Personnel inspection with threat detection and discrimination

• US 11,232,700 B2
• Filed: 10/25/2019
• Issued: 01/25/2022
• Est. Priority Date: 10/26/2018
• Status: Active Grant

• Current Assignee: Evolv Technologies Incorporated (Evolv Technologies Holdings, Inc.)
• Original Assignee: Evolv Technologies Incorporated (Evolv Technologies Holdings, Inc.)
• Inventors: Ellenbogen, Michael, Rose, Alec, Lorenz, Peter, Cahill, Christopher
• Primary Examiner(s): Yang, James J
• Application Number:
  US16/664,565
• Publication Number:
  US 20200135004A1
• Time in Patent Office: 823 Days
• CPC Class Codes: G01R 33/1223 Measuring permeability, i.e. permeameters G01R33/14 takes precedence
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12
• CPC Class Codes: G01V 3/10 using induction coils
• CPC Class Codes: G01V 3/17 operating with electromagnetic waves operating with millimetre waves G01V8/005
• CPC Class Codes: G06F 7/72 using residue arithmetic
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 2201/05 Recognition of patterns representing particular kinds of hidden objects, e.g. weapons, explosives, drugs
• CPC Class Codes: G07C 9/38 with central registration
• CPC Class Codes: G08B 23/00 Alarms responsive to unspecified undesired or abnormal conditions
• CPC Class Codes: G08B 5/22 using electric transmission; using electromagnetic transmission

Abstract

A method includes receiving, from a plurality of magnetic field receivers including magnetic sensors, data characterizing samples obtained by the plurality of magnetic field receivers, the samples of a combination of a first magnetic field and a second magnetic field resulting from interaction of the first magnetic field and an object; determining, using the received data, a polarizability index of the object, the polarizability index characterizing a magnetic polarizability property of the object; classifying, using the determined polarizability index, the object as threat or non-threat; and providing the classification. Related apparatus, systems, techniques, and articles are also described.

Claims

1. A method comprising:

receiving, from a plurality of magnetic field receivers including magnetic sensors, data characterizing samples obtained by the plurality of magnetic field receivers, the samples of a combination of a first magnetic field and a second magnetic field resulting from interaction of the first magnetic field and an object, the first magnetic field including at least two frequency components, the first frequency component between 100 Hz and 1000 Hz and the second frequency component between 5 Hz and 100 Hz;

determining, using the received data, a polarizability index of the object, the polarizability index characterizing a magnetic polarizability property of the object wherein the polarizability index includes a first polarizability index component determined based at least on the first frequency component and a second polarizability index component determined based at least on the second frequency component;

classifying, using the determined polarizability index, the object as threat or non-threat, wherein the classifying includes determining a first property of the object based at least on the first polarizability index component associated with the first frequency component and determining at least one material property of the object based at least on the second polarizability index component associated with the second frequency component; and

providing the classification.

2. The method of claim 1, wherein the polarizability index of the object characterizes at least a shape, a permeability, and a conductivity of the object.

3. The method of claim 1, wherein the polarizability index of the object includes a complex tensor including at least six elements characterizing directional polarizability components of the object at one or more frequencies employed by the transmitting system.

4. The method of claim 1, wherein determining the polarizability index includes solving a set of trial solutions via a precomputed pseudo-inverse, determining a residual for each of the trial solutions, and selecting the trial solution resulting in a smallest residual.

5. The method of claim 1, wherein determining the polarizability index includes:

defining a set of trial solutions, each trial solution including a location, a speed, and a time-shift;

calculating an associated polarizability index and an associated residual for each trial solution; and

selecting a final trial solution, the final trial solution including the trial solution of the set of trial solutions that is associated with the smallest residual.

6. The method of claim 1, further comprising:

localizing the object within a volume under inspection, the localization including determining an object speed, an object position, and an object time-offset to a predetermined plane.

7. The method of claim 1, further comprising:

generating one or more signals for driving a magnetic field transmitter at the first frequency and at the second frequency.

8. The method of claim 1, wherein the plurality of magnetic field receivers include flux gate sensors that measure a magnitude and phase of the combination of the first magnetic field and the second magnetic field in at least three axis at locations of the plurality of magnetic field receivers.

9. The method of claim 1, wherein the samples obtained by the plurality of magnetic field receivers characterize a magnitude and a phase;

and wherein classifying, using the polarizability index, the object as threat or non-threat includes comparing the magnitude, the phase, and the polarizability index to a library of predetermined threat signatures.

10. The method of claim 1, wherein the first magnetic field is generated by at least a first magnetic field transmitter and a second magnetic field transmitter, the first magnetic field transmitter and the second magnetic field transmitter oriented in a first direction, and the first magnetic field transmitter and the second magnetic field transmitter spatially offset transverse to a predefined direction of motion and transverse to the first direction.

32. The method of claim 1, wherein the first property of the object includes a location of the object, a speed of the object, or an orientation of the object.

11. A system comprising:

a magnetic field transmitter configured to generate a first magnetic field, the first magnetic field including at least two frequency components, the first frequency component between 100 Hz and 1000 Hz and the second frequency component between 5 Hz and 100 Hz;

a plurality of magnetic field receivers including magnetic sensors, the plurality of magnetic field receivers configured to sample a combination of the first magnetic field and a second magnetic field resulting from interaction of the first magnetic field and an object; and

at least one data processor configured to at least;

receive data characterizing the samples obtained by the plurality of magnetic field receivers;

determine, using the received data, a polarizability index of the object, the polarizability index characterizing a magnetic polarizability property of the object, the polarizability index including a first polarizability index component determined based at least on the first frequency component and a second polarizability index component determined based at least on the second frequency component;

classify, using the polarizability index, the object as threat or non-threat, the classifying including determining a first property of the object based at least on the first polarizability index component associated with the first frequency component and determining at least one material property of the object based at least on the second polarizability index component associated with the second frequency component; and

provide the classification.

12. The system of claim 11, further comprising:

a transmit driver coupled to the magnetic field transmitter and configured to generate one or more signals for driving the magnetic field transmitter at a frequency that is less than 1,000 Hertz (Hz).

13. The system of claim 12, wherein the transmit driver is configured to generate one or more signals for driving the magnetic field transmitter at the first frequency component and the second frequency component, the magnetic field transmitter driven at the first frequency and the second frequency.

14. The system of claim 11, further comprising a second magnetic field transmitter, wherein the transmit driver further includes:

first drive electronics to drive the magnetic field transmitter; and

second drive electronics to drive the second magnetic field transmitter.

15. The system of claim 11, wherein the samples obtained by the plurality of magnetic field receivers characterize a magnitude and a phase;

and wherein classifying, using the polarizability index, the object as threat or non-threat includes comparing the magnitude, the phase, and the polarizability index to a library of predetermined threat signatures.

16. The system of claim 11, wherein the plurality of magnetic field receivers include flux gate sensors that measure a magnitude and phase of the combination of the first magnetic field and the second magnetic field in at least three axis at locations of the plurality of magnetic field receivers.

17. The system of claim 11, further comprising:

a data acquisition base station coupled to the plurality of magnetic field receivers and configured to filter, demodulate, and digitize the samples obtained by the plurality of magnetic field receivers;

the data acquisition base station further configured to determine in-phase and quadrature data characterizing the second magnetic field.

18. The system of claim 11, wherein determining the polarizability index includes determining a polarizability tensor.

19. The system of claim 18, wherein determining the polarizability index includes solving a set of trial solutions via a precomputed pseudo-inverse, determining a residual for each of the trial solutions, and selecting the trial solution resulting in a smallest residual.

20. The system of claim 11, wherein the at least one data processor is further configured to:

localize the object within a volume under inspection, the localization including determining an object speed, an object position, and an object time-offset to a predetermined plane.

21. The system of claim 11, wherein determining the polarizability index includes:

defining a set of trial solutions, each trial solution including a location, a speed, and a time-shift;

calculating an associated polarizability index and an associated residual for each trial solution; and

selecting a final trial solution, the final trial solution including the trial solution of the set of trial solutions that is associated with the smallest residual.

22. The system of claim 11, further comprising a base plate configured to couple to a first post and a second post, wherein the magnetic field transmitter is coupled to the first post, and the plurality of magnetic field receivers are coupled to the second post.

23. The system of claim 22, wherein the base plate incudes a modular mounting system configured to couple the base plate to a surface upon which the base plate is positioned, the modular mounting system including at least one coupling device selected from a group consisting of a plurality of suction cups, a plurality of gripping mechanisms, a plurality of piercing mechanisms, and a plurality of auger mechanisms.

24. The system of claim 22, wherein the base plate incudes a base plate frame hidden within the base plate, the base plate frame configured to permanently install the base plate in a location where the system is deployed.

25. The system of claim 22, wherein a proximal end of the first post and a proximal end of the second post are coupled to the base plate, and a distal end of the first post and a distal end of the second post are not connected to an archway coupling the distal end of the first post to the distal end of the second post.

26. The system of claim 22, wherein at least one of an accelerometer or an inclinometer is coupled to the first post and/or the second post.

27. The system of claim 11, wherein the at least one data processor is further configured to determine a measure of distortion of the second magnetic field based on an amount of metal present at a location where the system is deployed.

28. The system of claim 11, further comprising a first post, a second post, and at least one camera coupled to the first post or the second post, the at least one camera configured to capture image and/or video data of the object, wherein the camera is selected from a group including a depth camera, a rear-facing camera, a fish-eye camera, an infrared camera, a thermal camera, a surface map camera, an electro-optical camera, and a stereo camera.

29. The system of claim 28, further comprising a first camera coupled to the first post and a second camera coupled to the second post, the first camera configured to capture image data at a first viewing angle and the second camera configured to capture image data at a second viewing angle, the second viewing angle different than the first viewing angle.

30. The system of claim 29, wherein the image data captured by the first camera and the second camera is registered within a coordinate system of the system.

31. The system of claim 30, wherein responsive to classifying the object as a threat, the processor is further configured to generate a graphical indication identifying a location of the object and to overlay the graphical indication atop the image data in a display.