CN210181238U - Detection device and security inspection equipment - Google Patents
Detection device and security inspection equipment Download PDFInfo
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- CN210181238U CN210181238U CN201920603999.7U CN201920603999U CN210181238U CN 210181238 U CN210181238 U CN 210181238U CN 201920603999 U CN201920603999 U CN 201920603999U CN 210181238 U CN210181238 U CN 210181238U
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Abstract
The embodiment of the utility model discloses detection device and safety inspection equipment, detection device includes: the system comprises a main control module, a dangerous article detection module and a display module; the main control module is connected with the dangerous goods detection module and the display module; the hazardous article detection module comprises a frequency modulation source module, a frequency multiplication link module and a signal acquisition module, wherein one end of the frequency multiplication link module is connected with the frequency modulation source module, and the other end of the frequency multiplication link module is connected with the signal acquisition module; the frequency multiplication link module is used for multiplying the frequency of the two terahertz wave signals sent by the frequency modulation source module and then sending the two terahertz wave signals to a target object, mixing the returned reflection echo signal with the other two terahertz wave signals sent by the frequency modulation source module to obtain an output signal, and further transmitting the output signal to the signal acquisition module. The embodiment of the utility model provides an in the security installations be one of intelligence security check robot, intelligence security check cruiser and intelligence security check appearance at least, improved terahertz signal's intensity and scope coverage to and automatic detectable rate and rate of accuracy.
Description
Technical Field
The embodiment of the utility model provides a relate to security installations technical field, especially relate to a detection device and security installations.
Background
With the development of science and technology and the improvement of security requirements of people, how to realize the rapid detection and identification of dangerous goods in public places with large pedestrian volume, such as airports, railway stations or subway exits, is an important problem in the field of target public safety.
In the prior art, non-contact human body security inspection technologies include metal detection gates, micro-dose X-ray imaging, X-ray flying spot scanning back scattering imaging, millimeter wave imaging, passive terahertz imaging, active terahertz imaging and the like. The metal detection door cannot detect non-metal contraband articles such as a ceramic knife, a plastic gun and a fatal explosive, meanwhile, the metal detection false alarm is high, manual work is needed to assist a handheld metal detector for rechecking, the security inspection efficiency is low, and the labor intensity is high; although the imaging quality is good, the risk of human body ionizing radiation damage exists in the micro-dose X-ray imaging technology and the X-ray flying spot scanning back scattering imaging technology; although the millimeter wave imaging technology has no ionizing radiation, the highest detection rate of automatic identification is only 85%, manual auxiliary reinspection is needed, and the imaging quality is difficult to meet the requirements due to the limitation of resolution; the passive terahertz imaging security inspection has a simple structure, is free of radiation, non-contact and non-stop, cannot be used outdoors, and has high requirements on indoor temperature, light and other environments; the existing active terahertz imaging technology has low accuracy of detection results of open places without clear channel inlets.
Above-mentioned human safety inspection device of non-contact all needs carry out the formula safety inspection of fitting together at fixed safety inspection passageway, still need be equipped with the inspection of "searching for one's own accord" formula simultaneously, and not only work efficiency is low still is suspected to invade privacy, and under the stream of the adult background, the rate of accuracy of carrying out the imperceptible detection of hazardous articles to non-cooperative target crowd can not satisfy actual demand.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a detection device and safety inspection equipment to improve the human noninductive rate of detection and the rate of accuracy of detecting with the early warning of hiding the hazardous articles in open area.
The embodiment of the utility model provides a detection device, which comprises a control module, a dangerous article detection module and a display module; wherein the content of the first and second substances,
the main control module is connected with the dangerous article detection module and the display module and is used for sending a detection instruction to the dangerous article detection module, receiving detection data returned by the dangerous article detection module and displaying a detection result on the display module according to the detection data;
the hazardous article detection module comprises a frequency modulation source module, a frequency doubling link module and a signal acquisition module, wherein one end of the frequency doubling link module is connected with the frequency modulation source module, and the other end of the frequency doubling link module is connected with the signal acquisition module;
the frequency multiplication link module is used for multiplying the frequency of the two terahertz wave signals sent by the frequency modulation source module and then sending the two terahertz wave signals to a target object, mixing the returned reflection echo signal with the other two terahertz wave signals sent by the frequency modulation source module to obtain an output signal, and further transmitting the output signal to the signal acquisition module.
Furthermore, the frequency doubling link module comprises two transmitting frequency doubling links and two receiving frequency doubling links.
Further, the two paths of terahertz wave new signals comprise a first path of linear frequency modulation signals and a second path of linear frequency modulation signals;
the transmitting frequency multiplication link comprises a power amplifier and a transmitting antenna and is used for receiving the first path of linear frequency modulation signal or the second path of linear frequency modulation signal sent by the frequency modulation source module, amplifying the first path of linear frequency modulation signal or the second path of linear frequency modulation signal through the power amplifier and then transmitting the amplified first path of linear frequency modulation signal or the amplified second path of linear frequency modulation signal through the transmitting antenna.
Further, the other two terahertz wave signals comprise a third chirp signal and a fourth chirp signal;
the receiving frequency doubling link comprises a receiving antenna and a harmonic mixer, and is used for receiving a third path of linear frequency modulation signal or a fourth path of linear frequency modulation signal sent by the frequency modulation source module, receiving a first path of reflected echo signal or a second path of reflected echo signal through the receiving antenna, mixing the third path of linear frequency modulation signal and the first path of reflected echo signal through the harmonic mixer, or mixing the fourth path of linear frequency modulation signal and the second path of reflected echo signal through the harmonic mixer, and sending a first output signal or a second output signal after mixing to the signal acquisition module.
Furthermore, the hazardous article detection module further comprises a signal amplification and filtering module, one end of the signal amplification and filtering module is connected with the signal acquisition module, and the other end of the signal amplification and filtering module is connected with the harmonic mixer in the receiving frequency doubling link module;
the signal amplification and filtering module is used for filtering and amplifying the received first output signal or the second output signal, obtaining the detection data through analog-to-digital conversion and sending the detection data to the signal acquisition module.
Furthermore, the hazardous article detection module further comprises a signal control module, one end of the signal control module is connected with the main control module, and the other end of the signal control module is connected with the frequency modulation source module;
the signal control module is used for receiving the detection instruction and the working parameters sent by the main control module, receiving the detection data sent by the signal acquisition module, and transmitting the detection data to the main control module after carrying out digital signal processing on the detection data.
Furthermore, the main control module comprises a dangerous article processing and identifying module, and the dangerous article processing and identifying module is used for receiving the detection data sent by the dangerous article detection module, inputting the detection data into a target dangerous article detection model to obtain a detection result, and further sending the detection result to the display module for displaying.
Further, the target hazardous article detection model is obtained by training a neural network through sample echo reflection data, wherein the sample echo reflection data comprises echo reflection data in different polarization directions.
In a second aspect, the embodiment of the present invention further provides a security inspection device, including security inspection control module, laser radar module, interactive module and as above detection apparatus, security inspection control module respectively with laser radar module interactive module detection apparatus connects.
Further, the security inspection equipment is at least one of an intelligent security inspection robot, an intelligent security inspection patrol car and an intelligent security inspection instrument.
The embodiment of the utility model provides a detection device, host system send detection instruction to hazardous articles detection module, and hazardous articles detection module carries out the hazardous articles based on the four ways terahertz wave signal that frequency multiplication link module received and surveys the target object to return to host system with the detection data, host system shows the detection result at display module according to received detection data. The embodiment of the utility model provides an in frequency doubling link module adopts the double-shot double-receiving frequency doubling link module, compares in the frequency doubling link module among the prior art, provides more polarization direction's terahertz signal, has improved the terahertz signal's of transmission intensity and range coverage, and then has improved the automatic detectable rate and the rate of accuracy of the imperceptible detection of open area human hidden hazardous articles and early warning.
Drawings
Fig. 1 is a schematic structural diagram of a detection device according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of another detection device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a security inspection apparatus provided by the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a detection device according to an embodiment of the present invention, as shown in fig. 1, the detection device 10 may include: the system comprises a main control module 11, a dangerous goods detection module 12 and a display module 13; the main control module 11 is connected with the hazardous article detection module 12 and the display module 13, and is configured to send a detection instruction to the hazardous article detection module 12, receive detection data returned by the hazardous article detection module 12, and display a detection result on the display module 13 according to the detection data;
the hazardous article detection module 12 comprises a frequency modulation source module 121, a frequency doubling link module 122 and a signal acquisition module 123, wherein one end of the frequency doubling link module 122 is connected with the frequency modulation source module 121, and the other end of the frequency doubling link module 122 is connected with the signal acquisition module 123, and is used for receiving a detection instruction of the main control module 11 to detect hazardous articles and sending detection data to the main control module 11;
the frequency doubling link module 122 is configured to frequency-double the two terahertz wave signals sent by the frequency modulation source module 121 and then transmit the two terahertz wave signals to a target object, mix the returned reflected echo signal with the other two terahertz wave signals sent by the frequency modulation source module 121 to obtain an output signal, and further transmit the output signal to the signal acquisition module 123.
The terahertz signal is also called terahertz wave, which is one kind of electromagnetic wave with wavelength of 3-1000 μm and frequency of 0.1-10 THz, and is between microwave and infrared ray. Terahertz waves not only have the same straight-forward property as light but also have similar penetrability and absorptivity to electric waves. Terahertz waves have good permeability to many dielectric materials and nonpolar liquids, and are low in energy, having only a few millielectron volts, and thus do not damage the substance to be detected. Compared to X-rays, which have photon energies of kilo-electron volts, its energy is lower than the bond energies of various chemical bonds, and thus it does not cause harmful electrical reactions. The terahertz waves can easily penetrate through nonpolar and nonmetallic materials such as plastics, clothes, paper boxes and the like, and can effectively detect and identify dangerous goods such as guns, drugs, explosives and the like hidden in packages, letters and clothes. Therefore, the terahertz signal is adopted as the hazardous article detection signal in the present embodiment.
The fm source module 121 is configured to provide four channels of terahertz signals, i.e., chirp signals. The two terahertz signals comprise a first linear frequency modulation signal and a second linear frequency modulation signal, and the other two terahertz signals comprise a third linear frequency modulation signal and a fourth linear frequency modulation signal.
The frequency doubling link module 122 is a double-transmitting and double-receiving frequency doubling link module, referring to fig. 2, the frequency doubling link module 122 includes two transmitting frequency doubling links and two receiving frequency doubling links, the two terahertz signals are respectively input into the two transmitting frequency doubling links, and the other two terahertz signals are respectively input into the two receiving frequency doubling links. The frequency doubling link module 122 is configured to frequency-double the two channels of chirp signals sent by the frequency modulation source module 121 to a set frequency (the set frequency may be 0.14THz), and circularly transmit the two channels of chirp signals to a target object according to a minimum 6-degree angle pulse, amplify, mix, remove dryness, and perform analog detuning on the returned reflected echo signal and the other two channels of chirp signals sent by the frequency modulation source module 121 to obtain a narrowband intermediate frequency signal, and further transmit an output signal of the narrowband intermediate frequency signal to the signal acquisition module 123.
Fig. 2 is a schematic structural diagram of another detection device according to an embodiment of the present invention. As shown in fig. 2, each transmitting frequency multiplication chain may include a power amplifier 1221 and a transmitting antenna 1222, and is configured to receive the first chirp signal or the second chirp signal sent by the fm source module 121, amplify the first chirp signal or the second chirp signal by the power amplifier 1221, and transmit the amplified first chirp signal or the amplified second chirp signal by the transmitting antenna 1222. The specific amplifier used in the power amplifier 1221 may be set according to actual conditions, and the power amplifier 1221 in this embodiment is set as a low-frequency power amplifier.
The polarization directions of the chirp signals transmitted by the transmitting antennas 1222 of the two transmitting frequency multiplication chains may be set to be different or the same. When the polarization directions are different, the polarization direction of one path of linear frequency modulation signal is horizontal, and the polarization direction of the other path of linear frequency modulation signal is vertical, and the setting can be specifically carried out according to the actual situation. By arranging two paths of transmitting frequency doubling links, terahertz signals in more polarization directions can be provided, and the strength and the range coverage of the transmitted terahertz signals are improved.
Each receiving frequency doubling link may include a receiving antenna 1223 and a harmonic mixer 1224, and is configured to receive the third chirp signal or the fourth chirp signal sent by the frequency modulation source module 121, receive the first reflected echo signal or the second reflected echo signal through the receiving antenna 1223, mix the third chirp signal and the first reflected echo signal through the harmonic mixer 1224, or mix the fourth chirp signal and the second reflected echo signal through the harmonic mixer 1224, and send the mixed first output signal or second output signal to the signal acquisition module 123. Further, before the first output signal and the second output signal are sent to the signal acquisition module 123, analog deskew operation may be performed through the harmonic mixer 122, so that the first output signal and the second output signal are sent to the signal acquisition module 123 after being changed into narrowband intermediate frequency signals.
The reflected echo signal is echo data fed back after the terahertz wave signal meets the object, and may be, for example, an echo data obtained by transmitting the terahertz wave signal to a human body and receiving an object scattering. Since the polarization direction of the reflected echo signal may change after the terahertz signal is reflected by the target object, in this embodiment, two receiving antennas 1223 are used to receive the reflected echo signal with the vertical polarization direction and the horizontal polarization direction, respectively. In this embodiment, the polarization direction of the first path of reflected echo signal may be horizontal, the polarization direction of the second path of reflected echo signal may be vertical, or the polarization direction of the first path of reflected echo signal may be vertical, and the polarization direction of the second path of reflected echo signal may be horizontal.
Further, the beam widths and the ranges of the transmitting antenna 1222 and the receiving antenna 1223 are related. In this embodiment, the beam width of the antenna may be adjusted according to a required range, for example, if the range is 100 meters, the antenna may cover one person, and the beam width may be set to 1.1 degrees.
Referring to fig. 2, each of the frequency multiplication chain modules 122 includes a frequency multiplier 1225, configured to amplify the frequencies of the four channels of chirp signals sent by the frequency modulation source module 121 by an integer multiple. Optionally, the amplification factor of the frequency multiplier 1225 of the two transmitting frequency multiplication links may be different from the amplification factor of the frequency multiplier 1225 of the two receiving frequency multiplication links, for example, the amplification factor of the frequency multiplier 1225 of the two transmitting frequency multiplication links may be 8 times, the frequency before amplification may be 17.05 ± 0.25GHz, the frequency after amplification may be 136.4 ± 2.0GHz, the amplification factor of the frequency multiplier 1225 of the two receiving frequency multiplication links may be 4 times, the frequency before amplification may be 17.05 ± 0.25GHz, and the frequency after amplification may be 68.2 ± 1.0 GHz.
Further, the hazardous article detection module 12 may further include a signal amplification and filtering module 124, one end of the signal amplification and filtering module 124 is connected to the signal acquisition module 123, and the other end of the signal amplification and filtering module 124 is connected to the harmonic mixer 1224 in the receiving frequency doubling link module; the signal amplifying and filtering module 124 is configured to filter and amplify the received first output signal or the second output signal, obtain detection data through analog-to-digital conversion, and send the detection data to the signal acquisition module 123.
Further, the hazardous material detection module 12 may further include a signal control module 125, one end of the signal control module 125 is connected to the main control module 11, and the other end of the signal control module 125 is connected to the frequency modulation source module 121; the signal control module 125 is configured to receive the detection instruction and the working parameter sent by the main control module 11, receive the detection data sent by the signal acquisition module 123, perform digital signal processing on the detection data, and transmit the detection data to the main control module 11. The connection between the signal control module 125 and the signal acquisition module 123 can be realized through an FPGA middle board Card (FPGA Mezzanine Card, FMC) interface. The probing data from the signal control module 125 may be down-converted and down-sampled by a high performance digital signal processing chip to reduce the data rate.
In this embodiment, the main control module 11 may include a hazardous material handling and identifying module (not shown in the figure), and the hazardous material handling and identifying module is configured to receive the detection data sent by the hazardous material detection module 12, input the detection data into the target hazardous material detection model, obtain a detection result, and further send the detection result to the display module 13 for display.
The target dangerous goods detection model can be obtained by training a neural network through sample echo reflection data, wherein the sample echo reflection data comprises echo reflection data in different polarization directions. The training process of the target dangerous goods detection model can be as follows: and training the neural network by taking the sample echo data as the input of the neural network and the artificially determined detection result as the output of the neural network, so as to obtain a target dangerous article detection model. Specifically, FFT transformation is performed on the sample echo data to obtain corresponding feature data; extracting the fingerprint characteristic spectrum of the dangerous goods corresponding to the echo data of each sample through a clustering algorithm to form a dangerous goods fingerprint characteristic spectrum library; and training the neural network of the corresponding relation between the characteristic data and the fingerprint characteristic spectrum to obtain a target dangerous goods detection model.
Further, the hazardous material handling identification module may further configure the operating parameters of the hazardous material detection module 12, where the operating parameters may include pulse width, pulse period, intermediate frequency gain multiple, data decimation rate, and the like. After receiving the working parameter configuration command, the signal control module 125 may parse the working parameter configuration command, repackage the working parameter configuration command, and issue the command in a designated format to the modules in the hazardous material detection module 12 that need to be configured, thereby implementing the configuration of the working parameters.
The hazardous material processing and identifying module can also identify the coverage range of the terahertz signal on an image interface in the display module 13 and receive echo ranging parameters reflected by a target so as to adjust the coverage range of the terahertz signal according to the target distance parameters. The hazardous material processing and identifying module can also receive target characteristic data of the terahertz signal and display the target characteristic data in the display module 13, and when the target characteristic data exceeds a set threshold, early warning identification can be carried out on an image interface in the display module 13.
Further, the main control module 11 further includes an image module for receiving the image and a clock distribution module (not shown in the figure) for providing a required clock for all modules of the detecting device 10. The image module is specifically used for receiving and displaying the image acquired by the image acquisition device in real time, and can also adjust the display effect of the image, such as the contrast and color tone parameters of the image.
Further, the display module 11 can be deployed at the cloud end, can display and early warn the detection result sent by the main control module 11, can combine with a key personnel resource library, can identify and early warn in real time, and can be linked with a police terminal.
According to the technical scheme, the main control module in the detection device sends a detection instruction to the dangerous article detection module, the dangerous article detection module detects the dangerous articles of the target object based on the four-path terahertz wave signals received by the frequency doubling link module and returns detection data to the main control module, and the main control module displays a detection result on the display module according to the received detection data. The embodiment of the utility model provides an in frequency doubling link module adopts the double-shot double-receiving frequency doubling link module, compares in the frequency doubling link module among the prior art, provides more polarization direction's terahertz signal, has improved the terahertz signal's of transmission intensity and range coverage, and then has improved the automatic detectable rate and the rate of accuracy of the imperceptible detection of open area human hidden hazardous articles and early warning.
Example two
Fig. 3 is a schematic structural diagram of a security inspection apparatus provided by the embodiment of the present invention. Fig. 3 shows a block diagram of an exemplary security device suitable for use in implementing embodiments of the present invention. The security check device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
The security check equipment is at least one of an intelligent security check robot, an intelligent security check patrol car and an intelligent security check instrument. . As shown in fig. 3, the case device may include a security control module 21, a lidar module 22, an interaction module 23, and the detection apparatus 10 as in the above embodiments, wherein the security control module 21 is connected to the lidar module 22, the interaction module 23, and the detection apparatus 10, respectively.
The laser radar module 22 is used for realizing autonomous positioning and obstacle avoidance navigation, the laser radar module 22 can comprise an autonomous positioning navigation module which is used for scanning surrounding environment, constructing a high-precision map, realizing autonomous positioning, intelligently planning an optimal travelling route, realizing intelligent obstacle avoidance and intelligent patrol, particularly carrying out autonomous patrol on interest points managed by a user, automatically returning electricity when the electricity is low, and needing no manual guard.
The interaction module 23 can include a video interaction module, a face recognition module and a voice interaction module, the video call module can realize video call with remote customer service or other related workers, multi-device interconnection is realized, the voice interaction module can realize voice interaction with users or other workers through technologies such as voice recognition technology, voice synthesis technology and voice understanding technology, linkage command is realized, the face recognition module can accurately recognize users through the face recognition technology, and call is called with the users through the voice interaction module, and the user experience effect is improved.
The security check equipment in the embodiment can realize the non-sensing detection and early warning of the dangerous articles hidden by the human body in the open area by configuring the detection device in the embodiment, can realize the interaction of autonomous patrol and various modes, and further improves the security check efficiency and the user experience effect.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (7)
1. A detection device is characterized by comprising a main control module, a dangerous article detection module and a display module; wherein the content of the first and second substances,
the main control module is connected with the dangerous article detection module and the display module and is used for sending a detection instruction to the dangerous article detection module, receiving detection data returned by the dangerous article detection module and displaying a detection result on the display module according to the detection data;
the hazardous article detection module comprises a frequency modulation source module, a frequency doubling link module and a signal acquisition module, wherein one end of the frequency doubling link module is connected with the frequency modulation source module, and the other end of the frequency doubling link module is connected with the signal acquisition module;
the frequency doubling link module is used for frequency doubling the two terahertz wave signals sent by the frequency modulation source module and then sending the two terahertz wave signals to a target object, mixing the returned reflection echo signal with the other two terahertz wave signals sent by the frequency modulation source module to obtain an output signal, and further transmitting the output signal to the signal acquisition module;
the frequency multiplication link module comprises two transmitting frequency multiplication links and two receiving frequency multiplication links.
2. The detection device according to claim 1, wherein the two terahertz wave signals comprise a first chirp signal and a second chirp signal;
the transmitting frequency multiplication link comprises a power amplifier and a transmitting antenna and is used for receiving the first path of linear frequency modulation signal or the second path of linear frequency modulation signal sent by the frequency modulation source module, amplifying the first path of linear frequency modulation signal or the second path of linear frequency modulation signal through the power amplifier and then transmitting the amplified first path of linear frequency modulation signal or the amplified second path of linear frequency modulation signal through the transmitting antenna.
3. The detection device according to claim 1, wherein the two further terahertz-wave signals include a third chirp signal and a fourth chirp signal;
the receiving frequency doubling link comprises a receiving antenna and a harmonic mixer, and is used for receiving a third path of linear frequency modulation signal or a fourth path of linear frequency modulation signal sent by the frequency modulation source module, receiving a first path of reflected echo signal or a second path of reflected echo signal through the receiving antenna, mixing the third path of linear frequency modulation signal and the first path of reflected echo signal through the harmonic mixer, or mixing the fourth path of linear frequency modulation signal and the second path of reflected echo signal through the harmonic mixer, and sending a first output signal or a second output signal after mixing to the signal acquisition module.
4. The detection device according to claim 3, wherein the hazardous article detection module further comprises a signal amplification and filtering module, one end of the signal amplification and filtering module is connected with the signal acquisition module, and the other end of the signal amplification and filtering module is connected with the harmonic mixer in the receiving frequency doubling link module;
the signal amplification and filtering module is used for filtering and amplifying the received first output signal or the second output signal, obtaining the detection data through analog-to-digital conversion and sending the detection data to the signal acquisition module.
5. The detection device according to claim 1, wherein the hazardous material detection module further comprises a signal control module, one end of the signal control module is connected with the main control module, and the other end of the signal control module is connected with the frequency modulation source module;
the signal control module is used for receiving the detection instruction and the working parameters sent by the main control module, receiving the detection data sent by the signal acquisition module, and transmitting the detection data to the main control module after carrying out digital signal processing on the detection data.
6. A security inspection apparatus comprising a security inspection control module, a lidar module, an interaction module, and the detection device of any of claims 1-5, wherein the security inspection control module is connected to the lidar module, the interaction module, and the detection device, respectively.
7. The security device of claim 6, wherein the security device is at least one of an intelligent security robot, an intelligent security patrol car, and an intelligent security meter.
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| CN109975882A (en) * | 2019-04-28 | 2019-07-05 | 软通智慧科技有限公司 | A kind of detection device and rays safety detection apparatus |
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