CN106203264A - Dangerous goods detection method and device - Google Patents
Dangerous goods detection method and device Download PDFInfo
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- CN106203264A CN106203264A CN201610486706.2A CN201610486706A CN106203264A CN 106203264 A CN106203264 A CN 106203264A CN 201610486706 A CN201610486706 A CN 201610486706A CN 106203264 A CN106203264 A CN 106203264A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
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- 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
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- 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
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- 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
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Abstract
The invention discloses a kind of dangerous goods detection method, described method includes: the article to be measured in unmanned plane detection preset range, obtains the image of article to be measured；The image of described article to be measured is contrasted with the dangerous goods image that prestores, obtains the image of described article to be measured and the similarity of the described dangerous goods image that prestores；If described similarity is more than presetting similarity, then judge that described article to be measured are as dangerous goods.The invention also discloses a kind of dangerous goods detection device.The present invention solves the problem that traditional X-ray machine needs occupied ground, it is achieved that automatically detected the existence of article by unmanned plane, it is not necessary to manually goes to confirm the existence of dangerous goods, improves the detection efficiency of dangerous goods.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of dangerous goods detection method and device.
Background technology
Dangerous goods be possible dangerous health of human body, safety or article hurtful to property or material significantly, as
Combustible and explosive articles, hazardous chemical and radioactive substance etc..Therefore, how the danger entrained by lawless person can quickly be detected
Danger article, are urgent problems.
The most all use the detection dangerous goods of X-ray machine, i.e. after article to be measured enter sense channel, light will be stopped
Barrier signal, detection signal is sent to control unit, triggers radiographic source emitting x-ray, thus obtain the image of article to be measured.But
It is that existing X-ray machine is all located in ground, a part of place can be taken.When personnel are more, easily cause personnel's blocking.And
And existing X-ray machine can be only done detection work, it is impossible to the existence of automatic decision dangerous goods, need manually detection image to be entered
Row judges, and is responsible for the staff judging detection image, such as safety inspector, is to need through detection training, and needs
To observe monitor screen for a long time, the workload causing safety inspector is relatively big, and the requirement to safety inspector is higher, thus also causes detection
The inefficiency of dangerous goods.
Summary of the invention
Present invention is primarily targeted at a kind of dangerous goods detection method of offer and device, it is intended to solve existing existing
For detecting the X-ray machine occupied ground of dangerous goods, detect dangerous goods inefficiency, it is impossible to automatic decision dangerous goods exist
Technical problem.
For achieving the above object, a kind of dangerous goods detection method that the present invention provides, described dangerous goods detection method
Including:
Article to be measured in unmanned plane detection preset range, obtain the image of article to be measured；
The image of described article to be measured is contrasted with the dangerous goods image that prestores, obtains the image of described article to be measured
Similarity with the described dangerous goods image that prestores；
If described similarity is more than presetting similarity, then judge that described article to be measured are as dangerous goods.
Preferably, if described similarity is more than presetting similarity, then judge that described article to be measured are as dangerous goods
After step, also include:
Follow the tracks of the personnel carrying described dangerous goods, obtain the positional information carrying described dangerous goods personnel place, and
Described positional information is sent to the terminal being connected with described unmanned plane.
Preferably, the personnel of described dangerous goods are carried in described tracking, obtain and carry described dangerous goods personnel place
Positional information, and described positional information is sent after the step of the terminal being connected with described unmanned plane, also include:
The warning message of described positional information is carried in output, with the law enfrocement official that prompting is relevant.
Preferably, if described similarity is more than presetting similarity, then judge that described article to be measured are as dangerous goods
After step, also include:
The degree of danger of described dangerous goods is determined according to the relation table of insinuating between dangerous goods and degree of danger；
If the degree of danger of described dangerous goods reaches predeterminable level, then export warning message；
If the degree of danger of described dangerous goods is not up to described predeterminable level, then export information.
Preferably, described unmanned plane detection preset range in article to be measured, obtain article to be measured image step it
After, also include:
The image of described article to be measured is carried out pretreatment, obtains the image of pretreated described article to be measured；
Described the image of described article to be measured is contrasted with the dangerous goods image that prestores, obtain described article to be measured
Image includes with the step of the similarity of the described dangerous goods image that prestores:
The image of pretreated described article to be measured is carried out edge extracting, obtains the first figure of described article to be measured
Picture；
First image of described article to be measured is carried out feature extraction, obtains the second image of described article to be measured；
Second image of described article to be measured is contrasted with the dangerous goods image that prestores, obtains described article to be measured
Second image and the similarity of the described dangerous goods image that prestores.
Additionally, for achieving the above object, the present invention also provides for a kind of dangerous goods detection device, and described dangerous goods detect
Device is applied to unmanned plane, and described dangerous goods detection device includes:
Detection module, for detecting the article to be measured in preset range, obtains the image of article to be measured；
Contrast module, for being contrasted with the dangerous goods image that prestores by the image of described article to be measured, obtains described
The image of article to be measured and the similarity of the described dangerous goods image that prestores；
Determination module, if for described similarity more than presetting similarity, then judging that described article to be measured are as dangerous goods.
Preferably, described dangerous goods detection device includes:
Tracking module, for following the tracks of the personnel carrying described dangerous goods, obtains and carries described dangerous goods personnel place
Positional information, and described positional information is sent to the terminal that is connected with described unmanned plane.
Preferably, described dangerous goods detection device also includes:
First output module, carries the warning message of described positional information for output, with the law enfrocement official that prompting is relevant.
Preferably, described dangerous goods detection device also includes:
Determine module, for determining described dangerous goods according to the relation table of insinuating between dangerous goods and degree of danger
Degree of danger；
Second output module, if the degree of danger for described dangerous goods reaches predeterminable level, then exports warning message；
If the degree of danger being additionally operable to described dangerous goods is not up to described predeterminable level, then export information.
Preferably, described dangerous goods detection device also includes:
Pretreatment module, for the image of described article to be measured is carried out pretreatment, obtains pretreated described to be measured
The image of article；
Described contrast module includes:
Extraction unit, for the image of pretreated described article to be measured is carried out edge extracting, obtains described to be measured
First image of article；It is additionally operable to the first image of described article to be measured is carried out feature extraction, obtains described article to be measured
Second image；
Contrast unit, for being contrasted with the dangerous goods image that prestores by the second image of described article to be measured, obtains
Second image of described article to be measured and the similarity of the described dangerous goods image that prestores.
The present invention obtains the image of article to be measured by unmanned plane, by the described image by described article to be measured and the danger that prestores
Danger images of items contrasts, when the image of described article to be measured and the similarity of the described dangerous goods image that prestores are more than presetting
During similarity, described unmanned plane judges that described article to be measured are as dangerous goods.Solve traditional X-ray machine and need occupied ground
Problem, it is achieved that automatically detected the existence of article by unmanned plane, it is not necessary to manually go to confirm the existence of dangerous goods, improve
The detection efficiency of dangerous goods.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of dangerous goods detection method first embodiment of the present invention；
Fig. 2 is the schematic flow sheet of dangerous goods detection method the second embodiment of the present invention；
Fig. 3 is the schematic flow sheet of dangerous goods detection method the 3rd embodiment of the present invention；
Fig. 4 is the high-level schematic functional block diagram of dangerous goods of the present invention detection device first embodiment；
Fig. 5 is the high-level schematic functional block diagram of dangerous goods of the present invention detection device the second embodiment；
Fig. 6 is the high-level schematic functional block diagram of dangerous goods of the present invention detection device the 3rd embodiment.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The present invention provides a kind of dangerous goods detection method.
With reference to the schematic flow sheet that Fig. 1, Fig. 1 are dangerous goods detection method first embodiment of the present invention.
In the present embodiment, described dangerous goods detection method includes:
Step S10, the article to be measured in unmanned plane detection preset range, obtain the image of article to be measured；
When described unmanned plane receives the sense command that connected terminal is sent, described unmanned plane is from stacking area
Flying to and detect region in territory, detects the article to be measured in preset range by the detection device being arranged in described unmanned plane, obtain
The image of described article to be measured.Described terminal includes but not limited to smart mobile phone, personal computer and palm PC etc..In this reality
Executing in example, described detection device is the device being mounted with X-ray.It should be noted that described detection device includes but not limited to
It is mounted with the device of X-ray, it is also possible to for being mounted with that gamma-ray device or other can obtain described images of items to be measured
Device.It is understood that described preset range is the scope that described unmanned plane can be detected by described detection region.
Step S20, contrasts the image of described article to be measured with the dangerous goods image that prestores, obtains described determinand
The image of product and the similarity of the described dangerous goods image that prestores；
When described unmanned plane obtains the image of described article to be measured, described unmanned plane by the image of described article to be measured with
The dangerous goods image prestored contrasts, and obtains the image of described article to be measured and the described dangerous goods prestored
The similarity of image.Described unmanned plane has prestored the image of various dangerous goods.It is understood that described unmanned plane
It is that the profile of article to be measured described in described images of items to be measured is contrasted with the profile of the dangerous goods prestored.When
The profile of the article described to be measured that described unmanned plane obtains be less than described in prestore the profile of dangerous goods time, described unmanned
Machine according to described in the profile of dangerous goods that prestores suitably expand the profile of described article to be measured, the most again by described to be measured
The image of article contrasts with the dangerous goods image prestored, and the image obtaining described article to be measured is deposited in advance with described
The similarity of the dangerous goods image of storage.The profile of the article described to be measured obtained when described unmanned plane prestores described in being more than
The profile of dangerous goods time, described unmanned plane according to described in the profile of dangerous goods that prestores suitably reduce described to be measured
The profile of article, contrasts the image of described article to be measured with the dangerous goods image prestored, obtains institute
State the image of article to be measured and the similarity of the described dangerous goods image prestored.Described expansion or reduce described to be measured
The scope of the profile of the article profile according to described article to be measured and the profile difference degree of the described dangerous goods prestored
Depending on.
Step S30, if described similarity is more than presetting similarity, then judges that described article to be measured are as dangerous goods.
When the image of described article to be measured is similar more than presetting to the similarity of the described dangerous goods image prestored
When spending, described unmanned plane then judges that described article to be measured are as dangerous goods.When the image of described article to be measured is deposited in advance with described
When the similarity of the dangerous goods image of storage is less than or equal to described default similarity, described unmanned plane then judges described to be measured
Article are normal goods, are not dangerous goods.It should be noted that described default similarity can set according to specific needs
Put, as being set to 40%, or 50%, or 60% etc..
Further, after described step S10, also include:
Step a, carries out pretreatment to the image of described article to be measured, obtains the figure of pretreated described article to be measured
Picture；
Further, when described unmanned plane obtains the image of described article to be measured, described unmanned plane is to described determinand
The image of product carries out pretreatment, obtains the image of pretreated described article to be measured.The described image to described article to be measured
The process carrying out pretreatment is: 1. image denoising；2. image enhaucament；3. image segmentation.The method of described image denoising include but
It is not limited to Wavelet Denoising Method, mean filter and morphology scratch filter；It is right that the method for described image enhaucament includes but not limited to
Than degree conversion, image operation, space filtering and multispectral conversion；The method of described image segmentation includes but not limited to that threshold value is divided
Cut, edge segmentation and histogram method.
Described step S20 includes:
Step b, carries out edge extracting to the image of pretreated described article to be measured, obtains the of described article to be measured
One image；
Step c, carries out feature extraction to the first image of described article to be measured, obtains the second figure of described article to be measured
Picture；
Step d, contrasts the second image of described article to be measured with the dangerous goods image that prestores, obtains described to be measured
Second image of article and the similarity of the described dangerous goods image that prestores.
When described unmanned plane obtains the image of pretreated described article to be measured, described unmanned plane is to pretreated
The image of described article to be measured carries out edge extracting, obtains the image of article described to be measured through edge extracting, i.e. obtains institute
State the first image of article to be measured.Described unmanned plane utilizes Profile invariant feature extracting method first to described article to be measured
Image carries out feature extraction, obtains the second image of described article to be measured.The method of described edge extracting includes: 1. based on certain
Fixing local operation's algorithm, such as differentiation, fitting process etc.；2. the overall extracting method with energy minimization as criterion, the party
The feature of method is to use strict mathematical method to be analyzed this problem, and one-dimensional cost function extracts as optimum and depends on
According to, extract edge from the viewpoint of global optimum, such as method of relaxation, analysis of neural network method etc.；3. with wavelet transformation, Mathematical Morphology
The image edge extraction method that new and high technology is representative that the developed recentlies such as, analysis theories get up, as based on Analysis On Multi-scale Features
Wavelet transformation extract image border method.
When described unmanned plane obtains the second image of described article to be measured, by the second image of described article to be measured with pre-
The dangerous goods image first stored contrasts, and obtains the second image of described article to be measured and the described dangerous goods image that prestores
Similarity.
The present embodiment obtains the image of article to be measured by unmanned plane, by described by the image of described article to be measured with prestore
Dangerous goods image contrasts, when the image of described article to be measured and the similarity of the described dangerous goods image that prestores are more than pre-
If during similarity, described unmanned plane judges that described article to be measured are as dangerous goods.Solve traditional X-ray machine and need occupied ground
Problem, it is achieved that automatically detected the existence of article by unmanned plane, it is not necessary to manually go confirm dangerous goods existence, improve
The detection efficiency of dangerous goods.
With reference to the schematic flow sheet that Fig. 2, Fig. 2 are dangerous goods detection method the second embodiment of the present invention, real based on first
Execute example and propose dangerous goods detection method the second embodiment of the present invention.
In the present embodiment, described dangerous goods detection method includes:
Step S40, follows the tracks of the personnel carrying described dangerous goods, obtains the position carrying described dangerous goods personnel place
Information, and described positional information is sent to the terminal being connected with described unmanned plane.
In the presence of described unmanned plane detects dangerous goods, described unmanned plane determines the people carrying described dangerous goods
Member, starts tracking function, follows the tracks of the personnel carrying described dangerous goods, and by being arranged on the positioner in described unmanned plane
Obtain the positional information carrying described dangerous goods personnel place in real time.Described dangerous goods are carried when described unmanned plane gets
During the information of personnel position, will carry what the information transmission of described dangerous goods personnel position was extremely connected with described unmanned plane
Terminal, is quickly found out the personnel carrying described dangerous goods for terminal use.It is understood that described positioner is peace
Fill GPS (Global Positioning System, alignment system), or be mounted with that being similar to GPS can realize positioning merit
The assembly of energy.
Further, described dangerous goods detection method includes:
The warning message of described positional information is carried in output, with the law enfrocement official that prompting is relevant.
Further, when described unmanned plane gets the positional information carrying described dangerous goods personnel place, according to
The personnel position information carrying described dangerous goods generates warning message, with the relevant law enfrocement official of prompting, it has been found that dangerous
Article, are quickly found out according to positional information entrained in described warning message for relevant law enfrocement official and carry described danger
The personnel of product.
The present embodiment follows the tracks of the personnel carrying dangerous goods by unmanned plane, and described dangerous goods personnel institute is carried in acquisition
Positional information, and described positional information is sent to the terminal that is connected with described unmanned plane.Can allow the use of described terminal
Family, such as safety inspector, is quickly found out the personnel carrying described dangerous goods, improves the intelligent of unmanned plane.
With reference to the schematic flow sheet that Fig. 3, Fig. 3 are dangerous goods detection method the 3rd embodiment of the present invention, real based on first
Execute example and propose dangerous goods detection method the 3rd embodiment of the present invention.
In the present embodiment, described dangerous goods detection method includes:
Step S50, determines the danger of described dangerous goods according to the relation table of insinuating between dangerous goods and degree of danger
Degree；
When described unmanned plane judges described article to be measured as dangerous goods, according to the dangerous goods prestored with dangerous
Mapping relations table between degree determines the degree of danger of described dangerous goods, as between described dangerous goods and degree of danger
Mapping relations table is: gun, controlled knife etc. may jeopardize the dangerous journey corresponding to the article of human-body safety and property safety
Degree is 1, and the degree of danger corresponding to radioactive substance is 2, and inflammable and explosive and that other degree of danger is higher chemical substance institute is right
The degree of danger answered is 3.It should be noted that the relation of insinuating between described dangerous goods and degree of danger is not restricted to this
Mapping relations described in embodiment.
Step S60, if the degree of danger of described dangerous goods reaches predeterminable level, then exports warning message；
Step S70, if the degree of danger of described dangerous goods is not up to described predeterminable level, then exports information.
After described unmanned plane determines the degree of danger of described dangerous goods, described unmanned plane judges described dangerous goods
Whether degree of danger reaches predeterminable level.If the degree of danger of described dangerous goods reaches described predeterminable level, described unmanned plane
Then export warning message, to point out related personnel, the danger that in the detection region at described unmanned plane place, dangerous degree is higher
Danger article, process the most as early as possible.If the degree of danger of described dangerous goods is not up to described predeterminable level, then export information,
To point out related personnel, the dangerous goods that in the detection region at described unmanned plane place, dangerous degree is relatively low, for relevant
Personnel can take appropriate measures according to concrete working condition.Described related personnel is detection region, described unmanned plane place
Staff, to the user of the terminal that described unmanned plane connects and relevant law enfrocement official etc..Described predeterminable level can root
Arrange according to the safe coefficient required for the detection region at described unmanned plane place.As in the present embodiment, can be by described pre-
If degree is set to 2.When as described in dangerous goods degree of danger equal to 2 or more than 2 time, described unmanned plane output alarm signal
Breath；When the degree of danger of described dangerous goods is less than 2, described unmanned plane output information.
The present embodiment unmanned plane exports warning message or information by the degree of danger according to dangerous goods, for
Related personnel takes appropriate measures according to the degree of danger of dangerous goods, improves unmanned plane in terms of detection dangerous goods
Intelligent.
The present invention further provides a kind of dangerous goods detection device.
High-level schematic functional block diagram with reference to the first embodiment that Fig. 4, Fig. 4 are dangerous goods of the present invention detection device.
In the present embodiment, described dangerous goods detection device is applied to unmanned plane, described dangerous goods detection device bag
Include:
Detection module 10, for detecting the article to be measured in preset range, obtains the image of article to be measured；
When described unmanned plane receives the sense command that connected terminal is sent, described unmanned plane is from stacking area
Flying to and detect region in territory, detects the article to be measured in preset range by the detection device being arranged in described unmanned plane, obtain
The image of described article to be measured.Described terminal includes but not limited to smart mobile phone, personal computer and palm PC etc..In this reality
Executing in example, described detection device is the device being mounted with X-ray.It should be noted that described detection device includes but not limited to
It is mounted with the device of X-ray, it is also possible to for being mounted with that gamma-ray device or other can obtain described images of items to be measured
Device.It is understood that described preset range is the scope that described unmanned plane can be detected by described detection region.
Contrast module 20, for being contrasted with the dangerous goods image that prestores by the image of described article to be measured, obtains institute
State the image of article to be measured and the similarity of the described dangerous goods image that prestores；
When described unmanned plane obtains the image of described article to be measured, described unmanned plane by the image of described article to be measured with
The dangerous goods image prestored contrasts, and obtains the image of described article to be measured and the described dangerous goods prestored
The similarity of image.Described unmanned plane has prestored the image of various dangerous goods.It is understood that described unmanned plane
It is that the profile of article to be measured described in described images of items to be measured is contrasted with the profile of the dangerous goods prestored.When
The profile of the article described to be measured that described unmanned plane obtains be less than described in prestore the profile of dangerous goods time, described unmanned
Machine according to described in the profile of dangerous goods that prestores suitably expand the profile of described article to be measured, the most again by described to be measured
The image of article contrasts with the dangerous goods image prestored, and the image obtaining described article to be measured is deposited in advance with described
The similarity of the dangerous goods image of storage.The profile of the article described to be measured obtained when described unmanned plane prestores described in being more than
The profile of dangerous goods time, described unmanned plane according to described in the profile of dangerous goods that prestores suitably reduce described to be measured
The profile of article, contrasts the image of described article to be measured with the dangerous goods image prestored, obtains institute
State the image of article to be measured and the similarity of the described dangerous goods image prestored.Described expansion or reduce described to be measured
The scope of the profile of the article profile according to described article to be measured and the profile difference degree of the described dangerous goods prestored
Depending on.
Determination module 30, if for described similarity more than presetting similarity, then judging that described article to be measured are as danger
Product.
When the image of described article to be measured is similar more than presetting to the similarity of the described dangerous goods image prestored
When spending, described unmanned plane then judges that described article to be measured are as dangerous goods.When the image of described article to be measured is deposited in advance with described
When the similarity of the dangerous goods image of storage is less than or equal to described default similarity, described unmanned plane then judges described to be measured
Article are normal goods, are not dangerous goods.It should be noted that described default similarity can set according to specific needs
Put, as being set to 40%, or 50%, or 60% etc..
Further, described dangerous goods detection device also includes:
Pretreatment module, for the image of described article to be measured is carried out pretreatment, obtains pretreated described to be measured
The image of article；
Further, when described unmanned plane obtains the image of described article to be measured, described unmanned plane is to described determinand
The image of product carries out pretreatment, obtains the image of pretreated described article to be measured.The described image to described article to be measured
The process carrying out pretreatment is: 1. image denoising；2. image enhaucament；3. image segmentation.The method of described image denoising include but
It is not limited to Wavelet Denoising Method, mean filter and morphology scratch filter；It is right that the method for described image enhaucament includes but not limited to
Than degree conversion, image operation, space filtering and multispectral conversion；The method of described image segmentation includes but not limited to that threshold value is divided
Cut, edge segmentation and histogram method.
Described contrast module 20 includes:
Extraction unit, for the image of pretreated described article to be measured is carried out edge extracting, obtains described to be measured
First image of article；It is additionally operable to the first image of described article to be measured is carried out feature extraction, obtains described article to be measured
Second image；
Contrast unit, for being contrasted with the dangerous goods image that prestores by the second image of described article to be measured, obtains
Second image of described article to be measured and the similarity of the described dangerous goods image that prestores.
When described unmanned plane obtains the image of pretreated described article to be measured, described unmanned plane is to pretreated
The image of described article to be measured carries out edge extracting, obtains the image of article described to be measured through edge extracting, i.e. obtains institute
State the first image of article to be measured.Described unmanned plane utilizes Profile invariant feature extracting method first to described article to be measured
Image carries out feature extraction, obtains the second image of described article to be measured.The method of described edge extracting includes: 1. based on certain
Fixing local operation's algorithm, such as differentiation, fitting process etc.；2. the overall extracting method with energy minimization as criterion, the party
The feature of method is to use strict mathematical method to be analyzed this problem, and one-dimensional cost function extracts as optimum and depends on
According to, extract edge from the viewpoint of global optimum, such as method of relaxation, analysis of neural network method etc.；3. with wavelet transformation, Mathematical Morphology
The image edge extraction method that new and high technology is representative that the developed recentlies such as, analysis theories get up, as based on Analysis On Multi-scale Features
Wavelet transformation extract image border method.
When described unmanned plane obtains the second image of described article to be measured, by the second image of described article to be measured with pre-
The dangerous goods image first stored contrasts, and obtains the second image of described article to be measured and the described dangerous goods image that prestores
Similarity.
The present embodiment obtains the image of article to be measured by unmanned plane, by described by the image of described article to be measured with prestore
Dangerous goods image contrasts, when the image of described article to be measured and the similarity of the described dangerous goods image that prestores are more than pre-
If during similarity, described unmanned plane judges that described article to be measured are as dangerous goods.Solve traditional X-ray machine and need occupied ground
Problem, it is achieved that automatically detected the existence of article by unmanned plane, it is not necessary to manually go confirm dangerous goods existence, improve
The detection efficiency of dangerous goods.
It is the high-level schematic functional block diagram that dangerous goods of the present invention detect the second embodiment of device with reference to Fig. 5, Fig. 5, based on
The first embodiment of the present invention proposes the second embodiment of dangerous goods of the present invention detection device.
In the present embodiment, described dangerous goods detection device also includes:
Tracking module 40, for following the tracks of the personnel carrying described dangerous goods, obtains and carries described dangerous goods personnel institute
Positional information, and described positional information is sent to the terminal that is connected with described unmanned plane.
In the presence of described unmanned plane detects dangerous goods, described unmanned plane determines the people carrying described dangerous goods
Member, starts tracking function, follows the tracks of the personnel carrying described dangerous goods, and by being arranged on the positioner in described unmanned plane
Obtain the positional information carrying described dangerous goods personnel place in real time.Described dangerous goods are carried when described unmanned plane gets
During the information of personnel position, will carry what the information transmission of described dangerous goods personnel position was extremely connected with described unmanned plane
Terminal, is quickly found out the personnel carrying described dangerous goods for terminal use.It is understood that described positioner is peace
Fill GPS (Global Positioning System, alignment system), or be mounted with that being similar to GPS can realize positioning merit
The assembly of energy.
Further, described dangerous goods detection device also includes:
First output module, carries the warning message of described positional information for output, with the law enfrocement official that prompting is relevant.
Further, when described unmanned plane gets the positional information carrying described dangerous goods personnel place, according to
The personnel position information carrying described dangerous goods generates warning message, with the relevant law enfrocement official of prompting, it has been found that dangerous
Article, are quickly found out according to positional information entrained in described warning message for relevant law enfrocement official and carry described danger
The personnel of product.
The present embodiment follows the tracks of the personnel carrying dangerous goods by unmanned plane, and described dangerous goods personnel institute is carried in acquisition
Positional information, and described positional information is sent to the terminal that is connected with described unmanned plane.Can allow the use of described terminal
Family, such as safety inspector, is quickly found out the personnel carrying described dangerous goods, improves the intelligent of unmanned plane.
It is the high-level schematic functional block diagram that dangerous goods of the present invention detect the 3rd embodiment of device with reference to Fig. 6, Fig. 6, based on
The first embodiment of the present invention proposes the 3rd embodiment of dangerous goods of the present invention detection device.
In the present embodiment, described dangerous goods detection device also includes:
Determine module 50, for determining described dangerous goods according to the relation table of insinuating between dangerous goods and degree of danger
Degree of danger；
When described unmanned plane judges described article to be measured as dangerous goods, according to the dangerous goods prestored with dangerous
Mapping relations table between degree determines the degree of danger of described dangerous goods, as between described dangerous goods and degree of danger
Mapping relations table is: gun, controlled knife etc. may jeopardize the dangerous journey corresponding to the article of human-body safety and property safety
Degree is 1, and the degree of danger corresponding to radioactive substance is 2, and inflammable and explosive and that other degree of danger is higher chemical substance institute is right
The degree of danger answered is 3.It should be noted that the relation of insinuating between described dangerous goods and degree of danger is not restricted to this
Mapping relations described in embodiment.
Second output module 60, if the degree of danger for described dangerous goods reaches predeterminable level, then exports alarm signal
Breath；If the degree of danger being additionally operable to described dangerous goods is not up to described predeterminable level, then export information.
After described unmanned plane determines the degree of danger of described dangerous goods, described unmanned plane judges described dangerous goods
Whether degree of danger reaches predeterminable level.If the degree of danger of described dangerous goods reaches described predeterminable level, described unmanned plane
Then export warning message, to point out related personnel, the danger that in the detection region at described unmanned plane place, dangerous degree is higher
Danger article, process the most as early as possible.If the degree of danger of described dangerous goods is not up to described predeterminable level, then export information,
To point out related personnel, the dangerous goods that in the detection region at described unmanned plane place, dangerous degree is relatively low, for relevant
Personnel can take appropriate measures according to concrete working condition.Described related personnel is detection region, described unmanned plane place
Staff, to the user of the terminal that described unmanned plane connects and relevant law enfrocement official etc..Described predeterminable level can root
Arrange according to the safe coefficient required for the detection region at described unmanned plane place.As in the present embodiment, can be by described pre-
If degree is set to 2.When as described in dangerous goods degree of danger equal to 2 or more than 2 time, described unmanned plane output alarm signal
Breath；When the degree of danger of described dangerous goods is less than 2, described unmanned plane output information.
The present embodiment unmanned plane exports warning message or information by the degree of danger according to dangerous goods, for
Related personnel takes appropriate measures according to the degree of danger of dangerous goods, improves unmanned plane in terms of detection dangerous goods
Intelligent.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.By above embodiment party
The description of formula, those skilled in the art it can be understood that can add required general to above-described embodiment method by software
The mode of hardware platform realizes, naturally it is also possible to by hardware, but a lot of in the case of the former is more preferably embodiment.Based on
Such understanding, the part that prior art is contributed by technical scheme the most in other words can be with software product
Form embody, this computer software product is stored in a storage medium (such as ROM/RAM, magnetic disc, CD), including
Some instructions are with so that a station terminal equipment (can be mobile phone, computer, server, or the network equipment etc.) performs this
Method described in each embodiment bright.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. a dangerous goods detection method, it is characterised in that described dangerous goods detection method includes:
Article to be measured in unmanned plane detection preset range, obtain the image of article to be measured；
The image of described article to be measured is contrasted with the dangerous goods image that prestores, obtains image and the institute of described article to be measured
State the similarity of the dangerous goods image that prestores；
If described similarity is more than presetting similarity, then judge that described article to be measured are as dangerous goods.
2. dangerous goods detection method as claimed in claim 1, it is characterised in that if described similarity is more than presetting phase
Like degree, then, after judging that described article to be measured are as the step of dangerous goods, also include:
Follow the tracks of the personnel carrying described dangerous goods, obtain the positional information carrying described dangerous goods personnel place, and by institute
State positional information to send to the terminal being connected with described unmanned plane.
3. dangerous goods detection method as claimed in claim 2, it is characterised in that described dangerous goods are carried in described tracking
Personnel, obtain the positional information carrying described dangerous goods personnel place, and are sent by described positional information to unmanned with described
After the step of the terminal that machine connects, also include:
The warning message of described positional information is carried in output, with the law enfrocement official that prompting is relevant.
4. dangerous goods detection method as claimed in claim 1, it is characterised in that if described similarity is more than presetting phase
Like degree, then, after judging that described article to be measured are as the step of dangerous goods, also include:
The degree of danger of described dangerous goods is determined according to the relation table of insinuating between dangerous goods and degree of danger；
If the degree of danger of described dangerous goods reaches predeterminable level, then export warning message；
If the degree of danger of described dangerous goods is not up to described predeterminable level, then export information.
5. the dangerous goods detection method as described in any one of Claims 1-4, it is characterised in that the detection of described unmanned plane is pre-
If the article to be measured in scope, after the step of the image obtaining article to be measured, also include:
The image of described article to be measured is carried out pretreatment, obtains the image of pretreated described article to be measured；
Described the image of described article to be measured is contrasted with the dangerous goods image that prestores, obtain the image of described article to be measured
Include with the step of the similarity of the described dangerous goods image that prestores:
The image of pretreated described article to be measured is carried out edge extracting, obtains the first image of described article to be measured；
First image of described article to be measured is carried out feature extraction, obtains the second image of described article to be measured；
Second image of described article to be measured is contrasted with the dangerous goods image that prestores, obtains the second of described article to be measured
Image and the similarity of the described dangerous goods image that prestores.
6. a dangerous goods detection device, it is characterised in that described dangerous goods detection device is applied to unmanned plane, described danger
Danger article detection apparatus includes:
Detection module, for detecting the article to be measured in preset range, obtains the image of article to be measured；
Contrast module, for being contrasted with the dangerous goods image that prestores by the image of described article to be measured, obtains described to be measured
The image of article and the similarity of the described dangerous goods image that prestores；
Determination module, if for described similarity more than presetting similarity, then judging that described article to be measured are as dangerous goods.
7. dangerous goods detection device as claimed in claim 6, it is characterised in that described dangerous goods detection device includes:
Tracking module, for following the tracks of the personnel carrying described dangerous goods, obtains the position carrying described dangerous goods personnel place
Confidence ceases, and sends described positional information to the terminal being connected with described unmanned plane.
8. dangerous goods detection device as claimed in claim 7, it is characterised in that described dangerous goods detection device also wraps
Include:
First output module, carries the warning message of described positional information for output, with the law enfrocement official that prompting is relevant.
9. dangerous goods detection device as claimed in claim 6, it is characterised in that described dangerous goods detection device also wraps
Include:
Determine module, for determining the danger of described dangerous goods according to the relation table of insinuating between dangerous goods and degree of danger
Degree；
Second output module, if the degree of danger for described dangerous goods reaches predeterminable level, then exports warning message；Also use
If the degree of danger in described dangerous goods is not up to described predeterminable level, then export information.
10. the dangerous goods detection device as described in any one of claim 6 to 9, it is characterised in that described dangerous goods detect
Device also includes:
Pretreatment module, for the image of described article to be measured is carried out pretreatment, obtains pretreated described article to be measured
Image；
Described contrast module includes:
Extraction unit, for the image of pretreated described article to be measured is carried out edge extracting, obtains described article to be measured
The first image；It is additionally operable to the first image of described article to be measured is carried out feature extraction, obtains the second of described article to be measured
Image；
Contrast unit, for being contrasted with the dangerous goods image that prestores by the second image of described article to be measured, obtains described
Second image of article to be measured and the similarity of the described dangerous goods image that prestores.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610486706.2A CN106203264A (en) | 2016-06-28 | 2016-06-28 | Dangerous goods detection method and device |
| PCT/CN2016/108915 WO2018000732A1 (en) | 2016-06-28 | 2016-12-07 | Dangerous article detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610486706.2A CN106203264A (en) | 2016-06-28 | 2016-06-28 | Dangerous goods detection method and device |
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| WO (1) | WO2018000732A1 (en) |
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