Systems and methods for automatically generating synthetic x-ray scan data of objects in a plurality of orientations

Abstract

Systems and methods of automatically generating synthetic X-ray scan data include generating scan data corresponding to a frame holding or supporting an object, wherein the frame is manipulated without manual intervention and thus the object is manipulated to be positioned in a three-dimensional space in a plurality of orientations. Subsequently, X-ray scan data corresponding to the object is separated and extracted from the X-ray scan data corresponding to the frame, the X-ray scan data corresponding to the object is adjusted, and finally each adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of the cargo container. And generating a plurality of X-ray scanning data of the cargo container embedded with the object.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202480035215.9 (22) Application Date 2024.04.18 (30) Priority Data 63 / 505,670 2023.06.01 US (85) PCT International Application Entering National Phase Date 2025.11.26 (86) PCT International Application Application Data PCT / US2024 / 025152 2024.04.18 (87) PCT International Application Publication Data WO2024 / 248975 EN 2024.12.05 (71) Applicant: Lapiscan Holdings, Inc. Address: California, USA (72) Inventors: M. Proctor J. Oriel (74) Patent Agency: Beijing Liu Shen Law Firm 11105 Patent Attorney Wang Zengqiang (51) Int.Cl. G01N 23 / 083 (2018.01) G01N 23 / 04 (2018.01) G01V 5 / 22 (2024.01) (54) Title of Invention System and Method for Automatically Generating Synthetic X-ray Scan Data of an Object in Multiple Orientations (57) Abstract The system and method for automatically generating synthetic X-ray scan data includes generating scan data corresponding to a frame holding or supporting an object, wherein the frame is manipulated without manual intervention and thus the object is manipulated to be positioned in three-dimensional space in multiple orientations. Subsequently, X-ray scan data corresponding to the object is separated and extracted from the X-ray scan data corresponding to the frame, the X-ray scan data corresponding to the object is adjusted, and finally each adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of a cargo container to generate multiple X-ray scan data of a cargo container with the object embedded. Claims (5 pages), Description (16 pages), Drawings (6 pages), CN 121420189 A 2026.01.27 CN 1 21 42 01 89 A

Claims

1. A system for automatically generating multiple X-ray scan data of a cargo container with an object embedded therein, wherein the object is embedded in a three-dimensional space within the cargo container in multiple orientations, and wherein the three-dimensional space is defined by mutually orthogonal first, second, and third axes, the system comprising: A frame is used to hold the object; A substrate for supporting the frame, wherein the frame is positioned in an initial orientation relative to a first axis, a second axis, and a third axis; The first unit is used to support the substrate; A second unit is used to support the first unit, wherein the second unit is capable of applying linear motion to the frame, and wherein the first unit is capable of applying rotational motion about a first axis to the frame independently of the second unit; A first robotic arm and a second robotic arm, along with an associated camera, are configured to position and rotate the frame about a second axis and a third axis, respectively. An X-ray source and a detector array, wherein the X-ray source is used to generate an X-ray beam that impacts the frame, and the detector array is used to capture the obtained X-ray scan data; and A computing device having a memory and a processor, wherein the computing device controls the movement of a first robotic arm, a second robotic arm, and a first robotic arm, and wherein the memory stores a plurality of programming instructions, which, when executed, cause the processor to: The first set of steps, the second set of steps, the third set of steps, the fourth set of steps, and the fifth set of steps are performed sequentially to generate X-ray scan data corresponding to the frame; Separate and extract the X-ray scan data corresponding to the object from the X-ray scan data corresponding to the frame; Adjust the X-ray scan data corresponding to the object; and Each of the adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of the cargo container to generate multiple X-ray scan data of the cargo container with the object embedded.

2. The system of claim 1, wherein the second set of steps is performed only after the first set of steps is completed, wherein the third set of steps is performed only after the second set of steps is completed, and wherein the fourth and fifth sets of steps are performed only after the third set of steps is completed.

3. The system of claim 2, wherein the first set of steps includes causing a first unit to incrementally rotate the frame about a first axis by a predetermined first angle until a complete rotation about the first axis is completed, wherein for each unique incremental rotation orientation of the frame about the first axis, a second unit moves the frame through the X-ray beam in mutually opposite first and second directions to generate a pair of scan image data.

4. The system of claim 3, wherein the second set of steps includes causing the first robotic arm to incrementally rotate the frame about the second axis by a predetermined second angle until a complete rotation about the second axis is completed, wherein the first set of steps is repeated for each unique incremental rotation orientation of the frame about the second axis.

5. The system of claim 4, wherein the third set of steps includes causing the second robotic arm to incrementally rotate the frame about a third axis by a predetermined third angle until a complete rotation about the third axis is completed, wherein the first set of steps is repeated for each unique incremental rotation orientation of the frame about the third axis.

6. The system of claim 5, wherein the fifth set of steps includes causing the first unit to incrementally rotate the frame about the second axis by a predetermined second angle until a complete rotation about the second axis is completed, wherein for each unique incremental rotation orientation of the frame about the second axis, the second unit moves the frame through the X-ray beam in mutually opposite first and second directions to generate a pair of scan image data.

7. The system of claim 6, wherein the fourth set of steps includes causing the second robotic arm to incrementally rotate the frame about a third axis by a predetermined third angle until a complete rotation about the third axis is completed, wherein the fifth set of steps is repeated for each unique incremental rotation orientation of the frame about the third axis.

8. The system of claim 7, wherein each of the first angle, the second angle, and the third angle is identical.

9. The system of claim 7, wherein each of the first angle, the second angle, and the third angle is 15 degrees.

10. The system of claim 7, wherein each of the first angle, the second angle, and the third angle ranges from 1 degree to 90 degrees.

11. The system of claim 1, wherein the frame is positioned at a first height of a plurality of predetermined heights in order to generate X-ray scan data corresponding to the frame.

12. The system of claim 11, wherein the frame is positioned at a second height of the plurality of predetermined heights, and the first set of steps, the second set of steps, the third set of steps, the fourth set of steps, and the fifth set of steps are performed sequentially again to generate another set of X-ray scan data corresponding to the frame at the second height.

13. The system of claim 1, wherein adjusting the X-ray scan data corresponding to the object comprises one or more of the following: introducing salt-and-pepper noise to simulate the noise distribution of the X-ray scan data of the cargo container, modulating the intensity level to match the intensity scaling of the X-ray scan data of the cargo container, scaling the size to account for changes in magnification at near and far positions within the X-ray scan data of the cargo container, or ensuring that the X-ray scan data corresponding to the object resides within the boundaries of the cargo container in the X-ray scan data of the cargo container.

14. The system of claim 1, wherein the frame is shaped as a sphere, a cube, a regular polygon, or a cylindrical tube with or without hemispherical ends.

15. The system of claim 1, wherein the frame is made of polystyrene.

16. The system of claim 1, wherein each of the plurality of scintillation crystals in the detector array has a different vertical crystal resolution and a different horizontal crystal resolution.

17. A system for automatically generating multiple X-ray scan data of a cargo container with an object embedded therein, wherein the object is embedded in a three-dimensional space within the cargo container in multiple orientations, and wherein the three-dimensional space is defined by mutually orthogonal first, second, and third axes, the system comprising: A frame is used to hold the object; A substrate for supporting the frame, wherein the frame is positioned in an initial orientation relative to a first axis, a second axis, and a third axis; The first unit is used to support the substrate; A second unit is used to support the first unit, wherein the second unit is capable of applying linear motion to the frame, and wherein the first unit is capable of applying rotational motion about a first axis to the frame independently of the second unit; A robotic arm and an associated camera, the robotic arm and the associated camera being configured to position and rotate the frame about a second axis; An X-ray source and a detector array, wherein the X-ray source is used to generate an X-ray beam that impacts the frame, and the detector array is used to capture the obtained X-ray scan data; and A computing device having a memory and a processor, wherein the computing device controls the movement of a first robot, a second robot, and the robotic arm, and wherein the memory stores a plurality of programming instructions, which, when executed, cause the processor to: The first set of steps and the second set of steps are performed sequentially to generate X-ray scan data corresponding to the frame; Separate and extract the X-ray scan data corresponding to the object from the X-ray scan data corresponding to the frame; Adjust the X-ray scan data corresponding to the object; and Each adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of the cargo container to generate multiple X-ray scan data of the cargo container with the object embedded.

18. The system of claim 17, wherein the second set of steps is performed only after the first set of steps has been completed.

19. The system of claim 18, wherein the first set of steps includes causing a first unit to incrementally rotate the frame about a first axis by a predetermined first angle until a complete rotation about the first axis is completed, wherein for each unique incremental rotation orientation of the frame about the first axis, a second unit moves the frame through the X-ray beam in mutually opposite first and second directions to generate a pair of scan image data.

20. The system of claim 19, wherein the second set of steps includes causing the robotic arm to incrementally rotate the frame about a second axis by a predetermined second angle until a complete rotation about the second axis is completed, wherein the first set of steps is repeated for each unique incremental rotation orientation of the frame about the second axis.

21. The system of claim 20, wherein adjusting the X-ray scan data corresponding to the object comprises rotating the X-ray scan data corresponding to the object incrementally about a third axis by a predetermined third angle.

22. The system of claim 21, wherein adjusting the X-ray scan data corresponding to the object further comprises one or more of the following: introducing salt-and-pepper noise to simulate the noise distribution of the X-ray scan data of the cargo container, modulating the intensity level to match the intensity scaling of the X-ray scan data of the cargo container, scaling the size to account for changes in magnification at near and far positions within the X-ray scan data of the cargo container, or ensuring that the X-ray scan data corresponding to the object resides within the boundaries of the cargo container in the X-ray scan data of the cargo container.

23. The system of claim 22, wherein each of the first angle, the second angle, and the third angle is identical.

24. The system of claim 22, wherein each of the first angle, the second angle, and the third angle is 15 degrees.

25. The system of claim 22, wherein each of the first angle, the second angle, and the third angle ranges from 1 degree to 90 degrees.

26. The system of claim 17, wherein the frame is shaped as a sphere, a cube, a regular polygon, or a cylindrical tube with or without hemispherical ends.

27. The system of claim 17, wherein the frame is made of polystyrene.

28. The system of claim 17, wherein each of the plurality of scintillation crystals in the detector array has similar vertical and horizontal crystal resolution.

29. A method for automatically generating multiple X-ray scan data of a cargo container with an object embedded therein, wherein the object is embedded in a three-dimensional space within the cargo container in multiple orientations, wherein the three-dimensional space is defined by mutually orthogonal first, second, and third axes, wherein the object is held in a frame supported on a substrate, wherein the substrate is supported on a first platform, wherein the first platform is supported on a second platform such that the second platform can apply linear motion to the frame, and the first platform can apply rotational motion about the frame about a first axis independently of the second platform, and wherein a robotic arm and an associated camera are configured to position and rotate the frame about a second axis, the method comprising: Performing a first set of steps, wherein the first set of steps includes causing a first unit to rotate the frame incrementally about a first axis by a predetermined first angle until a complete rotation about the first axis is completed, and wherein for each unique incremental rotation orientation of the frame about the first axis, a second unit moves the frame through the X-ray beam in mutually opposite first and second directions in order to generate a pair of scan image data. After completing the first set of steps, the second set of steps is performed, wherein the second set of steps includes causing the robotic arm to rotate the frame incrementally about the second axis by a predetermined second angle until a complete rotation about the second axis is completed, wherein the first set of steps is repeated for each unique incremental rotation orientation of the frame about the second axis, and wherein the execution of the first set of steps and the second set of steps results in the generation of X-ray scan data corresponding to the frame. Separate and extract the X-ray scan data corresponding to the object from the X-ray scan data corresponding to the frame; Adjust the X-ray scan data corresponding to the object; and Each adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of the cargo container to generate multiple X-ray scan data of the cargo container with the object embedded.

30. The method of claim 29, wherein adjusting the X-ray scan data corresponding to the object comprises rotating the X-ray scan data corresponding to the object incrementally about a third axis by a predetermined third angle.

31. The method of claim 30, wherein adjusting the X-ray scan data corresponding to the object further comprises one or more of the following: introducing salt-and-pepper noise to simulate the noise distribution of the X-ray scan data of the cargo container, modulating the intensity level to be consistent with the intensity scaling of the X-ray scan data of the cargo container, scaling the size to account for changes in magnification at near and far positions within the X-ray scan data of the cargo container, or ensuring that the X-ray scan data corresponding to the object resides within the boundaries of the cargo container in the X-ray scan data of the cargo container.

32. The method of claim 29, wherein each of the first angle, the second angle, and the third angle is identical.

33. The method of claim 29, wherein each of the first angle, the second angle, and the third angle is 15 degrees.

34. The method of claim 29, wherein each of the first angle, the second angle, and the third angle ranges from 1 degree to 90 degrees.

35. The method of claim 29, wherein the shape of the frame is one of a sphere, a cube, a regular polygon, or a cylindrical tube with or without hemispherical ends.

36. The method of claim 29, wherein the frame is made of polystyrene.

37. The method of claim 29, wherein each of the plurality of scintillation crystals in the detector array has similar vertical and horizontal crystal resolution.

38. A system for automatically generating multiple X-ray scan data of a cargo container with an object embedded therein, wherein the object is embedded in a three-dimensional space within the cargo container in multiple orientations, the system comprising: A frame is used to hold the object; A substrate for supporting the frame, wherein the frame is positioned with an initial orientation relative to a vertical axis; The first unit is used to support the substrate; A second unit is used to support the first unit, wherein the second unit is capable of applying linear motion to the frame, and wherein the first unit is capable of applying rotational motion about the vertical axis to the frame independently of the second unit; An X-ray source and a detector array, wherein the X-ray source is used to generate an X-ray beam that impacts the frame, and the detector array is used to capture the obtained X-ray scan data; and A computing device having a memory and a processor, wherein the computing device controls the movement of a first unit and a second unit, and wherein the memory stores a plurality of programming instructions, which, when executed, cause the processor to: X-ray scan data corresponding to the frame is captured by triggering a first unit to incrementally rotate the frame about the vertical axis by a predetermined angle until a complete rotation about the vertical axis is completed, and wherein for each unique incremental rotation orientation of the frame about the vertical axis, a second unit moves the frame through the X-ray beam in mutually opposite first and second directions in order to generate a pair of scan image data. Separate and extract the X-ray scan data corresponding to the object from the X-ray scan data corresponding to the frame; Adjust the X-ray scan data corresponding to the object; and Each adjusted X-ray scan data corresponding to the object is inserted into the X-ray scan data of the cargo container to generate multiple X-ray scan data of the cargo container with the object embedded.

39. The system of claim 38, wherein the object is a bulk cargo article.

40. The system of claim 38, wherein adjusting the X-ray scan data corresponding to the object comprises one or more of the following: introducing salt-and-pepper noise to simulate the noise distribution of the X-ray scan data of the cargo container, modulating the intensity level to match the intensity scaling of the X-ray scan data of the cargo container, scaling the size to account for changes in magnification at near and far positions within the X-ray scan data of the cargo container, or ensuring that the X-ray scan data corresponding to the object resides within the boundaries of the cargo container in the X-ray scan data of the cargo container.

41. The system of claim 38, wherein the predetermined angle is 15 degrees.

42. The system of claim 38, wherein the predetermined angle ranges from 1 to 90 degrees.

43. The system of claim 38, wherein the frame is shaped as a sphere, a cube, a regular polygon, or a cylindrical tube with or without hemispherical ends.

44. The system of claim 38, wherein the frame is made of polystyrene.

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