WO2020107609A1

WO2020107609A1 - Security check method and device, apparatus, and storage medium

Info

Publication number: WO2020107609A1
Application number: PCT/CN2018/124259
Authority: WO
Inventors: 夏泽洋; 邓豪; 陈君; 熊璟
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2018-11-28
Filing date: 2018-12-27
Publication date: 2020-06-04
Also published as: CN109188559B; CN109188559A

Abstract

Provided are a security check method and device, an apparatus, and a storage medium. The security check method comprises: controlling a first security check device to perform security check on a user and determining a target region (S110); generating a recheck control instruction according to coordinate information of the target region; and controlling, according to the recheck control instruction, a second security check device to recheck the target region and obtaining a recheck result, the second security check device being a security check device configured with a soft arm (S130).

Description

Security inspection method, device, equipment and storage medium

This disclosure requires the priority of a Chinese patent application filed on November 28, 2018, with the Chinese Patent Office, application number 201811435872.5, the entire content of which is incorporated by reference in this disclosure.

Technical field

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.

Background technique

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. In the daily crowded security screening task scenarios such as airports, railway stations, and subway stations, 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. In addition, long-term fixed hand operation actions also cause security personnel to a certain extent. damage. In addition, 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.

Summary of the invention

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;

Generating a reinspection control instruction according to the coordinate information of the target area;

According to the re-inspection control instruction, 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;

Storage device, set to store one or more programs;

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 . Since 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.

BRIEF DESCRIPTION

FIG. 1 is a flowchart of a security inspection method in an embodiment;

2 is a schematic structural diagram of a second security inspection device in an embodiment;

3 is a schematic diagram of a security inspection scenario in an embodiment;

4 is a schematic diagram of a security inspection scenario in another embodiment;

5 is a flowchart of a security inspection method in another embodiment;

6 is a schematic structural diagram of a security inspection device in an embodiment;

7 is a schematic structural diagram of an apparatus in an embodiment.

detailed description

The disclosure will be described below with reference to the drawings and embodiments. The specific embodiments described herein are only used to explain the present disclosure, rather than to limit the present disclosure. In addition, for convenience of description, only some parts but not all structures related to the present disclosure are shown in the drawings.

With the development of robot technology, "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. In the related art, 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).

However, 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. In addition, 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.

Example one

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. For example, the device Can be configured in the device. As shown in FIG. 1, the method may include the following steps.

S110. Control the first security inspection device to perform security inspection on the user and confirm the target area.

In this embodiment, 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. In this embodiment, 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.

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.

In an embodiment, after controlling the first security inspection device to perform security inspection on the user, 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.

S120. Generate a recheck control instruction according to the coordinate information of the target area.

In an embodiment, the coordinate information of the target area is coordinate information of the target area relative to the first security device. After confirming the target area, 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. 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.

S130. 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. As shown in FIG. 2, 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. In this embodiment, 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.

In one embodiment, 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 For the adaptation of the software arms 12 of different lengths, the number of software units in the software arm 12 is set according to actual needs. In FIG. 2, 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.

According to 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. In one embodiment, 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. After confirming the re-inspection result, 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. In this embodiment, collaboration and intelligent decision-making with the security inspection big data platform can effectively improve the efficiency of security inspection.

In this embodiment, there are a first security inspection device and a second security inspection device, and the security inspection scenario of the method provided in this embodiment can be set according to needs, and FIG. 3 and FIG. 4 are two examples. FIG. 3 is a schematic diagram of a security inspection scene in an embodiment. In FIG. 3, 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. In this embodiment, the first security device is a security door, and the second security device is a security device equipped with a software arm (see FIG. 2). In FIG. 3, 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.

In an embodiment, 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. With the help of feedback methods such as vision, it is possible to quickly, stably and safely detect dangerous goods such as metals in multiple parts of the body.

In the technical solution of this embodiment, 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. Since 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.

Example 2

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.

S210. Control the first security inspection device to perform security inspection on the user and confirm the target area.

In this embodiment, the first security inspection device is taken as an example of a security door. When the user passes through the 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 At the threshold, 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.

S220. Obtain the spatial posture change information of the end point of the soft arm relative to the start point according to the coordinate information of the target area.

Referring to FIG. 2, 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.

S230. Generate a re-inspection control command of the soft arm according to the spatial posture change information.

In this embodiment, 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.

S240. Obtain the input pressure target value of each software unit in the soft arm through the kinematics inverse solution according to the recheck control command and the relationship between the spatial posture and the input pressure.

For a manufactured soft arm, 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, and 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. For 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.

Therefore, for the spatial pose of T1 relative to T0, we can accomplish this by controlling the lengths of a1, a2, and a3, namely:

For each segment of a1, a2, and a3, the relationship between the pressure of the input medium and the amount of elongation and shortening can be established, that is

Where i=1, 2, 3. So for segment S1:

The pressure of the input medium (such as gas or liquid) can be directly generated and accurately controlled by the main control unit. For S2 segment and S3 segment, the three airbag segments b1, b2, b3 of S2 segment and input pressure can also be analyzed

The relationship between the three airbag segments c1, c2, c3 of S3 segment and the input pressure

The relationship between i = 1, 2, 3, namely:

with

Finally, it can be obtained that for the soft arm shown in FIG. 2, the spatial posture of the soft arm T3 relative to T0 is

Through calibration or finite element analysis, all the functions in the above relationship can be obtained, and finally 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.

According to the re-inspection control command and the relationship between spatial posture and input pressure, through the inverse kinematics solution, the input pressure target value of each software element in the formula can be solved.

S250. 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 re-inspection of the target area by the security detector to obtain the re-inspection result.

According to the input pressure target value, 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.

In the technical solution of this embodiment, 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. According to the input pressure target value, 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. Because 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.

Example Three

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.

In the technical solution of this embodiment, 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. Since 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.

In one embodiment, 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.

In an embodiment, 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.

In an embodiment, 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.

In an embodiment, 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, or 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.

Example 4

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.

As shown in FIG. 7, 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. For example, 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. For example only, 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"). Although not shown in FIG. 7, 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). In these cases, 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. Moreover, 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. As shown in FIG. 7, the network adapter 420 communicates with other modules of the device 412 through the bus 418. Although not shown in FIG. 7, 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.

Example 5

This embodiment also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the program is executed by a processor, 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. In this document, 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.

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. In the case where a remote computer is involved, 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).

Claims

A security inspection method, including:

Control the first security inspection device to conduct security inspection on the user and confirm the target area;

Generating a reinspection control instruction according to the coordinate information of the target area;

According to the re-inspection control instruction, the second security inspection device is controlled to re-inspect the target area to obtain a re-inspection result, wherein the second security inspection device is a security inspection device equipped with a software arm.
The method according to claim 1, wherein generating the reinspection control instruction according to the coordinate information of the target area includes:

Obtaining the spatial and posture change information of the end point of the soft arm relative to the start point according to the coordinate information of the target area;

The reinspection control command of the soft arm is generated according to the spatial posture change information.
The method according to claim 1 or 2, wherein the second security device includes a connection block, a soft arm, and a security detector, the soft arm is connected to the security detector through the connection block,

The soft arm includes at least one soft unit with a built-in input medium, and the soft arm is controlled to drive the security detector by setting the input pressure of each soft unit.
The method according to claim 3, wherein controlling the second security inspection device to recheck the target area according to the recheck control instruction includes:

Obtain the target value of the input pressure of each software unit in the soft arm through the inverse kinematics solution according to the recheck control command and the relationship between the spatial posture and the input pressure;

The input pressure of each soft unit in the soft arm is set according to the target value of the input pressure of each soft unit to control the re-inspection of the target area by the security detector.
The method according to any one of claims 1 to 4, wherein the first security inspection device is a security gate, the second security inspection device is connected to the first security inspection device through a clamping device, or the second security inspection device Located directly in front of the first security inspection device.
A security inspection device, including:

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, wherein the second security inspection device is a security inspection device equipped with a software arm.
The security inspection device according to claim 6, wherein the re-inspection instruction module includes:

A posture unit, configured to obtain spatial posture change information of the end point of the soft arm relative to the start point according to the coordinate information of the target area;

The instruction generating unit is configured to generate a reinspection control instruction of the soft arm according to the spatial posture change information.
The security device according to claim 6 or 7, wherein the second security device includes a connection block, a soft arm, and a security detector, and the soft arm is connected to the security detector through the connection block,

The soft arm includes at least one soft unit with a built-in input medium, and the soft arm is controlled to drive the security detector by setting the input pressure of each soft unit.
A device, including:

At least one processor;

A storage device configured to store at least one program;

When the at least one program is executed by the at least one processor, the at least one processor implements the security inspection method according to any one of claims 1-5.
A computer-readable storage medium storing a computer program, which when executed by a processor implements the security inspection method according to any one of claims 1-5.