CN103900973A - Hazardous article detecting device and detecting method - Google Patents
Hazardous article detecting device and detecting method Download PDFInfo
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Abstract
The invention discloses a hazardous article detecting device and a detecting method. The hazardous article detecting device comprises a visible image sensor, an X-ray image sensor, a processor, an image memory and a displayer. By utilizing the hazardous article detecting device, after the visible image sensor and the X-ray image sensor collect a visible image with original RGB (red, green, blue) format and an X-ray image with the original RGB format, the processor processes and displays the images, staff go through normally without stopping, detection can be realized, and therefore, the detection efficiency is improved, large human traffic detection, wide range of detection and simultaneous multiple target detection can be met.
Description
Technical field
The present invention relates to a kind of article detection device and detection method, relate in particular to a kind of hazardous material detection device and detection method.
Background technology
Current all kinds of insurgent violence event emerges in an endless stream, and cutter injury case and public place violence attack of terrorism case etc. are held in such as campus, and these cases are seriously threatening the stable and people's of society the security of the lives and property.For fear of occurring again of this class case, country has dropped into a large amount of human and material resources and financial resources aspect security, but produces little effect.
Visible images has high-resolution feature, but cannot embody the information of hidden objects, therefore also just cannot be separately for the detection of dangerous material.But X-ray is because of its penetrability having, fluorescent effect and photoeffect, and it also has based on group of objects and is woven with the echo difference that the difference of density and thickness produces, make X-ray in the time seeing through the various different tissues structure of object, its absorbed degree difference, so the X-ray amount on arrival fluorescent screen or film is variant.Like this, on fluorescent screen or X-ray, just form the image that black and white contrast is different.Therefore, the formation of X-ray image, should possess following three pacing itemss: first, X-ray should have certain penetration power, like this institutional framework of ability transillumination; The second, the institutional framework being penetrated, must exist the difference of density and thickness, like this, penetrate in process, be absorbed after X-ray amount under residue, can be just differentiated; The 3rd, this differentiated residue X-ray, be still sightless, also must be through video picture this process, for example through X-ray, fluorescent screen or TV screen show could obtain there is black and white contrast, the X-ray image of level difference.
Just because of this characteristic of X-ray, X-ray imaging technique is just widely used in hidden objects and detects.The advantage that X-ray hidden dangerous goods detects comprises that image quality is high, technology maturation, and x-ray detector selection kind is many etc.
In addition, can also utilize the high-resolution advantage of visible images, by information fusion such as the shape of dangerous material, size and positions in visible images, and do not change the color information of original visible images, thereby fundamentally changed the traditional method of the single-sensor in x-ray image, infrared image or the microwave and millimeter wave image that dangerous material information can only be presented to low resolution.
YIQ (luminance, chrominance) color space form, its representative image brightness (luminance) is independently with the part of representative image color (chrominance) information; That is to say color information that can't the original image of this change in the time the monochrome information of image being extracted separately and it is processed; Vice versa.Just because of this feature of YIQ color space form, the technical matters that effectively detects dangerous material for solving becomes possibility.
Summary of the invention
First object of the present invention is to provide a kind of hazardous material detection device that can effectively detect dangerous goods.Second object of the present invention is to provide a kind of hazardous material detection method that can effectively detect dangerous goods.
The present invention solves first technical matters and adopts following technical scheme: a kind of hazardous material detection device, comprises visible light image sensor, x-ray image sensor, processor, video memory and display;
Described visible light image sensor signal is connected in described processor, to gather the visible images of the detected object that comprises described dangerous material, and described visible images is transferred to described processor;
Described x-ray image sensor signal is connected in described processor, to gather the x-ray image of the detected object that comprises described dangerous material, and described x-ray image is transferred to described processor;
Described processor is processed described visible images and x-ray image, obtains visible images after treatment and x-ray image after treatment;
Described video memory signal is connected in described processor, to store described visible images after treatment and x-ray image after treatment;
Described monitor signal is connected in described processor, to show described image after treatment.
Optionally, described video memory and/or display are connected to described processor by WIFI wireless data transfer module, blue teeth wireless data transmission module or Zigbee wireless data transfer module.
The present invention solves second technical matters and adopts following technical scheme: a kind of method of utilizing described hazardous material detection device to detect dangerous material, comprises the following steps:
S10, utilize described visible light image sensor and x-ray image sensor to carry out image acquisition to the detected object that comprises described dangerous material, obtain respectively the visible images of original rgb format and the x-ray image of original rgb format;
S20, the visible images of original rgb format is converted to the visible images of YIQ form;
S30, generate visible ray gray level image according to the visible images of described YIQ form;
S40, the x-ray image of original rgb format is converted into X-ray gray level image;
S50, described X-ray gray level image is carried out to pixel value reversion, obtain the X-ray gray level image after reversion;
S60, the X-ray gray level image after described visible ray gray level image, X-ray gray level image and reversion is carried out to image co-registration, obtain the image after merging;
S70, image after described fusion is generated to the fused images of YIQ form;
S80, the fused images of described YIQ form is converted to the fused images of rgb format;
S90, the fused images of described rgb format is presented on described display.
Optionally, after described step S10, before step S20, also comprise step S15:
The x-ray image of S15, visible images to original rgb format and original rgb format carries out calibration process and hardwood is synchronously processed, and makes pixel and the content matching of the visible images of described original rgb format and the x-ray image of described original rgb format.
Optionally, described step S80 and S90 are replaced with:
S100, the x-ray image of original rgb format is converted into the x-ray image of YIQ form;
S110, the x-ray image of the fused images of YIQ form and YIQ form is carried out to image co-registration, obtain final fused images;
S120, described final fused images is converted into final gray level image;
S130, to final gray level image carry out two dimensionization process, obtain two dimensionization gray level image;
S140, by the white portion in described two dimensionization gray level image and the visual image fusion of described original rgb format, and obtain image to be exported;
S150, in described two dimensionization gray level image, whether dangerous product information judges;
S160, when in step S150, do not find dangerous material, the visible images of original rgb format is shown on described display;
S170, when in step S150, find dangerous material, image described to be exported is shown on described display.
Optionally, described step S130 specifically comprises the following steps:
S1301, setting threshold;
S1302, the value that is more than or equal to the pixel of described threshold value are set to 1;
S1303, the value that is less than the pixel of described threshold value are set to 0 and obtain two dimensionization gray level image.
Optionally, described step S140 specifically comprises the following steps:
S1401, by the image after two dimension carry out three-dimensional expand;
S1402, the pixel that is 1 by the value of described pixel are replaced the pixel of the visible images of the original rgb format of same position, and the value of the pixel of the visible images of the original rgb format of described same position is set to (1,1,1).
Optionally, the algorithm of the image co-registration in described step S60 is: the linear blending algorithm of image or the Image Fusion based on wavelet transform.
The present invention has following beneficial effect:
Hazardous material detection device of the present invention comprises visible light image sensor, x-ray image sensor and processor, the visible images of the original rgb format of its collection is transferred to processor by described visible light image sensor, the x-ray image of the original rgb format of its collection is transferred to processor by described x-ray image sensor, the visible images of described processor to described original rgb format and the x-ray image of original rgb format are processed and merge, and export the image after described processing and fusion by described display, to make full use of the sharpness of visible images of described original rgb format and the difference of the reflection of the x-ray image of original rgb format to described dangerous material, realize detection (for example gun to described dangerous material, controlled knife and explosive), this hazardous material detection device is gathering after the visible images of original rgb format and the x-ray image of original rgb format, personnel are normally current, can realize detection without stopping, thereby improve detection efficiency, can meet larger Pedestrian flow detection, detection in a big way and simultaneously multiple goal being detected.
Hazardous material detection method of the present invention is owing to having adopted above-mentioned hazardous material detection device, and be converted into the visible images of YIQ form by the visible images of original rgb format that described visible light image sensor is gathered, the x-ray image of the original rgb format that described x-ray image sensor is gathered is converted into the X-ray gray level image after X-ray gray level image and reversion, to the visible images of described YIQ form, X-ray gray level image after described X-ray gray level image and described reversion merges, image after merging is converted into the fused images of rgb format, and output on described display (display comprises that instinct shows and mobile display), to facilitate staff to judge whether dangerous product and the people who carries dangerous material according to the image that described display is shown, visible detection method also can realize detection without stopping, thereby improve detection efficiency, can meet larger Pedestrian flow detection, detection in a big way and simultaneously multiple goal being detected.
Brief description of the drawings
Fig. 1 is the structural representation of hazardous material detection device of the present invention;
Fig. 2 is the process flow diagram of hazardous material detection method of the present invention;
Fig. 3 is the process flow diagram of the hazardous material detection of two dimensionization gray level image of the present invention.
In figure, mark is illustrated as: 1-visible light image sensor; 2-X optical image sensor; 3-processor; 4-video memory; 5-display.
Embodiment
Below in conjunction with embodiment and accompanying drawing, technical scheme of the present invention is further elaborated.
With reference to figure 1-3, the present embodiment provides a kind of hazardous material detection device, comprises visible light image sensor 1, x-ray image sensor 2, processor 3, video memory 4 and display 5;
Described visible light image sensor 1 signal is connected in described processor 3, to gather the visible images of the detected object that comprises described dangerous material, and described visible images is transferred to described processor;
Described x-ray image sensor 2 signals are connected in described processor 3, to gather the x-ray image of the detected object that comprises described dangerous material, and described x-ray image are transferred to described processor;
Described processor 3 is processed described visible images and x-ray image, obtains visible images after treatment and x-ray image after treatment;
Described video memory 4 signals are connected in described processor 3, to store described visible images after treatment and x-ray image after treatment; The method that wherein said processor 3 is processed described visible images and x-ray image comprises to be compressed described visible images and x-ray image.
Described display 5 signals are connected in described processor 3, to show described image after treatment.
Hazardous material detection device of the present invention comprises visible light image sensor 1, x-ray image sensor 2 and processor 3, the visible images of the original rgb format of its collection is transferred to processor 3 by described visible light image sensor 1, the x-ray image of the original rgb format of its collection is transferred to processor 3 by described x-ray image sensor 2, the visible images of described processor 3 to described original rgb format and the x-ray image of original rgb format are processed and merge, and export the image after described processing and fusion by described display 5, to make full use of the sharpness of visible images of described original rgb format and the difference of the reflection of the x-ray image of original rgb format to described dangerous material, realize the detection to described dangerous material, this hazardous material detection device is gathering after the visible images of original rgb format and the x-ray image of original rgb format, personnel are normally current, can realize detection without stopping, thereby improve detection efficiency, can meet larger Pedestrian flow detection, detection in a big way and simultaneously multiple goal being detected.
In the present embodiment, optional, described x-ray image sensor is X-ray cmos image sensor or X-ray ccd image sensor.
In the present embodiment, optional, the display that described display is mobile terminal, such as mobile phone or display device for mounting on vehicle etc., with in the time that described hazardous material detection device is arranged to public place, staff can be in non-at-scene work.
In the present embodiment, optionally, described video memory 4 and/or display 5 are connected to described processor by WIFI wireless data transfer module, blue teeth wireless data transmission module or Zigbee wireless data transfer module, so that described video memory 4 and/or display 5 are placed on to different positions, thereby facilitate staff to monitor described display.
In the present embodiment, optional, described video memory 4 comprises local storage and/or cloud storage terminal, to realize the storage to described visible images and x-ray image.
In the present embodiment, optional, described processor 3 is FPGA, FMC or arm processor, and described hazardous material detection device also comprises warning device, described warning device signal is connected to described processor 3, with in the time that described x-ray image sensor 2 detects dangerous material, reports to the police.
In the present embodiment, optional, described dangerous material comprise the dangerous material such as gun, controlled knife and explosive, to give full play to the characteristic of described x-ray image sensor, to divide human body and described dangerous material in described x-ray image intermediate energy region.
Embodiment 2
With reference to figure 1-3, the present embodiment provides a kind of method of utilizing described hazardous material detection device to detect dangerous material, comprises the following steps:
S10, utilize described visible light image sensor 1 and x-ray image sensor 2 to carry out image acquisition to the detected object that comprises described dangerous material, obtain respectively the visible images of original rgb format and the x-ray image of original rgb format; To catch real-time coloured image by described visible light image sensor 1, obtain the visible images of original rgb format; Described x-ray image sensor 2 is caught real-time coloured image, obtains the x-ray image of original rgb format; And the resolution of described visible light image sensor 1 be described x-ray image sensor 2 resolution 2-4 doubly, the 2-4 of the x-ray image resolution that the resolution that is the visible images of described original rgb format is described original rgb format doubly, to facilitate follow-up image calibration and image co-registration processing;
S20, the visible images of original rgb format is converted to the visible images of YIQ form; By from RGB to YIQ colour space transformation, the color information of the visible images of original rgb format is separated with monochrome information, for merging, successive image prepares, and in the visible images of the YIQ form in the present invention, representative image brightness (luminance) is independently with the part of representative image color (chrominance), in the time the monochrome information of image being extracted separately and it is processed, color information that can't the original image of this change; Vice versa.Just because of this feature of image of YIQ form, when the information of detected dangerous material (by the entrained information of the x-ray image of described original rgb format) is loaded in the visible images of original rgb format, do not change other any information, for example colors of original visible images; To improve the effect of described hazardous material detection method;
S30, generate visible ray gray level image according to the visible images of described YIQ form; This step extracts the monochrome information in the visible images of YIQ form (luminance) separately, generates the visible ray gray level image of one dimension; Extract separately by the monochrome information in the visible images of YIQ form, and generate corresponding gray level image; To facilitate follow-up image co-registration processing;
S40, the x-ray image of original rgb format is converted into X-ray gray level image; To facilitate follow-up image co-registration processing;
S50, described X-ray gray level image is carried out to pixel value reversion, obtain the X-ray gray level image after reversion; With by the gray level image after described reversion is merged to the image after described fusion, regulate the brightness of the image after merging, prevent that image after merging from crossing brightly or excessively dark, make image and visible ray gray level image after merging be consistent as far as possible;
S60, the X-ray gray level image after described visible ray gray level image, X-ray gray level image and reversion is carried out to image co-registration, obtain the image after merging; Image after described fusion is one dimension gray level image, and only includes new monochrome information; More preferably, described image co-registration process adopts the linear blending algorithm of image or the Image Fusion based on wavelet transform etc.
S70, image after described fusion is generated to the fused images of YIQ form; Monochrome information in the fused images of described YIQ form is new monochrome information, has comprised the information of detected dangerous material, but does not change the color information of the visible images of original rgb format.
S80, the fused images of described YIQ form is converted to the fused images of rgb format;
S90, the fused images of described rgb format is presented on described display;
To realize the detection to described dangerous material by above-mentioned steps, can find out by above-mentioned steps, hazardous material detection method of the present invention arrives YIQ colour space transformation by RGB, monochrome information to described image is extracted, and monochrome information corresponds to the information such as position and size of dangerous material, can be by the accurate hazard recognition product of this operation and the people who carries dangerous material, visible detection method also can realize detection without stopping, thereby improve detection efficiency, can meet larger Pedestrian flow detection, detection in a big way and simultaneously multiple goal being detected.
In the present embodiment, optional, after described step S10, before step S20, also comprise step S15:
S15, visible images to original rgb format and original x-ray image carries out calibration process and hardwood is synchronously processed, make pixel and the content matching of the visible images of described original rgb format and the x-ray image of described original rgb format; The object of described step S15 is to make the visible images of described original rgb format and the x-ray image content matching of original rgb format, and be synchronously input to processor 3 and carry out subsequent treatment, to improve the treatment effect of x-ray image of the visible images of described processor 3 to described original rgb format and described original rgb format, and the accuracy that the position of dangerous material is identified.More preferably, the process of image calibration processing can adopt ripe image calibration algorithm, for example, based on the relevant image calibration algorithm of phase place, based on the image calibration algorithm of eigentransformation (scale invariant features transform), the image calibration algorithm based on edge matching and multi-scale wavelet transformation etc.The synchronous processing by image processing hardware of hardwood carries the realization of hardwood synchronization module, also can be by realization that hardware is programmed, and for example FPGA hardware programming based on VHDL.
In the present embodiment, optional, described step S80 and S90 are replaced with:
S100, the x-ray image of original rgb format is converted into the x-ray image of YIQ form, prepares for extracting described dangerous material;
S110, the x-ray image of the fused images of YIQ form and YIQ form is carried out to image co-registration, obtain final fused images, more preferably, described Image Fusion is the linear blending algorithm of image or the Image Fusion based on wavelet transform etc.; So that the fused images of the x-ray image of the YIQ form with dangerous material information and YIQ form is merged;
S120, described final fused images is converted into final gray level image, to facilitate position and the size differentiating and extract described dangerous material;
S130, to final gray level image carry out two dimensionization process, obtain two dimensionization gray level image;
S140, by the white portion in described two dimensionization gray level image and the visual image fusion of described original rgb format, obtain image to be exported; By the useful information in described two dimensionization gray level image, white portion is fused in the visible images of original rgb format, and ensures that the big or small position of this white portion in the visible images of original rgb format all do not change;
S150, in described two dimensionization gray level image, whether dangerous product information judges;
S160, when in step S150, do not find dangerous material, the visible images of original rgb format is shown on described display 5;
S170, when in step S150, find dangerous material, image described to be exported is shown on described display 5.
To choose by intelligent target, the information of dangerous material is presented in visible images, the colour space transformation of the x-ray image to described original rgb format, extract described dangerous material position and size etc. information, facilitate staff to determine whether described dangerous material carrier is processed.
In the present embodiment, optional, described step S130 specifically comprises the following steps:
S1301, setting threshold, for the selection of dangerous material;
S1302, the value that is more than or equal to the pixel of described threshold value are set to 1;
S1303, the value that is less than the pixel of described threshold value are set to 0, obtain two dimensionization gray level image;
So that described final gray level image is carried out to binary conversion treatment, increase the contrast of dangerous material position and big or small corresponding pixel, facilitate staff to differentiate.
In the present embodiment, optional, described step S150 specifically comprises the following steps:
S1501, when the pixel that in the gray level image after described binaryzation, the value of existence is not 1, be judged to be not find dangerous material;
S1502, when the pixel that in the gray level image after described binaryzation, existence value is 1, be judged to be to find dangerous material; To realize in described binaryzation gray level image, whether dangerous product carry out automatic decision.
In the present embodiment, optional, described detection method also comprises step S180;
S180, when in step S150, find dangerous material, report to the police.
In the present embodiment, optional, the setting threshold in described step S1301, can be set to 128; Or set according to concrete application scenario manual debugging, the principle of setting selects suspicious object exactly, gets rid of simultaneously and there is no value information; Certain any system does not all have the intelligence in absolute sense, and in the situation that having leakage choosing and falsely dropping, the principle of threshold value setting is would rather falsely drop to leak choosing; Or threshold value setting also can adopt the adaptive algorithm of image dualization, for example Back Propagation algorithm.
In the present embodiment, optional, described step S140 specifically comprises the following steps:
S1401, by the gray level image after binaryzation carry out three-dimensional expand; Copy and become 3 dimensions by two-dimentional image information.
S1402, the pixel that is 1 by the value of described pixel are replaced the pixel of the visible images of the original rgb format of same position, and the value of the pixel of the visible images of the original rgb format of described same position is set to (1,1,1), to show size and the position of described dangerous material in image described to be exported, facilitate staff to differentiate.
The sequencing of above embodiment only, for ease of describing, does not represent the quality of embodiment.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a hazardous material detection device, is characterized in that, comprises visible light image sensor, x-ray image sensor, processor, video memory and display;
Described visible light image sensor signal is connected in described processor, to gather the visible images of the detected object that comprises described dangerous material, and described visible images is transferred to described processor;
Described x-ray image sensor signal is connected in described processor, to gather the x-ray image of the detected object that comprises described dangerous material, and described x-ray image is transferred to described processor;
Described processor is processed described visible images and x-ray image, obtains visible images after treatment and x-ray image after treatment;
Described video memory signal is connected in described processor, to store described visible images after treatment and x-ray image after treatment;
Described monitor signal is connected in described processor, to show described image after treatment.
2. hazardous material detection device according to claim 1, it is characterized in that, described video memory and/or display are connected to described processor by WIFI wireless data transfer module, blue teeth wireless data transmission module or Zigbee wireless data transfer module.
3. utilize the device of hazardous material detection described in claim 2 to detect a method for dangerous material, it is characterized in that, comprise the following steps:
S10, utilize described visible light image sensor and x-ray image sensor to carry out image acquisition to the detected object that comprises described dangerous material, obtain respectively the visible images of original rgb format and the x-ray image of original rgb format;
S20, the visible images of original rgb format is converted to the visible images of YIQ form;
S30, generate visible ray gray level image according to the visible images of described YIQ form;
S40, the x-ray image of original rgb format is converted into X-ray gray level image;
S50, described X-ray gray level image is carried out to pixel value reversion, obtain the X-ray gray level image after reversion;
S60, the X-ray gray level image after described visible ray gray level image, X-ray gray level image and reversion is carried out to image co-registration, obtain the image after merging;
S70, image after described fusion is generated to the fused images of YIQ form;
S80, the fused images of described YIQ form is converted to the fused images of rgb format;
S90, the fused images of described rgb format is presented on described display.
4. the method for detection dangerous material according to claim 3, is characterized in that, after described step S10, before step S20, also comprises step S15:
The x-ray image of S15, visible images to original rgb format and original rgb format carries out calibration process and hardwood is synchronously processed, and makes pixel and the content matching of the visible images of described original rgb format and the x-ray image of described original rgb format.
5. the method for detection dangerous material according to claim 4, is characterized in that, described step S80 and S90 are replaced with:
S100, the x-ray image of original rgb format is converted into the x-ray image of YIQ form;
S110, the x-ray image of the fused images of YIQ form and YIQ form is carried out to image co-registration, obtain final fused images;
S120, described final fused images is converted into final gray level image;
S130, to final gray level image carry out two dimensionization process, obtain two dimensionization gray level image;
S140, by the white portion in described two dimensionization gray level image and the visual image fusion of described original rgb format, and obtain image to be exported;
S150, in described two dimensionization gray level image, whether dangerous product information judges;
S160, when in step S150, do not find dangerous material, the visible images of original rgb format is shown on described display;
S170, when in step S150, find dangerous material, image described to be exported is shown on described display.
6. the method for detection dangerous material according to claim 5, is characterized in that, described step S130 specifically comprises the following steps:
S1301, setting threshold;
S1302, the value that is more than or equal to the pixel of described threshold value are set to 1;
S1303, the value that is less than the pixel of described threshold value are set to 0 and obtain two dimensionization gray level image.
7. the method for detection dangerous material according to claim 6, is characterized in that, described step S140 specifically comprises the following steps:
S1401, by the image after two dimension carry out three-dimensional expand;
S1402, the pixel that is 1 by the value of described pixel are replaced the pixel of the visible images of the original rgb format of same position, and the value of the pixel of the visible images of the original rgb format of described same position is set to (1,1,1).
8. the method for detection dangerous material according to claim 3, is characterized in that, the algorithm of the image co-registration in described step S60 is: the linear blending algorithm of image or the Image Fusion based on wavelet transform.
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| CN108956526A (en) * | 2018-06-22 | 2018-12-07 | 西安天和防务技术股份有限公司 | A kind of passive type Terahertz hazardous material detection device, detection method and its application |
| CN108956526B (en) * | 2018-06-22 | 2021-02-26 | 西安天和防务技术股份有限公司 | Passive terahertz dangerous article detection device, detection method and application thereof |
| CN111612020A (en) * | 2019-02-22 | 2020-09-01 | 杭州海康威视数字技术股份有限公司 | Abnormal detected object positioning method and security check analysis equipment and system |
| CN111612020B (en) * | 2019-02-22 | 2024-04-26 | 杭州海康威视数字技术股份有限公司 | Positioning method for abnormal object to be detected, security inspection analysis equipment and security inspection analysis system |
| CN112264329A (en) * | 2020-08-27 | 2021-01-26 | 安徽中科光电色选机械有限公司 | Foreign matter detection device and method |
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