Mobile and free-form x-ray imaging systems and methods
First Claim
1. A three-dimensional x-ray tomography imaging system, comprising:
- an x-ray source fixedly attached to a first unmanned aerial vehicle (UAV);
an x-ray detector;
a vehicle controller configured to be operated by an operator;
an optical camera mounted to the first UAV at a fixed position relative to the x-ray source;
an optical pattern fixed at a position relative to the x-ray detector; and
an electronic controller configured for controlling the imaging system;
wherein the vehicle controller is configured to transmit a sign to identify an object to be imaged,wherein the x-ray source and x-ray detector are configured to be positioned on substantially opposite sides of the object,wherein the x-ray source is configured to be rotated radially around the object to one or more imaging positions, andwherein the x-ray source and the x-ray detector are configured to be activated when the x-ray source is at each of the one or more imaging positions, so that x-ray projection images of the object are captured by the x-ray detector.
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Accused Products
Abstract
A three-dimensional (3D) x-ray tomographic imaging system includes an x-ray source fixedly attached to a first unmanned vehicle, which can be aerial or otherwise configured for locomotion, and an x-ray detector. A vehicle controller is configured to be operated by an operator, and an optical camera is mounted to the first unmanned vehicle at a fixed position relative to the x-ray source, and an optical pattern is fixed at a position relative to the x-ray detector. The x-ray source and x-ray detector are configured to be positioned on substantially opposite sides of the object, while the x-ray source is rotated radially around the object to one or more imaging positions.
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Citations
22 Claims
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1. A three-dimensional x-ray tomography imaging system, comprising:
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an x-ray source fixedly attached to a first unmanned aerial vehicle (UAV); an x-ray detector; a vehicle controller configured to be operated by an operator; an optical camera mounted to the first UAV at a fixed position relative to the x-ray source; an optical pattern fixed at a position relative to the x-ray detector; and an electronic controller configured for controlling the imaging system; wherein the vehicle controller is configured to transmit a sign to identify an object to be imaged, wherein the x-ray source and x-ray detector are configured to be positioned on substantially opposite sides of the object, wherein the x-ray source is configured to be rotated radially around the object to one or more imaging positions, and wherein the x-ray source and the x-ray detector are configured to be activated when the x-ray source is at each of the one or more imaging positions, so that x-ray projection images of the object are captured by the x-ray detector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of generating at least one three-dimensional (3D) image of an object from a plurality of x-ray images of the object, the method comprising:
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mounting an x-ray source to a first unmanned aerial vehicle (UAV); attaching an optical camera to the first UAV at a fixed position relative to the x-ray source; identifying a location of the object; positioning an x-ray detector and an optical pattern associated with the x-ray detector on a first side of the object; moving the first UAV to a second side of the object, wherein the second side of the object is at least substantially diametrically opposite the first side of the object; pointing the optical camera so the optical pattern is in a field of vision of the optical camera; capturing an optical image and an x-ray projection image when first UAV is stationary; rotating the first UAV around the object to a plurality of imaging positions around the object; capturing further optical images and x-ray projection images at the plurality of imaging positions around the object, so that a plurality of optical images and a plurality of x-ray projection images are generated; applying geometric image correction to the x-ray projection images by using the optical images; and reconstructing the x-ray projection images to create a 3D image of the object. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. A three-dimensional x-ray tomography imaging system, comprising:
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an x-ray source fixedly attached to a first unmanned vehicle (UV); an x-ray detector; a vehicle controller configured to be operated by an operator; an optical camera mounted to the first UV at a fixed position relative to the x-ray source; an optical pattern fixed at a position relative to the x-ray detector; and an electronic controller configured for controlling the imaging system; wherein the vehicle controller is configured to transmit a sign to identify an object to be imaged, wherein the x-ray source and x-ray detector are configured to be positioned on substantially opposite sides of the object, wherein the x-ray source is configured to be rotated radially around the object to one or more imaging positions, and wherein the x-ray source and the x-ray detector are configured to be activated when the x-ray source is at each of the one or more imaging positions, so that x-ray projection images of the object are captured by the x-ray detector.
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22. A method of generating at least one three-dimensional (3D) image of an object from a plurality of x-ray images of the object, the method comprising:
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mounting an x-ray source to a first unmanned vehicle (UV); attaching an optical camera to the first UV at a fixed position relative to the x-ray source; identifying a location of the object; positioning an x-ray detector and an optical pattern associated with the x-ray detector on a first side of the object; moving the first UV to a second side of the object, wherein the second side of the object is at least substantially diametrically opposite the first side of the object; pointing the optical camera so the optical pattern is in a field of vision of the optical camera; capturing an optical image and an x-ray projection image when first UV is stationary; rotating the first UV around the object to a plurality of imaging positions around the object; capturing further optical images and x-ray projection images at the plurality of imaging positions around the object, so that a plurality of optical images and a plurality of x-ray projection images are generated; applying geometric image correction to the x-ray projection images by using the optical images; and reconstructing the x-ray projection images to create a 3D image of the object.
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Specification