WO2020107609A1 - 安检方法、装置、设备以及存储介质 - Google Patents

安检方法、装置、设备以及存储介质 Download PDF

Info

Publication number
WO2020107609A1
WO2020107609A1 PCT/CN2018/124259 CN2018124259W WO2020107609A1 WO 2020107609 A1 WO2020107609 A1 WO 2020107609A1 CN 2018124259 W CN2018124259 W CN 2018124259W WO 2020107609 A1 WO2020107609 A1 WO 2020107609A1
Authority
WO
WIPO (PCT)
Prior art keywords
security
security inspection
soft
target area
inspection device
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.)
Ceased
Application number
PCT/CN2018/124259
Other languages
English (en)
French (fr)
Inventor
夏泽洋
邓豪
陈君
熊璟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Publication of WO2020107609A1 publication Critical patent/WO2020107609A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays

Definitions

  • the present disclosure relates to the technical field of intelligent management and security technology, for example, to a security inspection method, device, equipment, and storage medium.
  • Security inspection operations are widely used in civil aviation, railway stations, subway stations and other public activities.
  • the handheld metal detector is used to check the specific location of the metal carried by the person, and is used to find the deliberately hidden metal items that threaten public safety.
  • the metal detector is held by the security inspector and completes the inspection at once from top to bottom. In the operation process, it is generally used in conjunction with the metal detection door for manual review.
  • each security gate needs to be equipped with multiple security inspection personnel groups for hand-held re-inspection, and multiple security inspection personnel groups perform shifts, and each The shift consists of multiple security personnel.
  • the traditional manual hand-held operation mode not only consumes a lot of manpower and material resources while ensuring safety, but also has the risk of security inspection personnel failing to check due to high-intensity operations.
  • long-term fixed hand operation actions also cause security personnel to a certain extent. damage.
  • the degree of intelligence is not high, and it cannot be linked with information such as security gates, face recognition and airport big data, which greatly affects the efficiency of security checkpoints.
  • the present disclosure provides a security inspection method, device, equipment, and storage medium, which can solve the problem of low efficiency in the related art and effectively improve security inspection efficiency.
  • the present disclosure provides a security inspection method, including:
  • Control the first security inspection device to conduct security inspection on the user and confirm the target area
  • the second security inspection device is controlled to re-inspect the target area to obtain a re-inspection result.
  • the second security inspection device is a security inspection device equipped with a soft arm.
  • the present disclosure also provides a security inspection device, which includes:
  • the first security inspection module is set to control the first security inspection device to perform security inspection on the user and confirm the target area;
  • a reinspection instruction module configured to generate a reinspection control instruction based on the coordinate information of the target area
  • the re-inspection module is configured to control the second security inspection device to re-inspect the target area according to the re-inspection control instruction to obtain a re-inspection result.
  • the second security inspection device is a security inspection device equipped with a software arm.
  • the present disclosure also provides a device including:
  • One or more processors are One or more processors;
  • Storage device set to store one or more programs
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the security inspection method as described above.
  • the present disclosure also provides a computer-readable storage medium that stores a computer program that implements the security inspection method described above when executed by a processor.
  • the present disclosure controls the first security inspection device to perform security inspection on the user, confirms the target area, generates a re-inspection control instruction based on the coordinate information of the target area, and controls the second security inspection device to re-inspect the target area according to the re-inspection control instruction to obtain the re-inspection result .
  • the second security inspection device is a security inspection device equipped with a soft arm, it can realize close-contact safety inspection, and through the security inspection cooperation of two different security inspection devices, the workload of manual work is reduced, and the security inspection efficiency is effectively improved.
  • FIG. 1 is a flowchart of a security inspection method in an embodiment
  • FIG. 2 is a schematic structural diagram of a second security inspection device in an embodiment
  • FIG. 3 is a schematic diagram of a security inspection scenario in an embodiment
  • FIG. 4 is a schematic diagram of a security inspection scenario in another embodiment
  • FIG. 5 is a flowchart of a security inspection method in another embodiment
  • FIG. 6 is a schematic structural diagram of a security inspection device in an embodiment
  • FIG. 7 is a schematic structural diagram of an apparatus in an embodiment.
  • machine substitution provides a solution for these applications with high human input and repetitive work, but in this scenario of close contact with humans and the need to interact with humans, the safety of robots Very demanding.
  • a rigid articulated mechanical arm structure is adopted to realize the movement of the security equipment installed at the end, and then replace the manual operation to scan specific items (such as luggage and parcels).
  • the related technology relies on the traditional industrial robot technology to realize the movable and automatic operation of the case equipment in some scenarios, but it cannot be applied to the human-machine inclusive environment.
  • Rigid rigid mechanical parts cannot easily achieve contact with people, even if the safety control strategy is implemented, in the actual application of public places, it will inevitably cause fear and rejection of the examinee.
  • the security inspection equipment belongs to special equipment, and the scheme in the related technology needs to change the hardware system to a large extent, and the cost is high.
  • FIG. 1 is a flowchart of a security inspection method in an embodiment. This embodiment may be applicable to a security inspection.
  • the method may be executed by a security inspection device, which may be implemented in software and/or hardware.
  • the device Can be configured in the device. As shown in FIG. 1, the method may include the following steps.
  • the first security inspection device may be an electronic device that performs safety inspection on the user, such as an X-ray security inspection device that uses X-ray scanning imaging technology for detection.
  • the type of the first security inspection device is not limited.
  • the first A security device is an example of a security door.
  • the security gate is a detection device that performs security detection by detecting whether the user carries metal objects. It is mainly used in public places with large crowds such as airports, stations and large conferences.
  • the security gate When the user passes through the security gate, the security gate is controlled to perform security inspection on the user. If the weight, quantity, or shape of the metal carried by the user exceeds the preset threshold, the security gate determines that the suspicious item is detected, and confirms the suspicious item's location by positioning Position, and confirm the target area according to the position.
  • the target area may be a regular area or an irregular area with a preset size centered on the position. Exemplarily, if the position of the suspicious item is (0, 0) point, the target area may be a circular area with a radius of 5 cm with the (0, 0) point as the center.
  • the method further includes: if the first security inspection device confirms that no suspicious items are detected, the security inspection result of the user can be confirmed as qualified and passed directly.
  • the coordinate information of the target area is coordinate information of the target area relative to the first security device.
  • a recheck control instruction can be generated according to the coordinate information of the target area provided by the first security inspection device to execute S130, and a prompt device such as a voice playback device or a light is controlled to issue corresponding preset prompt information to guide the user to prepare for the review Check.
  • a prompt device such as a voice playback device or a light is controlled to issue corresponding preset prompt information to guide the user to prepare for the review Check.
  • This embodiment uses human-computer interaction technology, which can actively communicate with the examinee through prompt information such as voice or optical signals, which is more user-friendly.
  • the second security inspection device Control the second security inspection device to perform re-inspection on the target area according to the re-inspection control instruction, and obtain a re-inspection result.
  • the second security inspection device is a security inspection device equipped with a software arm.
  • FIG. 2 is a schematic structural diagram of a second security inspection device in an embodiment.
  • the second security inspection device may include a connecting block 11, a soft arm 12 and a security detector 13.
  • the soft arm 12 passes through the connecting block 11 and the security check
  • the detector 13 is connected.
  • the software arm 12 includes at least one software unit with a built-in input medium.
  • the software arm is controlled by setting the input pressure of each software unit to drive the security detector 13.
  • the second security inspection device is a security inspection device equipped with a soft arm, and other similar security inspection devices driven by a rope drive or a multi-section structure can be applied as long as they meet the requirements of softness and safety.
  • the security detector 13 can be configured with an adapter bayonet to connect with the connection block 11, and the software units in the software arm 12 can also be connected through the connection block 11, which can be achieved by modularly splicing multiple software units
  • the number of software units in the software arm 12 is set according to actual needs.
  • three software units are used as an example for description.
  • the software unit may be made of software materials such as silicon rubber, and the manufacturing material of the software unit is not limited in this embodiment.
  • the input medium in the soft unit is a medium such as gas or liquid whose volume can change with the pressure. By setting the input pressure of each soft unit, the volume of the chamber changes to produce a telescopic motion, causing the soft arm 12 to bend and the axis plane motion.
  • the re-inspection control instruction by controlling the expansion and contraction amount of each software unit in the soft-arm 12, the shape movement control of the soft-arm 12 is realized, and then the security inspection detector 13 is driven to re-inspect the target area, and the re-inspection result is obtained.
  • the decision-making background data provided by the security inspection database determines the re-inspection result. If the re-inspection result is qualified, the user can pass directly. If the re-inspection result is unqualified, the alarm can be controlled to issue an alarm and request manual Security check.
  • the re-inspection result can be stored and compared with face recognition information, identity information and historical security inspection data in the security inspection database to further confirm the re-inspection result.
  • collaboration and intelligent decision-making with the security inspection big data platform can effectively improve the efficiency of security inspection.
  • FIG. 3 is a schematic diagram of a security inspection scene in an embodiment.
  • a second security inspection apparatus and a first security inspection apparatus are connected by a clamping device.
  • FIG. 4 is a schematic diagram of a security inspection scene in another embodiment.
  • the second security inspection apparatus in FIG. Located directly in front of the first security device.
  • the first security device is a security door
  • the second security device is a security device equipped with a software arm (see FIG. 2).
  • the second security inspection device can be installed on a base, and the base is connected to the security inspection door through a guide rail or a screw, which can drive the soft arm in the second security inspection device to slide up or down or rotate around the axis.
  • the second security inspection device in FIG. 4 can be installed on a base, which is fixed on a mobile platform and can actively or passively move relative to the security gate.
  • the security screening scenario in Figure 4 is applicable when the security door is a radioactive inspection. In order to avoid long-term inspection exposure, the re-inspection operation or release will be performed after passing through the security door. Also applies to objects.
  • the first security inspection device is further provided with a vision module, which can control the vision module to track the position of the user after generating a re-inspection control instruction based on the coordinate information of the target area. If the user is confirmed to enter the preset re-inspection area, Then, the second security inspection device is controlled according to the re-inspection control instruction to re-inspect the target area.
  • a vision module which can control the vision module to track the position of the user after generating a re-inspection control instruction based on the coordinate information of the target area. If the user is confirmed to enter the preset re-inspection area, Then, the second security inspection device is controlled according to the re-inspection control instruction to re-inspect the target area.
  • the first security inspection device is used to perform security inspection on the user, the target area is confirmed, a re-inspection control instruction is generated according to the coordinate information of the target area, and the second security inspection device is controlled to re-inspect the target area according to the re-inspection control instruction To get the re-examination result.
  • the second security inspection device is a security inspection device equipped with a software arm, it can realize close-contact safety inspection, and through the security inspection cooperation of two different security inspection devices, the workload of manual work is reduced, and the security inspection efficiency and security inspection port are effectively improved. Traffic efficiency.
  • FIG. 5 is a flowchart of a security inspection method in another embodiment. This embodiment describes the security inspection method based on the foregoing embodiment. The method of this embodiment includes the following steps.
  • the first security inspection device is taken as an example of a security door.
  • the security door is controlled to perform security check on the user. If the weight, number or shape of the metal carried by the user exceeds the preset value
  • the security gate determines that a suspicious item is detected, confirms the position of the suspicious item through positioning, and confirms the target area according to the position.
  • the target area may be a regular area or an irregular area with a preset size centered on the position.
  • the connecting block connecting one end of the soft arm and the security detector in the second security inspection device can be the end point, and the starting point is the connecting block at the other end of the soft arm.
  • the base coordinates of the soft arm in the second security device are calibrated based on the base coordinates of the first security device, and through coordinate transformation according to the coordinate information of the target area, the space of the end point of the soft arm relative to the starting point when moving in the target area can be obtained Posture change information.
  • the re-examination control instruction is a motion control instruction that includes information on the spatial posture change of the end point of the soft arm relative to the start point.
  • the relationship between the spatial posture and the input pressure has been established.
  • the process of establishing the relationship between the spatial posture and the input pressure can be: assuming that the soft arm consists of three independent airbag-type software units The structure is S1, S2 and S3 respectively.
  • One end of the software unit S1 and one end of the software unit S2 are connected through the connection block T1
  • one end of the software unit S3 and the other end of the software unit S2 are connected through the connection block T2
  • the other end of the software unit S1 is connected to the connection block T0
  • the software unit S3 The other end is connected to the connection block T3, the connection block T0 is set as the starting point, and the connection block T3 is set as the end point.
  • each soft cell unit it can be composed of three airbag segments, namely a1, a2, and a3.
  • the airbag segments are composed of soft deformable materials, which can expand and contract the cavity under the action of the medium, which in turn causes soft software.
  • the extension and contraction of the element in the axis direction When a1, a2, and a3 are extended or shortened as a whole, T1 can rise and fall in translation, and when a1, a2, and a3 are extended or shortened differently, T1 can be turned over.
  • the three airbag segments b1, b2, b3 of S2 segment and input pressure can also be analyzed
  • the spatial pose and input pressure of T3 relative to T0 can be established.
  • the relationship between the multiple input signals can be generated by a multi-channel pressure controller. Then, the analytical solution between the spatial pose of T3 relative to T1 and the input signal is established, that is, the kinematic control equation of the soft arm.
  • the input pressure target value of each software element in the formula can be solved.
  • the input pressure of each soft cell unit in the soft arm can be set and executed through the multi-channel pressure controller, and then the security detector can be re-checked on the target area under the drive of the soft arm to obtain the re-check result.
  • the first security inspection device is used to perform security inspection on the user, confirm the target area, and generate a re-inspection control command including information on the spatial posture change of the soft arm according to the coordinate information of the target area.
  • the relationship between the spatial posture and the input pressure is obtained through the inverse kinematics solution to obtain the input pressure target value of each soft cell in the soft arm.
  • the input pressure of each soft cell in the soft arm is set to control the security detector pair Re-inspection of the target area to obtain re-inspection results.
  • the second security inspection device is a security inspection device equipped with a software arm, it can realize close-contact safety inspection, and through the security inspection cooperation of two different security inspection devices, reduce manual workload At the same time, it effectively improves the security inspection efficiency, and has low equipment cost, high modularity and simple maintenance.
  • FIG. 6 is a schematic structural diagram of a security inspection device in an embodiment. This embodiment can be applied to a situation where security inspection is implemented.
  • the security inspection device provided by this embodiment can perform the security inspection method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
  • the device includes a first security inspection module 310, a re-inspection instruction module 320 and a re-inspection module 330, wherein: the first security inspection module 310 is set to control the first security inspection device to perform security inspection on the user and confirm the target area; the re-inspection instruction module 320, Set to generate a re-inspection control instruction based on the coordinate information of the target area; the re-inspection module 330 is set to control the second security inspection device to re-inspect the target area according to the re-inspection control instruction to obtain the re-inspection result.
  • the second security inspection device is configured with Security device for software arm.
  • the first security inspection device is used to perform security inspection on the user, the target area is confirmed, a re-inspection control instruction is generated according to the coordinate information of the target area, and the second security inspection device is controlled to re-inspect the target area according to the re-inspection control instruction To get the re-examination result.
  • the second security inspection device is a security inspection device equipped with a soft arm, it can realize close-contact safety inspection, and through the security inspection cooperation of two different security inspection devices, the workload of manual work is reduced, and the security inspection efficiency is effectively improved.
  • the re-inspection instruction module 320 includes: a posture unit configured to obtain the spatial posture change information of the end point of the soft arm relative to the starting point according to the coordinate information of the target area; the command generation unit is configured to be configured according to the spatial posture The change information generates the reinspection control command of the soft arm.
  • the second security device includes a connection block, a software arm, and a security detector.
  • the software arm is connected to the security detector through the connection block.
  • the software arm includes at least one software unit with a built-in input medium. By setting each software unit The input pressure control software arm drives the security detector.
  • the recheck module 330 includes: an input pressure unit configured to obtain an input pressure target of each soft unit in the soft arm through an inverse kinematics solution according to the recheck control command and the relationship between the spatial posture and the input pressure Value; setting unit, set to set the input pressure of each soft unit in the soft arm according to the target value of the input pressure of each soft unit, and control the security detector to recheck the target area.
  • the first security inspection device is a security door
  • the second security inspection device is connected to the first security inspection device through a clamping device
  • the second security inspection device is located directly in front of the first security inspection device.
  • the security inspection device provided by this embodiment can perform the security inspection method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
  • This embodiment can realize close-contact safety detection of human body, liberating the pressure of personnel during the security inspection; compatible with the layout of the security inspection system and the security inspection process in the related technology; suitable for the environment of human-machine integration, and can take care of the inspection through the personalized shape packaging
  • the mental state of the person, the system module and the control architecture have good scalability, can realize the coordination with the system in the related technology, and can realize intelligent control; can be used for but not limited to security inspection operations, can be applied to any other need to interact with people in communion In the scene; by replacing the special detection device, it can be used to detect multiple types of objects.
  • FIG. 7 is a schematic structural diagram of an apparatus in an embodiment.
  • FIG. 7 shows a block diagram of an exemplary device 412 suitable for implementing embodiments of the present disclosure.
  • the device 412 shown in FIG. 7 is only an example, and should not bring any limitation to the functions and use scope of the embodiments of the present disclosure.
  • the device 412 is represented in the form of a general-purpose device.
  • the components of the device 412 may include, but are not limited to, one or more processors 416, a storage device 428, and a bus 418 connecting different system components (including the storage device 428 and the processor 416).
  • the bus 418 represents one or more of several types of bus structures, including a storage device bus or a storage device controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of various bus structures.
  • these architectures include but are not limited to industry standard architecture (Industry Subversive Alliance, ISA) bus, micro channel architecture (Micro Channel Architecture, MAC) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards) Association, VESA) local area bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
  • Device 412 includes a variety of computer system readable media. These media may be any available media that can be accessed by device 412, including volatile and nonvolatile media, removable and non-removable media.
  • the storage device 428 may include a computer system readable medium in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 430 and/or cache memory 432.
  • Device 412 may include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 434 may be configured to read and write non-removable, non-volatile magnetic media (not shown in FIG. 7 and is commonly referred to as a "hard disk drive").
  • a disk drive configured to read and write to a removable non-volatile disk (such as a "floppy disk"), and a removable non-volatile optical disk, such as a read-only optical disk (Compact Disc Read) -Only Memory, CD-ROM), CD-ROM drive for reading and writing of Digital Video Disc (Disc-Read Only Memory, DVD-ROM) or other optical media).
  • each drive may be connected to the bus 418 through one or more data media interfaces.
  • the storage device 428 may include at least one program product having a set of (eg, at least one) program modules configured to perform the functions of any embodiment of the present disclosure.
  • a program/utility tool 440 having a set of (at least one) program modules 442 may be stored in, for example, a storage device 428.
  • Such program modules 442 include but are not limited to an operating system, one or more application programs, other program modules, and programs Data, each of these examples or some combination may include the implementation of the network environment.
  • the program module 442 generally performs the functions and/or methods in the embodiments described in the present disclosure.
  • the device 412 may also communicate with one or more external devices 414 (eg, keyboard, pointing terminal, visual module, display 424, etc.), and may also communicate with one or more terminals that enable users to interact with the device 412, and/or Communicate with any terminal (such as a network card, modem, etc.) that enables the device 412 to communicate with one or more other computing terminals.
  • This communication can be performed via an input/output (I/0) interface 422.
  • the device 412 can also communicate with one or more networks (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), and/or a public network, such as the Internet) through the network adapter 420.
  • networks such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), and/or a public network, such as the Internet
  • the network adapter 420 communicates with other modules of the device 412 through the bus 418.
  • other hardware and/or software modules can be used in conjunction with the device 412, including but not limited to: microcode, terminal driver, redundant processor, external disk drive array, disk array (Redundant Arrays of Independent Disks) , RAID) systems, tape drives and data backup storage systems, etc.
  • the processor 416 executes at least one functional application and data processing by running the program stored in the storage device 428, for example, to implement the security inspection method provided by the embodiment of the present disclosure, the method includes: controlling the first security inspection device to perform security inspection on the user To confirm the target area; generate a re-inspection control instruction based on the coordinate information of the target area; control the second security inspection device to re-inspect the target area according to the re-inspection control instruction, and obtain the re-inspection result.
  • the second security inspection device is a security inspection equipped with a software arm Device.
  • This embodiment also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the security inspection method as provided in the embodiment of the present disclosure is implemented.
  • the method includes: A security inspection device performs security inspection on the user and confirms the target area; generates a re-inspection control instruction based on the coordinate information of the target area; controls the second security inspection device to re-inspect the target area according to the re-inspection control instruction, and obtains the re-inspection result.
  • the second security inspection device It is a security device equipped with a soft arm.
  • the computer storage medium of this embodiment may use any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. Examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard drives, RAM, read-only memory (Read-Only Memory, ROM), erasable Erasable Programmable Read-Only Memory (EPROM) or flash memory, optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with the instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal that is propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may be sent, propagated, or transmitted for use by or in connection with an instruction execution system, apparatus, or device, A program used in conjunction with a device or device.
  • the program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the foregoing.
  • any appropriate medium including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the foregoing.
  • the computer program code for performing the operations of the present disclosure may be written in one or more programming languages or a combination of multiple programming languages, which includes object-oriented programming languages such as Java, Smalltalk, C++, It also includes conventional procedural programming languages-such as "C" language or similar programming languages.
  • the program code may be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or terminal.
  • the remote computer may be connected to the user's computer through any kind of network, including LAN or WAN, or may be connected to an external computer (eg, using an Internet service provider to connect through the Internet).

Landscapes

  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Alarm Systems (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

一种安检方法、装置、设备以及存储介质，该安检方法包括：控制第一安检装置对用户进行安检，确认目标区域（S110）；根据目标区域的坐标信息生成复检控制指令（S120）；根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果，第二安检装置为配置有软体臂的安检装置（S130）。

Description

安检方法、装置、设备以及存储介质
本公开要求在2018年11月28日提交中国专利局、申请号为201811435872.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能化管理及安防技术领域技术，例如涉及一种安检方法、装置、设备以及存储介质。
背景技术
安检操作广泛应用于民航、火车站、地铁站以及其他公共活动场所。手持式金属探测器用于检查人身携带金属的具体位置，用于发现故意藏匿的金属类威胁公共安全的物品。金属探测器由安检人员手持，对被检查者从上到下一次性完成检查工作。操作流程中，一般会配合金属探测门使用，作人工复查环节。在日常中常见的机场、火车站和地铁站等这类人流密集型安检任务场景中，每个安检口需配备多个安检人员组进行手持复检，多个安检人员组进行轮班、且每个班次由多名安检人员组成。传统人工手持操作模式在保障安全的同时，不仅耗费大量的人力物力，而且由于高强度的操作存在安检人员漏检的风险，此外长期固定的手部操作动作一定程度上也对安检人员的身体造成损伤。此外智能化程度不高，无法与安检门、人脸识别和机场大数据等信息进行联动，极大的影响了安检口的通行效率。
发明内容
本公开提供了一种安检方法、装置、设备以及存储介质，可以解决相关技术中效率低的问题，有效提高安检效率。
本公开提供了一种安检方法，包括：
控制第一安检装置对用户进行安检，确认目标区域；
根据所述目标区域的坐标信息生成复检控制指令；
根据所述复检控制指令控制第二安检装置对所述目标区域进行复检，得到复检结果，所述第二安检装置为配置有软体臂的安检装置。
本公开还提供了一种安检装置，该安检装置包括：
第一安检模块，设置为控制第一安检装置对用户进行安检，确认目标区域；
复检指令模块，设置为根据所述目标区域的坐标信息生成复检控制指令；
复检模块，设置为根据所述复检控制指令控制第二安检装置对所述目标区域进行复检，得到复检结果，所述第二安检装置为配置有软体臂的安检装置。
本公开还提供了一种设备，所述设备包括：
一个或多个处理器；
存储装置，设置为存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如上所述的安检方法。
本公开还提供了一种计算机可读存储介质，存储有计算机程序，该计算机程序被处理器执行时实现如上所述的安检方法。
本公开通过控制第一安检装置对用户进行安检，确认目标区域，根据目标区域的坐标信息生成复检控制指令，根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果。由于第二安检装置为配置有软体臂的安检装置，可以实现近距离接触式安全检测，并且通过两次不同安检装置的安检配合，减少人工作业工作量的同时，有效提高安检效率。
附图说明
图1为一实施例中的安检方法的流程图；
图2为一实施例中的第二安检装置的结构示意图；
图3为一实施例中的安检场景示意图；
图4为另一实施例中的安检场景示意图；
图5为另一实施例中的安检方法的流程图；
图6为一实施例中的安检装置的结构示意图；
图7为一实施例中的设备的结构示意图。
具体实施方式
下面结合附图和实施例对本公开进行说明。此处所描述的具体实施例仅仅用于解释本公开，而非对本公开的限定。另外，为了便于描述，附图中仅示出了与本公开相关的部分而非全部结构。
随着机器人技术的发展，“机器换人”为这些高人力投入和重复性工作的应用提供了解决途径，但这种与人近距离接触且需要与人互动的场景中，对机器人的安全性要求极高。相关技术中采用刚性的关节型机械臂结构，来实现对安装在末端的安检设备的移动，进而代替人工操作实现对特定物品(如行李、包裹)的扫描。
但是相关技术依赖传统工业机器人技术，实现部分场景中案件设备的可移动及自动操作，但无法适用于人机共融环境。僵硬的刚性机械部件无法简单实现与人接触，即使实现安全控制策略，在实际的公共场所应用中，不可避免的会引起被检查者的恐惧和排斥心理。此外安检设备属于特种装备，相关技术中方案需要较大程度的改变硬件系统，成本高。
实施例一
图1为一实施例中的安检方法的流程图，本实施例可适用于实现安检的情况，该方法可以由安检装置执行，该装置可以采用软件和/或硬件的方式实现，例如，该装置可配置于设备中。如图1所示，该方法可以包括如下步骤。
S110、控制第一安检装置对用户进行安检，确认目标区域。
本实施例中，第一安检装置可以为对用户进行安全检测的电子设备，如采用X射线扫描成像技术进行检测的X射线安检仪，第一安检装置的类型不作限定，本实施例中以第一安检装置为安检门为例进行说明。安检门是一种通过检测用户有无携带金属物品来进行安全检测的探测装置，主要应用在机场、车站和大型会议等人流较大的公共场所。
当用户从安检门通过时，控制安检门对用户进行安检，若用户身所携带的金属的重量、数量或形状超过预先设置的阈值时，安检门确定检测到可疑物品，通过定位确认可疑物品的位置，根据该位置确认目标区域，目标区域可以为以该位置为中心预设尺寸的规则区域或不规则区域。示例性的，若可疑物品的位置为(0，0)点，则目标区域可以为以(0，0)点为中心半径为5厘米的圆形 区域。
在一实施例中，控制第一安检装置对用户进行安检之后，还包括：若第一安检装置确认未检测到可疑物品，则该用户的安检结果可以确认为合格，直接通过。
S120、根据目标区域的坐标信息生成复检控制指令。
在一实施例中，目标区域的坐标信息为目标区域相对于第一安检装置的坐标信息。确认目标区域之后，根据第一安检装置提供的该目标区域的坐标信息可以生成复检控制指令以执行S130，并且控制语音播放装置或灯光等提示装置发出对应的预设提示信息以引导用户准备复检。本实施例使用人机交互技术，能够通过语音或光信号等提示信息主动与被检查者进行沟通，更加人性化。
S130、根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果，第二安检装置为配置有软体臂的安检装置。
图2为一实施例中的第二安检装置的结构示意图，如图2所示，第二安检装置可以包括连接块11、软体臂12以及安检探测器13，软体臂12通过连接块11与安检探测器13连接，软体臂12包括至少一个内置输入介质的软体单元，通过设置每个软体单元的输入压强控制软体臂带动安检探测器13。本实施例中第二安检装置为配置有软体臂的安检装置，其他类似的绳驱动或多段结构设计的安检装置，只要满足柔软度和安全性的要求也可以适用。
在一实施例中，安检探测器13上可以配置适配卡口与连接块11连接，软体臂12中的软体单元之间也可以通过连接块11连接，通过模块化拼接多个软体单元可以实现不同长度的软体臂12的适配，软体臂12中软体单元的数量根据实际需要进行设置，图2中以3个软体单元为例进行说明。软体单元可以由硅橡胶等软体材料制作而成，软体单元的制作材料本实施例中不作限定。软体单元中的输入介质为气体或液体等体积可以随压强发生变化的介质，通过设置每个软体单元的输入压强使腔室的体积发生变化进而产生伸缩运动，使软体臂12产生弯曲以及轴平面运动。
根据复检控制指令通过控制软体臂12中每个软体单元的伸缩量，实现对软体臂12的形态运动控制，进而带动安检探测器13对目标区域进行复检，得到复检结果。在一实施例中，通过安检数据库提供的决策背景数据确定复检结果，若复检结果为合格，则用户可以直接通过，若复检结果为不合格，则可以控制 警报器发出警报并请求人工安全检查。确定复检结果之后，可以将复检结果存储并与安检数据库中的人脸识别信息、身份信息和历史安检数据等进行比对进一步确认该复检结果。本实施例可与安检大数据平台进行协作和智能决策，有效提高安检口的通行效率。
本实施例中存在第一安检装置和第二安检装置，本实施例提供的方法的安检场景可以根据需要进行设置，图3和图4为两种示例。图3为一实施例中的安检场景示意图，图3中第二安检装置与第一安检装置通过夹持器件连接，图4为另一实施例中的安检场景示意图，图4中第二安检装置位于第一安检装置的正前方。本实施例中，第一安检装置为安检门，第二安检装置为配置有软体臂的安检装置(参见图2)。图3中第二安检装置可以安装在底座上，底座通过导轨或丝杠与安检门连接，可带动第二安检装置中的软体臂上下滑动或绕轴线方向转动。图4中第二安检装置可以安装在底座上，底座固定在移动平台上，可主动或被动的与安检门发生相对运动。图4中的安检场景适用于安检门为放射性检查时，为避免过长时间的检查照射，将在通过安检门之后执行复检操作或放行，当用户为孕妇等不便通过安检门的特殊被检查对象时也适用。
在一实施例中，第一安检装置上还配置有视觉模块，根据目标区域的坐标信息生成复检控制指令之后可以控制该视觉模块对用户进行位置跟踪，若确认用户进入预设复检区域，则执行根据复检控制指令控制第二安检装置对目标区域进行复检。借助视觉等反馈方式，能够快速、稳定、安全的实现对人身多个部位的金属等危险品探测。
本实施例的技术方案，通过控制第一安检装置对用户进行安检，确认目标区域，根据目标区域的坐标信息生成复检控制指令，根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果。由于第二安检装置为配置有软体臂的安检装置，可以实现近距离接触式安全检测，并且通过两次不同安检装置的安检配合，减少人工作业工作量的同时，有效提高安检效率和安检口的通行效率。
实施例二
图5为另一实施例中的安检方法的流程图，本实施例在上述实施例的基础上，对安检方法进行说明。本实施例的方法包括如下步骤。
S210、控制第一安检装置对用户进行安检，确认目标区域。
本实施例中以第一安检装置为安检门为例进行说明，当用户从安检门通过时，控制安检门对用户进行安检，若用户身所携带的金属的重量、数量或形状超过预先设置的阈值时，安检门确定检测到可疑物品，通过定位确认可疑物品的位置，根据该位置确认目标区域，目标区域可以为以该位置为中心预设尺寸的规则区域或不规则区域。
S220、根据目标区域的坐标信息得到软体臂的终点相对于起点的空间位姿变化信息。
参见图2，可以将第二安检装置中连接软体臂一端与安检探测器的连接块为终点，起点为软体臂另外一端的连接块。基于第一安检装置的基坐标对第二安检装置中软体臂的基坐标进行标定，根据目标区域的坐标信息通过坐标变换，可以得到该软体臂的终点在目标区域中运动时相对于起点的空间位姿变化信息。
S230、根据空间位姿变化信息生成软体臂的复检控制指令。
本实施例中，复检控制指令为包含软体臂的终点相对于起点的空间位姿变化信息的运动控制指令。
S240、根据复检控制指令以及空间位姿与输入压强的关系通过运动学逆解，得到软体臂中每个软体单元的输入压强目标值。
对于一个制造完成的软体臂，空间位姿与输入压强的关系是已经建立好的，空间位姿与输入压强的关系的建立过程可以为：假设软体臂由三个独立的气囊式结构的软体单元构成，分别为S1、S2和S3。软体单元S1的一端和软体单元S2的一端通过连接块T1连接，软体单元S3的一端和软体单元S2的另一端通过连接块T2连接，软体单元S1的另一端与连接块T0连接，软体单元S3的另一端与连接块T3连接，连接块T0设为起点，连接块T3设为终点。对于每个软体单元，可以由三个气囊段组合构成，分别为a1、a2和a3，气囊段由软性可变形材料构成，在介质的作用下能够实现腔体的膨胀和收缩，进而引起软体单元在轴线方向的伸长和缩短。当a1、a2和a3整体伸长或缩短时，能够实现T1上升和下降的平动，而当a1、a2和a3的整体伸长或缩短不同时，则能够实现T1翻转的转动。
因而，对于T1相对于T0的空间位姿，我们能够通过控制a1、a2和a3的 长度来完成，即：
Figure PCTCN2018124259-appb-000001
而对于a1、a2和a3的每段，可以建立输入介质的压力与伸长缩短量之间的关系，即
Figure PCTCN2018124259-appb-000002
其中i＝1，2，3。故对于S1段有：
Figure PCTCN2018124259-appb-000003
而输入介质(如气体或液体)的压强，能够通过主控单元直接产生并实现精确控制。对于S2段以及S3段，同样可分析S2段的三个气囊段b1、b2、b3与输入压强
Figure PCTCN2018124259-appb-000004
之间的关系，以及S3段的三个气囊段c1、c2、c3和输入压强
Figure PCTCN2018124259-appb-000005
之间的关系，i＝1，2，3，即：
Figure PCTCN2018124259-appb-000006
和
Figure PCTCN2018124259-appb-000007
最终可以得到，对于图2示的软体臂，软体臂的T3相对于T0的空间位姿为
Figure PCTCN2018124259-appb-000008
通过标定或有限元分析的方法，可以得到上述关系式中全部的函数，最终建立T3相对于T0的空间位姿与输入压强，
Figure PCTCN2018124259-appb-000009
之间的关系，该多路输入信号可以由多通道压力控制器产生。进而建立T3相对于T1的空间位姿与输入信号之间的解析解，即该软体臂的运动学控制方程。
根据复检控制指令以及空间位姿与输入压强的关系通过运动学逆解，可以求解得到公式中每个软体单元的输入压强目标值。
S250、根据每个软体单元的输入压强目标值设置软体臂中所述每个软体单元的输入压强，控制安检探测器对目标区域的复检，得到复检结果。
根据输入压强目标值可以通过多通道压力控制器设置软体臂中每个软体单元的输入压强并执行，进而控制安检探测器在软体臂的带动下实现对目标区域的复检，得到复检结果。
本实施例的技术方案，通过控制第一安检装置对用户进行安检，确认目标区域，根据目标区域的坐标信息生成包含软体臂的空间位姿变化信息的复检控制指令，根据复检控制指令以及空间位姿与输入压强的关系通过运动学逆解，得到软体臂中每个软体单元的输入压强目标值，根据输入压强目标值设置软体臂中每个软体单元的输入压强，控制安检探测器对目标区域的复检，得到复检结果由于第二安检装置为配置有软体臂的安检装置，可以实现近距离接触式安全检测，并且通过两次不同安检装置的安检配合，减少人工作业工作量的同时，有效提高安检效率，并且设备成本低、模块化程度高和维护简单。
实施例三
图6为一实施例中的安检装置的结构示意图，本实施例可适用于实现安检的情况。本实施例所提供的安检装置可执行本公开任意实施例所提供的安检方法，具备执行方法相应的功能模块和有益效果。该装置包括第一安检模块310、复检指令模块320和复检模块330，其中：第一安检模块310，设置为控制第一安检装置对用户进行安检，确认目标区域；复检指令模块320，设置为根据目标区域的坐标信息生成复检控制指令；复检模块330，设置为根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果，第二安检装置为配置有软体臂的安检装置。
本实施例的技术方案，通过控制第一安检装置对用户进行安检，确认目标区域，根据目标区域的坐标信息生成复检控制指令，根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果。由于第二安检装置为配置有软体臂的安检装置，可以实现近距离接触式安全检测，并且通过两次不同安检装置的安检配合，减少人工作业工作量的同时，有效提高安检效率。
在一实施例中，复检指令模块320包括：位姿单元，设置为根据目标区域的坐标信息得到软体臂的终点相对于起点的空间位姿变化信息；指令生成单元，设置为根据空间位姿变化信息生成软体臂的复检控制指令。
在一实施例中，第二安检装置包括连接块、软体臂以及安检探测器，软体臂通过连接块与安检探测器连接，软体臂包括至少一个内置输入介质的软体单元，通过设置每个软体单元的输入压强控制软体臂带动安检探测器。
在一实施例中，复检模块330包括：输入压强单元，设置为根据复检控制指令以及空间位姿与输入压强的关系通过运动学逆解，得到软体臂中每个软体单元的输入压强目标值；设置单元，设置为根据每个软体单元的输入压强目标值设置软体臂中所述每个软体单元的输入压强，控制安检探测器对目标区域的复检。
在一实施例中，第一安检装置为安检门，第二安检装置与第一安检装置通过夹持器件连接，或者第二安检装置位于第一安检装置的正前方。
本实施例所提供的安检装置可执行本公开任意实施例所提供的安检方法，具备执行方法相应的功能模块和有益效果。
本实施例可实现人身近距离接触式安全检测，解放安检过程中人员压力；兼容相关技术中安检系统布置和安检流程；适合与人机共融环境，通过个性化的外形包装，可照顾被检查者的心理状态，系统模块和控制架构扩展性好，能够实现与相关技术中系统的协同，并能实现智能化控制；可用于但不限于安检操作，可以应用到任何其他需要与人共融交互的场景中；通过更换专用探测装置，可用于多类对象的探测。
实施例四
图7为一实施例中的设备的结构示意图。图7示出了适于用来实现本公开实施方式的示例性设备412的框图。图7显示的设备412仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图7所示，设备412以通用设备的形式表现。设备412的组件可以包括但不限于：一个或者多个处理器416，存储装置428，连接不同系统组件(包括存储装置428和处理器416)的总线418。
总线418表示几类总线结构中的一种或多种，包括存储装置总线或者存储装置控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Subversive Alliance，ISA)总线，微通道体系结构(Micro Channel Architecture，MAC)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
设备412包括多种计算机系统可读介质。这些介质可以是任何能够被设备412访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
存储装置428可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)430和/或高速缓存存储器432。设备412可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统434可以设置为读写不可移动的、非易失性磁介质(图7未显示，通常称为“硬盘驱动器”)。尽管图7中未示出，可以提供设置为对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘，例如只读光盘(Compact Disc Read-Only Memory，CD-ROM)， 数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线418相连。存储装置428可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本公开任意实施例的功能。
具有一组(至少一个)程序模块442的程序/实用工具440，可以存储在例如存储装置428中，这样的程序模块442包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块442通常执行本公开所描述的实施例中的功能和/或方法。
设备412也可以与一个或多个外部设备414(例如键盘、指向终端、视觉模块、显示器424等)通信，还可与一个或者多个使得用户能与该设备412交互的终端通信，和/或与使得该设备412能与一个或多个其它计算终端进行通信的任何终端(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/0)接口422进行。并且，设备412还可以通过网络适配器420与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图7所示，网络适配器420通过总线418与设备412的其它模块通信。尽管图7中未示出，可以结合设备412使用其它硬件和/或软件模块，包括但不限于：微代码、终端驱动器、冗余处理器、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理器416通过运行存储在存储装置428中的程序，从而执行至少一种功能应用以及数据处理，例如实现本公开实施例所提供的安检方法，该方法包括：控制第一安检装置对用户进行安检，确认目标区域；根据目标区域的坐标信息生成复检控制指令；根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果，第二安检装置为配置有软体臂的安检装置。
实施例五
本实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现如本公开实施例所提供的安检方法， 该方法包括：控制第一安检装置对用户进行安检，确认目标区域；根据目标区域的坐标信息生成复检控制指令；根据复检控制指令控制第二安检装置对目标区域进行复检，得到复检结果，第二安检装置为配置有软体臂的安检装置。
本实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、只读存储器(Read-Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM)或闪存、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与指令执行系统、装置或者器件结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与指令执行系统、装置或者器件结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或多种程序设计语言组合来编写用于执行本公开操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言-诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言-诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或终端上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或WAN- 连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种安检方法，包括：
    控制第一安检装置对用户进行安检，确认目标区域；
    根据所述目标区域的坐标信息生成复检控制指令；
    根据所述复检控制指令控制第二安检装置对所述目标区域进行复检，得到复检结果，其中，所述第二安检装置为配置有软体臂的安检装置。
  2. 根据权利要求1所述的方法，其中，根据所述目标区域的坐标信息生成复检控制指令，包括：
    根据所述目标区域的坐标信息得到所述软体臂的终点相对于起点的空间位姿变化信息；
    根据所述空间位姿变化信息生成所述软体臂的复检控制指令。
  3. 根据权利要求1或2所述的方法，其中，所述第二安检装置包括连接块、软体臂以及安检探测器，所述软体臂通过所述连接块与所述安检探测器连接，
    所述软体臂包括至少一个内置输入介质的软体单元，通过设置每个软体单元的输入压强控制所述软体臂带动所述安检探测器。
  4. 根据权利要求3所述的方法，其中，根据所述复检控制指令控制第二安检装置对所述目标区域进行复检，包括：
    根据所述复检控制指令以及空间位姿与输入压强的关系通过运动学逆解，得到所述软体臂中每个软体单元的输入压强目标值；
    根据所述每个软体单元的输入压强目标值设置所述软体臂中所述每个软体单元的输入压强，控制所述安检探测器对所述目标区域的复检。
  5. 根据权利要求1-4任一项所述的方法，其中，所述第一安检装置为安检门，所述第二安检装置与第一安检装置通过夹持器件连接，或者所述第二安检装置位于所述第一安检装置的正前方。
  6. 一种安检装置，包括：
    第一安检模块，设置为控制第一安检装置对用户进行安检，确认目标区域；
    复检指令模块，设置为根据所述目标区域的坐标信息生成复检控制指令；
    复检模块，设置为根据所述复检控制指令控制第二安检装置对所述目标区 域进行复检，得到复检结果，其中，所述第二安检装置为配置有软体臂的安检装置。
  7. 根据权利要求6所述的安检装置，其中，所述复检指令模块包括：
    位姿单元，设置为根据所述目标区域的坐标信息得到所述软体臂的终点相对于起点的空间位姿变化信息；
    指令生成单元，设置为根据所述空间位姿变化信息生成所述软体臂的复检控制指令。
  8. 根据权利要求6或7所述的安检装置，其中，所述第二安检装置包括连接块、软体臂以及安检探测器，所述软体臂通过所述连接块与所述安检探测器连接，
    所述软体臂包括至少一个内置输入介质的软体单元，通过设置每个软体单元的输入压强控制所述软体臂带动所述安检探测器。
  9. 一种设备，包括：
    至少一个处理器；
    存储装置，设置为存储至少一个程序；
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-5中任一所述的安检方法。
  10. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-5中任一所述的安检方法。
PCT/CN2018/124259 2018-11-28 2018-12-27 安检方法、装置、设备以及存储介质 Ceased WO2020107609A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811435872.5 2018-11-28
CN201811435872.5A CN109188559B (zh) 2018-11-28 2018-11-28 安检方法、装置、设备以及存储介质

Publications (1)

Publication Number Publication Date
WO2020107609A1 true WO2020107609A1 (zh) 2020-06-04

Family

ID=64938379

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/124259 Ceased WO2020107609A1 (zh) 2018-11-28 2018-12-27 安检方法、装置、设备以及存储介质

Country Status (2)

Country Link
CN (1) CN109188559B (zh)
WO (1) WO2020107609A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117437305A (zh) * 2023-12-18 2024-01-23 科大讯飞(苏州)科技有限公司 安检机标定方法及相关方法、装置、设备和存储介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111352171B (zh) * 2020-03-30 2023-01-24 重庆特斯联智慧科技股份有限公司 一种实现人工智能区域屏蔽安检方法和系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102483965A (zh) * 2009-05-26 2012-05-30 拉皮斯坎系统股份有限公司 识别特定目标项目的x 射线层析检查系统
CN102990676A (zh) * 2012-11-23 2013-03-27 中国航空工业集团公司北京航空制造工程研究所 一种蛇形机械臂
CN103064125A (zh) * 2007-06-21 2013-04-24 瑞皮斯坎系统股份有限公司 用于提高受指引的人员筛查的系统和方法
CN103654820A (zh) * 2012-09-11 2014-03-26 上海联影医疗科技有限公司 一种x-射线层析设备模拟装置
US20160341847A1 (en) * 2012-07-16 2016-11-24 Rapiscan Systems, Inc. Ultra-Portable People Screening System
CN107064185A (zh) * 2017-04-12 2017-08-18 北京君和信达科技有限公司 辐射图像显示方法和系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103197353A (zh) * 2013-04-16 2013-07-10 焦海宁 垂直机械扫描微波主动成像人员安检系统
CN205219114U (zh) * 2015-12-25 2016-05-11 中国航空工业集团公司北京航空制造工程研究所 蛇形臂机器人
CN105842739B (zh) * 2016-06-15 2020-06-09 大同市快安科技有限公司 通过式特定金属探测门
CN107092034B (zh) * 2017-05-12 2018-12-21 爱德森（厦门）电子有限公司 一种人体金属异物快速扫描的安全检测装置及方法
CN108387949B (zh) * 2018-02-08 2020-05-08 上海奕瑞光电子科技股份有限公司 柔性双能探测器模块及基于其的探测器及探测设备
CN108646309A (zh) * 2018-05-14 2018-10-12 深圳市华讯方舟太赫兹科技有限公司 扫描成像控制方法、安检设备及具有存储功能的装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103064125A (zh) * 2007-06-21 2013-04-24 瑞皮斯坎系统股份有限公司 用于提高受指引的人员筛查的系统和方法
CN102483965A (zh) * 2009-05-26 2012-05-30 拉皮斯坎系统股份有限公司 识别特定目标项目的x 射线层析检查系统
US20160341847A1 (en) * 2012-07-16 2016-11-24 Rapiscan Systems, Inc. Ultra-Portable People Screening System
CN103654820A (zh) * 2012-09-11 2014-03-26 上海联影医疗科技有限公司 一种x-射线层析设备模拟装置
CN102990676A (zh) * 2012-11-23 2013-03-27 中国航空工业集团公司北京航空制造工程研究所 一种蛇形机械臂
CN107064185A (zh) * 2017-04-12 2017-08-18 北京君和信达科技有限公司 辐射图像显示方法和系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117437305A (zh) * 2023-12-18 2024-01-23 科大讯飞(苏州)科技有限公司 安检机标定方法及相关方法、装置、设备和存储介质
CN117437305B (zh) * 2023-12-18 2024-04-16 科大讯飞(苏州)科技有限公司 安检机标定方法及相关方法、装置、设备和存储介质

Also Published As

Publication number Publication date
CN109188559A (zh) 2019-01-11
CN109188559B (zh) 2021-01-01

Similar Documents

Publication Publication Date Title
US11986330B2 (en) Method and system for generating object 3D point cloud in medical imaging system
CN103140862B (zh) 用户界面系统及其操作方法
EP4009328A1 (en) Method, device and apparatus for predicting protein structure information, and storage medium
US20190050632A1 (en) Method and apparatus for generating training data for human face recognition, device and computer storage medium
US20130141327A1 (en) Gesture input method and system
US11029766B2 (en) Information processing apparatus, control method, and storage medium
CN111311649A (zh) 一种室内物联视频跟踪方法和系统
CN110291528B (zh) 基于视觉的对象辨别装置和用于控制其的方法
CN108322855B (zh) 用于获取音频信息的方法及装置
US11507192B2 (en) Gesture acquisition system
CN106020454B (zh) 一种基于眼控技术的智能终端触摸屏操作方法及系统
CN109871800A (zh) 一种人体姿态估计方法、装置和存储介质
WO2020107609A1 (zh) 安检方法、装置、设备以及存储介质
US11554497B2 (en) Articulated robotic arms for robotic baggage inspection and swabbing
CN116077182B (zh) 一种医用手术机器人控制方法、装置、设备及介质
Zhang et al. Exploring the potential of LiDAR-based 3D worker detection for construction safety monitoring: a comparative analysis
CN106468944A (zh) 非接触式控制系统及方法
Bandara et al. Development of an interactive service robot arm for object manipulation
KR102711253B1 (ko) 제조업 근로자 안전관리를 위한 데이터셋 구축 및 모델 학습 방법 및 장치
Kopinski et al. Touchless interaction for future mobile applications
Taylor et al. Multi-modal interaction for robotics mules
WO2022088389A1 (zh) 机器人安检的方法、装置、设备及存储介质
Cheng et al. Development of a smart sleeve control mechanism for active assisted living
Chi et al. Embedded AI system for interactive vision screen based on human action recognition
CN111251313A (zh) 显示方法、装置、机器人及计算机可读存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18941724

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205N DATED 20/07/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18941724

Country of ref document: EP

Kind code of ref document: A1