WO2018121079A1 - Security inspection device and method - Google Patents

Abstract

A security inspection device and method, the security inspection device comprising a movable base plate (1), a ray imaging apparatus (2), a mechanical arm (3), an detection apparatus (4), and a control apparatus (5); the ray imaging apparatus (2) is arranged to perform scan imaging of an object to be detected; one end of the mechanical arm (3) is rotatably arranged on the base plate (1) and the other end is connected to the ray imaging apparatus (2); the detection apparatus (4) is arranged to acquire size information of the object and distance information between the object and the detection apparatus; the control apparatus (5) is arranged to control the base plate (1) to move a predetermined distance relative to the object on the basis of the distance information; the control apparatus (5) is also arranged to determine size information of the object on the basis of feature information and, on the basis of the size information, determine at least one preset angle and control the mechanical arm (3) to drive the ray imaging apparatus (2) to perform scan imaging of the object at the preset angle. The present security inspection device moves conveniently and improves security inspection accuracy.

Description

Security equipment and method Technical field

The present disclosure relates to the field of security technology, and in particular, to a security inspection device and a security inspection method.

Background technique

With the development of society, people pay more and more attention to security inspection work, making various security inspection equipment more and more important. These security devices generally include metal detection, X-ray fluoroscopy, etc., hazardous liquid testing, and the like. Among them, the use of radiographic imaging devices to check suspicious packages or articles is a very common security inspection method. The principle is mainly to use the radiation to be projected onto the detector through the object to be tested, and then calculate and analyze the interior of the article. The image of the structure is reproduced. This allows you to check the inside without having to open an item such as a parcel.

The existing security inspection equipment using the radiation imaging device is usually a fixed structure, and is generally installed at a station, an airport, a dock, etc., and it is difficult to move it, and cannot be applied to different occasions, in particular, in a place where temporary security inspection is performed. Using existing fixed security equipment can be cost prohibitive. At the same time, since the shape and size of the items to be inspected may vary greatly, using fixed security inspection equipment, the items of different sizes and shapes are scanned at a fixed angle or path, which may cause the imaging to be inaccurate.

The above information disclosed in the Background section is only for enhancement of understanding of the background of the present disclosure, and thus it may include information that does not constitute a related art known to those of ordinary skill in the art.

Summary of the invention

The purpose of the present disclosure is to overcome the deficiencies of the prior art described above, and to provide a security inspection device and a security inspection method.

Another object of the present disclosure is to overcome the deficiencies of the prior art described above, and to provide a security inspection device and a security inspection method that can improve the accuracy of security inspection.

The additional aspects and advantages of the present disclosure will be set forth in part in the description which follows,

According to an aspect of the present disclosure, a security apparatus including a movable chassis, a radiation imaging apparatus, a robot arm, a detecting device, and a control device for scanning imaging an article to be detected is provided; the machine One end of the arm is rotatably disposed on the chassis, and the other end is coupled to the radiation imaging device; the detecting device is configured to acquire size information of the article and distance information between the article and the detecting device; The control device is configured to control the chassis to move a predetermined distance with respect to the article according to the distance information; the control device is further configured to determine size information of the article according to the feature information, and determine at least a predetermined angle and controlling the mechanical arm to drive the radiographic imaging device to scan and image the item at the preset angle.

According to an embodiment of the present disclosure, the preset angle has a plurality of.

According to an embodiment of the present disclosure, the radiographic imaging apparatus includes a radiation source and a detector, the radiation source is rotatably coupled to the mechanical arm, and configured to emit a radiation passable through the article; the detector and the detector The source of radiation is oppositely disposed and fixedly coupled for receiving radiation from the source.

According to an embodiment of the present disclosure, a crawler or a plurality of wheels are disposed under the chassis.

According to an embodiment of the present disclosure, the control device is further configured to store the size information and the distance information in the form of a coordinate system.

According to an embodiment of the present disclosure, the detecting device is a three-dimensional laser scanner, and the feature information is point cloud information of the item acquired by the three-dimensional laser scanner.

According to another aspect of the present disclosure, a security method is provided, including:

Obtaining feature information of the item to be detected and distance information of the item and the detecting device;

Determining at least one preset angle according to the feature information;

Controlling, by the distance information, a movement of the chassis relative to the article by a predetermined distance;

The control robot moves the radiographic imaging device to scan the article at the predetermined angle.

According to an embodiment of the present disclosure, the preset angle has a plurality of.

According to an embodiment of the present disclosure, the security method further includes storing the size information and distance information in the form of a coordinate system.

According to an embodiment of the present disclosure, the feature information is point cloud information of the item.

As can be seen from the above technical solutions, the present disclosure has at least one of the following advantages and positive effects:

Since the above-mentioned chassis can be moved, thereby facilitating the movement of the entire security inspection device to a situation where security inspection is required, it is convenient to adapt to a plurality of occasions; at the same time, the radiographic imaging device can be driven to control the article at a preset angle by controlling the mechanical arm. Scanning imaging, so that the scanning angle can be adjusted for different size items, so as to more accurately acquire the image inside the article and improve the accuracy of the security inspection; further, the preset angle can be determined by the control device according to the size of the object to be inspected collected by the detecting device. The information can be automatically determined by the preset angle, and the control device can move the chassis by a predetermined distance according to the distance information detected by the detecting device, thereby avoiding manual adjustment, which is beneficial to improving the security check efficiency.

DRAWINGS

The above and other features and advantages of the present disclosure will become more apparent from the detailed description of the exemplary embodiments.

Figure 1 is a block diagram of an embodiment of the security inspection apparatus of the present disclosure;

2 is a first operational state diagram of an embodiment of the security inspection device of the present disclosure;

3 is a second working state of an embodiment of the security inspection device of the present disclosure;

4 is a flow chart showing the working process of an embodiment of the security inspection device of the present disclosure;

FIG. 5 is a flow chart of an embodiment of the security inspection method of the present disclosure.

In the figure: 1, chassis; 2, radiation imaging device, 21, radiation source; 22, detector; 3, mechanical arm; 4, detection Device, 5, control device.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be embodied in a variety of forms and should not be construed as being limited to the embodiments set forth herein. To those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

Although the relative terms such as "upper" and "lower" are used in the specification to describe the relative relationship of one component of the icon to another component, these terms are used in this specification for convenience only, for example, according to the accompanying drawings. The direction of the example described. It will be understood that if the device of the icon is flipped upside down, the component described above will become the component "below". Other relative terms, such as "high", "low", "top", "bottom", "front", "post", "left", "right", etc., also have similar meanings. When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed through another structure. Other structures.

The terms "a", "the", "sai" and "sai" are used to indicate the presence of one or more elements/components, etc.; the terms "comprising", "including" and "having" are used to mean open The inclusion of the meaning and means that there may be additional elements/components/etc. in addition to the listed elements/components/etc.

1 to 3, an embodiment of the present disclosure provides a security inspection device for detecting an item such as a suspicious package, a package, or the like, or as a security check device for a temporary checkpoint. The security inspection apparatus according to the present embodiment may include a chassis 1, a radiation imaging device 2, a robot arm 3, a detection device 4, and a control device 5.

In the present embodiment, the chassis 1 can be a trolley that can be controlled by the control device 5, which includes a frame and a plurality of wheels, which are moved in different directions by the rotation of the wheels; or the chassis 1 can also include a frame and The track moves the frame by the rotation of the track. At the same time, the chassis 1 may further comprise two or more independent servo drive systems, one-to-one corresponding to the wheels or the crawler belts for respectively driving the wheels or the tracks to rotate, thereby facilitating control of the movement of the security inspection device and facilitating the steering control. Avoid obstacles.

In the present embodiment, the radiographic imaging apparatus 2 is capable of scanning an article to be detected, thereby acquiring an image of the inside of the article so as to check whether or not a prohibited article exists without opening an article such as a package. The radiographic imaging device 2 can include a radiation source 21 and a detector 22, wherein:

The ray source 21 can adopt an X-ray emitter or other ray emitter, and can determine the ray type according to the type and application of the object to be tested, thereby determining the ray emitter, and the X-ray source 21 can transmit X-rays to be detected. Item

The detector 22 can be configured to receive X-rays transmitted through the article and convert the optical signal into an electrical signal for transmission to the control device 5 such that the control device 5 forms an image of the interior of the article.

The working principle and specific configuration of the above radiation imaging apparatus 2 are well known and will not be described in detail herein. Further, the result of the radiation imaging apparatus 2 is not limited to the configuration in the above embodiment, and other radiation imaging apparatuses may be employed, which will not be exemplified herein.

In the present embodiment, one end of the mechanical arm 3 is rotatably connected to the chassis 1, and the other end is rotatably connected to the radiation source 21, and the detector 22 is disposed opposite to the radiation source 21 and fixedly connected, so that the detector 22 and the radiation source 21 The relative position remains fixed and can be moved by the robot arm 3 while simultaneously ensuring that the radiation transmitted through the article can be received by the detector 22, and the item to be detected can be located between the source 21 and the detector 22.

The robot arm 3 may include a plurality of arms, joints, and a driving device that can realize a plurality of degrees of freedom of movement, including linear movement in a plurality of directions and rotation about a plurality of different axes; the driving device may include a servo motor, a hydraulic pressure A device such as a cylinder is connected to the control device 5 and can be controlled by the control device 5 to perform various movements separately or simultaneously. For example, the robot arm 3 can adopt a 6-degree-of-freedom robot arm, and can also adopt a 4-DOF robot arm or a 7-DOF arm, etc., which can be selected according to specific working conditions, and is not limited herein.

In the present embodiment, the detecting device 4 can employ a laser scanner that can be detachably fixed to the chassis 1 and directed toward the item to be detected; before being scanned and imaged by the radiation imaging device 2, Using the detecting device 4, that is, a laser scanner, scanning the article to collect point cloud information of the article and distance information between the article and the detecting device 4, and the size information of the article can be obtained by using the point cloud information; The distance information determines a predetermined distance at which the mobile chassis 1 moves.

In other embodiments of the disclosure, the detecting device 4 may also adopt other devices, such as a raster three-dimensional scanner, etc., as long as it can be used to obtain the size of the article and the distance of the article from the detecting device, and is not particularly limited herein. .

In the present embodiment, the control device 5 can employ a computer, and the chassis 1, the radiation source 21, the detector 22, the laser scanner, the driving device of the robot arm, and the laser scanner are all connected to the computer; the computer can control the chassis 1 According to the above distance information, the predetermined distance is moved relative to the article, so that the chassis 1 and the article are kept at an appropriate distance, thereby realizing automatic movement, especially in a dangerously dangerous security inspection situation, which is advantageous for reducing the risk of injury of the security personnel; Test or calculation to obtain the accuracy of the scan;

At the same time, the computer can receive the point cloud information sent by the laser scanner and store it in the form of a coordinate system, and can determine the size information according to the point cloud information, establish a coordinate system according to the size information, and determine a plurality of preset angles; The computer can control the movement of the chassis 1 and the mechanical arm 3, so that the radiation source 21 can scan the articles at the predetermined angle, thereby automatically performing scanning imaging, avoiding manual adjustment according to different articles, and facilitating obtaining more accurate images. In order to improve the accuracy of security inspections, and improve the efficiency of security inspection.

In the present embodiment, the number of preset angles depends on the size of the article, and the number thereof is at least one. For example, for an item having a regular shape and a simple size and a small size, one or two pre-determinations can be determined. By setting the angle, after scanning and imaging, it is more accurate to know whether there are contraband inside; for items with complex shapes and large sizes, three or more preset angles can be determined, which is more comprehensive. And accurately detect the presence of contraband.

In this embodiment, determining a plurality of preset angles according to the size information and the distance information may be implemented in various manners, for example, a correspondence table of size information and preset angles may be preset, and the size information and the distance are determined. After the information, the preset angle can be determined by looking up the table; or, the formula can be summarized from the sample containing a large amount of size information and a preset angle, and then the collected size information is calculated by the formula, thereby obtaining Preset angle. Of course, the preset angles may also be determined in other ways, which are not enumerated here.

It should be noted that the control device 5 can also adopt other devices or devices that have a storage function and can perform logical operations and numerical calculation functions.

In the security inspection device of the present embodiment, since the chassis is movable, it is advantageous to move the entire security inspection device to a situation where security inspection is required, and it is convenient to adapt to multiple occasions; meanwhile, the radiographic imaging device can be driven by controlling the mechanical arm to The object is scanned and imaged by a preset angle, so that the scanning angles of the articles of different sizes can be adjusted, so as to more accurately acquire the image inside the article and improve the accuracy of the security inspection; further, the preset angle can be detected by the above control device. The size information of the item to be inspected collected by the device can automatically determine the preset angle, and the control device can move the chassis by a predetermined distance according to the distance information detected by the detecting device, thereby avoiding manual adjustment, which is beneficial to improving the security check efficiency.

The security device of this embodiment can be used in the following scenarios:

Referring to Figure 4, check for a specific suspicious item

Start the device and initialize it;

Detecting whether there is an item to be detected in the environment, detecting whether there is an item to be detected in the environment by the detecting device 4; if the item is not detected, moving to the next position to continue detecting, if the item is detected, initializing the steering gear and Global coordinate system

Whether the detection detecting device 4 is initialized, if not initialized, initialization is performed; if it is initialized, the point cloud information and the distance information of the article are detected by the detecting device 4 and sent to the control device 5 for storage, and the point cloud information is simultaneously performed. Processing to obtain size information;

Detecting whether the radiation imaging apparatus 2 is initialized, if not initialized, performing initialization; if it has been initialized, determining whether the size and position of the item meet the scanning requirement according to the stored size information and the distance information, and if not, moving the chassis 1 until it is satisfied Distance requirement; if satisfied, a preset angle is generated and scanned according to a preset angle, as shown in FIG. 2 and FIG. 3, and two preset angles are exemplarily shown in FIG. 2 and FIG. 3;

The imaging results are obtained.

The embodiment of the present disclosure further provides a security inspection method, which is used in the security inspection device according to any of the above embodiments. Referring to FIG. 5, the security inspection method provided by the embodiment may include:

Step S110: acquiring feature information of an item to be detected and distance information between the item and the detecting device;

Step S120: Determine at least one preset angle according to the feature information;

Step S130, controlling the chassis to move a predetermined distance with respect to the item according to the distance information;

Step S140: The control robot arm drives the radiation imaging device to scan and image the article at the preset angle.

In this embodiment, there are a plurality of preset angles.

In this embodiment, the security method further includes: storing the size information and the distance information in a coordinate system.

In this embodiment, the feature information may be point cloud information of the item.

In this embodiment, determining the at least one preset angle according to the feature information may include:

Determining the size information of the item according to the point cloud information;

At least one preset angle is determined based on the size information.

The specific details of the steps of the above security inspection method have been described in detail in the corresponding security inspection equipment, and therefore will not be described herein.

It should be understood that the present disclosure does not limit its application to the detailed structure and arrangement of the components presented in the specification. The present disclosure is capable of other embodiments and of various embodiments. The foregoing variations and modifications are intended to fall within the scope of the present disclosure. It is to be understood that the disclosure disclosed and claimed herein extends to all alternative combinations of two or more individual features that are mentioned or apparent in the drawings. All of these different combinations constitute a number of alternative aspects of the present disclosure. The embodiments described in the specification are illustrative of the best mode of the present disclosure, and will enable those skilled in the art to utilize this disclosure.

Claims (10)

A security device, including: Movable chassis; a radiation imaging apparatus for scanning imaging an article to be detected; a mechanical arm, one end of which is rotatably disposed on the chassis, and the other end is connected to the radiation imaging device; and the detecting device is configured to acquire characteristic information of the article and the article and the object Describe the distance information of the detecting device; a control device, configured to control the chassis to move a predetermined distance with respect to the article according to the distance information; the control device is further configured to determine size information of the article according to the feature information, and determine At least one preset angle, and controlling the mechanical arm to drive the radiation imaging device to scan and image the article at the preset angle. The security inspection apparatus according to claim 1, wherein the preset angle has a plurality of. The security screening apparatus according to claim 1 or 2, wherein the radiation imaging apparatus comprises: a source of radiation, the source of radiation being rotatably coupled to the robotic arm and configured to emit radiation that passes through the article; a detector, the detector being disposed opposite the radiation source and fixedly coupled to receive radiation emitted by the radiation source. The security inspection apparatus according to claim 1, wherein a crawler belt or a plurality of wheels are provided below the chassis. A security screening apparatus according to claim 1, wherein said control means is further arranged to store said size information and distance information in the form of a coordinate system. The security inspection apparatus according to claim 1, wherein said detecting means is a three-dimensional laser scanner, and said characteristic information is point cloud information of said article acquired by said three-dimensional laser scanner. A security check method, including: Obtaining feature information of the item to be detected and distance information of the item and the detecting device; Determining at least one preset angle according to the feature information; Controlling, by the distance information, a movement of the chassis relative to the article by a predetermined distance; The control robot moves the radiographic imaging device to scan the article at the predetermined angle. The security inspection method according to claim 7, wherein the preset angle is plural. The security check method according to claim 7, wherein the security check method further comprises storing the size information and the distance information in the form of a coordinate system. The security check method according to claim 7, wherein the feature information is point cloud information of the article.

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