A flying spot scanning control method and apparatus

Abstract

The application discloses a flying point scanning control method and device, and belongs to the technical field of X-ray scanning imaging. The method is realized based on a flying focal point X-ray source and a static constraint device, and comprises the following steps: acquiring scanning control parameters which are independently set for multiple scanning positions, wherein the scanning control parameters comprise scanning time lengths corresponding to the scanning positions, and different scanning positions can be set as different values; and controlling a focal point switching process of the flying focal point X-ray source according to the scanning control parameters to perform flying point scanning. The application is based on pre-identification of a scanning area, different areas adopt different scanning modes, empty areas can be directly skipped, and key areas are strengthened for scanning. The application reduces a radiation dose, improves scanning efficiency, and improves imaging quality of key areas. However, the existing feedback type scheme cannot distinguish empty areas and metal areas (scattering signals are also weak), and is prone to misjudgment and resource waste.

Description

Technical Field

[0001] This invention relates to the field of X-ray scanning imaging technology, and in particular to a flying-spot scanning control method and apparatus, which is especially suitable for time-division scanning systems that integrate transmission and backscattering. Background Technology

[0002] X-ray backscattering imaging technology uses Compton backscattering signals to detect substances. Compared to metallic substances, contraband with low atomic numbers and low densities has a higher Compton scattering cross section, producing a stronger scattering signal. Therefore, this technology is widely used in the field of security inspection.

[0003] In backscattered imaging systems, X-rays need to be modulated into pencil beams (i.e., "flying spots") to scan the object being inspected point by point. Traditional flying spot formation methods rely on the high-speed movement of mechanical rotating components (such as rotating flywheels, choppers, or coaxial rotating cylinder structures). This type of method has a structural defect: the angular velocity of the mechanical rotation is uniform, resulting in a fixed and unchangeable time window for each scanning position, making it impossible to perform differentiated scanning of specific areas according to actual needs.

[0004] The inventors of this application first proposed a static flying-spot scanning architecture based on a flying-focus X-ray source and a static constraint device in their earlier Chinese patent application CN121740919A (hereinafter referred to as "the prior application"). The core contribution of the prior application lies in replacing mechanical rotating parts with an electrically controlled focus switching and a one-to-one corresponding slot combination, thereby achieving high-speed, motion-blurred static scanning. The dependent claims of the prior application define "continuous scanning mode," "static scanning mode," and "non-isochronous static scanning mode," wherein the "non-isochronous static scanning mode" is described as "the time the scanning point stays at each point is not necessarily the same... the scanning point stays for a longer time in the key scanning area." However, the prior application focuses on classifying and defining scanning modes from the perspective of scanning effect, and does not fully disclose the specific implementation means of core technologies such as how to independently configure the scanning duration for each scanning position through input parameters, how to independently configure the radiation dose per unit time, how to achieve active identification and skipping of empty areas, and how to adaptively acquire parameters.

[0005] US Patent 11175245B1 discloses a scattered X-ray imaging system with adaptive scanning beam intensity, which adjusts the X-ray beam intensity based on the brightness of the scattered signal fed back by the detector in real time. This approach has limitations and risks: it does not involve time-dimensional adjustment, so even if a location does not require scanning and the beam intensity is simply adjusted to zero, the same scanning time is still consumed; it cannot distinguish the cause of weak scattered signals (both empty and metallic regions have weak scattered signals), uniformly adopting an "increased dose" response, leading to wasted dose in empty regions and low scanning efficiency; and the adjustment based on local scattered signal feedback is highly susceptible to local noise interference, resulting in a high risk of misjudgment.

[0006] Furthermore, in integrated transmission and backscatter scanning systems, existing technologies have not yet addressed how to utilize the results of prior transmission scans to provide precise cognitive guidance for subsequent backscatter scans.

[0007] In summary, the existing technology has the following technical problems that urgently need to be solved: (1) The time windows of each scanning position cannot be configured independently, and it is impossible to perform differentiated control in the time dimension; (2) The feedback dose adjustment scheme cannot distinguish the reasons for weak scattered signals, and the response to empty areas causes radiation dose waste and low scanning efficiency, and there are safety risks caused by misjudgment based on local feedback; (3) Although the previous case proposed the concept of non-isochronous scanning, the core technologies such as independently configuring parameters for each scanning position and differentiating different regions are not fully disclosed, making it difficult to implement effectively. Summary of the Invention

[0008] The purpose of this invention is to provide a further improved flying-spot scanning control method and apparatus based on the basic architecture of the flying-spot X-ray source and static confinement device disclosed in the previous case CN121740919A, so as to solve the technical problems in the prior art where the scanning timing cannot be independently configured, the feedback adjustment cannot distinguish the cause of weak signals leading to dose waste and low scanning efficiency, the previous case does not fully disclose the specific implementation means of non-isochronous scanning, and the transmission information in the integrated system is not fully utilized.

[0009] To achieve the above objectives, the present invention provides the following technical solution: Firstly, a flying-spot scanning control method is provided, based on a flying-focus X-ray source and a static constraint device. The flying-focus X-ray source has multiple focal points and can alternately switch between different focal points to emit X-rays; the static constraint device has slots or spiral slits corresponding to the flying focal points to modulate the X-rays, forming flying-spot scanning beams corresponding to multiple scanning positions. The method includes: acquiring scanning control parameters independently set for each of the multiple scanning positions, the scanning control parameters including the scanning duration and radiation dose per unit time corresponding to each scanning position, and the scanning control parameters can be set to different values ​​for different scanning positions; and controlling the focal point switching process of the flying-focus X-ray source according to the scanning control parameters to perform flying-spot scanning.

[0010] The core improvement of this invention lies in introducing independently programmable scanning control parameters for each scanning position within the electronic scanning architecture combining a flyfocal X-ray source with a static constraint device. Based on this electronic scanning architecture, the focus switching of the flyfocal X-ray source is driven by electronic signals and can be completed on a microsecond timescale. The activation time and duration of each focus can be independently programmed and controlled. Therefore, the scanning duration of each scanning position can be independently set to any value, including zero. When the scanning duration of a certain scanning position is configured to zero, no beam emerges at that position, and the focus immediately switches to the next effective scanning position. The time window of that position is completely skipped, and the overall scanning cycle is shortened.

[0011] More importantly, the parameter configuration of the present invention is based on the pre-identification of the attributes of each region of the scanned object—the information of the scanned object is obtained through the information acquisition device, empty regions, key regions and non-key regions are actively identified, and then the corresponding scanning parameters are configured according to the region type.

[0012] Furthermore, the configuration of scanning control parameters is based on the pre-identification of the attributes of each region of the scanned object, including: empty regions are configured with a scanning duration of zero and the scanning is skipped directly, and the focus is immediately switched to the next effective scanning position, shortening the scanning cycle; key regions have increased scanning duration and radiation dose, and the region is doubly enhanced in both time and dose dimensions; non-key regions have reduced scanning duration and radiation dose, effectively saving scanning time and total radiation dose.

[0013] Furthermore, the method also includes: correcting the emission power of each focal point according to a pre-calibrated brightness correction coefficient for each focal point position to achieve equalization of radiation dose at different focal points. This brightness correction coefficient is a fixed pre-calibrated value, independent of the scattering signal of the scanned object, and is determined before scanning. It avoids the inherent response lag problem of feedback adjustment, ensuring that the actual radiation dose reaching the surface of the scanned object at each scanning position is uniform and consistent.

[0014] Furthermore, the scanning control parameters are obtained adaptively: before the formal scanning, information about the object being scanned is collected in real time by an information acquisition device, and the scanning control parameters for each focal point are automatically calculated. The information acquisition device includes at least one of a camera, LiDAR, or millimeter-wave radar. The automatic calculation process includes: marking the scanning area by contour extraction; dividing the scanning area into empty areas, key areas, non-key areas, and areas to be avoided by using AI image segmentation algorithms (including but not limited to U-Net, Mask R-CNN, DeepLab, etc.); generating corresponding scanning control parameters for different types of areas based on the segmentation results; determining the current position of the object being scanned by image matching, and finely correcting the position by combining speed information and the information from the previous columns of the scan. When the first few columns of the scanned object are initially reached, positional deviations may occur due to matching accuracy. Using the image information from the previously scanned images, the position where the scan column just touches the object is finely determined, and the next position is predicted by combining speed information; and / or calculating the relative movement speed between the object being scanned and the scanning device, and automatically adjusting the flying point switching speed according to the relative movement speed to ensure that the scanned image is not distorted.

[0015] Furthermore, when this invention is applied to a scanning system integrating transmission and backscattering, the information acquisition device, in addition to including a camera, lidar, or millimeter-wave radar, creatively incorporates the system's own transmission scanning module as one of the information sources. This system operates in a time-division multiplexing manner, first performing a transmission scan to obtain a transmission image, and then performing a backscattering scan. During the parameter adaptive acquisition phase before the backscattering scan begins, the transmission image is directly read as the data source. The transmission image can directly reflect the internal structure of the scanned object and can accurately distinguish areas that are difficult for optical or radar sensors to identify: for example, areas in the transmission image with grayscale values ​​approximately equal to those in an empty scan are empty areas, while areas with extremely low grayscale values ​​are areas resembling metal obstructions.

[0016] Furthermore, the method also includes: acquiring scattered X-ray signals from the scanned object using a detector; generating a scanned image after signal conversion and processing of the scattered X-ray signals. During the scanning process, some areas are skipped directly, some have varying scan durations, and some have different optomechanical powers. In the image processing stage, the signals obtained from each scan are filled into the corresponding pixels of the image according to the numbering information. The image brightness is corrected based on the original irradiation dose calculated according to the scan duration and optomechanical power. Finally, background information values ​​are used to fill in the positions where there is no scanned information.

[0017] Secondly, a flying-spot scanning control device is provided, including a flying-focus X-ray source and a static constraint device, and further including: a parameter acquisition unit, used to acquire scanning control parameters independently set for multiple scanning positions, the scanning control parameters including the scanning duration corresponding to each scanning position, and the scanning control parameters can be set to different values ​​for different scanning positions; and a scanning controller, used to control the focus switching process of the flying-focus X-ray source according to the scanning control parameters to perform flying-spot scanning.

[0018] Furthermore, the parameter acquisition unit includes: an information acquisition module, used to acquire information about the scanned object in real time through a camera, lidar, millimeter-wave radar, or transmission scanning imaging device; and a parameter calculation module, used to automatically calculate the scanning control parameters of each focal point based on the information. The parameter calculation module includes: an image segmentation unit, used to segment the scanning area into empty areas, key areas, non-key areas, and areas to be avoided using an AI image segmentation algorithm; and a speed measurement unit, used to calculate the relative speed between the scanned object and the scanning device. Comparison with existing technologies:

[0019] The previous patent CN121740919A first proposed a static flying-spot scanning architecture combining a flying-focus X-ray source with a static constraint device, replacing mechanical rotating components with electrically controlled focus switching, and defining a "non-isochronous static scanning method." Based on the previous patent, this invention provides specific implementation methods not fully disclosed in the previous patent: (1) The specific mechanism for independently configuring the scanning duration and radiation dose per unit time at each scanning position; (2) Control logic that skips the corresponding position and shortens the scanning cycle when the scanning duration is configured to be zero; (3) Specific technical solutions for AI image segmentation region classification and adaptive parameter acquisition; (4) Supplementary technical features such as speed matching and brightness correction.

[0020] These technical means have transformed the "non-isochronous scanning" proposed in the previous case from a concept into a concrete and implementable technical solution. They represent a substantial improvement and enhancement to the previous case, rather than a simple repetition.

[0021] Compared to US11175245B1: (1) Cognitive data sources include heterogeneous and advanced transmission images, rather than homogeneous and delayed scattering signals, and local scattering signals are highly susceptible to noise interference; (2) Skip the empty area directly instead of increasing the dose; (3) Achieve independent control of time and dosage in two dimensions, rather than single dosage adjustment.

[0022] These differences enable the present invention to achieve unexpected technical effects in avoiding dose waste, improving scanning efficiency and safety. Beneficial effects

[0023] (1) Avoiding dose waste and improving scanning efficiency: By pre-identifying empty areas through AI image segmentation and skipping them directly (scanning time is zero), the pure waste caused by "increasing dose" in empty areas in the feedback scheme is avoided, and the scanning cycle is shortened.

[0024] (2) More precise resource allocation: Based on the prior understanding of the object structure, the causes of different weak signals are accurately distinguished, and the time and dose resources saved are accurately allocated to key areas. The signal-to-noise ratio of key areas is improved by the dual enhancement of time and dose dimensions, and the detection performance is improved without increasing the total radiation dose.

[0025] (3) Safer control decisions: Active planning based on global cognition avoids radiation safety risks caused by local feedback misjudgment (such as increasing the dose of subsequent scanning points in empty areas) in feedback schemes.

[0026] (4) Stable image quality: The flying point switching speed is adjusted in real time according to the relative movement speed of the scanned object to ensure consistent spatial sampling density and avoid image distortion. The radiation dose of each focal point is pre-equalized by the brightness correction coefficient to ensure consistent image grayscale. Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating a flying point scanning control method provided in an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of a flying point scanning structure provided in an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of a flying point scanning control logic provided in an embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of a flying-spot scanning structure based on a transmission image, provided in an embodiment of the present invention. Attached Figure

[0031] 1. Electron transmitter; 2. Electron deflection control system; 3. Array focus; 4. Static flying point constraint device; 5. Inner slot of constraint device; 6. Scattering detector; 7. Camera; 8. Scanned object; 9. Empty scanning area; 10. Key scanning area; 11. Non-key area; 12. Transmission scanning focus (facing the gap in the constraint device); 13. Gap in the constraint device; 14. Transmission linear array detector. Detailed Implementation

[0032] The structure of the flyfocal X-ray source, the construction of the static confinement device, and the basic principles of focus switching, which have been fully disclosed in the previous application CN121740919A, are incorporated herein by reference. The deflection magnetic field / electric field control method, the switching control method (including carbon nanotube cold cathode X-ray source), the materials and structure of the static confinement device, and the arrangement of the slots and apertures described in the previous application can all serve as the basic implementation framework of this invention.

[0033] The fly-focus X-ray source controls the switching of the electron beam between different anode targets by using a deflecting magnetic field or electric field, or by switching on and off to sequentially activate different cathode filaments (including carbon nanotube cold cathodes), thus achieving the alternating switching of X-ray emission from different focal points. A static confinement device, made of a high atomic number shielding material, is fixedly installed in front of the fly-focus X-ray source and has corresponding slots or spiral slits. When X-rays are emitted from a particular focal point, they pass through the corresponding slots or slits, forming a fly-spot scanning beam at the scanning position corresponding to that focal point.

[0034] The following focuses on describing the improved technical features of the present invention based on the prior art. Example

[0035] This embodiment provides a flying point scanning control method. Figure 1 A flowchart illustrating the method is shown. Figure 3 A schematic diagram of the control logic of this method is shown.

[0036] Step S1: Obtain scan control parameters.

[0037] 1.) Signal Acquisition: At least through an external camera, LiDAR, millimeter-wave radar, or transmission scanning equipment. One type of external device collects visual information that can identify the structure of the scanned object and information that can identify its speed.

[0038] 2.) Original signal analysis: The AI ​​image segmentation algorithm is used to identify empty areas, key areas, non-key areas and areas that need to be avoided, and the height range of each area in each column is analyzed; the relative speed of the detected object is calculated using speed radar or multi-frame image matching.

[0039] 3.) Control parameter list configuration: First, calculate the total collection time required for the current column based on the relative moving speed of the detected object, and then match the moving speed. Based on the proportion of each area, allocate the scanning time for each point in each area; The scan duration for empty regions is set to zero. Based on the allocated scanning time, each point in the key area is assessed to determine whether the output beam power of the optical engine needs to be increased, and the beam power is calculated. For each point in the non-critical area, based on the allocated scanning time, it is determined whether the output beam power of the optical engine needs to be reduced, and the beam power is calculated. Each focal point is numbered in the list according to its position, and each number corresponds to: deflection control parameter, scan duration parameter, and dose control parameter.

[0040] Examples of parameter allocation methods under different circumstances: Total number of scan points N per column, total time T, number of empty area points m1, number of key area points m2, number of non-key area points m3, key area adjustment coefficient a (a>=1.0), N = m1 + m2 + m3, adjustment method according to different situations: The scanning time for each point remains unchanged, but empty areas are skipped to speed up the scanning process. The total scanning time is: T' = (m2 + m3) / N * T.

[0041] The total time remains unchanged; the scanning time of the original empty area is allocated to other areas. Single-point time in empty region: t1 = 0; Single-point time in key areas: t2 = a*T / (m2*a + m3); Single-point time in non-key areas: t3 = T / (m2*a + m3).

[0042] The total time remains the same, but dosage requirements apply to both key and non-key areas: First, adjust the adjustment coefficient 'a' in the key area to see if the requirements can be met simultaneously. If not, increase or decrease the output beam power of the optical engine to meet the requirements.

[0043] Adjustments are made based on the grayscale values ​​of the transmitted image (after smoothing and noise reduction). The general principle is as follows: Points with high gray values ​​(close to empty areas) have reduced doses, while points with low gray values ​​(difficult-to-penetrate areas) have increased doses. Dose changes can be achieved by altering the single-point scanning time and the combination of optomechanical power.

[0044] Step S2: Figure 3 As shown, the flying-spot scanning is controlled by parameters. The scanning controller generates the driving signal for the flying-focus X-ray source based on the scanning control parameters obtained in step S1, and precisely controls the working state of each focus. The flying-spot scanning X-ray beam performs a non-uniform scan in space according to the rhythm of "skipping empty areas → rapidly scanning non-key areas → finely scanning key areas → skipping avoidable areas".

[0045] 1.) Generate control signals based on parameters. The parameter list corresponds to the sequence number, deflection parameters, scan duration, and power parameters of each focus. These parameters are converted into operable control logic through the control module and various hardware interfaces. 2.) Current position determination: The current position of the scanned object is roughly determined by image matching. When the head of the scanned object is about to reach the scanning position, the scanning begins and the scanning parameters of the first column are used. The information obtained from the scanning of a few columns in advance assists the position determination of image matching, so as to obtain more accurate position information. Then, the speed information is combined to predict the next position.

[0046] 3.) Flying point scanning: The focus moves or switches in a preset order, queries the deflection parameters by number, and converts them into the current or voltage value of the deflection magnetic field or electric field through the control module; 4.) Independent control of each focal point: The corresponding duration pulse signal is converted into a trigger signal to control the start and stop of beam output of the optical engine; the corresponding dose signal controls the power of the optical engine.

[0047] Step S3: Image generation.

[0048] 1.) Detector signal acquisition: The trigger signal controlling the optomechanism synchronously controls the start and stop of detector signal acquisition; 2.) Image generation: The detector signal is converted into image grayscale values; the grayscale values ​​acquired by each focal point are filled into the corresponding positions in the image according to the number information in the parameter list; the image brightness is corrected according to the scanning time of each point and the original dose; empty pixels are filled with background information values.

[0049] Example 2 This embodiment provides a flying point scanning control device. Figure 2 A structural block diagram of the device is shown.

[0050] Based on the flight-focus X-ray static scanning disclosed in previous case CN121740919A, this device adds a visual information acquisition camera 7 and an internal logic control unit, such as... Figure 3 As shown.

[0051] The camera pre-captures multiple frames of images of the object being scanned, each containing time information. An AI image segmentation algorithm divides the scanned area into empty region 9, key region 10, and non-key region 11. An image matching algorithm calculates the movement distance in different frames to obtain speed information.

[0052] Approximately n (5-10 based on experience) columns before the front of the vehicle approaches the X-ray scanning position, according to... Figure 3 The control flow begins flying point scanning.

[0053] The flying-spot scanning control device of this invention is deployed in a vehicle security checkpoint. When a truck enters the checkpoint, a camera and LiDAR perform real-time imaging and 3D contour scanning of the truck. The image segmentation unit of the parameter calculation module runs an AI segmentation algorithm to divide the scanning field of view into: the cab (key area), the cargo box (key area), the wheel-to-chassis gap (empty area), the side panels of the vehicle body (non-key area), and the windshield area (area to be avoided). The speed measurement unit measures the vehicle's speed as 5 km / h.

[0054] The parameter generation unit automatically generates control parameters for each scanning position: cab and cargo box – scan duration 50μs / point, tube current 120% of rated (double enhancement in time and dose dimensions); wheel gaps and windshield area – scan duration zero, skipped directly; vehicle side panels – scan duration 15μs / point, tube current 60% of rated. Focus switching speed is calculated based on a speed of 5km / h.

[0055] Comparison of effects: The total radiation dose of the traditional uniform scanning method is 1.0 relative unit. After adopting this scheme, the total radiation dose is reduced to about 0.55 relative units, saving about 45%; in key areas, the scanning time is about twice that of normal, the tube current is 1.2 times that of normal, the single-point irradiation dose is about 2.4 times that of normal, and the signal-to-noise ratio is improved by about 55% (√2.4); empty areas are completely skipped, the scanning cycle is shortened, and the image remains stable and undistorted.

[0056] Compared to US11175245B1: In the same scenario, the US11175245B1 solution can only sense "weak signal" in empty areas such as wheel gaps and increase the dose accordingly, resulting in wasted radiation and the scanning cycle cannot be shortened. In areas such as metal cargo boxes that also generate weak signals, although the dose is increased, the magnitude and timing of the dose increase are limited by the lag of local feedback because the area type cannot be distinguished in advance. The solution of this invention actively identifies area attributes through AI image segmentation, skipping empty areas and strengthening key areas, achieving an intelligent control effect that feedback-based solutions cannot achieve at the physical and logical levels.

[0057] Example 3 This embodiment provides a flying point scanning control method based on perspective images. Figure 4 A perspective-based structural schematic diagram is shown. It is essentially the same as Embodiment 2, except that: Based on camera-based region segmentation, and combined with perspective images, more refined region segmentation is achieved, reducing key areas that are difficult to penetrate, resulting in higher scanning efficiency.

[0058] The above description is merely a specific embodiment of the present invention, and the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A flying-spot scanning control method, based on a flying-focus X-ray source and a static constraint device, wherein the flying-focus X-ray source has multiple focal points and can switch between different focal points to emit X-rays, and the static constraint device is provided with slots or spiral slits corresponding to the flying focal points to modulate the X-rays and form multiple flying-spot scanning beams corresponding to multiple scanning positions, characterized in that... include: The scanning control parameters are independently set for the multiple scanning positions. The scanning control parameters include the scanning duration or radiation dose per unit time corresponding to each scanning position, and the scanning control parameters can be set to different values ​​for different scanning positions. Based on the scanning control parameters, the focus switching process of the flying-focus X-ray source is controlled to perform flying-spot scanning.

2. The method according to claim 1, characterized in that: The scanning duration for each scanning position is configured independently. When the scan duration for a certain scan position is configured to zero, no beam is emitted from that scan position, and it is skipped directly. The focus immediately switches to the next valid scan position, thereby shortening the overall scan cycle.

3. The method according to claim 1, characterized in that: The scanning control parameters also include the radiation dose corresponding to each scanning position; The radiation dose at each scanning position is achieved by independently configuring the tube current and / or tube voltage corresponding to each focal point; At a given scanning location, the scanning duration and radiation dose can be increased simultaneously to enhance that location in both the time and dose dimensions.

4. The method according to claim 1, characterized in that: The configuration method of the scanning control parameters is based on the pre-identification of the attributes of each region of the scanned object, including: Empty areas or areas to be avoided are configured with a scan duration of zero, and the scan is skipped directly. Increase scanning time in key areas; Increase the radiation dose per unit time in key areas; Reduce scanning time in non-critical areas; Reduce radiation dose per unit time in non-critical areas.

5. The method according to claim 1, characterized in that: The configuration of the scanning control parameters is based on pre-calibrated brightness correction coefficients for each focal position, including: The emission power of each focal point is corrected to achieve equalization of radiation dose at different focal points.

6. The method according to claim 1, characterized in that: The scanning control parameters are obtained adaptively. Before the formal scanning, information about the object being scanned is collected in real time through an information acquisition device, and the scanning control parameters for each focal point are automatically calculated. The information acquisition device includes at least one of a camera, lidar, or millimeter-wave radar. The automatic calculation includes: Region recognition: The scanning area is marked by contour extraction, and the scanning area is divided into empty area, key area, non-key area and area to be avoided by AI image segmentation algorithm. Based on the segmentation results, corresponding scanning control parameters are generated for different types of areas. Current position determination: The current position of the scanned object is determined by image matching, and the position is finely corrected by combining speed information and the information in the previous scan.

7. The method according to claim 6, characterized in that: When the flying-spot scanning control method is applied to a scanning system integrating transmission and backscattering, the information acquisition device further includes a transmission scanning module of the integrated scanning system; The real-time acquisition of information about the scanned object also includes: acquiring the transmission image generated by the transmission scan previously performed by the transmission scanning module, and using the transmission image as one of the data sources for the automatic calculation.

8. The method according to claim 6, characterized in that: The automatic calculation also includes: calculating the relative moving speed between the scanned object and the scanning device; The flying point switching speed is automatically adjusted based on the relative movement speed to ensure that the scanned image is not distorted.

9. The method according to claim 1, characterized in that, Also includes: The detector collects the scattered X-ray signals of the object being scanned, and the scattered X-ray signals are converted and processed to generate a scanned image.

10. A flying-spot scanning control device, comprising a flying-spot X-ray source and a static constraint device, characterized in that, Also includes: The parameter acquisition unit is used to acquire scan control parameters that are set independently for multiple scan positions; A scanning controller is used to control the focus switching process of the flying-focus X-ray source according to the scanning control parameters, so as to perform flying-spot scanning; The parameter acquisition unit includes: The information acquisition module is used to acquire information about the scanned object in real time through a camera, lidar, millimeter-wave radar or transmission scanning imaging device. The parameter calculation module is used to automatically calculate and obtain the scanning control parameters of each focal point based on the information. The parameter calculation module includes: The image segmentation unit is used to segment the scanned area into empty areas, key areas, non-key areas, and areas to be avoided using an AI image segmentation algorithm. The velocity measurement unit is used to calculate the relative speed between the scanned object and the scanning device.

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