) continues laser scanner data processing in order to determine the point when the inspected object (1) passes the radiation zone entirely and to generate a command for switching off the radiation source (14).
  • the algorithm in this case is similar to the above- described method. Also, the algorithm generating a command of switching off the radiation source without using a laser scanner, based on object position data only, is possible.
  • the algorithm of shadow image formation allows one to take into account the non-uniform character of the object movement during the radiation scanning. This is achieved by that when creating a shadow image the data of inspected object (1) position relative to radiation plane are used during scanning.
  • the electronic device for forming a shadow image (19) receives and buffers the data from the detection system (7) via the ADC electronic tract (18) and controller (17).
  • the device for forming a shadow image (19) processes received data and forms the shadow image in the form of numerical matrix.
  • Data processing is based on the fact that the data entering the electronic system of image formation (19) have time connection determined by the frequencies of radiation scanning and laser scanning.
  • the radiation scanning data sequence of arrays of digitalized responses of detectors
  • the preset frequency of radiation scanning This makes it possible to build for each detector a dependence of its response on time beginning from the start of radiation scanning.
  • the time dependence of the inspected object (1) position can be built relying on the laser scanning frequency on the basis of which the inverse dependence "time - inspected object (1) position" is built beginning from the start of radiation scanning.
  • the procedures of data smoothing and interpolation can be used. Results of such processing are summarized in a table where a time coordinate corresponds to each displacement of the inspected object (1) at a given fixed distance.
  • the detector response data are converted. For each detector, a new data array is built, where the response corresponds to a given fixed displacement of the object.
  • a converted data set of the detector responses forms a numerical matrix of the shadow image.
  • the described algorithm is realized by the electronic system for forming a shadow image (19).
  • the additional and independent channel of detection of cargo section of the inspected object (1) is a channel of registration of backscattered radiation generated by the source with low penetrating power (1 10 and formed by the collimator (12).
  • Backscattered radiation from the inspected object (1) is registered by the detection system (2) and transmitted to the system of forming the backscattered image (16) which is transmitted to the controller (17) for analysis.
  • the analysis of backscattered image (16) regarding detection of the gap and the end of the inspected object (1) occurs in the controller (17) which, when detecting the gap, sends a switch on signal to the ionizing radiation source with high penetrating power (14). Switching off of ionizing radiation source (14) occurs after obtaining a signal of the inspected object (1) end detection from the controller (17).
  • the algorithm of detecting the gap and the end of the inspected object (1) is based on the analysis of summary signal from the detection system (2) registering the backscattered radiation.
  • the main criterion of determination of the gap between the cabin and container and the container end is a sharp decrease in the summary signal level.
  • the numerical modeling was carried out.
  • Fig. 4a shows the KamAZ model used for modeling as an inspected vehicle.
  • the back scattering detectors (2) two scintillation panels are used, each of size 40x5000 mm, a distance between the panels is 40.0 mm. Through the gap between the detector panels the collimated beam of X-Rays (13) passes.
  • the detectors register the energy and coordinate of backscattered photon entry into the detector, then the photon is considered absorbed in the detector and is not controlled. Dividing the detector into cells, computation of energy and photon quantity in each cell is carried out after modeling during data post-processing.
  • Fig. 4b shows the level of signal from the detector panels (2) of backscattered radiation during the inspected object (1) moving, from the back scattering detectors (2) in the range of 1000-3500 mm in height.
  • the summary signal from the detector lineup registering backscattered radiation be used to determine the gap between the cabin and container;
  • a main criterion of determination of the gap between the cabin and container is the decrease of summary signal level by 10-20% of maximum value of summary signal;
  • the summary signal not from the whole lineup but from the some range which is determined by geometrical parameters of the object (vehicle sizes).
  • the use of two independent channels of detection of inspected object radiation zone makes it possible to increase screening reliability and safety.
  • two images of the inspected object are obtained additionally in course of screening.
  • the fist image is a shadow image of the inspected object container passed through the radiation and the second one - the backscattered image of the whole object.
  • the technical-and-economic efficiency of the claimed group of inventions consists in increasing the operation speed and the capacity of the system as well as in increasing the security, reliability and accuracy of the inspected vehicle screening due to the new system structural design and the two independent screening methods realized on the basis thereof.

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Abstract

The group of inventions relates to the field of controlling the self-propelled vehicles and other mobile objects and could be used for screening in order to detect hidden items, substances and materials for reasons of security and reliability of such a control. The technical-and-economic efficiency of the claimed group of inventions consists in increasing the operation speed and the capacity of the system as well as in increasing the security, reliability and accuracy of the inspected object screening due to the system structural design and the screening method realized on the basis thereof, that method envisaging the determination of the zone not subject to the radiation, as well as the new method for forming a numerical matrix of shadow image and for forming the shadow image permitting to take into account the non-uniformity of the object movement in the course of radiation scanning.

Description

SYSTEM FOR SCREENING VEHICLES AND METHOD OF RADIOSCOPIC
CONTROL OF MOVING OBJECTS
Field of the Invention
The group of inventions relates to the field of controlling the self- propelled vehicles and other mobile objects and could be used for screening in order to detect illegally transported people, animals, hidden items, substances and materials for reasons of security and reliability of such a control.
Background of the Invention
At present time characterized by the spread of terrorism and illegal trade there is a demand for systems able to carry out efficient screening of vehicles and cargo in order to detect suspicious goods and illegal substances. The most commonly used methods for solving this problem are those based on applying the radiation with high penetrating power, in particular, X-Ray [1]. Typically, the object screening is carried out by scanning the object with probing radiation, in this case either the radiation passed through the object is registered with resulting shadow image or the backscattered one. Movement of scanning area relative to a radiation source can be carried out both due to the vehicle movement and due to the radiation source movement relative to a stationary object of control. A quite important parameter of the inspection complex is its performance usually measured in quantity of inspected objects per hour.
The screening technology based on shadow image formation and its subsequent analysis is quite effective for detecting the items consisting of materials having relatively high atomic number, e.g. fire arms. Due to the strong dependence of X-Ray (deceleration) radiation absorption on the density and atomic number of inspected substances, in the above case the high-contrast, convenient for analysis shadow image is formed. Because of high absorption of probing radiation the inspection of large-sized objects should be carried out using strong sources (e.g. electron linear accelerators) which, without proper protection, can create abnormally high radiation exposure for a man (driver) in the screening zone. For that reason in such systems a driver leaves a vehicle at the time of inspection which results in the reduced capacity commonly being not more than 25-30 units per hour [2].
To accelerate a control process, in some systems a driver does not leave a cabin and the object moves in a self-propelled mode but in this case the protective measures are needed to protect a driver from radiation. The driver safety is ensured by that the motor vehicle comes, prior to the scanning, to the predetermined position where the driver’s cabin is out of the scanning zone. After fixing that position, the command is issued to start the vehicle movement and to switch on the X-Ray radiation source. In this case the driver’s cabin is not scanned. The main disadvantage of these systems consists in a necessity of stopping the vehicle prior to starting the scanning, which reduces substantially the capacity, and in that an inevitable non-uniformity of movement in the course of scanning affects adversely on both the shadow image quality and the overall scanning control quality. In addition, the driver's cabin and the vehicle part in front of the cabin are not controlled. In such systems, a higher capacity coming up to 60 units per hour is achieved.
Known are systems with the capacity up to 200 units per hour working without stopping the self-propelled vehicle. Such systems comprise sensors registering the passage of the object section not subject to radiation, determine automatically the radiation scanning zone and control the radiation source on/off switching process [3].
One of such systems is a system based on laser scanning of vehicle before the radiation zone [4]. The laser scanning makes it possible in many cases to determine the radiation scanning zone by the presence of a gap between the driver’s cabin and cargo module of the inspected object. The improvement of such systems are the screening systems [5] which allow one to change the scanning radiation energy, i.e. to scan a vehicle cabin with the low-energy radiation and a cargo - with the high-energy radiation. The main disadvantage of such a system consists in limitedness of its use, because such a system can be used with regard to only specific vehicle types having a gap between the driver’s cabin and the cargo section.
The technology based on registering the scattered radiation also finds wide application in the inspection complexes [6]. One of the advantages of this technology consists in that it allows effective detecting of hidden items consisting of light substances with low density (e.g. biological objects, explosive substances, narcotic drugs). It is difficult to detect such objects from the analysis of shadow image obtained with the use of X-Ray with high penetrating power.
Another apparent advantage of this technology consists in that the radiation dose absorbed by the inspected object can be made extremely low, harmless to a man being in the radiation scanning zone. For that reason (a driver) people should not leave a vehicle during screening. A specific feature of vehicle screening complexes which use the back scattering consists in that the probing radiation energy is essentially lower than the probing radiation energy of complexes using the X-Ray inspection and does not exceed, as a rule, several hundred keV. This fact is a key feature of units which use back scattering because they allow one to control only near-surface layers of the inspected object. For that reason the screening complexes for vehicles can consist of several same-type apparatuses with low energy probing beam which use both the scattered radiation and the radiation passed though the object.
Among the noted systems, the most advanced system is known [7] which uses the X-Ray source (or sources) and a set of non-pixel detecting systems which register the radiation passed through the object and backscattered. The main disadvantage of this system, despite the combined use of both technologies (transmission and back scattering) consists in a limitedness of its use, with regard to only specific vehicle types, mainly light vehicles, because the relatively low energy of probing radiation is insufficient for inspecting the large- scale (cargo vehicles) objects.
Disclosure of the Invention
The claimed group of inventions is free from the indicated disadvantages. Highly-efficient screening complex can be built only if a driver does not leave a cabin during screening and a zone subject to scanning is determined automatically. Existing methods of determination of scanning zone beginning based on optical (laser) measurements have a restricted field of application.
The technical result of the claimed group of inventions consists in:
- the principal possibility to maintain high performance of screening complex for wider class of cargo vehicles;
- extending the area of screening of inspected objects including the cargo, cabin, driver, passengers;
- raising the informativity of inspected object images;
- raising validity of screening due to increase of granularity of cargo images.
The indicated technical result is unique for the claimed group of inventions.
The indicated technical result is achieved by that in a system for screening cargo and self-propelled vehicles including cargo, passengers and driver being there, comprising a X-Ray radiation source having high penetrating power, with a collimator, the source control device, a portal having consoles and detectors mounted on them, an electronic tract for forming and collecting signals from the detectors and a shadow image forming device connected to it, laser scanners, one of which being disposed at a distance from the radiation zone not less than a length of a size, maximally permissible by the portal, of the inspected object in the direction of movement thereof, the X-Ray source control device made with the use of laser scanners to determine a section of inspected object not subject to radiation, in accordance with the claimed invention, in front of the portal with consoles in the direction of movement the additional radiation source is mounted which has a lower penetrating power and mechanical beam sweep in the horizontal plane and a detecting system of backscattered radiation.
Moreover, the indicated technical result is achieved by that the X-Ray radiation source with a lower penetrating power jointly with mechanical beam sweep of this source have a needle beam for vertical scanning of the inspected object.
Besides that, the indicated technical result is achieved by that the mechanical beam sweep of radiation source with a lower penetrating power in vertical direction has a rotating collimator.
In addition to that, the indicated technical result is achieved by that the X- Ray impulse source is used as a source with high penetrating power.
Besides that, the indicated technical result is achieved by that the betatron is used as the X-Ray impulse source.
The indicated technical result is also achieved by the method of automatic radioscopic control of moving objects and determination of X-Ray scanning zone in the system of screening of self-propelled vehicles including cargo, passengers and driver being there, the method including steps of: switching on a radiation source when an inspected object enters the radiation zone and its section not subject to the radiation passes that zone; and switching off the radiation source when the inspected object passes entirely the radiation zone, wherein, in accordance with the method implemented in the claimed system, the beginning and the end of cargo zone of inspected object subject to radiation scanning by the source with high penetrating power is determined when the inspected object moves in the scanning zone of the source with lower penetrating power, by the fixed at that moment position of the inspected object obtained from the laser scanners, and by the decrease of density of backscattered radiation flow of the source with lower penetrating power below the predetermined level.
The indicated technical result is also achieved by the method for forming an image of the inspected object in the system of screening of self-propelled vehicles including cargo, passengers and driver being there, the method consisting in forming a shadow image of cargo section of the inspected object on the basis of image numerical matrix which is built according to data of radiation detection system and data of inspected object position obtained from the laser scanners, by which, in accordance with the method implemented in the claimed system , the additional image of the inspected object is obtained in the backscattered radiation by way of forming a numerical matrix of image according to data of scattered radiation detection system and data of inspected object position relative to laser scanners.
Description of the Claimed Invention
The claimed group of inventions - a system for screening self-propelled vehicles including cargo, passengers and driver being there, a method of automatic radioscopic control of moving objects and radiation scanning zone and a method for forming a shadow image and a backscattered image of inspected object are illustrated by Figs.l to 4.
Fig. 1 shows relative position of main elements of the system and position of the inspected object when it comes to the zone of radiation screening (Fig. la is the side view, Fig. lb is the plan view). Fig. 1 shows the route (10) along which the inspected object (1) moves, the radiation source having high penetrating power (14) with collimator (15) is situated alongside of the route (10); a system of radiation detectors (7) is situated opposite the radiation source having high penetrating power (14) on another side of the route; a first laser scanner for scanning a beam in the horizontal plane (9) is mounted at one side of the route (10) at a distance from the radiation zone exceeding the maximum allowable size of the inspected object (1) in the movement direction, for detecting the inspected object (1) and its position during the movement along the route (10); a second laser scanner for scanning a beam in the vertical plane (5) across the route (10) is mounted above the route at a short distance from the radiation zone, for detecting the section of the inspected object (1) not subject to the radiation; source with low penetrating power (11) with mechanical beam sweep (12) and system of detectors of back scattering (2) are mounted in the body frame (3) alongside of the route (10) in front of the radiation source having high penetrating power (14);
Fig. 2 shows a block scheme demonstrating the relationship of all elements of the system, where the connection of the detection system (7) with the electronic tract of analog-to-digital converter (ADC) (18) is shown as well as its connection with the electronic device for forming a shadow image (19); the system of back scattering detectors (2) is connected with the system for forming the backscattered image (16) and the connection of controller (17) with all main elements of the system is also shown.
Fig. 3 shows possible positions of the inspected object (1) relative to the laser scanner (5).
Fig. 4 shows the results of back scattering intensity modeling depending on a distance traveled by a vehicle in the scanning zone. To illustrate the practical feasibility of such method the numerical modeling was carried out.
The system working principle consists in forming two numerical matrices of images - a shadow image of cargo section of the inspected object and a backscattered image of the whole object. The shadow image of cargo section of the inspected object is obtained by its scanning using the source with high penetrating power. The backscattered image is formed by scanning the object using the source with low penetrating power. Detection of the beginning of cargo section of a vehicle is carried out automatically in two ways. The first one - using the data on the inspected object position obtained from the laser scanners (1 and 5), and the second (2 and 9) -on the basis of analysis of backscattered image. More detailed review of each way is presented below.
Detection of the beginning of the cargo section of a vehicle is realized using the laser scanners. The interaction of the system main elements during operation can be described as follows. The first laser scanner (5) runs continuously scanning the space region at the place where the inspected object enters the radiation zone. The results of each scanning - distances to the inspected objects meeting on the laser beam, within scanning angle limits with discrete step in terms of angle (LMS of the“SICK” firm provides the scanning angle up to 180 degrees with an angle step up to a quarter of a degree). Data of each laser scan in the form of number group (for the LMS of the“SICK” firm the data array dimension of one scan, with the scanning angle 180 degrees, is up to 720 numbers) via the interface RS-422 are transmitted by the laser scanner to a controller (17). Processing of data in the controller (17) is carried out in several steps. At the first step, for further processing only those data are selected which correspond to the position of the object (1) within the route (10). In the absence of such data the controller (17) registers the absence of the inspected object (1) and, correspondingly, does not compute its position. When the data indicating the presence of the inspected object (1) occur the controller (17) registers its appearance and begins computing the corresponding relative position of the moving inspected object (1) for each laser scanning.
Algorithm for computing the inspected object (1) position depends on its position relative to the center of laser scanning.
The following variants of the inspected object (1) position relative to the laser scanner, shown in Fig.3, are possible:
1. The inspected object (1) is placed in front of the laser scanner (Fig.
3a). 2. The inspected object (1) is placed opposite to the laser scanner (Fig. 3b).
3. The inspected object (1) is placed behind the laser scanner (Fig. 3c).
In each case in the profile of laser scanning the end points of the inspected object (1) are singled out. For further processing the end points in the profile closest to the laser scanning center and the points surrounding them are used. Using the laser scanning center coordinates relative to the radiation zone plane and the radial coordinates relative to the scanning center selected for the processing of profile points the controller (17) computes the relative coordinates of these points in the Cartesian coordinate system where the coordinate“X” corresponds to the movement direction and the coordinate“Y” - to the direction across the route (10). Further, in case of variants 1 and 3 X-coordinates of selected points close to the end point are averaged, the obtained value corresponds to the relative coordinate of the object position relative to the radiation zone plane.
When the inspected object (1) is placed in accordance with the second variant the X-coordinate of selected end point corresponds to the relative coordinate of the object position.
As can be seen from Fig. 3 in case of the first variant a position of the forepart of the inspected object is fixed most clearly and in case of the third variant - a position of the end part. Only the second variant provides a possibility of clear determination of forepart and end part of the inspected object on the profile of laser scanning. Therefore, this phase of determination of the inspected object (1) position is used also for determining the full dimensions of the object in the direction of its movement. These data can be used to determine the switch-on point when the length of the object zone not subject to the radiation is known beforehand.
Accuracy of determination of the inspected object (1) position and detection of the gap depend on technical parameters of laser scanners. Parameters achieved with the use of the LMS of the“SICK” firm with the scanning frequency 50 Hz and angle discretization 1 degree are presented in the
Table.
Table
Figure imgf000012_0001
The second laser scanner (9) switches on for scanning only upon detecting the inspected object (1) on the route (10) with the aid of the first laser scanner (5). It operates in the same manner as the first laser scanner (5), obtained results of laser scanning are transmitted via the interface RS-422 to the controller (17).
Primary data processing in the controller (17) consists in deducting the received data from the data array which corresponds to the absence of the inspected object (1) in the laser scanning plane of this scanner. Thereby, the inspected object (1) profile is formed relative to ground, corresponding to this scan. In the absence of the inspected object (1) in the plane (when the profile is equal to zero) further data processing in not carried out and the controller (17) waits for the next scan data. When the inspected object (1) appears (when the profile is different from zero) the controller (17) carries out primary processing for several further scans in order to confirm that the inspected object (1) enters the laser scanning zone. In case the following scanning confirms the entrance of the inspected object (1), the controller (17) analyzes the inspected object (1) profile in the subsequent data regarding detecting the end of the zone not subject to radiation. Using the known value of the distance between the laser scanning plane and radiation plane the controller (17) further registers the point when the gap passes the radiation plane and generates a command for switching on the source of radiation (14). After that, the controller (17) continues laser scanner data processing in order to determine the point when the inspected object (1) passes the radiation zone entirely and to generate a command for switching off the radiation source (14). The algorithm in this case is similar to the above- described method. Also, the algorithm generating a command of switching off the radiation source without using a laser scanner, based on object position data only, is possible.
The algorithm of shadow image formation allows one to take into account the non-uniform character of the object movement during the radiation scanning. This is achieved by that when creating a shadow image the data of inspected object (1) position relative to radiation plane are used during scanning. During the radiation scanning starting from the moment of switching on the radiation source (14) the electronic device for forming a shadow image (19) receives and buffers the data from the detection system (7) via the ADC electronic tract (18) and controller (17). Upon termination of radiation scanning the device for forming a shadow image (19) processes received data and forms the shadow image in the form of numerical matrix.
Data processing is based on the fact that the data entering the electronic system of image formation (19) have time connection determined by the frequencies of radiation scanning and laser scanning. Thus, the radiation scanning data (sequence of arrays of digitalized responses of detectors) are separated in time with each other by equal time periods determined by the preset frequency of radiation scanning. This makes it possible to build for each detector a dependence of its response on time beginning from the start of radiation scanning.
Similarly, the time dependence of the inspected object (1) position can be built relying on the laser scanning frequency on the basis of which the inverse dependence "time - inspected object (1) position" is built beginning from the start of radiation scanning. In such a case the procedures of data smoothing and interpolation can be used. Results of such processing are summarized in a table where a time coordinate corresponds to each displacement of the inspected object (1) at a given fixed distance. Further, with the aid of this table and using the interpolation techniques, the detector response data are converted. For each detector, a new data array is built, where the response corresponds to a given fixed displacement of the object. A converted data set of the detector responses forms a numerical matrix of the shadow image. The described algorithm is realized by the electronic system for forming a shadow image (19).
The additional and independent channel of detection of cargo section of the inspected object (1) is a channel of registration of backscattered radiation generated by the source with low penetrating power (1 10 and formed by the collimator (12). Backscattered radiation from the inspected object (1) is registered by the detection system (2) and transmitted to the system of forming the backscattered image (16) which is transmitted to the controller (17) for analysis. The analysis of backscattered image (16) regarding detection of the gap and the end of the inspected object (1) occurs in the controller (17) which, when detecting the gap, sends a switch on signal to the ionizing radiation source with high penetrating power (14). Switching off of ionizing radiation source (14) occurs after obtaining a signal of the inspected object (1) end detection from the controller (17). The algorithm of detecting the gap and the end of the inspected object (1) is based on the analysis of summary signal from the detection system (2) registering the backscattered radiation. The main criterion of determination of the gap between the cabin and container and the container end is a sharp decrease in the summary signal level. To illustrate practical feasibility of such algorithm the numerical modeling was carried out. Fig. 4a shows the KamAZ model used for modeling as an inspected vehicle. As the back scattering detectors (2) two scintillation panels are used, each of size 40x5000 mm, a distance between the panels is 40.0 mm. Through the gap between the detector panels the collimated beam of X-Rays (13) passes. The detectors register the energy and coordinate of backscattered photon entry into the detector, then the photon is considered absorbed in the detector and is not controlled. Dividing the detector into cells, computation of energy and photon quantity in each cell is carried out after modeling during data post-processing.
Fig. 4b shows the level of signal from the detector panels (2) of backscattered radiation during the inspected object (1) moving, from the back scattering detectors (2) in the range of 1000-3500 mm in height. On the basis of obtained during modeling results the following conclusions can be made:
- it is proposed that the summary signal from the detector lineup registering backscattered radiation be used to determine the gap between the cabin and container;
- when the object passes the signal level increases, then, when the cabin of the inspected object (1) passes and the gap appears in the visibility scope the summary signal decreases sharply;
- a main criterion of determination of the gap between the cabin and container is the decrease of summary signal level by 10-20% of maximum value of summary signal;
- it is possible to use the summary signal not from the whole lineup but from the some range which is determined by geometrical parameters of the object (vehicle sizes).
Thus, the use of two independent channels of detection of inspected object radiation zone makes it possible to increase screening reliability and safety. Moreover, two images of the inspected object are obtained additionally in course of screening. The fist image is a shadow image of the inspected object container passed through the radiation and the second one - the backscattered image of the whole object.
The technical-and-economic efficiency of the claimed group of inventions consists in increasing the operation speed and the capacity of the system as well as in increasing the security, reliability and accuracy of the inspected vehicle screening due to the new system structural design and the two independent screening methods realized on the basis thereof.
Reference list l. RU Patent 2284511C2.
2. US Patent 8457275B2.
3. US Patent 7688945B2.
4. RU Patent 2430424C1.
5. US Patent 9835756B2.
6. RU Patent 2418291C2.
7. US Patent 9057679B2 (prototype).

Claims

Claims
1. A system for screening self-propelled vehicles including cargo, passengers and driver being there, the system comprising a radiation source having high penetrating power, with a collimator, the radiation source control device, a portal having consoles and radiation detectors mounted on them and placed on the portal side opposite to the radiation source, an electronic tract for forming and collecting signals from detectors and a shadow image forming device connected to it, radiation source control device is constructed using laser scanners, one of which being disposed at a distance from the radiation zone not less than a length of a size, maximally permissible by the portal, of the inspected object in the direction of movement thereof and with the beam sweep in the horizontal plane, another laser scanner is placed directly near the radiation zone and with the beam sweep in the vertical plane, connected to the laser scanners of the controller of the inspected object position relative to the radiation zone, determination of the section of the inspected object not subject to radiation, characterized in that in front of the portal with consoles in the direction of the inspected object movement the additional radiation source is mounted which has a lower penetrating power and mechanical beam sweep in the horizontal plane and a detecting system of backscattered radiation.
2. The system according to claim 1 characterized in that the radiation source with lower penetrating power jointly with mechanical beam sweep of this source have a needle beam for vertical scanning of inspected object.
3. The system according to claim 1 characterized in that the mechanical beam sweep of the radiation source with lower penetrating power in a vertical plane is equipped with the rotating collimator.
4. The system according to claim 1 characterized in that as a source with high penetrating power the impulse source of X-Ray radiation is used.
5. The system according to claim 4 characterized in that as an impulse source of X-Ray radiation the betatron is used.
6. A method of automatic radioscopic control of moving objects and determination of radiation scanning zone in the system of screening vehicles according to claim 1, the method consisting in switching on a radiation source when an inspected object enters the radiation zone and its section not subject to the radiation passes this zone; and switching off the radiation source when the inspected object passes entirely the radiation zone, and switching off the radiation source when die inspected object passes the radiation zone entirely, characterized in that the beginning and the end of cargo zone of the inspected object subject to radiation scanning by the source with high penetrating power is determined when the inspected object moves in the scanning zone of the source with lower penetrating power, by the fixed at that moment position of inspected object obtained from the laser scanners, and by the decrease in density of backscattered radiation flow of the source with lower penetrating power below the predetermined level.
7. The method for forming an image of the inspected object consisting in forming a shadow image of cargo section of the inspected object on the basis of numerical matrix of image which is built according to data of radiation detection system and data of inspected object position obtained from laser scanners, characterized in that the additional image of the inspected object in the backscattered radiation is formed by way of forming a numerical matrix of image according to data of scattered radiation detection system and data of inspected object position relative to laser scanners.
PCT/RU2019/001030 2018-12-27 2019-12-26 System for screening vehicles and method of radioscopic control of moving objects WO2020139162A1 (en)

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MA53576A MA53576B1 (en) 2018-12-27 2019-12-26 Motor vehicle inspection system including cargo, passengers and driver being present, method for automatic fluoroscopic control of moving objects and radiation scanning area and method for forming shadow image of inspected object .
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