CN111142168A - Intelligent cargo security inspection method and device - Google Patents
Intelligent cargo security inspection method and device Download PDFInfo
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- CN111142168A CN111142168A CN201911135369.2A CN201911135369A CN111142168A CN 111142168 A CN111142168 A CN 111142168A CN 201911135369 A CN201911135369 A CN 201911135369A CN 111142168 A CN111142168 A CN 111142168A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
- G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- G06V10/143—Sensing or illuminating at different wavelengths
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Abstract
The invention discloses an intelligent cargo security inspection method and device, wherein the method comprises the following steps: acquiring basic information of the goods, wherein the basic information comprises goods images; detecting the goods to obtain a detection result; directly transmitting the goods to a transport tool according to the detection result, or transferring the goods to a package opening platform area through a robot for inspection according to the detection result and basic information; identifying the area of the open platform to obtain an identification result; and transferring the goods in the unpacking table area through the robot according to the identification result, and returning to the step of acquiring the basic information of the goods according to the transferred goods until the goods are directly transmitted to the transport tool according to the detection result. By the aid of the method, a driver does not need to be relied on, the detection accuracy can be guaranteed even if the goods are detected for a long time, labor cost is reduced, and efficiency is improved. The intelligent cargo security inspection method and device can be widely applied to the technical field of detection.
Description
Technical Field
The invention relates to the technical field of detection, in particular to an intelligent cargo security inspection method and device.
Background
In order to ensure the safety of air transportation, safety inspection needs to be performed on goods to be transported by air to ensure that the goods do not contain dangerous goods and prohibited goods (hereinafter, referred to as dangerous goods). At present, in the airport, the goods station passes through the X-ray machine and carries out safety inspection to the air cargo, and the start person is according to professional knowledge, according to goods X-ray image, and whether wherein contains the hazardous articles, if contain the hazardous articles, then need the manual work to turn to the unpacking platform with this goods and open the packing inspection and take out the hazardous articles, then the manual work places the goods again in the conveyer belt and passes through the X-ray machine and inspect until not containing any hazardous articles in the goods. It is easy to know that the current security check method has the following disadvantages: the accuracy of the cargo safety inspection seriously depends on the professional knowledge storage, physical and mental states of the startup worker, so that errors are easy to occur, and particularly, the safety inspection result is easy to have errors when the startup worker checks the X-ray machine image for a long time; simultaneously, when the inspection had the hazardous articles to the goods, need the manual work to shift the hazardous articles to unpacking platform and inspect, will shift the goods manual work again after the inspection is accomplished to the conveyer belt and examine through the X-ray machine once more, need dispose a large amount of personnel for raising the efficiency, increased the human cost, and then inefficiency when personnel are not enough.
Disclosure of Invention
In view of the above, in order to solve the above technical problems, the present invention aims to provide an efficient and accurate intelligent cargo security inspection method and apparatus.
The technical scheme adopted by the invention is as follows: the intelligent cargo security inspection method comprises the following steps:
acquiring basic information of the goods, wherein the basic information comprises goods images;
detecting the goods through an X-ray machine system to obtain a detection result;
directly transmitting the goods to a transport tool according to the detection result, or transferring the goods to a package opening platform area through a robot for inspection according to the detection result and basic information;
identifying the area of the open platform to obtain an identification result;
and transferring the goods in the unpacking table area through the robot according to the identification result, and returning to the step of acquiring the basic information of the goods according to the transferred goods until the goods are directly transmitted to the transport tool according to the detection result.
Further, the step of detecting the goods through the X-ray machine system to obtain the detection result comprises the following steps:
acquiring an X-ray image of the cargo through an X-ray machine system;
obtaining a detection result according to the X-ray image and a preset dangerous goods database;
wherein, the detection result comprises that the goods contain dangerous goods and the goods do not contain dangerous goods.
Further, the step of directly transmitting the goods to the transport means according to the detection result, or transferring the goods to the area of the unpacking table through the robot according to the detection result and the basic information comprises the following steps:
if the detection result shows that the goods do not contain dangerous goods, directly transmitting the goods to a transport tool;
if the detection result shows that the goods contain dangerous goods, the goods are transferred to a unpacking platform area through the robot according to the basic information;
wherein, the detection result comprises that the goods contain dangerous goods and the goods do not contain dangerous goods.
Further, the step of transferring the goods to the unpacking table area through the robot according to the detection result and the basic information to check is specifically as follows:
and transferring the goods to the unpacking table area through the robot for inspection according to the detection result, the goods image and the manifest barcode information, wherein the basic information also comprises the manifest barcode information.
Further, the step of identifying the area of the platform to obtain the identification result includes the following steps:
acquiring an image of an area of the unpacking station according to a preset time threshold;
according to the image of the area of the unpacking table and the original image, identifying the area of the unpacking table to obtain an identification result;
the original image is an image which is obtained in advance and does not contain security check personnel in the unpacking platform area, and the image in the unpacking platform area comprises an image which does not contain security check personnel in the unpacking platform area and an image which contains security check personnel in the unpacking platform area.
Further, the step of identifying the unpacking table region according to the unpacking table region image and the original image to obtain an identification result includes the following steps:
performing first processing on an original image, specifically:
carrying out graying processing on an original image to obtain a first histogram;
dividing the first histogram into regions, wherein each region has a plurality of gray values with different gray levels;
summing the multiple gray values of each region to obtain a first vector of the original image;
and performing second processing on the unpacking table area image, specifically:
carrying out graying processing on the image of the unpacking table area to obtain a second histogram;
performing region division on the second histogram, wherein each region has a plurality of gray values with different gray levels;
summing the multiple gray values of each region to obtain a second vector of the image of the area of the unpacking station;
and obtaining an identification result according to the first vector and the second vector.
Further, the step of obtaining the recognition result according to the first vector and the second vector includes the following steps:
calculating a similarity between the first vector and the second vector;
if the similarity meets a preset threshold, the first vector is similar to the second vector;
otherwise, the first vector and the second vector are dissimilar;
wherein the recognition result comprises that the first vector is similar to the second vector, and the first vector is not similar to the second vector.
Further, the step of transferring the goods in the unpacking table area through the robot according to the identification result comprises the following steps:
if the identification result is that the first vector is similar to the second vector, transferring the goods in the unpacking platform area through the robot;
if the first vector and the second vector are not similar as a result of recognition, the goods in the platform area are not transferred.
The invention also provides an intelligent cargo security inspection device, which comprises:
the camera is used for acquiring basic information of the goods, and the basic information comprises goods images;
the X-ray machine system is used for detecting the goods to obtain a detection result and directly transmitting the goods to the transport tool according to the detection result;
the industrial personal computer is used for controlling the robot according to the detection result and the basic information, identifying the unpacking platform area to obtain an identification result, and controlling the robot according to the identification result;
and the robot is used for transferring the goods to the unpacking platform area for inspection and transferring the goods in the unpacking platform area.
Further, the X-ray machine system comprises an X-ray machine, a first conveyor belt and a second conveyor belt;
the first conveyor belt is used for placing goods transferred by the robot from the goods unpacking table area, and the camera acquires basic information of the goods and transmits the goods to the X-ray machine;
the X-ray machine is used for receiving the goods transmitted by the first conveyor belt and detecting the goods;
the second conveyer belt is used for receiving the goods passing through the X-ray machine, placing the goods transferred to the area of the unpacking platform by the robot and directly conveying the goods to the transport tool.
The invention has the beneficial effects that: acquiring basic information of the goods, wherein the basic information comprises goods images; detecting the goods through an X-ray machine system to obtain a detection result; directly transmitting the goods to a transport tool according to the detection result, or transferring the goods to a package opening platform area through a robot for inspection according to the detection result and basic information; identifying the area of the open platform to obtain an identification result; according to the identification result, the goods in the unpacking table area are transferred through the robot, and the step of obtaining the basic information of the goods is returned according to the transferred goods until the goods are directly transmitted to the transport tool according to the detection result; the goods are detected by the X-ray machine system, so that the detection accuracy can be ensured even if the goods are detected for a long time without depending on a start-up worker; the goods are transferred to the area of the unpacking table through the robot for inspection, and the goods in the area of the unpacking table are transferred according to the identification result, so that the labor cost is reduced, and the efficiency is improved.
Drawings
FIG. 1 is a schematic flow chart of the steps of the method of the present invention;
FIG. 2 is a schematic view of the structure of the apparatus of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
As shown in fig. 1, the intelligent cargo security inspection method includes the following steps:
acquiring basic information of the goods, wherein the basic information comprises goods images;
detecting the goods through an X-ray machine system to obtain a detection result;
directly transmitting the goods to a transport tool according to the detection result, or transferring the goods to a package opening platform area through a robot for inspection according to the detection result and basic information;
identifying the area of the open platform to obtain an identification result;
and transferring the goods in the unpacking table area through the robot according to the identification result, and returning to the step of acquiring the basic information of the goods according to the transferred goods until the goods are directly transmitted to the transport tool according to the detection result.
In this embodiment, the X-ray machine system includes an X-ray machine, a first conveyor belt, a second conveyor belt, and an X-ray machine console.
Specifically, the method comprises the following steps:
1) acquiring basic information of goods;
the goods are placed on the first conveying belt, the goods are shot through the camera, basic information of the goods is obtained, the basic information comprises manifest bar code information and goods images, the manifest bar code information and the goods images are transmitted to the X-ray machine operating platform and the industrial personal computer, and the manifest information comprises manifest numbers, sending addresses, destination addresses, dangerous goods codes and other information.
2) Detecting the goods through an X-ray machine system to obtain a detection result;
the goods are placed in first conveyer belt, are conveyed to the X-ray machine by first conveyer belt and detect, specifically: the method comprises the steps that an X-ray image generated by an X-ray machine and basic information of the goods are obtained through an X-ray machine console, an intelligent image recognition program is installed on the X-ray machine console, the intelligent image recognition program comprises a recognition algorithm (such as a feature extraction algorithm Canny, SIFT, a classification algorithm SVM, a decision tree, a random forest and the like) based on artificial design features and a recognition algorithm (such as an image recognition algorithm GoogleNet, ResNet, VGG, SSD, YOLO, Faster RCNN) based on convolutional neural network CNN, the detection result can be obtained by comparing the X-ray image with a preset dangerous goods database, namely the detected goods are automatically recognized to contain dangerous goods or do not contain the dangerous goods, and the preset dangerous goods database is composed of X-ray images corresponding to various dangerous goods collected in advance and can be updated.
3) Performing subsequent operation according to the detection result;
if the detected result shows that the goods do not contain dangerous goods, the goods detected by the X-ray machine are directly conveyed to the transport means through the second conveyor belt, in the embodiment, the transport means can be a container, a trolley, a forklift and the like, the goods are conveyed to the cabin for air transportation, and the goods which can be conveyed to the transport means are the goods which pass through security inspection and belong to safe goods which do not contain dangerous goods;
if the testing result contains the hazardous articles for the goods, will pass through the goods of X-ray machine through the second conveyer belt and carry out the conveying equally, will detect the manifest bar code information and the goods image conveying to the industrial computer that the goods that have the hazardous articles correspond by X-ray machine operation panel, the industrial computer has image intelligent recognition program and object location procedure equally, the realization mode of object location procedure can be: according to the obtained goods image, the Canny operator extracts the goods edge to obtain goods outline information, then the pixel coordinates of the goods image are converted into coordinates in the robot system to obtain goods positioning information, namely position information of the goods on the second conveyor belt is obtained, and the robot is controlled according to the position information to transfer the goods to a unpacking table area for a security check worker to check. The field of the unpacking platform comprises the unpacking platform and a working area, wherein the working area is near the unpacking platform and is used for a security inspector to stand to perform security inspection on goods, and the unpacking platform is used for placing goods containing or suspected to contain dangerous goods, namely the goods transferred by a robot from the second conveyor belt.
4) Identifying the area of the open platform to obtain an identification result;
the method comprises the steps that an original image is obtained in advance through a camera when a package opening platform area does not contain security check personnel and is stored in an industrial personal computer, and the original image can be obtained when an X-ray machine system stops working for example;
performing first processing on an original image, specifically: carrying out graying processing on the original image through an industrial personal computer to produce a first histogram of a gray image; dividing the first histogram into 128 regions, each region being 8 consecutive gray levels, i.e. gray values with 8 different gray levels; summing 8 gray values of each region to obtain 1 datum, namely obtaining one datum in each region, and finally obtaining 128 data in total to form a first vector A of the original image;
every time a preset time threshold value is set to be 3 seconds in the embodiment, other embodiments can be set to be other values, and it is easy to know that the area image of the unpacking station comprises an image of the unpacking station area without security check personnel and an image of the unpacking station area with security check personnel;
and performing second processing on the unpacking table area image, specifically: carrying out graying processing on the unpacking table area image through an industrial personal computer to produce a second histogram of a grayscale image; dividing the second histogram into 128 regions, each region being 8 consecutive gray levels, i.e. gray values with 8 different gray levels; summing 8 gray values of each area to obtain 1 datum, namely obtaining one datum in each area, and finally obtaining 128 data in total to form a second vector B of the area image of the packet opening station;
the similarity between the first vector a and the second vector B is calculated, the similarity in this embodiment is cosine similarity, the preset threshold is 30 degrees, the preset threshold may be other angles in other embodiments, and the similarity may be calculated in other similarity calculation manners. Therefore, in this embodiment, when the included angle between the first vector a and the second vector B is smaller than or equal to 30 degrees, the first vector a and the second vector B are determined to be similar, otherwise, the first vector a and the second vector B are not similar.
When the first vector A is similar to the second vector B, namely the original image and the image of the unpacking platform area have small or no difference, the unpacking platform area does not have a security check person, and the unpacking platform area does not have the security check person in an initial state, only when goods exist in the unpacking platform area, the security check person enters the unpacking platform area to carry out unpacking security check on the goods, and when the unpacking platform area finishes the unpacking security check on the goods, the security check person leaves the unpacking platform area); and then, the industrial personal computer controls the robot to transfer the goods in the unpacking table area to the first conveyor belt, the goods to be subjected to unpacking security check are taken as the transferred goods, the step 1) is returned until the goods do not contain dangerous goods and are directly conveyed to a transport tool after the result detected by the X-ray machine system. For example, if the detection result of the second pass of the X-ray machine detection still contains dangerous goods, the robot transfers the goods to the unpacking platform area again for unpacking security check, and after the unpacking security check is completed, the robot transfers the goods to the first conveyor belt again until the result of the goods detected by the X-ray machine system is that the goods do not contain dangerous goods, and the goods are directly transferred to the transport means;
when the first vector A is not similar to the second vector B, namely security check personnel are arranged in the unpacking platform area, the industrial personal computer does not control the robot to work until the second vector B obtained after second processing is carried out on the unpacking platform area image obtained according to the preset time threshold value is similar to the first vector A, and the industrial personal computer can control the robot to transfer goods in the unpacking platform area to the first conveyor belt.
As shown in fig. 2, an embodiment of the present invention further provides an intelligent cargo security inspection apparatus, including:
the camera is used for acquiring basic information of the goods, and the basic information comprises goods images;
the X-ray machine system is used for detecting the goods to obtain a detection result and directly transmitting the goods to the transport tool according to the detection result;
the industrial personal computer is used for controlling the robot according to the detection result and the basic information, identifying the unpacking platform area to obtain an identification result, and controlling the robot according to the identification result;
and the robot is used for transferring the goods to the unpacking platform area for inspection and transferring the goods in the unpacking platform area.
In this embodiment, the X-ray machine system includes an X-ray machine, a first conveyor belt and a second conveyor belt, and an X-ray machine console, where the first conveyor belt is located at the upstream of the cargo transportation, the second conveyor belt is located at the downstream of the cargo transportation, and the first conveyor belt and the second conveyor belt may be integrally formed or separately arranged;
the first conveyor belt is used for placing goods to be detected by the X-ray machine, the camera acquires basic information of the goods and transmits the goods to the X-ray machine, and the goods to be detected by the X-ray machine comprise the goods initially detected by the X-ray machine and the goods transferred by the robot from the goods unpacking platform area;
the X-ray machine is used for receiving the goods transmitted by the first conveyor belt and detecting the goods;
the second conveyor belt is used for receiving the goods passing through the X-ray machine, placing the goods transferred to the bag opening table area by the robot and directly transferring the goods which are not required to be transferred by the robot to a transport tool;
the X-ray machine operation table is used for controlling the transmission speed of the conveyor belt and displaying an X-ray image imaged by the X-ray machine.
The robot comprises a base, a straight arm, a first supporting arm, a second supporting arm, a rotating shaft and an execution tail end; the rotating shaft comprises a first rotating shaft and a second rotating shaft; the straight arm is vertically fixed on the base, the first support arm is connected with the straight arm through a first rotating shaft, the first support arm can rotate 360 degrees around the first rotating shaft in the horizontal direction, and the first support arm can rotate 180 degrees around the first rotating shaft in the vertical direction; the second support arm is connected with the first support arm through a second rotating shaft, and can rotate 360 degrees around the second rotating shaft in the horizontal direction and rotate 180 degrees around the second rotating shaft in the vertical direction; the execution tail end is a four-finger manipulator which is fixed at the tail end of the second support arm and used for transferring and transferring the goods.
The connection relationship of the device of the invention is as follows: the industrial computer is connected with the robot, the camera and the X-ray machine console respectively through cables, the camera is connected with the X-ray machine console through cables, and the X-ray machine console is connected with the X-ray machine through cables.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
In summary, compared with the prior art, the invention has the following advantages:
1) the goods are detected through the X-ray machine system, a driver does not need to be relied on, and the detection accuracy can be ensured even if the goods are detected for a long time;
2) the goods are transferred to the unpacking table area through the robot for inspection, and the goods in the unpacking table area are transferred according to the identification result, so that the labor cost is reduced, and the efficiency is improved;
3) according to the goods image and the manifest bar code information of the goods, the robot is used for transferring, so that the precision of goods transferring is high, and the goods can still be accurately transferred under the condition that the two goods are similar in outer pipe.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, while the invention is described in the context of functional modules and illustrated in the form of block diagrams, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated into a single physical device and/or software module or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
In the description herein, references to the description of the term "one embodiment," "the present embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The intelligent cargo security inspection method is characterized by comprising the following steps:
acquiring basic information of the goods, wherein the basic information comprises goods images;
detecting the goods through an X-ray machine system to obtain a detection result;
directly transmitting the goods to a transport tool according to the detection result, or transferring the goods to a package opening platform area through a robot for inspection according to the detection result and basic information;
identifying the area of the open platform to obtain an identification result;
and transferring the goods in the unpacking table area through the robot according to the identification result, and returning to the step of acquiring the basic information of the goods according to the transferred goods until the goods are directly transmitted to the transport tool according to the detection result.
2. The intelligent cargo security inspection method according to claim 1, wherein: the step of detecting the goods through the X-ray machine system to obtain the detection result comprises the following steps:
acquiring an X-ray image of the cargo through an X-ray machine system;
obtaining a detection result according to the X-ray image and a preset dangerous goods database;
wherein, the detection result comprises that the goods contain dangerous goods and the goods do not contain dangerous goods.
3. The intelligent cargo security inspection method according to claim 1, wherein: the step of directly transmitting the goods to the transport tool according to the detection result or transferring the goods to the area of the unpacking table through the robot according to the detection result and the basic information for inspection comprises the following steps:
if the detection result shows that the goods do not contain dangerous goods, directly transmitting the goods to a transport tool;
if the detection result shows that the goods contain dangerous goods, the goods are transferred to a unpacking platform area through a robot to be checked according to the basic information;
wherein, the detection result comprises that the goods contain dangerous goods and the goods do not contain dangerous goods.
4. The intelligent cargo security inspection method according to claim 1, wherein: the step of transferring the goods to the unpacking platform area through the robot according to the detection result and the basic information to check, specifically:
and transferring the goods to the unpacking table area through the robot for inspection according to the detection result, the goods image and the manifest barcode information, wherein the basic information also comprises the manifest barcode information.
5. The intelligent cargo security inspection method according to claim 1, wherein: the step of identifying the area of the switching platform to obtain the identification result comprises the following steps:
acquiring an image of an area of the unpacking station according to a preset time threshold;
according to the image of the area of the unpacking table and the original image, identifying the area of the unpacking table to obtain an identification result;
the original image is an image which is obtained in advance and does not contain security check personnel in the unpacking platform area, and the image in the unpacking platform area comprises an image which does not contain security check personnel in the unpacking platform area and an image which contains security check personnel in the unpacking platform area.
6. The intelligent cargo security inspection method according to claim 5, wherein: the step of identifying the area of the unpacking table according to the image of the area of the unpacking table and the original image to obtain an identification result comprises the following steps:
performing first processing on an original image, specifically:
carrying out graying processing on an original image to obtain a first histogram;
dividing the first histogram into regions, wherein each region has a plurality of gray values with different gray levels;
summing the multiple gray values of each region to obtain a first vector of the original image;
and performing second processing on the unpacking table area image, specifically:
carrying out graying processing on the image of the unpacking table area to obtain a second histogram;
performing region division on the second histogram, wherein each region has a plurality of gray values with different gray levels;
summing the multiple gray values of each region to obtain a second vector of the image of the area of the unpacking station;
and obtaining an identification result according to the first vector and the second vector.
7. The intelligent cargo security inspection method according to claim 6, wherein: the step of obtaining the recognition result according to the first vector and the second vector comprises the following steps:
calculating a similarity between the first vector and the second vector;
if the similarity meets a preset threshold, the first vector is similar to the second vector;
otherwise, the first vector and the second vector are dissimilar;
wherein the recognition result comprises that the first vector is similar to the second vector, and the first vector is not similar to the second vector.
8. The intelligent cargo security inspection method according to claim 7, wherein: the step of transferring the goods in the unpacking table area through the robot according to the identification result comprises the following steps:
if the identification result is that the first vector is similar to the second vector, transferring the goods in the unpacking platform area through the robot;
if the first vector and the second vector are not similar as a result of recognition, the goods in the platform area are not transferred.
9. Goods intelligence safety inspection device, its characterized in that includes:
the camera is used for acquiring basic information of the goods, and the basic information comprises goods images;
the X-ray machine system is used for detecting the goods to obtain a detection result and directly transmitting the goods to the transport tool according to the detection result;
the industrial personal computer is used for controlling the robot according to the detection result and the basic information, identifying the unpacking platform area to obtain an identification result, and controlling the robot according to the identification result;
and the robot is used for transferring the goods to the unpacking platform area for inspection and transferring the goods in the unpacking platform area.
10. The intelligent cargo security inspection device of claim 9, wherein:
the X-ray machine system comprises an X-ray machine, a first conveyor belt and a second conveyor belt;
the first conveyor belt is used for placing goods transferred by the robot from the goods unpacking table area, and the camera acquires basic information of the goods and transmits the goods to the X-ray machine;
the X-ray machine is used for receiving the goods transmitted by the first conveyor belt and detecting the goods;
the second conveyer belt is used for receiving the goods passing through the X-ray machine, placing the goods transferred to the area of the unpacking platform by the robot and directly conveying the goods to the transport tool.
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| CN201911135369.2A CN111142168A (en) | 2019-11-19 | 2019-11-19 | Intelligent cargo security inspection method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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