阅读说明：本技术 一种远程检测系统 (Remote detection system ) 是由 S·R·肯普沙尔 J·A·小威尔克森 J·格林伯格 于 2019-07-24 设计创作，主要内容包括：用于检测三维空间中的物体的方法和系统。该方法包括由面向相应多个方向的多个发射器发射信号以产生关于所述三维空间的均匀毫米波照射。该方法包括确定物体数据,该物体数据包括反射自所述三维空间内的一个或多个物体的信号的方向、相位和定时。该方法包括由处理器根据所述物体数据检测所述三维空间中的一个或多个物体。该方法包括由所述处理器渲染与所述一个或多个被检测物体相对应的图像。(Methods and systems for detecting objects in three-dimensional space. The method includes transmitting signals by a plurality of transmitters facing a respective plurality of directions to produce uniform millimeter wave illumination with respect to the three-dimensional space. The method includes determining object data including a direction, a phase, and a timing of signals reflected from one or more objects within the three-dimensional space. The method includes detecting, by a processor, one or more objects in the three-dimensional space from the object data. The method includes rendering, by the processor, an image corresponding to the one or more detected objects.)

1. A detection system for three-dimensional space, the detection system comprising:

a plurality of emitters facing a respective plurality of directions and configured to produce uniform millimeter wave illumination with respect to the three-dimensional space;

a plurality of receivers configured to determine object data comprising a direction, phase, and timing of signals reflected from one or more objects within the three-dimensional space; and

a processor configured to receive the object data, detect the one or more objects in the three-dimensional space based on the object data, and render an image corresponding to the one or more detected objects.

2. The detection system of claim 1, wherein the transmitter is an electronic steering antenna array.

3. The detection system of claim 1, wherein the receiver is a transceiver/modem integrated system.

4. The detection system of claim 1, wherein the processor is a digital signal processor.

5. The detection system of claim 1, further comprising a display configured to display a rendered image corresponding to the one or more detected objects.

6. The detection system of claim 1, further comprising one or more additional sensing devices configured to detect additional sensing data corresponding to the one or more detected objects,

wherein the processor is further configured to render an additional image based on the additional sensed data, an

Wherein the display is further configured to display the additional image.

7. The detection system of claim 1, further comprising an input device configured to receive input from a user manipulating the image and to cause the display to display an image manipulated based on the input from the user.

8. The detection system of claim 1, wherein at least two of the plurality of transmitters are not coplanar with each other, and wherein at least two of the plurality of receivers are not coplanar with each other.

9. The detection system of claim 1, further comprising two or more walls, and

wherein each of the two or more walls has at least one transmitter of the plurality of transmitters thereon and each of the two or more walls has at least one receiver of the plurality of receivers thereon.

10. A method for detecting an object in three-dimensional space, the method comprising:

transmitting signals by a plurality of transmitters facing a respective plurality of directions to produce uniform millimeter wave signal illumination with respect to the three-dimensional space;

determining object data comprising a direction, phase and timing of signals reflected from one or more objects within the three-dimensional space;

detecting, by a processor, the one or more objects in the three-dimensional space from the object data; and

rendering, by the processor, an image corresponding to the one or more detected objects.

11. The method of claim 10, further comprising displaying, by a display, a rendered image corresponding to the one or more detected objects.

12. The method of claim 10, further comprising:

detecting, by one or more additional sensing devices, additional sensing data corresponding to the one or more detected objects;

rendering, by the processor, an additional image based on the additional sensed data; and

displaying, by the display, the additional image.

13. The method of claim 12, wherein the detecting the additional sensing data is performed automatically by the one or more additional sensing devices when the processor detects the one or more objects in the three-dimensional space.

14. The method of claim 10, further comprising receiving an input from a user manipulating the image through an input device and causing the display to display an image that is manipulated based on the input from the user.

15. A detection apparatus, comprising:

a plurality of emitters facing a respective plurality of directions and configured to produce uniform millimeter wave illumination with respect to a three-dimensional space;

a plurality of receivers configured to determine object data comprising a direction, phase, and timing of signals reflected from one or more objects within the three-dimensional space; and

a processor configured to receive the object data, detect the one or more objects in the three-dimensional space based on the object data, and render an image corresponding to the one or more detected objects.

16. The detection device of claim 15, wherein the transmitter is an array of electronically steered antennas attached to two or more walls.

17. The detection apparatus of claim 15, wherein the receiver is a transceiver/modem integrated system attached to two or more walls.

18. The detection apparatus of claim 15, wherein the processor is a digital signal processor.

19. The detection device of claim 15, further comprising a display configured to display a rendered image corresponding to the one or more detected objects.

20. The detection device of claim 15, further comprising one or more additional sensing devices configured to detect additional sensing data corresponding to the one or more detected objects,

wherein the processor is further configured to render an additional image based on the additional sensed data, an

Wherein the display is further configured to display the additional image.

1. Field of the invention

The present invention relates to a system and method for detecting the position of a person and/or object within a three-dimensional space.

2. Description of the related Art

There are many remote weapon/contraband detection systems available. Some of these prior systems detect weapons by using millimeter wave radiation. Radiation at these frequencies will penetrate clothing and reflect more strongly from metal and ceramic objects than from the surface of the human body. The resulting 2D image may detect hidden weapons. However, these existing systems scan a person and require a specific location and fit of the object. Accordingly, there is a need for systems and methods for detecting weapons and objects without requiring cooperation of the objects.

Background

Disclosure of Invention

An inspection system for three-dimensional space is described. The detection system includes a plurality of emitters facing a corresponding plurality of directions and configured to produce uniform millimeter wave illumination with respect to the three-dimensional space. The detection system includes a plurality of receivers configured to determine object data including a direction, phase, and timing of signals reflected from one or more objects within the three-dimensional space. The detection system includes a processor configured to receive object data, detect one or more objects in the three-dimensional space based on the object data, and render images corresponding to the one or more detected objects.

A method for detecting an object in three-dimensional space is also described. The method includes transmitting signals by a plurality of transmitters facing in a respective plurality of directions to produce uniform millimeter wave illumination with respect to the three-dimensional space. The method includes determining object data including a direction, a phase, and a timing of a signal reflected from one or more objects within the three-dimensional space. The method includes detecting, by a processor, the one or more objects in the three-dimensional space from the object data. The method includes rendering, by the processor, an image corresponding to the one or more detected objects.

A detection device is also described that includes a plurality of emitters facing a corresponding plurality of directions and configured to produce uniform millimeter wave illumination with respect to the three-dimensional space. The detection device includes a plurality of receivers configured to determine object data including a direction, phase, and timing of signals reflected from one or more objects within the three-dimensional space. The detection device includes a processor configured to receive the object data, detect the one or more objects in the three-dimensional space based on the object data, and render an image corresponding to the one or more detected objects.

Drawings

Other systems, methods, features and advantages of the invention will be or will become apparent to one with skill in the art upon examination of the following figures and detailed description. The component parts illustrated in the drawings are not necessarily to scale and may be exaggerated to better illustrate important features of the present invention.

FIG. 1A illustrates the remote detection system according to various embodiments of the present invention.

FIG. 1B illustrates the remote detection system according to various embodiments of the present invention.

Fig. 2 is a block diagram of the remote detection system according to various embodiments of the invention.

Fig. 3 is a flow diagram of a process performed by the remote detection system according to various embodiments of the invention.

Detailed Description

The systems and methods described herein use volumetric image processing techniques to derive 3D images from multiple millimeter wave receivers using coherent millimeter wave illumination with respect to a scanned volume. The system is able to detect concealed weapons within the scanned volume due to the greater ability of millimeter wave frequencies to penetrate clothing and reflect from metal and ceramic surfaces.

Millimeter wave energy forms a 3D image of the scanned volume by: the phase and amplitude of the reflected energy received by the sensor array are measured and digital processing is used to form the image.

The systems and methods described herein also provide the ability to overlay multiple imaging technique results (e.g., optical or infrared) on the composite image for better detection and detail blurring. Detail obfuscation may be important to personal privacy concerns, for example, may be used to make an image anonymous by removing facial details.

Conventional systems are limited to scanning one person at a time and require that the object being scanned be in a particular location and coordinate. The systems and methods described herein provide for scanning multiple individuals in natural positions and dynamic conditions (such as walking, standing, or squatting) over a large area.

Fig. 1A shows a remote detection system 100. The remote detection system 100 is a volume scanning system for detecting weapons, contraband, or other metallic or ceramic objects concealed on individuals in a particular space. "weapon" as used herein will be used to describe any weapon, contraband, or other metal or ceramic object that is desired to be detected. This space in which weapons and individuals may be located may be referred to as the scan volume 102. There may be one or more individuals 112 within the scan volume 102, and the individuals 112 may hold a weapon 114, which may be exposed or concealed.

The basic principle of operation is a multi-ground millimeter wave radar using multiple source transmitters 106 and separate receivers 108. The transmitter 106 and the receiver 108 are placed around the scan volume 102 to allow illumination and observation of the individual 112 within the scan volume 102 from multiple directions. Scanning the individual 112 from multiple directions increases the likelihood of detecting the weapon 114.

The source transmitter 106 transmits a signal 110 using a wide beam antenna (e.g., an electronically steered antenna array) to provide uniform illumination of the scan volume 102. The signal 110 reflects from all surfaces within the scan volume 102, and the receiver 108 (e.g., a low cost bit-wave transceiver) uses a phased array antenna to resolve the direction, phase, and timing of the reflected signal 110. The receiver 108 uses the copy of the source waveform transmitted from the transmitter 106 to correlate the received signals and resolve the position and amplitude of the reflections within the swept volume 102. Digital signal processing and comparison of the received signals from all of the receivers 108 using the emissions of each of the transmitters 106 allows for the formation of a three-dimensional image of the microwave scattering properties of any object within the scan volume 102.

Metal and ceramic objects scatter millimeter wave energy more strongly than most clothing and human body surfaces, so the system 100 will identify regions of interest based on the intensity of the scattering. The short wavelength of the source signal 110 allows for high resolution imaging so that the size and shape of the highly reflective regions of the image can be used by automated detection algorithms to identify potential weapons. Other sensors (e.g., visual or infrared cameras) may also be accurately directed to the target area for further inspection to aid in identification. For example, when a suspicious object 114 is detected based on the three-dimensional image generated using detection signal data from the receiver 108, additional sensors may be activated and directed to the location of the suspicious object 114 for further image detection.

Continuous scanning of the same target area by additional sensors may also be used to improve target discrimination. In some embodiments, visual confirmation of the human user may be used to provide feedback to the system to improve target discrimination. Because there is no mechanical scanning antenna, the rate at which a volume can be scanned is limited only by the available image processing capability, and can be set high enough to provide near real-time scanning of a person moving at normal speed. None of these functions require cooperation by the individual being scanned, and the antenna and other sensors may be hidden from alerting potential targets.

The ability to scan large volumes (e.g., hallways or patios) without requiring the scanned objects to remain in any fixed position allows the remote detection system described herein to be used in a much wider range of applications than existing single-person scanners. For example, the remote detection system may detect weapons during the approach (or path) to the venue before the personnel are closely gathered, allowing easier intervention by security personnel. The ability to scan volumes at very high rates makes it much more difficult to hide or confuse weapons or contraband than when using current 2D techniques.

The systems described herein may be combined with other imaging techniques (e.g., optical, infrared, multiple RF frequencies) to further enhance the ability to detect weapons or contraband. The 3D techniques described herein also make the specific identification of objects of interest much easier in a distant environment, thereby reducing the likelihood of false positives. Using agile RF beams at high angular rates, both general volume scanning and discrete object scanning can be performed using the same combination of devices.

Fig. 1A shows the system 100 used in an enclosed space having four walls 104 surrounding the individual 112. Fig. 1B shows the system 100 in use in a corridor or corridor with two walls 104 surrounding the individual 112. The three-dimensional image may be generated using a minimum of three pairs of transmitters 106 and receivers 108, but the generated three-dimensional image may be enhanced using additional pairs of transmitters 106 and receivers 108. The transmitter 106 and the receiver 108 may be placed on different walls 104 to provide various advantageous positions and angles. For example, the first electronically scanned antenna may face north, the second electronically scanned antenna may face east, and the third electronically scanned antenna may face south. Generally, the transmitter 106 and the receiver 108 are located on two or more walls, and as used herein, a "wall" may refer to any surface used to define a space, such as a sidewall, ceiling, or floor.

The receiver 108 may be a transceiver. Further, the transceiver may be a transceiver/modem integrated device. The transmitter 106 may be an electronically scanned antenna. Furthermore, the electronically scanned antenna may be an electronically steered antenna array for Ku/Ka satellite communications applications that is custom developed millimeter wave design for remote detection scenarios.

In some embodiments, the system may also include additional data, such as video imaging, thermal information, spectral information, and/or radio frequency scatter imaging.

The system provides volumetric coverage of moving objects with minimal radiation at innocuous wavelengths. Due to scattering techniques, the system creates a blurred image of human morphology and may be designed to perform area scanning or may park/track a specific target.

The systems and methods described herein may be used to provide area coverage under natural flow conditions for detecting certain weapons or contraband. In some embodiments, the systems and methods described herein may be used in a medical environment to detect objects within or near a patient.

Fig. 2 illustrates a system 200 for detecting weapons or contraband in three-dimensional space.

The system 200 includes a plurality of emitters 206 similar to the emitters 106 described herein. In some embodiments, the plurality of emitters 206 are electronically scanned antennas. The system 200 also includes a plurality of receivers 208 similar to the receivers 108 described herein. In some embodiments, the plurality of receivers 208 are transceivers. The plurality of transmitters 206 and the plurality of receivers 208 may be located at a plurality of locations sufficient to cover a three-dimensional space of interest. In some embodiments, at least two emitters of the plurality of emitters 206 are not coplanar with each other. In some embodiments, at least two of the plurality of receivers 208 are not coplanar with each other.

The plurality of emitters 206 emit microwave signals that are scattered by one or more objects in the scan volume. The plurality of receivers 208 are configured to detect object data associated with one or more objects in the scan volume. The object data may include the direction, timing, and phase of the scattered microwave signals originally transmitted from the plurality of emitters 206. The object data may be detected by comparing the detected scattered microwave signals with the signals emitted from the plurality of emitters 206. The object data may be detected by comparing the detected scattered microwave signal with a deviation of the transmitted signal.

The plurality of transmitters 206 and the plurality of receivers 208 are coupled to the processor 204. The processor 204 is configured to determine a three-dimensional image based on object data detected by the plurality of receivers 208. The processor 204 may be any computer processing device configured to execute instructions stored on the memory 212. The memory 212 may be a non-transitory computer readable medium. The processor 204 may be a digital signal processor. The processor 204 may also be one or more processors configured to work in combination. In some embodiments, the receiver 208 determines object data based on the detected reflected signals. In some embodiments, the processor 204 determines object data based on the transmitted signals from the plurality of transmitters 206 and the detected reflected signals from the plurality of receivers 208.

The processor 204 may also render a visual representation of the three-dimensional image to be displayed on the display 202. The visual representation of the three-dimensional image corresponds to one or more objects in the scan volume. The display 202 may be any display device, such as an LCD display screen or an LED display screen.

A user (e.g., a police officer) may view the display 202 to identify whether the detected object is a weapon. Systems that produce two-dimensional images may not provide a deterministic representation of the object in question because many dangerous objects appear similar to non-dangerous objects at certain angles. For example, when only the edge of the knife is visible, the knife may look similar to a pen. However, the system 200 generates a three-dimensional image that the user can view from multiple angles and viewpoints to determine whether the object in question is a weapon. In some embodiments, the user uses an input device 214, such as a mouse, joystick, microphone, or touch screen, to manipulate the generated three-dimensional image by rotating, zooming in and out, etc., to examine the object in question.

In some embodiments, when an object is detected, the additional sensing device 210 may be used to provide additional sensor data to help identify the object. The additional sensing device 210 may be at least one of a camera or an infrared sensor. The data from the additional sensing devices 210 may provide additional information to the user to assist the user in determining whether the object in question is a weapon. The additional sensing device 210 may be triggered automatically or may be triggered in response to an indication (e.g., from the input device 214).

In some embodiments, the processor 204 is configured to automatically determine whether the detected object is a weapon. The processor 204 may use machine learning techniques and training data to determine whether the detected object is a weapon. In some embodiments, the user may use the input device 214 to identify whether the detected object is a weapon, and this identification may be used as feedback to the processor 204 to further improve the ability of the processor 204 to accurately identify a weapon. In some embodiments, the processor 204 provides a confidence value associated with determining whether the object in question is a weapon, and the confidence value is used to determine whether to take action.

In some embodiments, an alarm or other alert may be automatically activated in response to detecting a weapon. The alarm may be broadcast to everyone in the vicinity of the detected weapon, or the alarm may be sent only to certain individuals, such as police or security guards.

In some embodiments, the system 200 is implemented as a detection device configured to be connected to two or more walls to which the transmitter 206 and the receiver 208 are connected.

Fig. 3 is a flow chart illustrating a process 300 for use by the system described herein.

Signals are transmitted by a plurality of emitters (e.g., emitters 206) facing a respective plurality of directions to produce uniform millimeter wave illumination with respect to a three-dimensional space (e.g., scan volume 102) (step 302).

Object data associated with one or more objects in the three-dimensional space is determined (step 304). The one or more objects in the three-dimensional space may reflect or scatter the signals emitted from the plurality of emitters, and a plurality of receivers (e.g., receiver 208) may detect the reflected or scattered signals. The object data includes direction, phase, and timing of signals reflected from one or more objects within the three-dimensional space. In some embodiments, the receiver determines the object data based on detecting the reflected or scattered signal and a signal emitted from the transmitter. In some embodiments, a processor (e.g., processor 204) connected to the transmitter and the receiver determines object data based on detecting the reflected or scattered signal and the signal emitted from the transmitter.

The processor detects one or more objects in the three-dimensional space based on the object data (step 306). The processor may coordinate the object data with the positions of the receivers and/or transmitters of all of the receivers and/or transmitters to calculate the position of the object in three-dimensional space. In particular, a plurality of points forming the surface of the object may be determined, each point being a coordinate in three-dimensional space.

The processor renders an image corresponding to the one or more detected objects (step 308). A display (e.g., display 202) is configured to display the rendered image (step 310). The image may be shown on a two-dimensional display, and the user may manipulate the image (e.g., zoom in, zoom out, flip) using an input device (e.g., input device 214) to examine the image in three dimensions. In some embodiments, the image may be displayed using a display that displays the image as a three-dimensional output, such as a hologram. When the input device receives a manipulation input from the user, the processor adjusts the rendering of the image corresponding to the manipulation input. For example, when the user provides a manipulation input to rotate an image clockwise, the processor may adjust the rendering of the image to rotate clockwise and display the adjusted rendered image by the display.

One or more additional sensing devices (e.g., additional sensing device 210) are used to detect additional sensor data associated with the one or more detected objects (step 312). The detection of additional sensor data by additional sensing devices may be automatically triggered by the processor upon detection of one or more objects. The processor may instruct the one or more additional sensing devices to detect additional sensor data at a particular location in three-dimensional space where the one or more objects have been detected. The additional sensing device may be manually directed by a user to perform detection of additional sensor data using the input device.

Additional sensing data may be rendered by the processor into additional images and presented alongside or superimposed on the image based on the signal rendered in step 308. The presentation of the additional image and the signal-based image may further provide for a clear identification of the object.

The user or the processor determines whether each of the one or more objects in the three-dimensional space is a weapon (step 314). As described herein, a human user may identify whether an object is a weapon based on human judgment, and the processor may identify whether an object is a weapon based on machine learning techniques and training data.

Exemplary embodiments of a method/system are disclosed in an illustrative manner. Thus, the terms used throughout should be read in a non-limiting manner. Although minor modifications to the teachings herein may occur to those skilled in the art, it should be understood that such embodiments are included within the scope of the patent protection granted hereon, are reasonably within the scope of the improvement contributed by the art, and that such scope should not be limited except in light of the appended claims and their equivalents.