Intelligent mine detection system and method, electronic device

Abstract

The application relates to the field of mine detection, and provides an intelligent mine detection system and method and an electronic device. The mine detection system comprises a mobile platform, which is used for autonomous movement in a to-be-detected area; a flat plate X-ray source, which is arranged at the bottom of the mobile platform and is used for emitting X-rays to the ground during movement of the mobile platform; a backscattering detector, which is arranged at the side of the flat plate X-ray source and is used for receiving X-ray photons scattered by the to-be-detected area under the triggering of the X-rays; and an identification terminal, which is used for acquiring the X-ray photons collected by the backscattering detector and determining the position of a mine in the to-be-detected area based on the X-ray photons. The application solves the defects that the existing mine detection technology cannot effectively detect plastic mines, has a high false alarm rate, is low in efficiency and cannot adapt to complex terrains. The scheme of the application realizes efficient, accurate and autonomous detection of metal / non-metal mines in a 10-15 cm depth range based on backscattering imaging of a large-area flat plate X-ray source.

Description

Technical Field

[0001] This invention relates to the field of landmine detection technology, and in particular to an intelligent landmine detection system and method, and electronic equipment. Background Technology

[0002] Landmines are a widely used weapon, with over 100 million landmines currently deployed worldwide, causing numerous casualties each year. Existing main detection technologies include metal detectors and ground-penetrating radar (GPR), but both have significant drawbacks. Specifically, metal detectors cannot detect plastic-cased landmines (which account for over 70% of modern landmines), have a false alarm rate of 60-80% for metal fragments and shrapnel, and have a detection depth of only 5-8 cm, making them unable to cover deeply buried landmines. Ground-penetrating radar (GPR) is greatly affected by soil moisture content, fails in desert / rainforest environments, has low resolution, struggles to distinguish between landmines and rocks, and is bulky, requiring manual dragging, resulting in low efficiency.

[0003] In conclusion, existing landmine detection methods cannot meet modern needs for landmine detection. Summary of the Invention

[0004] This invention provides an intelligent landmine detection system, method, and electronic device to address the shortcomings of existing landmine detection technologies, such as ineffective detection of plastic landmines, high false alarm rate, low efficiency, and inability to adapt to complex terrain. The solution proposed in this application is based on backscatter imaging of a large-area flat X-ray source for landmine detection, achieving efficient, accurate, and autonomous detection of metal / non-metal landmines within a depth range of 10-15cm.

[0005] This invention provides an intelligent landmine detection system, comprising: A mobile platform for autonomous movement within the area to be tested; A flat-panel X-ray source is disposed at the bottom of the mobile platform and is used to emit X-rays toward the ground during the movement of the mobile platform. A backscatter detector is disposed on the side of the flat X-ray source to receive X-ray photons scattered by the region under test under the triggering of the X-rays; The identification terminal is used to acquire the X-ray photons collected by the backscatter detector and, based on the X-ray photons, determine the location of the landmine in the area to be tested.

[0006] According to the intelligent landmine detection system provided by the present invention, the flat panel X-ray source integrates a field emission cold cathode array, a grid, an anode target, and a beryllium window; The field emission cold cathode array is used to release electrons through the field emission effect; The gate is used to accelerate electrons emitted by the field emission cold cathode array; The anode target is used to release X-rays when bombarded by electrons emitted by the field emission cold cathode array; The beryllium window is used to project the X-rays and maintain the vacuum environment of the flat X-ray source.

[0007] According to the intelligent landmine detection system provided by the present invention, the backscatter detector includes a plurality of semiconductor detectors; Several semiconductor detectors are arranged in a set array on the side of the flat X-ray source.

[0008] According to the intelligent landmine detection system provided by the present invention, the mobile platform includes a lidar and a binocular vision system for autonomous navigation.

[0009] According to the intelligent landmine detection system provided by the present invention, the identification terminal is equipped with a deep learning model; The identification terminal is used to input the X-ray photons collected by the backscatter detector into the deep learning model and obtain the mine location output by the deep learning model.

[0010] According to the intelligent landmine detection system provided by the present invention, the operating voltage of the field emission cold cathode array is 30 to 80 kV and the operating current is 0.1 to 5 mA.

[0011] According to the intelligent landmine detection system provided by the present invention, the flat X-ray source is a vacuum structure with a vacuum degree of 10. -5 Pa, leakage rate less than 10 -9 Pa m 3 / s.

[0012] According to the intelligent landmine detection system provided by the present invention, the semiconductor detectors are symmetrically distributed on both sides of the flat X-ray source, and the semiconductor detectors on each side are arranged in a 16×4 array.

[0013] This invention also provides an intelligent landmine detection method, applied to an intelligent landmine detection system, comprising: During autonomous movement within the area to be tested, X-rays are emitted toward the ground of the area to be tested. Receive X-ray photons scattered by the region under test under the triggering of the X-rays; The location of landmines in the area to be tested is determined based on the X-ray photons.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the intelligent landmine detection methods described above.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the intelligent landmine detection methods described above.

[0016] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the intelligent landmine detection methods described above.

[0017] The intelligent landmine detection system provided by this invention has at least the following beneficial effects: (1) Significantly improved detection efficiency: The scanning width can reach more than 60cm and the moving speed is 0.5m / s, which is 10 times more efficient than traditional point source detection; (2) High recognition accuracy: The false alarm rate is controlled within 5%, compared to 60-80% for traditional methods; (3) Can identify plastic mines: accuracy rate is over 98%, compared to 0% for metal detectors; (4) All-weather operation: It can adapt to complex terrains such as mountains and deserts and is not affected by soil moisture; (5) Unmanned operation: The remote control distance of more than 100m effectively ensures personnel safety; (6) Cost reduction: The cost of mine clearance is reduced by up to 60% compared to manual mine clearance. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the intelligent landmine detection system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the flat X-ray source provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the backscatter detector provided in an embodiment of the present invention; Figure 4 This is one of the structural schematic diagrams of the mobile platform provided in the embodiments of the present invention; Figure 5 This is a second schematic diagram of the structure of the mobile platform provided in this embodiment of the invention; Figure 6 This is a flowchart illustrating the intelligent landmine detection method provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the physical structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] Figure 1 This is a schematic diagram of the intelligent landmine detection system provided in an embodiment of the present invention.

[0022] like Figure 1 As shown, this embodiment provides an intelligent landmine detection system, including: A mobile platform for autonomous movement within the area to be tested; A flat-panel X-ray source is disposed at the bottom of the mobile platform and is used to emit X-rays toward the ground during the movement of the mobile platform. Figure 2 This is a schematic diagram of the structure of the flat X-ray source provided in an embodiment of the present invention.

[0023] like Figure 2 As shown, the flat-panel X-ray source provided in this embodiment integrates a field emission cold cathode array, a grid, an anode target, and a beryllium window; The field emission cold cathode array is used to release electrons through the field emission effect; The gate is used to accelerate electrons emitted by the field emission cold cathode array; The anode target is used to release X-rays when bombarded by electrons emitted by the field emission cold cathode array; The beryllium window is used to project the X-rays and maintain the vacuum environment of the flat X-ray source.

[0024] Furthermore, the operating voltage of the field emission cold cathode array is 30 to 80 kV, and the operating current is 0.1 to 5 mA.

[0025] The flat-panel X-ray source has a vacuum structure with a vacuum level of 10. -5 Pa, leakage rate less than 10 -9 Pa m 3 / s.

[0026] A backscatter detector is disposed on the side of the flat X-ray source to receive X-ray photons scattered by the region under test under the triggering of the X-rays; In practical applications, the backscatter detector includes several semiconductor detectors; Several semiconductor detectors are arranged in a set array on the side of the flat X-ray source.

[0027] Figure 3 This is a schematic diagram of the backscatter detector provided in an embodiment of the present invention.

[0028] like Figure 3 As shown, in one specific embodiment, semiconductor detectors are symmetrically distributed on both sides of the flat X-ray source, with each side having a 16×4 array of semiconductor detectors.

[0029] Furthermore, each semiconductor detector can be 5×5×3mm in size. The backscattering angle is 45°±15°, and the energy resolution is <5%@60keV.

[0030] The identification terminal is used to acquire the X-ray photons collected by the backscatter detector and, based on the X-ray photons, determine the location of the landmine in the area to be tested.

[0031] In practical applications, a deep learning model is deployed in the identification terminal; the identification terminal is used to input the X-ray photons collected by the backscatter detector into the deep learning model, and obtain the mine location output by the deep learning model.

[0032] For example, a deep learning model can be used for the YOLOv8-seg instance segmentation network, with training data of over 100,000 labeled images covering 20+ types of landmines. It employs transfer learning to adapt to new environments, achieving an inference time of <80ms, a recognition accuracy of >95%, and a false positive rate of <5%.

[0033] The following two specific embodiments illustrate the intelligent landmine detection system provided in this application.

[0034] Figure 4 This is one of the structural schematic diagrams of the mobile platform provided in the embodiments of the present invention.

[0035] like Figure 4 As shown, in the first embodiment, the mobile platform of the intelligent landmine detection system provided in this application is a robotic dog, which can be applied to complex mountainous terrain. During operation, the operator sets the polygon coordinates of the detection area via a tablet computer from a safe distance (100m away). The robotic dog autonomously plans its path, adopting a zigzag scanning mode with adjacent scan zones overlapping by 15cm.

[0036] During operation, the lidar constructs a three-dimensional terrain map in real time, and the probe head is kept 20±2cm above the ground by an active suspension system. The X-ray source operates at 10Hz pulses, with each pulse lasting 5ms, and a peak dose rate of 0.5μSv / h@1m (compliant with radiation safety standards).

[0037] Backscatter data is transmitted to Jetson Orin in real time for AI inference. When a suspicious target is detected, the robot dog automatically stops, repeats the scan for confirmation, marks the GPS coordinates on the map (accuracy ±5cm), and takes high-definition photos for archiving.

[0038] Figure 5 This is the second structural schematic diagram of the mobile platform provided in the embodiment of the present invention.

[0039] like Figure 5 As shown, in the second embodiment, the mobile platform of the intelligent landmine detection system provided in this application is an autonomous vehicle that can be applied to desert environments. In this embodiment, the mobile platform can be equipped with a tracked chassis, ground pressure <15kPa to prevent sand trapping, a fully enclosed heat dissipation system, IP67 dustproof and waterproof, solar-assisted charging to extend the battery life to 6 hours, and a sand and dust filter to protect the detector window.

[0040] Desert environments have low soil density (1.4-1.6 g / cm³). 3 With a water content of <2%, the X-ray penetration depth can reach 18cm, exceeding the design specifications. In high-temperature environments (50℃), the flat-panel X-ray source maintains a cathode temperature of <40℃ through built-in semiconductor cooling, ensuring stable operation. Actual measurement data shows that for PMA-3 plastic landmines buried at a depth of 12cm, the signal-to-noise ratio reaches 18dB, with a recognition confidence level of 96.3%.

[0041] The intelligent landmine detection method provided by the present invention is described below. The intelligent landmine detection method described below can be referred to in correspondence with the intelligent landmine detection system described above.

[0042] Figure 6 This is a flowchart illustrating the intelligent landmine detection method provided in an embodiment of the present invention.

[0043] like Figure 6 As shown, the intelligent landmine detection method provided in this embodiment includes: Step 601: During the autonomous movement of the area to be tested, X-rays are emitted toward the ground of the area to be tested; Step 602: Receive X-ray photons scattered by the region under test under the triggering of the X-rays; Step 603: Based on the X-ray photons, determine the location of the landmine in the area to be tested.

[0044] The specific implementation method of the intelligent landmine detection method provided in this embodiment can be implemented with reference to the above embodiment, and will not be repeated here.

[0045] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute a smart landmine detection method, which includes: During autonomous movement within the area to be tested, X-rays are emitted toward the ground of the area to be tested. Receive X-ray photons scattered by the region under test under the triggering of the X-rays; The location of landmines in the area to be tested is determined based on the X-ray photons.

[0046] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0047] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the intelligent landmine detection method provided by the above methods, the method including: During autonomous movement within the area to be tested, X-rays are emitted toward the ground of the area to be tested. Receive X-ray photons scattered by the region under test under the triggering of the X-rays; The location of landmines in the area to be tested is determined based on the X-ray photons.

[0048] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the intelligent mine detection method provided by the methods described above, the method comprising: During autonomous movement within the area to be tested, X-rays are emitted toward the ground of the area to be tested. Receive X-ray photons scattered by the region under test under the triggering of the X-rays; The location of landmines in the area to be tested is determined based on the X-ray photons.

[0049] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0050] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent landmine detection system, characterized in that, include: A mobile platform for autonomous movement within the area to be tested; A flat-panel X-ray source is disposed at the bottom of the mobile platform and is used to emit X-rays toward the ground during the movement of the mobile platform. A backscatter detector is disposed on the side of the flat X-ray source to receive X-ray photons scattered by the region under test under the triggering of the X-rays; The identification terminal is used to acquire the X-ray photons collected by the backscatter detector and, based on the X-ray photons, determine the location of the landmine in the area to be tested.

2. The intelligent landmine detection system according to claim 1, characterized in that, The flat-panel X-ray source integrates a field emission cold cathode array, a grid, an anode target, and a beryllium window; The field emission cold cathode array is used to release electrons through the field emission effect; The gate is used to accelerate electrons emitted by the field emission cold cathode array; The anode target is used to release X-rays when bombarded by electrons emitted by the field emission cold cathode array; The beryllium window is used to project the X-rays and maintain the vacuum environment of the flat X-ray source.

3. The intelligent landmine detection system according to claim 1, characterized in that, The backscatter detector includes several semiconductor detectors; Several semiconductor detectors are arranged in a set array on the side of the flat X-ray source.

4. The intelligent landmine detection system according to claim 1, characterized in that, The mobile platform includes a lidar and a binocular vision system, which are used to achieve autonomous navigation.

5. The intelligent landmine detection system according to claim 1, characterized in that, The identification terminal is equipped with a deep learning model; The identification terminal is used to input the X-ray photons collected by the backscatter detector into the deep learning model and obtain the mine location output by the deep learning model.

6. The intelligent landmine detection system according to claim 2, characterized in that, The field emission cold cathode array operates at a voltage of 30 to 80 kV and a current of 0.1 to 5 mA.

7. The intelligent landmine detection system according to claim 2, characterized in that, The flat-panel X-ray source has a vacuum structure with a vacuum level of 10. -5 Pa, leakage rate less than 10 -9 Pa m 3 / s.

8. The intelligent landmine detection system according to claim 3, characterized in that, The semiconductor detectors are symmetrically distributed on both sides of the flat X-ray source, with each side having a 16×4 array of semiconductor detectors.

9. An intelligent landmine detection method, applied to the intelligent landmine detection system according to any one of claims 1-8, characterized in that, include: During autonomous movement within the area to be tested, X-rays are emitted toward the ground of the area to be tested. Receive X-ray photons scattered by the region under test under the triggering of the X-rays; The location of landmines in the area to be tested is determined based on the X-ray photons.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the intelligent landmine detection method as described in claim 9.

Images