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WO2018121079A1 - Dispositif et procédé d'inspection de sécurité - Google Patents

Dispositif et procédé d'inspection de sécurité Download PDF

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Publication number
WO2018121079A1
WO2018121079A1 PCT/CN2017/109684 CN2017109684W WO2018121079A1 WO 2018121079 A1 WO2018121079 A1 WO 2018121079A1 CN 2017109684 W CN2017109684 W CN 2017109684W WO 2018121079 A1 WO2018121079 A1 WO 2018121079A1
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WO
WIPO (PCT)
Prior art keywords
information
article
security
security inspection
radiation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/109684
Other languages
English (en)
Chinese (zh)
Inventor
林东
崔锦
胡斌
苍安
谭杨
曾军辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nuctech Co Ltd
Original Assignee
Nuctech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nuctech Co Ltd filed Critical Nuctech Co Ltd
Publication of WO2018121079A1 publication Critical patent/WO2018121079A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/03—Investigating materials by wave or particle radiation by transmission
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/10—Different kinds of radiation or particles
    • G01N2223/101—Different kinds of radiation or particles electromagnetic radiation
    • G01N2223/1016—X-ray

Definitions

  • the present disclosure relates to the field of security technology, and in particular, to a security inspection device and a security inspection method.
  • 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.
  • 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 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.
  • 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
  • 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.
  • the preset angle has a plurality of.
  • 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.
  • a crawler or a plurality of wheels are disposed under the chassis.
  • control device is further configured to store the size information and the distance information in the form of a coordinate system.
  • the detecting device is a three-dimensional laser scanner
  • the feature information is point cloud information of the item acquired by the three-dimensional laser scanner.
  • a security method including:
  • the control robot moves the radiographic imaging device to scan the article at the predetermined angle.
  • the preset angle has a plurality of.
  • the security method further includes storing the size information and distance information in the form of a coordinate system.
  • the feature information is point cloud information of the item.
  • the present disclosure has at least one of the following advantages and positive effects:
  • 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.
  • Figure 1 is a block diagram of an embodiment of the security inspection apparatus of the present disclosure
  • FIG. 2 is a first operational state diagram 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.
  • 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 may include a chassis 1, a radiation imaging device 2, a robot arm 3, a detection device 4, and a control device 5.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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;
  • 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.
  • the accuracy of security inspections and improve the efficiency of security inspection.
  • 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.
  • 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.
  • the preset angles may also be determined in other ways, which are not enumerated here.
  • control device 5 can also adopt other devices or devices that have a storage function and can perform logical operations and numerical calculation functions.
  • 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.
  • 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
  • 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;
  • 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.
  • 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.
  • the security method further includes: storing the size information and the distance information in a coordinate system.
  • the feature information may be point cloud information of the item.
  • determining the at least one preset angle according to the feature information may include:
  • At least one preset angle is determined based on the size information.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

La présente invention concerne un dispositif et un procédé d'inspection de sécurité, le dispositif d'inspection de sécurité comprenant une plaque de base mobile (1), un appareil d'imagerie par rayonnement (2), un bras mécanique (3), un appareil de détection (4), et un appareil de commande (5) ; l'appareil d'imagerie par rayonnement (2) est agencé pour effectuer une imagerie de balayage d'un objet à détecter ; une extrémité du bras mécanique (3) est agencée de façon rotative sur la plaque de base (1) et l'autre extrémité est raccordée à l'appareil d'imagerie par rayonnement (2) ; l'appareil de détection (4) est agencé pour acquérir des informations de taille de l'objet et des informations de distance entre l'objet et l'appareil de détection ; l'appareil de commande (5) est agencé pour commander la plaque de base (1) de façon à se déplacer d'une distance prédéterminée par rapport à l'objet sur la base des informations de distance ; l'appareil de commande (5) est également agencé pour déterminer des informations de taille de l'objet sur la base d'informations caractéristiques et, sur la base des informations de taille, déterminer au moins un angle prédéfini et commander le bras mécanique (3) pour entraîner l'appareil d'imagerie par rayonnement (2) afin d'effectuer une imagerie de balayage de l'objet à l'angle prédéfini. Le présent dispositif d'inspection de sécurité se déplace aisément et améliore la précision d'inspection de sécurité.
PCT/CN2017/109684 2016-12-26 2017-11-07 Dispositif et procédé d'inspection de sécurité Ceased WO2018121079A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611218515.4 2016-12-26
CN201611218515.4A CN106645224A (zh) 2016-12-26 2016-12-26 安检设备及方法

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Cited By (2)

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CN117112816A (zh) * 2023-10-20 2023-11-24 浙江啄云智能科技有限公司 安检图像的排序方法、装置、设备及存储介质
CN117647546A (zh) * 2024-01-29 2024-03-05 浙江华视智检科技有限公司 一种安检成像方法和相关装置

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CN106645224A (zh) * 2016-12-26 2017-05-10 同方威视技术股份有限公司 安检设备及方法
CN107563248A (zh) * 2017-09-15 2018-01-09 肖同春 一种二维码批量识别方法
CN109407174A (zh) * 2018-12-28 2019-03-01 同方威视技术股份有限公司 安全检测系统及方法
CN109613591A (zh) * 2018-12-29 2019-04-12 同方威视技术股份有限公司 移动探测装置
CN112307952A (zh) * 2020-10-29 2021-02-02 苏州博众机器人有限公司 一种机器人安检的方法、装置、设备及存储介质
CN114689358A (zh) * 2020-12-31 2022-07-01 清华大学 违禁品检测机器人及检测方法
GB2634342A (en) * 2022-08-08 2025-04-09 Nuctech Co Ltd System and method for positioning suspected article
CN117590479A (zh) * 2022-08-08 2024-02-23 同方威视技术股份有限公司 嫌疑物品定位系统和定位方法

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CN117647546A (zh) * 2024-01-29 2024-03-05 浙江华视智检科技有限公司 一种安检成像方法和相关装置
CN117647546B (zh) * 2024-01-29 2024-05-07 浙江华视智检科技有限公司 一种安检成像方法和相关装置

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