CN215952629U - Intelligent checking robot - Google Patents
Intelligent checking robot Download PDFInfo
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- CN215952629U CN215952629U CN202121040817.3U CN202121040817U CN215952629U CN 215952629 U CN215952629 U CN 215952629U CN 202121040817 U CN202121040817 U CN 202121040817U CN 215952629 U CN215952629 U CN 215952629U
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Abstract
The application relates to an intelligent inspection robot. The intelligent inspection robot comprises: a robot body; the radioactivity monitoring unit is arranged on the robot body and used for monitoring radioactivity of a target object; the temperature monitoring unit is arranged on the robot body and used for monitoring the temperature of a target object; the electronic nose unit is arranged on the robot body and used for detecting whether a target object in the closed container is a suspicious object or not; and a substance identification unit provided on the robot body for identifying the type of the target object. The intelligent inspection robot integrates a plurality of inspection technologies, and has the advantages of being fast and convenient to detect, high in accuracy of detection results and the like.
Description
Technical Field
The application relates to the technical field of customs clearance inspection equipment, in particular to an intelligent inspection robot.
Background
The customs pass needs to check the articles in the passing process, and the current commonly used checking means comprises general checking equipment and special checking equipment.
The general inspection device is a luggage safety inspection device based on radiation imaging. The special inspection equipment usually occupies a large area and has high requirements on space and manpower, the existing special inspection equipment usually only analyzes the physical or chemical detection result to obtain an inspection conclusion, and in customs inspection, many articles forbidden to enter the country usually do not have standard states, such as animal and plant products and the like, and the conclusion obtained by a simple physical or chemical characteristic matching method has large errors, so that the feeling of an inspected person is influenced, and the customs clearance efficiency is reduced.
Disclosure of Invention
In order to improve the accuracy of the checking result, reduce the labor intensity of workers and improve the clearance efficiency, the application provides an intelligent checking robot and a checking method.
In a first aspect, the present application provides an intelligent inspection robot, which adopts the following technical scheme:
a smart ping robot comprising:
a robot body;
the radioactivity monitoring unit is arranged on the robot body and used for monitoring radioactivity of a target object;
the temperature monitoring unit is arranged on the robot body and used for monitoring the temperature of a target object;
the electronic nose unit is arranged on the robot body and is used for detecting whether a target object in the closed container is a suspicious object or not in a molecular fingerprint detection mode; and
and the substance identification unit is arranged on the robot body and is used for identifying the type of the target object.
Optionally, the radioactivity monitoring unit includes a first visible light camera, and in the process of radioactivity monitoring on the target object, when the monitored data is abnormal, an alarm message is sent out, and the alarm message is bound with an image of the first visible light camera;
the temperature monitoring unit comprises a second visible light camera, and in the process of monitoring the temperature of the target object, alarm information is sent out when the monitored data is abnormal, and the alarm information is bound with the image of the second visible light camera.
Optionally, the robot body comprises a remote control mode and a local control mode.
Optionally, the electronic nose unit comprises: the information acquisition module is used for acquiring the molecular fingerprint characteristic information of the target object; the standard library module is used for storing standard library data; the history intercepted data module is used for determining a first correction coefficient according to the history intercepted data; the credibility determining module of the target object is respectively connected with the credibility determining module of the target object, the credibility determining module of the target object determines the first credibility of the target object according to the molecular fingerprint feature information, the standard library data and the first correction coefficient, the credibility of the target object is determined according to the first credibility of the target object, and if the credibility of the target object exceeds a preset value, alarm information is sent out.
Optionally, the electronic nose unit further includes a historical verification data module, the historical verification data module is configured to determine a second correction coefficient according to historical verification data, the historical verification data module is connected to the reliability determination module of the target object, and the reliability determination module of the target object determines the reliability of the target object according to the first reliability and the second correction coefficient of the target object.
Optionally, the information collecting module includes: a wiping port for wiping liquid or gas; a suction pistol for drawing gas; the wiping opening is communicated with the molecular fingerprint characteristic information analyzer, and the air suction pistol is connected with the molecular fingerprint characteristic information analyzer through a hose.
Optionally, a clamping groove with an opening at the top end is arranged on the side wall of the robot body, and the air suction pistol is inserted into the clamping groove. Optionally, the method further includes: and the policy announcing unit is used for displaying and broadcasting the policy.
In a second aspect, the present application provides an inspection method for an intelligent inspection robot, which uses the above intelligent inspection robot, including the following steps:
the temperature monitoring unit is used for monitoring the temperature of the target object, and the radioactivity monitoring unit is used for monitoring the radioactivity of the target object;
carrying out molecular fingerprint detection on a target object in the closed container through the electronic nose unit, and detecting whether the target object is a suspicious object; and
the type of the target object is identified by the substance identification unit.
Optionally, the detecting the molecular fingerprint of the target object in the closed container by the electronic nose, and detecting whether the target object is a suspicious object includes:
determining a first correction coefficient according to historical intercepted data;
comparing the molecular fingerprint characteristic information acquired by the electronic nose unit with standard database data to obtain a comparison result; and
and combining the comparison result with the first correction coefficient to obtain a first credibility of the target object, determining the credibility of the target object according to the first credibility of the target object, and sending alarm information when the credibility of the target object exceeds a preset value.
Optionally, determining the reliability of the object according to the first reliability of the object includes:
determining a second correction coefficient according to historical verification data; and
and determining the credibility of the target object by combining the first credibility of the target object and the second correction coefficient.
Optionally, when the first correction coefficient is determined according to the historical intercepted data and/or the second correction coefficient is determined according to the historical verification data, the correction method adopts any one of a linear correction method, a quadratic function correction method and an exponential correction method.
In this application, a plurality of inspection technologies such as a radioactivity monitoring unit, a temperature monitoring unit, an electronic nose unit and a substance identification unit are integrated, so that the inconvenience caused by common operation of general inspection equipment and special inspection equipment in the prior art is overcome, and the labor intensity of workers is reduced. In addition, the electronic nose unit detects the target object in a molecular fingerprint detection mode, and has the advantages of being fast and convenient to detect, high in accuracy of detection results and the like.
When the electronic nose unit is detected, the credibility of the target object is intelligently corrected through the historical interception data and the historical verification data, so that errors caused by a detection mode with directly matched characteristics can be reduced, a more accurate checking result is given, and the clearance efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
Fig. 1 is a schematic overall structure diagram of an intelligent inspection robot according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of an information acquisition module of the electronic nose unit according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating an inspection method of an intelligent inspection robot according to an embodiment of the present application.
In the figure, 1, a robot body; 2. a radioactivity monitoring unit; 3. a temperature monitoring unit; 4. an electronic nose unit; 5. a substance identification unit; 101. a card slot; 401 wiping the mouth; 402 drawing in a pistol; 403. molecular fingerprint characteristic information analyzer.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, not all, of the embodiments of the present application. 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.
Referring to fig. 1, an intelligent inspection robot disclosed in an embodiment of the present application includes a robot body 1, a radioactivity monitoring unit 2, a temperature monitoring unit 3, an electronic nose unit 4, and a substance identification unit 5. Wherein, the radioactivity monitoring unit 2, the temperature monitoring unit 3, the electronic nose unit 4 and the substance identification unit 5 are all arranged on the robot body 1.
The robot body 1 is used as a bearing core of each unit module and is responsible for providing functions of mounting structure, power distribution, control communication and the like for each unit module. Optionally, the robot body 1 includes a mechanical system, a power distribution system, a driving system, a sensor system, a control system, and the like.
The mechanical system is mainly used as a carrier of each part, and provides a mounting structure and an integral external shape. And the power distribution system is responsible for supplying power to all parts and driving the robot of the system to walk. And the control system is responsible for receiving signals from the sensor system and is matched with the driving system in a coordinated manner to complete the normal operation of the robot. In an optional technical scheme of the embodiment of the application, the sensor system adopts a laser radar and an ultrasonic sensor to realize the functions of autonomous cruising, autonomous obstacle avoidance, remote control walking and the like of the robot.
The radioactivity monitoring unit 2 is responsible for monitoring the radioactivity of the target object, so that the radioactive substances are effectively prevented from passing through the gateway.
The temperature monitoring unit 3 is responsible for monitoring the temperature of the target object, optionally, an uncooled infrared thermal imager can be adopted to detect and alarm abnormal low-temperature objects.
The electronic nose unit 4 is used for detecting a closed container, such as an unopened trunk. The electronic nose unit 4 has a wiping mode dedicated to explosives and drugs and a sniffing mode for fruits, and is internally provided with a standard database of common explosives, drugs, fruits and the like. In any mode, the target object in the closed container is detected by adopting a molecular fingerprint detection mode, and then the target object is compared with a standard database, so that whether the target object in the closed container is a suspicious object or not is judged. The molecular fingerprint detection can be molecular mass spectrometry detection or molecular spectroscopy detection. If the target object is liquid or solid, the target object can be detected after gasification treatment.
The substance identification unit 5 is used for detecting an unsealed target object, such as a target object in an opened luggage, and can adopt a molecular fingerprint analysis technology, such as a raman fingerprint spectrum analysis technology, so that the type of the target object can be identified without contacting the target object. The method is particularly effective for identifying chemical substances such as suspicious drugs, drug precursors, and easily-made drugs, and can be used for auxiliary screening of jewelry, jade, tablets and other articles.
In this application, combine radioactivity monitoring unit 2, temperature monitoring unit 3, electron nose unit 4 and multiple inspection technologies such as material recognition unit 5 into an organic whole, overcome the inconvenience that adopts general inspection equipment and special inspection equipment joint work to bring among the prior art, reduced staff's intensity of labour. In addition, the electronic nose unit 4 detects the molecular fingerprint of the target object in the closed container in a mode of smell sniffing and/or wiping, has the advantages of quick and convenient detection, high accuracy of detection results and the like, and improves the clearance efficiency.
According to an optional technical scheme of the embodiment of the application, the radioactivity monitoring unit 2 comprises a first visible light camera, and in the process of radioactivity monitoring of the target object, when the monitored data is abnormal, alarm information is sent out, and the alarm information is bound with an image of the first visible light camera, that is, the position of the radioactive substance is marked in the image of the first visible light camera according to the alarm information of the radioactivity monitoring unit 2. Similarly, the temperature monitoring unit 3 includes a second visible light camera, and in the process of monitoring the temperature of the target object, when the monitored data is abnormal, the alarm information is sent out, and the alarm information is bound with the second visible light camera image, that is, the position of the abnormal temperature object is marked in the second visible light camera image according to the alarm information of the temperature monitoring unit 3. By adopting the mode, the worker can quickly and intuitively obtain the alarm information so as to timely cope with the emergency situation.
According to an optional technical scheme of the embodiment of the application, the robot body 1 further comprises a human-computer interaction system, and the human-computer interaction system has two modes of remote control and local control. The remote control mode is that the control, the cruise and the like of the robot are realized through the handheld control terminal; the local control mode realizes the functions of parameter setting of each functional module, system state display, query and the like through a local touch screen. The remote control mode and the local control mode can be freely switched, and the robot can be conveniently controlled in different states.
According to an optional technical scheme of the embodiment of the application, the electronic nose unit 4 comprises an information acquisition module, a standard library module, a history interception data module and a target object reliability determination module. The information acquisition module, the standard library module and the historical interception data module are respectively connected with the credibility determination module of the target object.
The information acquisition module is used for acquiring the molecular fingerprint characteristic information of the target object. The standard library module is used for storing standard library data. The history interception data module is used for determining a first correction coefficient according to the history interception data. The electronic nose unit 4 does not directly send alarm information when detecting the target object, but the credibility determining module of the target object corrects the detected data according to the molecular fingerprint feature information, the standard library data and the first correction coefficient obtained by detection, determines the first credibility of the target object, takes the first credibility of the target object as the credibility of the target object, and sends the alarm information if the credibility of the target object exceeds a preset value. The examination of fruits will be briefly described below.
After detecting the molecular fingerprint characteristic information, the electronic nose unit 4 compares the molecular fingerprint characteristic information with standard database data, and the matching degree of the comparison result with the apple molecular fingerprint is shown as p, which is called as the original credibility.
In the embodiment of the application, when p exceeds a preset value, the alarm cannot be given immediately. Historical interception data need to be preset, and a first correction coefficient c1 is determined according to the historical interception data. For example, linear correction is performed on the maximum value, and assuming that the historical capture data shows that apple accounts for 50%, banana accounts for 30%, and other fruits account for 20%, according to the linear correction method, the first correction coefficient c1 (apple) is 1.0, c1 (banana) is 0.6, and c1 (other) is 0.4. The first reliability of the target object is called p1, and if p1 is used as the reliability of the target object, p1 is c1 p, and when p1 exceeds a preset value, an alarm message is sent.
Optionally, when the credibility of the target object is determined, the credibility of the target object is comprehensively determined according to the first credibility of the target object and the historical verification data, that is, the credibility of the target object is further corrected, so that the alarm accuracy is improved. The electronic nose unit 4 further comprises a historical verification data module, the historical verification data module is used for determining a second correction coefficient according to the historical verification data, and the historical verification data module is connected with a reliability determination module of the target object. And the reliability determining module of the target object determines the reliability of the target object according to the first reliability and the second correction coefficient of the target object.
It should be understood that, judging whether the object is a suspicious item according to the first correction coefficient c1 and the original credibility p inevitably leads to a situation of alarm error. The historical verification data is a large amount of checking data accumulated in the process of detecting the target object through c1 and p, a linear correction method is also adopted, and the historical accuracy rate of the apple alarm is 80% according to the checking data, so that the second correction coefficient c2 (apple) is 0.8. If the second reliability of the target object after the re-correction is referred to as p2, p2 is c2 × c1 × p, p2 is used as the reliability of the target object, and when p2 exceeds a preset value, an alarm message is sent.
It should be noted that the value of the second correction factor c2 is automatically updated along with the accumulation of the historical verification data, that is, along with the change of the historical alarm accuracy, the system also automatically updates the value of c2, thereby ensuring the detection accuracy.
It should be noted that the determination of the first correction coefficient c1 and the second correction coefficient c2 may also adopt a quadratic function correction method, an exponential correction method, or the like.
The credibility of the target object is intelligently corrected through the historical intercepted data and the historical verification data, so that errors caused by a detection mode with directly matched characteristics can be reduced, a more accurate checking result is given, and the clearance efficiency is improved.
Referring to fig. 2, optionally, the information acquisition module of the electronic nose unit 4 includes: a wipe port 401, a suction pistol 402, and a molecular fingerprint information analyzer 403. The wiping port 401 is located on the outer wall of the robot body 1 and is used for wiping liquid or gas, and the wiping port 401 is communicated with the molecular fingerprint characteristic information analyzer 403 through a pipeline. A suction pistol 402 is used to draw in gas, the suction pistol 402 being connected via a hose to a molecular fingerprint information analyzer 403. The molecular fingerprint characteristic information analyzer 403 may perform molecular fingerprint characteristic information analysis on the target object.
According to an alternative solution of the embodiment of the present application, a slot 101 with an open top end is provided on a side wall of the robot body 1, and the suction pistol 402 is inserted into the slot 101. The suction pistol 402 is drawn out when the suction pistol 402 is in use and the suction pistol 402 is inserted into the slot 101 when the suction pistol 402 is not in use.
According to an optional technical scheme of the embodiment of the application, the intelligent checking machine further comprises a policy declaring unit which has a policy declaring interface and a voice broadcasting function. The robot carries out bilingual broadcasting and policy announcement at a specific position, can effectively transmit information to passengers, and lightens the labor intensity of officers.
Referring to fig. 3, an embodiment of the present application further discloses an inspection method for an intelligent inspection robot, where the intelligent inspection robot in any of the embodiments described above is adopted, and the method includes the following steps:
s101: the robot performs autonomous patrol according to a set path, of course, the robot can also be controlled to patrol in a designated area through remote control, the temperature of a target object near the path is monitored through the temperature monitoring unit 3 in the patrol process, and the radioactivity of the target object near the path is monitored through the radioactivity monitoring unit 2.
S102: in the patrol process, the electronic nose unit 4 is used for carrying out molecular fingerprint detection on the target object in the closed container to detect whether the target object is a suspicious object; and
s103: in the patrol process, the type of the target object is identified by the substance identification unit 5.
In step S102 and step S103, a suspicious item may be detected in step S102, and then the type of the suspicious item may be identified in step S103. Alternatively, step S102 and step S103 may be performed independently without interference, that is, the electronic nose unit 4 and the substance identification unit 5 detect the same target object respectively.
According to an optional technical scheme of the embodiment of the application, in step S102, before the electronic nose unit 4 performs detection, the system first determines a first correction coefficient c1 according to historical intercepted data, then compares the molecular fingerprint feature information acquired by the electronic nose unit 4 with standard library data to obtain a comparison result, finally combines the comparison result with the first correction coefficient c1 to obtain a first reliability p1 of the target object, determines the reliability of the target object according to the first reliability p1 of the target object, and sends out alarm information when the reliability of the target object exceeds a preset value. Optionally, the first confidence level p1 of the object is taken as the confidence level of the object.
Optionally, in step S102, before the electronic nose unit 4 performs detection, the system may further determine the second correction coefficient c2 according to the historical verification data, and then determine the second reliability p2 of the target object according to the first reliability p1 and the second correction coefficient c2 of the target object, and use the second reliability p2 of the target object as the reliability of the target object.
Optionally, when determining the first correction coefficient c1 and the second correction coefficient c2, the correction method may adopt any one of a linear correction method, a quadratic function correction method, and an exponential correction method.
The embodiments of the present application are described in detail above. The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the technical solutions and the core ideas of the present application. Therefore, the person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of protection of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (4)
1. An intelligent inspection robot, comprising:
a robot body;
the radioactivity monitoring unit is arranged on the robot body and used for monitoring radioactivity of a target object;
the temperature monitoring unit is arranged on the robot body and used for monitoring the temperature of a target object;
the electronic nose unit is arranged on the robot body and used for detecting whether a target object in the closed container is a suspicious object or not;
and the substance identification unit is arranged on the robot body and is used for identifying the type of the target object.
2. The smart inspection robot according to claim 1, wherein the electronic nose unit includes an information collection module, the information collection module including:
a wiping port for wiping the object;
a suction pistol for drawing gas;
the wiping opening is communicated with the molecular fingerprint characteristic information analyzer, and the air suction pistol is connected with the molecular fingerprint characteristic information analyzer through a hose.
3. The smart inspection robot according to claim 2, wherein a slot opened at a top end is formed on a side wall of the robot body, and the suction pistol is inserted into the slot.
4. The smart verify robot of claim 1, further comprising: and the policy announcing unit is used for displaying and broadcasting the policy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121040817.3U CN215952629U (en) | 2021-05-14 | 2021-05-14 | Intelligent checking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121040817.3U CN215952629U (en) | 2021-05-14 | 2021-05-14 | Intelligent checking robot |
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| CN215952629U true CN215952629U (en) | 2022-03-04 |
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| CN202121040817.3U Active CN215952629U (en) | 2021-05-14 | 2021-05-14 | Intelligent checking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115032335A (en) * | 2022-05-17 | 2022-09-09 | 广州铂鑫科技有限公司 | Fixed drug-arresting detector |
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2021
- 2021-05-14 CN CN202121040817.3U patent/CN215952629U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115032335A (en) * | 2022-05-17 | 2022-09-09 | 广州铂鑫科技有限公司 | Fixed drug-arresting detector |
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