CN106872498A - A kind of contraband safety check automatic identification equipment - Google Patents
A kind of contraband safety check automatic identification equipment Download PDFInfo
- Publication number
- CN106872498A CN106872498A CN201710233696.6A CN201710233696A CN106872498A CN 106872498 A CN106872498 A CN 106872498A CN 201710233696 A CN201710233696 A CN 201710233696A CN 106872498 A CN106872498 A CN 106872498A
- Authority
- CN
- China
- Prior art keywords
- contraband
- luggage
- conveyer belt
- ray
- safety check
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- G01N23/06—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 measuring the absorption
- G01N23/10—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 measuring the absorption the material being confined in a container, e.g. in a luggage X-ray scanners
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
A kind of contraband safety check automatic identification equipment, includes computer master control system, X-ray machine imaging system, luggage separate system composition.Computer master control system includes picture recognition module, verbal announcement module.X-ray machine imaging system sends X-ray to the luggage for being detected first, and amorphous silicon flat panel detector detects the X-ray through decay, is converted to digital picture by A/D and is sent to computer master control system in real time.Then the picture recognition module in computer master control system is compared by carrying out preliminary identification to the color of object, shape in image, dangerous goods species that may be present in luggage is included on liquid crystal display, reported to inspector from verbal announcement module and instruction sent to luggage separate system, oblique roller float up by luggage deliver to out package operation platform by inspector carry out out bag check.Finally, the luggage for being not detected by dangerous material is then taken away by conveyer belt by passenger.
Description
Technical field
The invention belongs to safety check technical field, more particularly to a kind of contraband safety check automatic identification equipment.
Background technology
With the constantly improve of Traffic Systems, subway is due to its safe, punctual reliability, Energy and comfort, green
Environmentally friendly many advantages, such as, become the first choice of people's trip.However, the inspection that subway safety check must be fulfiled as subway personnel
Survey formality and ensure the important measures of passenger safety, the more huge quantity for causing luggage and articles of flow of the people is greatly increased, this
The pressure for allowing for safe examination system increases severely therewith.Hand inspection requirement safety inspector energy is concentrated, and human cost is higher, intelligent journey
Degree is low and occurs that careless mistake produces threat to subway safe operation.It is therefore desirable to there is a kind of common contraband of automatic identification
System, this system can facilitate passenger, effectively prevent contraband inbound, mitigate subway safety check pressure, improve safety inspector's work effect
Rate.
The content of the invention
In order to overcome the shortcoming of above-mentioned prior art, it is an object of the invention to provide a kind of contraband safety check automatic identification
Device, to solve the inconvenience that traditional subway safety check brings, improves safety check efficiency, it is ensured that passenger safety, makes subway safety check more
Plus it is intelligent.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of contraband safety check automatic identification equipment, including：
X-ray machine imaging system, X-ray is sent to the luggage case and bag on conveyer belt 1, and detection is through decay after luggage case and bag
X-ray, the Digital Image Display of article in luggage case and bag is converted on LCDs by A/D；
Computer master control system, receiving the digital picture carries out contraband identification；
Luggage separate system, including oblique disk roller 2 and shunting conveyer belt 3, wherein, shunting conveyer belt 3 is set with parallel form
Put on the transmission route of conveyer belt 1, oblique disk roller 2 is arranged on the transmission route of conveyer belt 1, and positioned at shunting conveyer belt 3
With the junction of conveyer belt 1；
When the computer master control system identifies contraband, control signal, oblique roller are sent to luggage separate system
Wheel 2 floats, and corresponding luggage case and bag are imported into shunting conveyer belt 3, and be eventually sent to shunting conveyer belt 3 end opens package operation platform 4.
The X-ray machine imaging system includes：
X-ray emission device for sending X-ray；
For detecting the amorphous silicon flat panel detector through X-ray after luggage case and bag；
A-D converter for performing A/D conversions；
And for showing the LCDs of digital picture.
The computer master control system includes picture recognition module, when real-time reception is to digital picture, by image by RGB face
Color space transformation is to hsv color space and replicates three parts, and the X-ray imaging color according to common contraband is different, is divided into three kinds of face
Color carries out colour recognition, sets different H, S, V parameter thresholds, the contoured article in luggage is extracted and is allowed to be black,
Background and debris under remaining each color due to being shown as other non-detection colors or white in the case where X-ray irradiates, then by
Unified rejecting is white, after picture quality is optimized, by under the image after three parts of different colours identifications and the respective color for prestoring
The image template parallel processing of contraband, carries out SURF characteristic matchings, and matching rate is then thought to be deposited in luggage case and bag more than 55%
In contraband.
Three kinds of colour temperature bluenesss, green and orange, blue threshold value is：100°<H<124°、43<S<255、
46<V<255, green threshold value be：35°<H<77°、43<S<255、46<V<255, orange threshold value is 11 °<H<25°、43<S<
255、46<V<255。
The blue correspondence dagger, gun, controlled knife, battery；Green correspondence paint, gasoline, firecrackers, lighter gas
Bottle, ammunition；Orange correspondence alcohol, mineral water.
The computer master control system includes verbal announcement module, and acquired results are real on liquid crystal display after SURF characteristic matchings
When show, result is reported to inspector by the verbal announcement module.
Described picture recognition module uses SURF Feature Correspondence Algorithms, and step is as follows：
First, carry out gaussian filtering, build the Hessian matrixes of each pixel in image, it is treated each
Pixel then carries out size and compares with 26 points of its field of three dimension, if maximum or minimum value, then retains as preliminary
Characteristic point；
Then, the characteristic point of sub-pixel is obtained using linear interpolation method, while also eliminating value less than certain threshold
The point of value, the most strong point of characteristic value is detected；
Then, the principal direction of selected characteristic point, horizontal harr wavelet characters and vertical harr in statistical nature point field
Wavelet character, chooses the direction of maximum as the principal direction of this feature point；
Finally, a square-shaped frame is taken around characteristic point, the frame is divided into 16 sub-regions, count each sub-regions
Between pixel harr wavelet characters both horizontally and vertically, be divided into horizontal direction value sum, horizontal direction absolute value sum, hang down
To sum, vertical direction absolute value sum, one is obtained the vector of 64 dimensions to Nogata, son is described as point SURF, to x-ray image
In describe quantum count with the SURF in the contraband image template for prestoring and matched, matching rate then thinks luggage more than 55%
In there is contraband.
In the luggage separate system, there is rolling shaft structure on conveyer belt 1, oblique disk roller 2 is arranged between roller bearing, rolling axle
It is parallel with roller bearing, and oblique disk roller 2 be less than roller bearing upper edge, rolling axle bottom have with the bracket for lifting motor connection, lift electricity
Machine drives bracket to float after signal is received, and then drives oblique disk roller 2 to be higher by roller bearing upper edge, luggage case and bag is imported and is shunted
Conveyer belt 3.
The oblique disk roller 2 is two rows, often arranges and is constituted from 8~10 to the shunting inclined disk roller of conveyer belt 3.
Compared with prior art, the most of common contraband in the detectable luggage of the present invention, such as controlled knife, rifle
Branch, inflammable and explosive substances, unclarified liquid etc., operator need to only observe more rare contraband, mitigate operator's operating pressure, carry
Subway safety check efficiency high, preferably ensures subway circulation and passenger safety.
Brief description of the drawings
Fig. 1 is luggage separate system structure chart (top view) of the invention.
Fig. 2 is luggage separate system structure chart (stereogram) of the invention.
Fig. 3 is that motor of the invention is driven schematic diagram.
Fig. 4 is workflow diagram of the present invention.
Specific embodiment
Describe embodiments of the present invention in detail with reference to the accompanying drawings and examples.
A kind of contraband safety check automatic identification equipment of the present invention, including：
X-ray machine imaging system, X-ray is sent to the luggage case and bag on conveyer belt 1, and detection is through decay after luggage case and bag
X-ray, the Digital Image Display of article in luggage case and bag is converted on LCDs by A/D.Its structure includes：With
In send X-ray X-ray emission device, for detecting through luggage case and bag after X-ray amorphous silicon flat panel detector, be used for
Perform the A-D converter and the LCDs for showing digital picture of A/D conversions.
Computer master control system, receiving digital picture carries out contraband identification.
Luggage separate system, referring to Figures 1 and 2, including oblique disk roller 2 and shunting conveyer belt 3, wherein, shunt conveyer belt 3
It is arranged on the transmission route of conveyer belt 1 with parallel form, oblique disk roller 2 is arranged on the transmission route of conveyer belt 1, and is located at
, specifically, there is a rolling shaft structure junction of shunting conveyer belt 3 and conveyer belt 1 on conveyer belt 1, oblique disk roller 2 be arranged on roller bearing it
Between, rolling axle is parallel with roller bearing, and oblique disk roller 2 is less than roller bearing upper edge, and rolling axle bottom has and the support for lifting motor connection
Frame.Oblique disk roller 2 is two rows, often arranges and is constituted from 8~10 to the shunting inclined disk roller of conveyer belt 3, after working signal is received,
Lifting motor drives bracket to float, and then drives oblique disk roller 2 to be higher by roller bearing upper edge about 10mm, luggage case and bag is imported and is divided
Streaming band 3, and it is ultimately delivered to out package operation platform 4.
Reference picture 3, oblique disk roller 2 and conveyer belt 1 can share same motor 5, and the band that turns clockwise of motor 5 shakes
Arm, may be such that oblique disk roller 2 floats.
The course of work of the present invention is as shown in Figure 4：
X-ray machine imaging system sends X-ray to the luggage detected on conveyer belt, and amorphous silicon flat panel detector is detected
The X-ray of overdamping, the digital picture of luggage interior items is converted to by A/D.
Image is transformed into hsv color space by picture recognition module real-time reception to after x-ray image by RGB color
And three parts are replicated, the X-ray imaging color according to common contraband is different, is divided into：Blue (dagger, gun, controlled knife, electricity
Pond), green (paint, gasoline, firecrackers, lighter gas bottle, ammunition), orange (alcohol, mineral water) carries out colour recognition, that is, set
(blue threshold value is to put different H, S, V parameter threshold：100°<H<124°、43<S<255、46<V<255, the threshold value of green
For：35°<H<77°、43<S<255、46<V<255, orange threshold value is 11 °<H<25°、43<S<255、46<V<255), will disobey
Contraband goods Graph Extraction is out allowed to be black that it is white that the background and debris under remaining color are then removed.
Carrying out after morphology opens operation optimization picture quality, the image after three parts of different colours identifications is each with what is prestored
The image template parallel processing of contraband, can improve operating rate under kind color.SURF characteristic matchings are carried out, because SURF features
Matching has scale invariability, rotational invariance, operating rate high and the match is successful rate higher, and row is solved to a certain extent
Contraband in Lee is due to angle and the deviation of generation of different sizes, while meeting the real-time and accuracy of identifying system.
SURF Feature Correspondence Algorithm steps are as follows：
Firstly, since needing to have yardstick independence so needing to carry out gaussian filtering, each pixel in image is built
The Hessian matrixes of point, treated each pixel then carries out size and compares with 26 points of its field of three dimension, if most
Big value or minimum value, then retain and regard preliminary characteristic point；
Then, the characteristic point of sub-pixel is obtained using linear interpolation method, while also eliminating value less than certain threshold
The point of value, the most strong point of characteristic value is detected；
Then, the principal direction of selected characteristic point, horizontal harr wavelet characters and vertical harr in statistical nature point field
Wavelet character, chooses the direction of maximum as the principal direction of this feature point；
Finally, a square-shaped frame is taken around characteristic point, the frame is divided into 16 sub-regions, count each sub-regions
Between pixel harr wavelet characters both horizontally and vertically, be divided into horizontal direction value sum, horizontal direction absolute value sum, hang down
To sum, vertical direction absolute value sum, one is obtained the vector of 64 dimensions to Nogata, son is described as point SURF, to x-ray image
In describe quantum count with the SURF in the contraband image template for prestoring and matched, matching rate then thinks luggage more than 55%
In there is contraband.
Acquired results after comprehensive three parts of images match, show, the verbal announcement module for passing through should in real time on liquid crystal display
Result is reported to inspector, and computer master control system sends control signal to luggage separate system, and oblique disk roller 2 floats, by phase
Answer luggage case and bag to import shunting conveyer belt 3, be eventually sent to shunting conveyer belt 3 end opens package operation platform 4, carry out out bag and check.
Meanwhile, computer master control system includes verbal announcement module, and acquired results are on liquid crystal display after SURF characteristic matchings
It has been shown that, is reported result to inspector by verbal announcement module in real time.
Claims (10)
1. a kind of contraband safety check automatic identification equipment, it is characterised in that including：
X-ray machine imaging system, X-ray is sent to the luggage case and bag on conveyer belt (1), and detection is through the X decayed after luggage case and bag
Ray, the Digital Image Display of article in luggage case and bag is converted on LCDs by A/D；
Computer master control system, receiving the digital picture carries out contraband identification；
Luggage separate system, including oblique disk roller (2) and shunting conveyer belt (3), wherein, shunting conveyer belt (3) is with parallel form
It is arranged on the transmission route of conveyer belt (1), oblique disk roller (2) is arranged on the transmission route of conveyer belt (1), and positioned at shunting
The junction of conveyer belt (3) and conveyer belt (1)；
When the computer master control system identifies contraband, control signal, oblique disk roller (2) are sent to luggage separate system
Float, corresponding luggage case and bag are imported into shunting conveyer belt (3), be eventually sent to shunting conveyer belt (3) end opens package operation platform
(4)。
2. contraband safety check automatic identification equipment according to claim 1, it is characterised in that the X-ray machine imaging system bag
Include：
X-ray emission device for sending X-ray；
For detecting the amorphous silicon flat panel detector through X-ray after luggage case and bag；
A-D converter for performing A/D conversions；
And for showing the LCDs of digital picture.
3. contraband safety check automatic identification equipment according to claim 1, it is characterised in that the computer master control system bag
Picture recognition module is included, when real-time reception is to digital picture, image hsv color space and multiple is transformed into by RGB color
Three parts of system, X-ray according to common contraband imaging color is different, and being divided into three kinds of colors carries out colour recognition, set different H,
S, V parameter threshold, the contoured article in luggage are extracted and are allowed to be black, background and debris under remaining each color
Then it is white by unified rejecting, in optimization picture quality due to being shown as other non-detection colors or white in the case where X-ray irradiates
Afterwards, by the image after three parts of different colours identifications and the image template parallel processing of contraband under the respective color for prestoring, carry out
SURF characteristic matchings, matching rate then thinks there is contraband in luggage case and bag more than 55%.
4. contraband safety check automatic identification equipment according to claim 3, it is characterised in that three kinds of colour temperature indigo plant
Color, green and orange, blue threshold value is：100°<H<124°、43<S<255、46<V<255, green threshold value be：35°<H
<77°、43<S<255、46<V<255, orange threshold value is 11 °<H<25°、43<S<255、46<V<255.
5. contraband safety check automatic identification equipment according to claim 4, it is characterised in that the blue correspondence dagger, rifle
Branch, controlled knife, battery；Green correspondence paint, gasoline, firecrackers, lighter gas bottle, ammunition；Orange correspondence alcohol, mineral spring
Water.
6. contraband safety check automatic identification equipment according to claim 3, it is characterised in that the computer master control system bag
Verbal announcement module is included, acquired results show in real time on liquid crystal display after SURF characteristic matchings, by the verbal announcement module
Result is reported to inspector.
7. contraband safety check automatic identification equipment according to claim 6, it is characterised in that described picture recognition module is adopted
Use SURF Feature Correspondence Algorithms.
8. contraband safety check automatic identification equipment according to claim 7, it is characterised in that the SURF Feature Correspondence Algorithms
Step is as follows：
First, gaussian filtering is carried out, the Hessian matrixes of each pixel in image, treated each pixel is built
Point then carries out size and compares with 26 points of its field of three dimension, if maximum or minimum value, then retains and regards preliminary feature
Point；
Then, the characteristic point of sub-pixel is obtained using linear interpolation method, while also eliminating value less than certain threshold value
Point, the most strong point of characteristic value is detected；
Then, the principal direction of selected characteristic point, horizontal harr wavelet characters and vertical harr small echos in statistical nature point field
Feature, chooses the direction of maximum as the principal direction of this feature point；
Finally, a square-shaped frame is taken around characteristic point, the frame is divided into 16 sub-regions, count picture between each sub-regions
The harr wavelet characters both horizontally and vertically of element, are divided into horizontal direction value sum, horizontal direction absolute value sum, Vertical Square
To sum, vertical direction absolute value sum, one is obtained the vector of 64 dimensions, as point SURF describe son, in x-ray image with
SURF in the contraband image template for prestoring describes quantum count and is matched, and matching rate is then thought to be deposited in luggage more than 55%
In contraband.
9. contraband safety check automatic identification equipment according to claim 1, it is characterised in that in the luggage separate system,
There is rolling shaft structure on conveyer belt (1), oblique disk roller (2) is arranged between roller bearing, and rolling axle is parallel with roller bearing, and oblique disk roller
(2) less than roller bearing upper edge, rolling axle bottom have with the bracket for lifting motor connection, lift motor and support driven after signal is received
Frame is floated, and then drives oblique disk roller (2) to be higher by roller bearing upper edge, and luggage case and bag are imported into shunting conveyer belt (3).
10. contraband safety check automatic identification equipment according to claim 1, it is characterised in that the oblique disk roller (2) is two
Row, often arranges and is constituted from 8~10 to shunting conveyer belt (3) inclined disk roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710233696.6A CN106872498A (en) | 2017-04-11 | 2017-04-11 | A kind of contraband safety check automatic identification equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710233696.6A CN106872498A (en) | 2017-04-11 | 2017-04-11 | A kind of contraband safety check automatic identification equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106872498A true CN106872498A (en) | 2017-06-20 |
Family
ID=59161984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710233696.6A Withdrawn CN106872498A (en) | 2017-04-11 | 2017-04-11 | A kind of contraband safety check automatic identification equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106872498A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109187598A (en) * | 2018-10-09 | 2019-01-11 | 青海奥越电子科技有限公司 | Prohibited items detection system and method based on Digital Image Processing |
| CN109946746A (en) * | 2019-03-21 | 2019-06-28 | 长安大学 | A kind of safe examination system and method based on deep neural network |
| WO2019237819A1 (en) * | 2018-06-13 | 2019-12-19 | 葛高丽 | Safe heater based on environmental analysis |
| CN111323835A (en) * | 2020-03-20 | 2020-06-23 | 安徽启新明智科技有限公司 | Security inspection method and device based on personal bag association |
| CN111443389A (en) * | 2020-03-24 | 2020-07-24 | 青岛联创威科安防设备有限公司 | Double-view angle security inspection machine |
| CN111860578A (en) * | 2020-06-08 | 2020-10-30 | 中国船舶重工集团公司第七一三研究所 | Image pre-classification method for airport security inspection contraband automatic identification system |
| CN112965121A (en) * | 2021-02-03 | 2021-06-15 | 南京航空航天大学 | Radiation imaging security inspection system based on liquid metal random coding |
-
2017
- 2017-04-11 CN CN201710233696.6A patent/CN106872498A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019237819A1 (en) * | 2018-06-13 | 2019-12-19 | 葛高丽 | Safe heater based on environmental analysis |
| CN109187598A (en) * | 2018-10-09 | 2019-01-11 | 青海奥越电子科技有限公司 | Prohibited items detection system and method based on Digital Image Processing |
| CN109946746A (en) * | 2019-03-21 | 2019-06-28 | 长安大学 | A kind of safe examination system and method based on deep neural network |
| WO2020187077A1 (en) * | 2019-03-21 | 2020-09-24 | 长安大学 | Deep neural network-based security check system and method |
| CN111323835A (en) * | 2020-03-20 | 2020-06-23 | 安徽启新明智科技有限公司 | Security inspection method and device based on personal bag association |
| CN111323835B (en) * | 2020-03-20 | 2022-09-16 | 安徽启新明智科技有限公司 | Security inspection method and device based on personal bag association |
| CN111443389A (en) * | 2020-03-24 | 2020-07-24 | 青岛联创威科安防设备有限公司 | Double-view angle security inspection machine |
| CN111860578A (en) * | 2020-06-08 | 2020-10-30 | 中国船舶重工集团公司第七一三研究所 | Image pre-classification method for airport security inspection contraband automatic identification system |
| CN111860578B (en) * | 2020-06-08 | 2023-02-03 | 中国船舶重工集团公司第七一三研究所 | Image pre-classification method for airport security inspection contraband automatic identification system |
| CN112965121A (en) * | 2021-02-03 | 2021-06-15 | 南京航空航天大学 | Radiation imaging security inspection system based on liquid metal random coding |
| CN112965121B (en) * | 2021-02-03 | 2022-03-04 | 南京航空航天大学 | Radiation imaging security inspection system based on liquid metal random coding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106872498A (en) | A kind of contraband safety check automatic identification equipment | |
| CN206671223U (en) | Luggage separate system and the contraband safety check apparatus using the system | |
| CN107782733B (en) | Image recognition nondestructive detection device and method for metal surface defects | |
| CN109187598A (en) | Prohibited items detection system and method based on Digital Image Processing | |
| CN110751079A (en) | Article detection method, apparatus, system and computer readable storage medium | |
| WO2020173021A1 (en) | Artificial intelligence-based forbidden object identification method, apparatus and device, and storage medium | |
| CN104573713B (en) | A kind of transformer Infrared image recognition based on image texture characteristic | |
| CN108121996A (en) | A kind of hard pressing plate state identification method of power screen cabinet based on machine vision | |
| CN104773626B (en) | A kind of building hoist standard knot bolt safe condition detection means | |
| WO2021121254A1 (en) | Fixed-site container inspection system | |
| CN105181714A (en) | Image processing-based bottled liquid impurity detection system and detection method thereof | |
| CN104751145B (en) | The SAR image electric power line detecting method that local Hough transformation optimizes with morphology | |
| CN109977877A (en) | A kind of safety check is intelligent to be assisted sentencing drawing method, system and system control method | |
| CN105954301A (en) | Bottleneck quality detection method based on machine vision | |
| CN106373140B (en) | Transparent and semitransparent liquid impurity detection method based on monocular vision | |
| CN106052793A (en) | Machine vision based liquid level sub-quality product marking method | |
| CN107697532A (en) | A kind of Express Logistics warehouse AGV dollies and its control system | |
| CN104237961A (en) | Security check machine item tracking method and device | |
| CN106645180A (en) | Method for checking defects of substrate glass, field terminal and server | |
| CN104992448B (en) | The automatic positioning method of robot antisitic defect grape-picking | |
| CN109509299A (en) | A kind of automatic vending machine with recognition of face | |
| CN113723127B (en) | Intelligent checking channel for high-speed rail station inspection of passengers | |
| CN104573650A (en) | Wire detection classification method based on filtering responses | |
| CN108074227B (en) | Detection system and detection method before destruction of damaged RMB | |
| CN109242843A (en) | A kind of container surface image and container number image-pickup method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170620 |