CN110689725A - Security robot system for crossing comprehensive inspection and processing method thereof - Google Patents
Security robot system for crossing comprehensive inspection and processing method thereof Download PDFInfo
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- CN110689725A CN110689725A CN201910834461.1A CN201910834461A CN110689725A CN 110689725 A CN110689725 A CN 110689725A CN 201910834461 A CN201910834461 A CN 201910834461A CN 110689725 A CN110689725 A CN 110689725A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/63—Scene text, e.g. street names
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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Abstract
The application discloses a security robot system for crossing comprehensive inspection and a processing method thereof. The system comprises personnel checking equipment, a passenger identification card and a passenger identification card, wherein the personnel checking equipment is used for checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the current identity of the passenger is consistent with the identity card or not; the vehicle identification and checking equipment is used for checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not; the vehicle identification and checking equipment is also used for identifying whether dangerous goods and dangerous explosives exist at the bottom of the vehicle; and if the checking equipment passes the checking, lifting the bar by the barrier gate. The technical problem that the crossing comprehensive inspection is low in efficiency and high in labor cost is solved. By the method and the device, dynamic monitoring and active prevention and control in key gates, crossing and other key areas are realized.
Description
Technical Field
The application relates to the fields of unmanned automatic security inspection and robot technology application, in particular to a security robot system for road junction comprehensive inspection and a system working method.
Background
The crossing comprehensive inspection refers to an inspection of the identity of a vehicle or a passenger, whether a dangerous article is carried, and the like.
The inventor finds that the comprehensive inspection of the road junction mostly depends on manpower to be matched with the camera, the efficiency is low, and the inspection release speed is slow. Further, effective dynamic monitoring and active prevention and control cannot be performed in key gates, crossing and other key areas.
Aiming at the problems of low comprehensive inspection efficiency and high labor cost of the crossing in the related technology, no effective solution is provided at present.
Disclosure of Invention
The application mainly aims to provide a security robot system for road junction comprehensive inspection and a processing method thereof, so as to solve the problems of low road junction comprehensive inspection efficiency and high labor cost.
In order to achieve the above object, according to one aspect of the present application, there is provided a security robot system for crossing integrated inspection.
According to the application, a security robot system for crossing comprehensive inspection is provided, comprising: the personnel checking equipment is used for checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the passenger is consistent with the identity card or not; the vehicle identification and checking equipment is used for checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not; the vehicle identification and checking equipment is also used for identifying whether dangerous goods and dangerous explosives exist in the vehicle; and if the checking equipment passes the checking, lifting the bar by the barrier gate.
Further, the personnel checking equipment is also used for
Comparing the face information of the passenger with the identity card, and checking whether the face information of the passenger passes the identity card in the checking equipment if the face information of the passenger does not meet the identity card;
and comparing the face information of the passenger in the identity blacklist, and checking whether the face information of the passenger passes the check equipment if the face information of the passenger corresponds to the blacklist.
Further, the vehicle identification and verification apparatus includes:
the vehicle bottom scanning device is used for identifying whether dangerous goods exist at the vehicle bottom or detecting whether dangerous explosives exist at the vehicle bottom; if the vehicle bottom scanning device identifies, the identification equipment checks that the vehicle bottom scanning device fails.
Further, the vehicle identification and verification apparatus includes:
the vehicle fake plate checking device is used for identifying whether the license plate of the vehicle belongs to the fake plate or not, and if the license plate belongs to the fake plate, the vehicle fake plate checking device checks that the license plate does not pass through the license plate.
Further, still include: and the flexible mechanical arm is used for carrying the personnel checking equipment to move according to a real-time planned track and locate to the position of the car window.
Further, a safety collision avoidance mechanism is included to ensure that the flexible mechanical arm is maintained within a safe distance range relative to the vehicle and the occupant.
In order to achieve the above object, according to one aspect of the present application, a processing method for crossing comprehensive inspection is provided.
The application provides a processing method for crossing comprehensive inspection, which comprises the following steps: when a vehicle enters a detection area, detecting the vehicle and identifying vehicle information and the identity of a passenger in the vehicle; the vehicle detection means that whether dangerous goods and dangerous explosives exist in the vehicle or not is identified; the identification of the vehicle information refers to checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not; the identification of the identity of the passenger in the vehicle is to check whether the current identity of the passenger is in a pre-stored identity blacklist or not and whether the identity of the passenger is consistent with the identity card or not; and judging whether to lift the barrier gate according to the identification result.
Further, judging whether to lift the barrier gate according to the identification result comprises:
if the vehicle enters the detection area, detecting the vehicle and identifying any one of the vehicle information and the identity of a passenger in the vehicle does not meet the preset condition, not lifting the barrier gate and performing joint defense joint control with a public security system;
and if the vehicle enters the detection area, detecting the vehicle and identifying the vehicle information and the identity of the passenger in the vehicle meet preset conditions, lifting the barrier gate.
Further, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the passenger in the vehicle are identified, further comprising: positioning to the position of the car window according to the real-time planned track motion,
the step of positioning to the position of the car window according to the real-time planned track motion comprises the following steps:
identifying a vehicle window target by constructing a machine vision algorithm based on a depth convolution neural network, and acquiring coordinates of a vehicle window relative to a depth camera;
and establishing the coordinates of the car window relative to the mechanical arm base according to the coordinates of the car window relative to the depth camera and the coordinates of the depth camera relative to the mechanical arm base, and planning and following the track from the tail end of the mechanical arm to the car window position.
Further, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the passenger in the vehicle are identified, further comprising:
ensuring that the flexible mechanical arm is maintained within a safe distance range relative to the vehicle and the occupant.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic structural diagram of a security robot system for crossing comprehensive inspection according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a security robot system for crossing comprehensive inspection according to a preferred embodiment of the present application;
fig. 3 is a schematic diagram of a processing method for comprehensive crossing inspection according to an embodiment of the present application;
fig. 4 is a schematic diagram of an implementation manner of a security robot system for crossing comprehensive inspection according to an embodiment of the present application;
fig. 5 is a schematic view of a security robot system for crossing comprehensive inspection according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the security robot system for road junction comprehensive inspection in the embodiment of the present application includes: the personnel checking device 100 is used for checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the passenger is consistent with the identity card or not; the vehicle identification and checking device 200 is used for checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not; the vehicle identification and checking device 200 is further used for identifying whether a vehicle has dangerous goods or dangerous explosives; and if the checking equipment passes the checking and the identification equipment passes the identification, lifting the bar by the barrier gate. The checking device 100 checks whether the identity card information of the passenger is consistent with the identity card of the passenger, that is, whether the identity card information of the passenger is consistent with the identity information of the passenger obtained in real time. The checking device 100 further needs to check whether the current identity of the current passenger is in an identity blacklist, where the identity blacklist mainly refers to identity blacklist information related to a credit system, whether there is a pre-criminal department association, and the like. The vehicle recognition and checking device 200 checks whether the vehicle is a fake-licensed vehicle and whether the license plate is in the license plate blacklist, and the vehicle recognition and checking device 200 also recognizes whether the license plate acquired in real time is in the license plate blacklist, so that it can be understood that the license plate blacklist can be the license plate blacklist of vehicle violation information, vehicle violation information and the like. In addition, the vehicle identification and verification device 200 is also used for identifying whether dangerous goods exist in the vehicle, namely whether related dangerous goods regulated by the state exist, whether dangerous explosives exist, namely whether special gas or radiation sources exist, and the like.
Through the security robot system for the comprehensive inspection of the road junction in the embodiment of the application, the functions of dynamic and rapid identification and acquisition of characteristics of people, vehicles and objects, certificate inspection, blacklist investigation, fake plate inspection, explosive detection, danger assessment, man-machine safety interaction, joint defense joint control and the like can be realized without staff, and dynamic monitoring and active prevention and control can be performed in key gates, road junctions and other key areas.
From the above description, it can be seen that the following technical effects are achieved by the present application:
in the security robot system and the processing method for the crossing comprehensive inspection in the embodiment of the application, the personnel checking equipment is adopted for checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the passenger is consistent with the identity card or not; the vehicle identification and checking equipment is used for checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not; the vehicle identification and checking equipment is also used for identifying whether dangerous goods and dangerous explosives exist in the vehicle; if the checking equipment passes the checking, the barrier gate is lifted by a rod mode, and the purposes of certificate checking, blacklist investigation, fake plate inspection, explosive detection, danger assessment, man-machine safety interaction, joint defense joint control and other functions are achieved by realizing the dynamic and rapid identification and acquisition of the characteristics of people and vehicles under the condition of no staff, so that the technical effects of dynamic monitoring and active prevention and control in key bayonets, crossing and other key areas are realized, and the technical problem of low crossing comprehensive checking efficiency and high labor cost is solved.
According to the embodiment of the present application, as a preferred option in the embodiment, the checking device 100 is further configured to compare the face information of the vehicle occupant with the identity card, and if the face information of the vehicle occupant does not meet the identity card, the checking device checks that the face information of the vehicle occupant fails; and comparing the face information of the passenger in an identity blacklist, and checking whether the face information of the passenger passes the verification equipment if the face information of the passenger does not meet the identity blacklist.
Specifically, the checking device 100 checks whether the person passes the check through the personnel information collection, the comparison between the person face and the identification card picture, and the comparison between the person face and the blacklist picture, if the person face does not pass the check, the checking device checks that the person does not pass the check.
According to the embodiment of the present application, as a preference in the embodiment, as shown in fig. 2, the identification device includes: the vehicle bottom scanning device 2001 is used for identifying whether dangerous goods exist at the vehicle bottom or detecting whether dangerous explosives exist at the vehicle bottom; if the vehicle bottom scanning device identifies, the identification equipment checks that the vehicle bottom scanning device fails.
Specifically, the vehicle bottom scanning device 2001 is used for recognizing dangerous goods at the vehicle bottom, detecting dangerous and explosive at the vehicle bottom, comprehensively evaluating dangers and performing joint defense joint control, and if the vehicle bottom scanning device recognizes, the recognition equipment checks that the dangerous goods do not pass.
According to the embodiment of the present application, as a preference in the embodiment, as shown in fig. 2, the identification device includes: and a vehicle fake plate checking device 2002 for identifying whether the license plate of the vehicle belongs to the fake plate, and if so, checking that the license plate does not pass through the identification equipment.
Specifically, the vehicle registration checking device 2002 compares the license plate number with the license plate number blacklist, checks registration, and if the license plate number blacklist belongs to the vehicle registration checking device, checks that the license plate number is not passed through the identification device.
According to the embodiment of the present application, as a preference in the embodiment, as shown in fig. 2, the system further includes: and the flexible mechanical arm 300 is used for carrying the personnel checking equipment to move according to a track planned in real time and positioning to the position of a car window.
In particular, the flexible mechanical arm 300 is based on the vision robot online navigation and the human-computer safety interaction. The problems of low efficiency, long time consumption, manual operation and the like in the off-line planning are avoided.
According to the embodiment of the present application, as shown in fig. 2, the system further comprises a safety collision avoidance mechanism for ensuring that the flexible mechanical arm 300 is maintained within a safe distance range with respect to the vehicle and the occupant.
Specifically, man-machine safety interaction is established, and an octree collision avoidance mechanism is constructed based on the depth visual information, so that the flexible mechanical arm 300 is always kept in a safe distance range relative to a vehicle or a passenger, and the safety of lives and properties is guaranteed to the maximum extent.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present application, there is also provided a processing method for comprehensive crossing inspection, implemented in the above system, as shown in fig. 3, the method includes:
step S100, when a vehicle enters a detection area, detecting the vehicle and identifying vehicle information and the identity of a passenger in the vehicle;
the vehicle detection means that whether dangerous goods and dangerous explosives exist in the vehicle or not is identified.
The vehicle information identification means that whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not are checked.
The identification of the identity of the passenger in the vehicle refers to checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the identity of the passenger is consistent with the identity card or not.
And step S101, judging whether the barrier gate is lifted or not according to the identification result.
By the method, unmanned and automatic inspection is adopted, so that manual intervention operation is not needed in the whole inspection process, and human resources are saved. The accuracy and the rapidity of the security robot for automatic identification and danger assessment of people, vehicles and objects are greatly improved through comprehensive integration and multi-element characteristic information deep fusion of various technical means. In addition, the robot online navigation avoids the problems of low efficiency, long time consumption, manual operation and the like in offline planning. The system can realize the functions of dynamic and rapid identification and acquisition of the characteristics of people/vehicles/objects, certificate check, blacklist investigation, fake plate inspection, explosive detection, danger assessment, man-machine safety interaction, joint defense joint control and the like without workers, and can perform dynamic monitoring and active prevention and control in key gates, road junctions and other key areas.
According to the embodiment of the present application, as a preferable preference in the embodiment, the determining whether to lift the barrier gate according to the recognition result includes: if the vehicle enters the detection area, detecting the vehicle and identifying any one of the vehicle information and the identity of the passenger in the vehicle does not meet the preset condition, not lifting the barrier gate, and performing joint defense and joint control with a public security system; and if the vehicle enters the detection area, detecting the vehicle and identifying the vehicle information and the identity of the passenger in the vehicle meet preset conditions, lifting the barrier gate.
Specifically, a multi-information comprehensive danger checking and judging mechanism is established, and if the vehicle enters a detection area, the vehicle is detected, and any one of the vehicle information and the identity of a passenger in the vehicle does not meet a preset condition, the barrier gate is not lifted, and joint protection and joint control with a public security system are realized. That is, all the conditions need to be satisfied to lift the barrier gate and release the barrier gate.
According to the embodiment of the application, as a preferable preference in the embodiment, when the vehicle enters the detection area, the method for detecting the vehicle and identifying the vehicle information and the identity of the passenger in the vehicle further includes: the method comprises the following steps of positioning to the position of the car window according to the real-time planned track motion, wherein the step of positioning to the position of the car window according to the real-time planned track motion comprises the following steps: identifying a vehicle window target by constructing a machine vision algorithm based on a depth convolution neural network, and acquiring coordinates of a vehicle window relative to a depth camera; and establishing the coordinates of the car window relative to the mechanical arm base according to the coordinates of the car window relative to the depth camera and the coordinates of the depth camera relative to the mechanical arm base, and planning and following the track from the tail end of the mechanical arm to the car window position.
Specifically, based on the trained YOLO-v3 window detection model, window targets in the field of view are identified by a fixed position depth camera, and coordinates of the window relative to the depth camera are acquired. On the basis of calibrating the positions of the depth camera and the mechanical arm base, the relative position of the vehicle window relative to the mechanical arm base is calculated according to the acquired coordinate position of the vehicle window, and movement planning and track following from the tail end of the mechanical arm to the position of the vehicle window are carried out on the basis of the coordinate relation of the real-time scene, so that online navigation of the mechanical arm is realized.
According to the embodiment of the application, as a preferable preference in the embodiment, when the vehicle enters the detection area, the method for detecting the vehicle and identifying the vehicle information and the identity of the passenger in the vehicle further includes: ensuring that the flexible robotic arm 300 is maintained within a safe distance range relative to the vehicle and the occupant.
Specifically, man-machine safety interaction is established, and an octree collision avoidance mechanism is constructed based on the depth visual information, so that the flexible mechanical arm 300 is always kept in a safe distance range relative to a vehicle or a passenger, and the safety of lives and properties is guaranteed to the maximum extent.
Fig. 4 is a schematic view of an implementation scenario of the present application, wherein the inspection notice board 10, the person identification device 20, the flexible mechanical arm mechanism 30, the system control cabinet 40, the vehicle feature recognition device 50, the depth camera 51, the barrier gate 60, the inspection position 70, the vehicle bottom recognition device 80, and the explosive detector 90. The vehicle feature recognition device 50 is used to recognize vehicle features including a license plate, a vehicle type, and a vehicle body color. The vehicle bottom recognition device 80 is used for recognizing vehicle bottom dangerous goods scanning; the hazard detection 90 is used for special gas and radiation detection.
The functions of realizing the scene comprise: mechanical arm online navigation based on machine vision, man-machine safety interaction, people, vehicle and object multi-information acquisition, human face and identity card photo comparison, human face and blacklist photo comparison, license plate and license plate number blacklist comparison, fake plate investigation, vehicle bottom dangerous goods identification, vehicle bottom explosive detection, comprehensive danger evaluation and joint defense joint control.
As shown in fig. 5, the system is a schematic diagram of an implementation principle of the present application, and the whole inspection work is an unmanned and automatic process, that is, a vehicle bottom inspection system automatically scans and judges dangerous articles, a vehicle feature recognition device automatically recognizes and compares vehicle features, a mechanical arm automatically searches and navigates to a vehicle window position, a testimony inspection device automatically recognizes and compares personnel information, a general control system automatically performs comprehensive danger assessment, and a barrier gate is automatically lifted up or joint defense joint control.
When the process begins, a security inspection system and a robot system (mainly a flexible mechanical arm) are started, when a vehicle enters a detection area, vehicle bottom scanning, vehicle characteristic identification and passenger identification are started, and identified information is transmitted to a master control system, namely an upper computer. And calling the personnel blacklist library, the license plate blacklist library and the vehicle information library through the upper computer to perform corresponding blacklist information query. The following processing is carried out through an upper computer:
(1) vehicle bottom hazardous article identification
(2) Vehicle bottom explosive detection
(3) Human face and identity card photo contrast
(4) Face to blacklist photo comparison
(5) Comparing license plate with black list of license plate
(6) Examination of fake plate
And (4) if all the components (1) to (6) are qualified, lifting the vehicle to release the vehicle, and if the components are not qualified, not lifting the barrier gate, triggering an alarm and joint defense joint control.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A security robot system for crossing comprehensive inspection, comprising:
the personnel checking equipment is used for checking whether the current identity of the passenger is in a pre-stored identity blacklist or not and checking whether the passenger is consistent with the identity card or not;
the vehicle identification and checking equipment is used for checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not;
the vehicle identification and checking equipment is also used for identifying whether dangerous goods and dangerous explosives exist in the vehicle;
and if the checking equipment passes the checking, lifting the bar by the barrier gate.
2. The security robot system for crossing complex inspection according to claim 1, wherein the personnel checking device is further configured to
Comparing the face information of the passenger with the identity card, and checking whether the face information of the passenger passes the identity card in the checking equipment if the face information of the passenger does not meet the identity card;
and comparing the face information of the passenger in the identity blacklist, and checking whether the face information of the passenger passes the check equipment if the face information of the passenger corresponds to the blacklist.
3. The security robot system for crossing complex inspection according to claim 1, wherein the vehicle identification and verification device comprises:
the vehicle bottom scanning device is used for identifying whether dangerous goods exist at the vehicle bottom or detecting whether dangerous explosives exist at the vehicle bottom; if the vehicle bottom scanning device identifies, the identification equipment checks that the vehicle bottom scanning device fails.
4. The security robot system for crossing complex inspection according to claim 1, wherein the vehicle identification and verification device comprises:
the vehicle fake plate checking device is used for identifying whether the license plate of the vehicle belongs to the fake plate or not, and if the license plate belongs to the fake plate, the vehicle fake plate checking device checks that the license plate does not pass through the license plate.
5. The security robot system for crossing complex inspection according to claim 1, further comprising: and the flexible mechanical arm is used for carrying the personnel checking equipment to move according to a real-time planned track and locate to the position of the car window.
6. The security robot system for crossing complex inspection according to claim 1, further comprising a safety collision avoidance mechanism for ensuring that the flexible mechanical arm is maintained within a safe distance range from the vehicle and the occupant.
7. The processing method for the comprehensive inspection of the road junction is characterized by comprising the following steps:
when a vehicle enters a detection area, detecting the vehicle and identifying vehicle information and the identity of a passenger in the vehicle;
the vehicle detection means that whether dangerous goods and dangerous explosives exist in the vehicle or not is identified;
the identification of the vehicle information refers to checking whether the vehicle is a fake plate vehicle or not and whether the license plate is in a license plate blacklist or not;
the identification of the identity of the passenger in the vehicle is to check whether the current identity of the passenger is in a pre-stored identity blacklist or not and whether the identity of the passenger is consistent with the identity card or not;
and judging whether to lift the barrier gate according to the identification result.
8. The processing method for comprehensive crossing inspection according to claim 7, wherein determining whether to lift the barrier gate according to the identification result comprises:
if the vehicle enters the detection area, detecting the vehicle and identifying any one of the vehicle information and the identity of a passenger in the vehicle does not meet the preset condition, not lifting the barrier gate and performing joint defense joint control with a public security system;
and if the vehicle enters the detection area, detecting the vehicle and identifying the vehicle information and the identity of the passenger in the vehicle meet preset conditions, lifting the barrier gate.
9. The processing method for comprehensive crossing inspection according to claim 7, wherein when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are identified, further comprising: positioning to the position of the car window according to the real-time planned track motion,
the step of positioning to the position of the car window according to the real-time planned track motion comprises the following steps:
identifying a vehicle window target by constructing a machine vision algorithm based on a depth convolution neural network, and acquiring coordinates of a vehicle window relative to a depth camera;
and establishing the coordinates of the car window relative to the mechanical arm base according to the coordinates of the car window relative to the depth camera and the coordinates of the depth camera relative to the mechanical arm base, and planning and following the track from the tail end of the mechanical arm to the car window position.
10. The processing method for comprehensive crossing inspection according to claim 7, wherein when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are identified, further comprising:
ensuring that the flexible mechanical arm is maintained within a safe distance range relative to the vehicle and the occupant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910834461.1A CN110689725A (en) | 2019-09-03 | 2019-09-03 | Security robot system for crossing comprehensive inspection and processing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910834461.1A CN110689725A (en) | 2019-09-03 | 2019-09-03 | Security robot system for crossing comprehensive inspection and processing method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN110689725A true CN110689725A (en) | 2020-01-14 |
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| CN111368694A (en) * | 2020-02-28 | 2020-07-03 | 中国人民公安大学 | Bayonet inspection method and electronic equipment |
| CN111681343A (en) * | 2020-04-17 | 2020-09-18 | 深圳市华正联实业有限公司 | Vehicle passing method for person to get-off vehicle |
| CN111681344A (en) * | 2020-04-17 | 2020-09-18 | 深圳市华正联实业有限公司 | Method and system for checking information of person getting-on/off vehicle |
| CN112215234A (en) * | 2020-10-16 | 2021-01-12 | 神思电子技术股份有限公司 | Method for checking information of vehicle personnel at road interface |
| CN113763610A (en) * | 2021-08-02 | 2021-12-07 | 河北远东通信系统工程有限公司 | Security check method supporting multiple check modes |
| CN114255600A (en) * | 2022-01-26 | 2022-03-29 | 杭州海康威视数字技术股份有限公司 | Parking detection method, parking detection equipment and storage medium |
| CN114333329A (en) * | 2022-01-26 | 2022-04-12 | 杭州海康威视数字技术股份有限公司 | Parking detection method, parking detection equipment and storage medium |
| CN115410286A (en) * | 2022-08-12 | 2022-11-29 | 西安公路研究院有限公司 | Multi-mode vehicle classification prevention and control integrated system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111368694A (en) * | 2020-02-28 | 2020-07-03 | 中国人民公安大学 | Bayonet inspection method and electronic equipment |
| CN111354121A (en) * | 2020-03-09 | 2020-06-30 | 中通服公众信息产业股份有限公司 | Man-car hybrid verification system and method for intelligent inspection station |
| CN111681343A (en) * | 2020-04-17 | 2020-09-18 | 深圳市华正联实业有限公司 | Vehicle passing method for person to get-off vehicle |
| CN111681344A (en) * | 2020-04-17 | 2020-09-18 | 深圳市华正联实业有限公司 | Method and system for checking information of person getting-on/off vehicle |
| CN112215234A (en) * | 2020-10-16 | 2021-01-12 | 神思电子技术股份有限公司 | Method for checking information of vehicle personnel at road interface |
| CN113763610A (en) * | 2021-08-02 | 2021-12-07 | 河北远东通信系统工程有限公司 | Security check method supporting multiple check modes |
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| CN114333329B (en) * | 2022-01-26 | 2023-09-29 | 杭州海康威视数字技术股份有限公司 | Parking detection method, device and storage medium |
| CN115410286A (en) * | 2022-08-12 | 2022-11-29 | 西安公路研究院有限公司 | Multi-mode vehicle classification prevention and control integrated system |
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