WO2022143098A1 - 车辆安全检查系统和安全检查方法 - Google Patents

车辆安全检查系统和安全检查方法 Download PDF

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Publication number
WO2022143098A1
WO2022143098A1 PCT/CN2021/136983 CN2021136983W WO2022143098A1 WO 2022143098 A1 WO2022143098 A1 WO 2022143098A1 CN 2021136983 W CN2021136983 W CN 2021136983W WO 2022143098 A1 WO2022143098 A1 WO 2022143098A1
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WIPO (PCT)
Prior art keywords
vehicle
scanning device
trunk
distance
scanning
Prior art date
Application number
PCT/CN2021/136983
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English (en)
French (fr)
Inventor
许艳伟
孙尚民
宗春光
胡煜
马媛
Original Assignee
同方威视技术股份有限公司
同方威视科技（北京）有限公司
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 同方威视技术股份有限公司, 同方威视科技（北京）有限公司 filed Critical 同方威视技术股份有限公司
Priority to DE112021006180.1T priority Critical patent/DE112021006180T5/de
Priority to GB2310740.2A priority patent/GB2617962A/en
Publication of WO2022143098A1 publication Critical patent/WO2022143098A1/zh

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    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • Embodiments of the present disclosure relate to a vehicle safety inspection system, and in particular, to a vehicle safety inspection system suitable for performing security inspection on the trunk of a vehicle, and a safety inspection method for inspecting the trunk of a vehicle by using the vehicle safety inspection system.
  • the current method of vehicle safety inspection includes manual observation, which is inefficient and difficult to find hidden contraband.
  • the reliability of the discharge of explosive devices and some explosives by police dogs or odor extraction devices is also not high.
  • a small vehicle safety inspection system has been developed, the vehicle is parked, the accompanying person gets off the vehicle, and then the X-ray device moves the car from front to back for inspection and imaging. Since this detection method is manually controlled to operate the X-ray inspection device, the human eye is used to subjectively determine whether the vehicle contains contraband, there are human factors, the work efficiency is not only low, but also there are omissions. For toll stations or intersections with large traffic flow It is easy to wait in long queues for testing, which significantly reduces traffic efficiency.
  • the purpose of the present disclosure is to solve at least one aspect of the above-mentioned problems and deficiencies in the prior art.
  • a vehicle safety inspection system comprising: a scanning device, installed in an inspection area, adapted to scan a vehicle to be inspected; an imaging device, adapted to obtain driving into the inspection The physical image of the vehicle in the area; the recognition module is suitable for recognizing the physical image, and determines the type of the vehicle according to the recognized physical image; the selection module is suitable for selecting the characteristics of the trunk of the vehicle according to the determined type of the vehicle a position sensor adapted to detect the position of a predetermined part of the vehicle in the inspection area; and a controller adapted to determine the front end of the trunk of the vehicle based on the selected feature and position of the vehicle When entering the scanning area of the scanning device, the scanning device is controlled to scan and inspect the trunk.
  • the controller is further adapted to control the scanning device to stop scanning inspection when the position sensor detects that the rear end of the vehicle leaves the scanning area of the scanning device .
  • determining the type of the vehicle includes determining whether the vehicle is a hatchback or a sedan.
  • the predetermined part of the vehicle is set as the front rim or the rear rim of the rear wheel lower than the chassis of the vehicle
  • the features of the trunk include the trunk
  • the front end of the vehicle extends beyond the front rim or the rear rim by a first distance in the direction of travel of the vehicle.
  • the controller controls the scanning device to The trunk is scanned for inspection.
  • the selection module selects the first distance to be 5 In the range of -25 cm, preferably about 10 cm. If the identification module determines that the vehicle is a sedan and the predetermined part is set to be the rear wheel rim, the selection module selects the first distance to be in the range of 40-60 cm, preferably , is about 45 cm.
  • the selection module selects the first distance to be within (- 10) -10 cm, preferably about -5 cm. If the identification module determines that the vehicle is a hatchback, and the predetermined part is set as the rear wheel rim, the selection module selects the first distance to be in the range of 30-50 cm, preferably, is about 35 cm.
  • the controller is further adapted to start when the position sensor detects that the front end of the vehicle is more than 200 cm away from the radiation beam of the scanning device in the traveling direction
  • the position sensor is controlled to detect the position of the rear rim or the front rim of the rear wheel.
  • the characteristics of the trunk include a length of the trunk, and the predetermined part of the vehicle is set as a rear end of the vehicle.
  • the controller controls the The scanning device scans and checks the trunk.
  • the selection module selects the second distance to be in the range of 90-110 cm, preferably about 100 cm .
  • the selection module selects the second distance to be in the range of 70-90 centimeters, preferably about 80 centimeters.
  • the position sensor includes any one of an area laser scanner, a multi-line laser sensor, and a single-line laser sensor.
  • the position sensor is further adapted to measure the traveling speed of the vehicle, and the controller controls the scanning frequency of the scanning device according to the traveling speed.
  • the controller adjusts the scale of the scanned image formed by the scanning device according to the traveling speed.
  • a scanning device includes: two upright frames oppositely arranged on both sides of the inspection area; and a radiation source and an array detector respectively arranged on the two upright frames.
  • the scanning device further includes two shielding walls, which are respectively disposed on the upright frame to shield the radiation from the radiation source.
  • a safety inspection method for inspecting a vehicle by the above-mentioned vehicle safety inspection system comprising the following steps:
  • the scanning device When it is determined that the front end of the trunk of the vehicle enters the scanning area of the scanning device according to the selected feature and position of the vehicle, the scanning device is controlled to scan and inspect the trunk.
  • the scanning device when the position sensor detects that the rear end of the vehicle leaves the scanning area of the scanning device, the scanning device is controlled to stop scanning inspection.
  • the controller controls the scanning device to scan and inspect the trunk.
  • the controller controls the scanning device to scan and inspect the trunk.
  • the predetermined position is set to be lower than the rear rim of the rear wheel of the vehicle.
  • the distance between the rear wheel rim located upstream of the scanning device in the travel direction and the radiation beam of the scanning device is less than 30-50 cm, preferably about 35 cm.
  • the controller controls the scanning device to scan and inspect the trunk.
  • the scanning device if it is determined that the type of the vehicle is a sedan, and the predetermined part is set to be the rear end of the vehicle, the scanning device is located at the rear end of the vehicle in the traveling direction.
  • the controller controls the scanning device to Scan the trunk for inspection.
  • the controller controls the scanning device to measure the The trunk is scanned for inspection.
  • FIG. 1 shows a schematic diagram of a vehicle safety inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 2 shows a schematic perspective view of a scanning device of a vehicle security inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 3 shows a transverse cross-sectional view of a scanning device of a vehicle safety inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 4 shows a schematic perspective view of a sedan according to an exemplary embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of the principle of scanning the trunk when the inspected sedan passes through the scanning device of the vehicle security inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 6 is a schematic diagram showing the principle of scanning the trunk when the inspected sedan passes through the scanning device of the vehicle security inspection system according to another exemplary embodiment of the present disclosure
  • FIG. 7 shows a schematic perspective view of a hatchback vehicle according to an exemplary embodiment of the present disclosure
  • FIG. 8 is a schematic diagram showing the principle of scanning the trunk when the hatchback under inspection passes through the scanning device of the vehicle security inspection system according to an exemplary embodiment of the present disclosure.
  • FIG. 9 shows a block diagram of a security checking method according to an exemplary embodiment of the present disclosure.
  • orientations such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, and is based on the direction of travel of the vehicle, only for the convenience of describing the present disclosure and simplifying the description, unless otherwise stated, these orientation words do not.
  • a vehicle safety inspection system comprising: a scanning device, installed in an inspection area, adapted to scan a vehicle to be inspected; an imaging device, adapted to obtain driving-in locations The physical image of the vehicle in the inspection area; the recognition module is suitable for recognizing the physical image and determines the type of the vehicle according to the recognized physical image; the selection module is suitable for selecting the trunk of the vehicle according to the determined type of the vehicle a position sensor adapted to detect the position of a predetermined part of the vehicle in the inspection area; and a controller adapted to determine the position of the trunk of the vehicle based on the selected features and position of the vehicle When the front end enters the scanning area of the scanning device, the scanning device is controlled to scan and inspect the trunk.
  • a safety inspection method for inspecting a vehicle by the above-mentioned vehicle safety inspection system comprising the steps of: acquiring a physical image of a vehicle driving in an inspection area; identifying the physical image, and Determine the type of the vehicle according to the recognized physical image; select the characteristics of the trunk of the vehicle according to the determined type of the vehicle; detect the position of the predetermined part of the vehicle in the inspection area; When the selected features and positions determine that the front end of the trunk of the vehicle enters the scanning area of the scanning device, the scanning device is controlled to scan and inspect the trunk.
  • FIG. 1 shows a schematic diagram of the principle of a vehicle safety inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 2 shows a schematic perspective view of a scanning device of the vehicle safety inspection system according to an exemplary embodiment of the present disclosure
  • FIG. 3 shows a transverse cross-sectional view of a scanning device of a vehicle security inspection system according to an exemplary embodiment of the present disclosure.
  • the vehicle safety inspection system is suitable for fast and safe inspection of the trunk of a vehicle such as a family car. Through security inspection, you can find out whether there are prohibited items such as drugs, explosives, controlled knives, guns, etc. in the trunk of the vehicle.
  • the vehicle 100 is a sedan and includes a front end 101 , a rear end 102 , front wheels 103 , rear wheels 104 , and a trunk 105 having a front end 106 .
  • a vehicle security inspection system including: a scanning device 1 , an imaging device 3 , an identification module, a selection module, a position sensor 2 and a controller.
  • the scanning device 1 is installed in the inspection area 200 and is adapted to scan the detected vehicle.
  • the imaging device 3 is adapted to acquire a physical image of the vehicle 100 driving into the inspection area 200 .
  • the imaging device 2 includes an area camera, an area laser scanner, a multi-line laser sensor, or a line camera.
  • the recognition module is suitable for recognizing the physical image, and determining the type of the vehicle 100 according to the recognized physical image, for example, determining whether the vehicle 100 is a sedan or a hatchback.
  • the selection module is adapted to select characteristics of the trunk 105 of the vehicle according to the determined type of vehicle 100 .
  • the position sensor 2 is adapted to detect the position of the predetermined part of the vehicle 100 in the inspection area 200 .
  • the controller is adapted to control said vehicle 100 in the event that the front end 106 of the trunk 105 of said vehicle enters the scanning area 16 of said scanning device 1 in the direction of travel F according to the selected features and position of said vehicle 100 .
  • the scanning device 1 scans and inspects the trunk 105 .
  • the controller is further adapted to detect when the position sensor 2 detects that the rear end 102 of the vehicle 100 leaves the scanning area 16 formed by the radiation beam 12 emitted by the scanning device 1 .
  • the scanning device 1 is controlled to stop the scanning inspection.
  • the identification module may identify the type of the vehicle 100 and select the characteristics of the trunk 105 of the vehicle.
  • the controller controls the scanning device 1 to scan the back-up Box 105 is scanned for inspection.
  • the scanning device 1 only performs safety inspection on the trunk 105 of the vehicle 100, and the timing of the scanning inspection is selected according to different types of vehicles, so that the driver and passengers of the vehicle 100 do not need to get off, and the vehicle does not need to stop running. It realizes the scanning inspection of vehicles and improves the efficiency of security inspection.
  • the controller controls the scanning device 1 to stop scanning and checking, so as to prepare for the next security check operation .
  • the scanning device 1 includes: two upright frames 11 disposed on both sides of the inspection area 200 oppositely; and two upright frames 11 respectively disposed on the two upright frames 11 for A radiation source 13 that emits a radiation beam (eg, an X-ray beam) 12 and an array detector 14 that receives the radiation beam 12 defining a scanning area 16 . Further, the scanning device 1 also includes a beam disposed on the upright frame 11 .
  • the scanning device 2 can be mounted on the outside of the inspection area 200 with the support frame 22 and is located downstream of the scanning device 1 in the travel direction F.
  • the scanning device includes a backscatter imaging device and/or a transmission imaging device.
  • the scanning device 1 is arranged as a side-view scanning device with the radiation source arranged on an upright frame.
  • the scanning device is arranged as a top-view scanning device with the radiation source arranged on the transverse frame above the two upright frames.
  • the scanning device 1 further includes two shielding walls 15 , which are respectively disposed on the upright frame 11 to shield the radiation from the radiation source 13 .
  • FIG. 4 shows a schematic perspective view of a sedan according to an exemplary embodiment of the present disclosure
  • FIG. 5 shows an exemplary embodiment of the present disclosure when the inspected sedan passes through the scanning device of the vehicle security inspection system.
  • Schematic schematic diagram of scanning the trunk
  • FIG. 6 shows a schematic schematic diagram of scanning the trunk when the inspected sedan passes through the scanning device of the vehicle security inspection system according to another exemplary embodiment of the present disclosure.
  • the position sensor 2 includes a laser sensor.
  • the distances L2, L6 or L6', and L7 between the front end 101, rear wheel 104 and rear end 102 of the vehicle 100 and the laser sensor 2 are measured in real time using one laser sensor in one inspection process.
  • the laser sensor includes, for example, any of an area laser scanner, a multi-line laser sensor, and a single-line laser sensor.
  • a laser sensor generally includes a transmitter suitable for emitting a laser beam 21 towards a target, such as a vehicle, and a receiver suitable for receiving laser light reflected from the target.
  • the laser sensor can directly obtain the distance, angle, reflection intensity, speed and other information of the target by detecting the echo signal of the emitted laser, and generate a multi-dimensional image of the target.
  • the distance L1 in the traveling direction F between the laser sensor and the scanning device 1 is fixed.
  • the first laser 211 emitted by the transmitter of the laser sensor is preset to measure the first distance L2 in the traveling direction between the front end portion 101 of the vehicle 100 and the laser sensor, and the second laser emitted by the transmitter of the laser sensor is used to measure the first distance L2 in the traveling direction.
  • the 212 is used to measure the second distance L6 in the traveling direction between the front rim 1041 of the rear wheel 104 of the vehicle 100 and the laser sensor, and the third laser 213 emitted by the transmitter of the laser sensor is used to measure the rear end of the vehicle 100 The third distance L7 in the traveling direction between the part 102 and the laser sensor.
  • the front end 106 of the trunk 105 has no obvious features on the outside, it is not easy to measure the position of the front end of the trunk.
  • the positional relationship between the rear wheel 104 and the trunk 105 is relatively fixed, and the distance between the center of the rear wheel 104 and the front end 105 of the trunk 104 is also relatively fixed.
  • a laser sensor is used to measure the position of the front rim 1041 of the rear wheel 104 under the vehicle chassis in the inspection area 200 .
  • the front rim 1041 may be set to measure 10-15 centimeters above the ground. It can be understood that, referring to FIG.
  • the controller can determine whether the front end 16 of the trunk 105 reaches the scanning area 16 of the scanning device 1 according to the distance between the front rim 1041 of the rear wheel 104 and the scanning area 16 defined by the radiation beam 12 emitted by the scanning device 1, and can control The scanning device 1 precisely scans and inspects the trunk 105 .
  • determining the type of the vehicle 100 includes determining whether the vehicle is a hatchback or a sedan.
  • the length of the trunk of a sedan is larger than that of a hatchback, for example, the length of the sedan is 90-110 cm, while the length of the hatchback is 70-90 cm.
  • the distance between the rear wheel of the sedan and the front end of the trunk is also different from the distance between the rear wheel of the hatchback and the front end of the trunk.
  • the predetermined part of the vehicle 100 is set as the front rim 1041 or the rear rim 1042 of the rear wheel 104 lower than the chassis of the vehicle, and the features of the trunk 105 include all the The front end 106 of the trunk extends beyond the front rim 1041 or the rear rim 1042 of the rear wheel 104 of the vehicle by a first distance in the running direction F of the vehicle 100 .
  • the distance L41 or L42 between the front rim 1041 or the rear rim 1042 of the rear wheel 104 and the front end 106 of the trunk 105 is fixed, by measuring the front rim 1041 or the rear of the rear wheel 104 as a predetermined portion
  • the position of the rim 1042 in the inspection area 200 can determine the relative position between the front end 106 of the trunk 105 and the scanning area 16 of the scanning device 1 . It can be understood that, as shown in FIGS. 1 , 4-6 , as the vehicle 100 travels in the driving direction F, the distance between the front rim 1041 or the rear rim 1042 of the rear wheel 104 and the radiation beam 12 of the scanning device 1 may The distance L4 gradually decreases.
  • the distance L4 between the front end 106 of the trunk 105 and the scanning area 16 of the scanning device 1 is:
  • the predetermined portion located upstream of the scanning device 1 in the traveling direction F ie, the front rim 1041 or the rear rim 1042 of the rear wheel 104 ) and the scanning device 1
  • the distance L4 between the radiation beams 12 is smaller than the first distance, it means that the front end 106 of the trunk 105 has entered the scanning area 16 , and the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • the selection module is chosen to be in the range of 5-25 cm, preferably about 10 cm. That is to say, in the case where the distance L4 between the front rim 1041 located upstream of the scanning device 1 in the traveling direction F and the radiation beam 12 of the scanning device 1 is less than 5-25 cm, preferably less than In the case of 10 cm, it means that the front end 106 of the trunk 105 has entered the scanning area 16 , and the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • the distance L4 between the front end 106 of the trunk 105 and the scanning area 16 of the scanning device 1 for:
  • the selection module selects the first distance to be in the range of 40-60 cm, preferably ground, about 45 cm. That is to say, in the case where the distance L4 between the rear rim 1042 located upstream of the scanning device 1 in the traveling direction F and the radiation beam 12 of the scanning device 1 is less than 40-60 cm, preferably less than In the case of 45 cm, it means that the front end 106 of the trunk 105 has entered the scanning area 16 , and the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • FIG. 7 shows a schematic perspective view of a hatchback according to an exemplary embodiment of the present disclosure
  • FIG. 8 shows a scanning backup when the hatchback under inspection passes through the scanning device of the vehicle security inspection system according to an exemplary embodiment of the present disclosure. Schematic diagram of the box.
  • the vehicle 100' is a hatchback and includes a front end 101', a rear end 102', front wheels 103', rear wheels 104', and a trunk 105', the back
  • the box 105' has a front end 106'.
  • the distance L41' between the front rim 1041' of the rear wheel 104' and the front end 106' of the trunk 105', and the distance between the rear rim 1042' of the rear wheel 104' and the front end 106' of the trunk 105' L42' are all fixed.
  • the first laser 211 emitted by the transmitter of the laser sensor is preset to measure the first distance L2' in the traveling direction between the front end portion 101' of the vehicle 100' and the laser sensor, and the first laser 211 emitted by the transmitter of the laser sensor
  • the second laser 212 is used to measure the second distance L6" in the traveling direction between the front rim 1041' of the rear wheel 104' of the vehicle 100' and the laser sensor
  • the third laser 213 emitted by the transmitter of the laser sensor is used for The third distance L7' in the traveling direction between the rear end portion 102' of the vehicle 100 and the laser sensor is measured.
  • the front rim 1041 ′ of the rear wheel 104 ′ is located at the front end 106 of the trunk 105 ′ in the forward driving direction of the vehicle ' downstream. That is to say, taking the direction in which the vehicle travels forward as a reference, the distance L41' between the distance L41' between the front rim 1041' of the rear wheel 104' of the hatchback and the distance L41' of the front end 106' of the trunk 105' is negative value.
  • the controller may determine whether the front end 16' of the trunk 105' has reached the distance between the front rim 1041' of the rear wheel 104' and the scanning area 16 defined by the radiation beam 12 emitted by the scanning device 1
  • the scanning area 16 of the scanning device 1 can be controlled, and the scanning device 1 can be controlled to accurately scan and inspect the trunk 105'.
  • the selection module selects the first distance to be in the range of (-10)-10 cm, preferably, about -5 cm. That is to say, the case where the distance L4 between the front rim 1041 ′ upstream of the scanning device 1 in the traveling direction F and the radiation beam 12 of the scanning device 1 is less than (-10)-10 cm Under the condition of preferably less than -5 cm, it means that the front end 106' of the trunk 105' has entered the scanning area 16, and the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the selection module selects the The first distance is in the range of 30-50 cm, preferably about 35 cm. That is to say, in the case where the distance L4 between the rear rim 1042 located upstream of the scanning device 1 in the traveling direction F and the radiation beam 12 of the scanning device 1 is less than 30-50 cm, preferably less than In the case of 35 cm, it means that the front end 106' of the trunk 105 has entered the scanning area 16, and the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the controller is further adapted to detect when the position sensor 2 detects that the front end 101 of the vehicle 100 leaves the scanning device 1 in the travel direction F
  • the distance of the radiation beam 12 exceeds 200 cm, that is, when (L1-L2)>200 cm
  • the position sensor 2 is controlled to detect the rear rim of the rear wheel 104. 1041 or the position of the front rim 1042. In this way, it is possible to prevent the position sensor 2 from erroneously measuring the position of the front wheel 103 .
  • the features of the trunk 105 include a length L3 of the trunk, and the predetermined portion of the vehicle 100 is set as the rear end of the vehicle 104.
  • the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • the selection module selects the second distance to be in the range of 90-110 cm, preferably about 100 cm. It can be understood that the second distance is approximately equal to the length L3 of the trunk 105 of the sedan.
  • the features of the trunk 105 ′ include a length L3 ′ of the trunk, and the predetermined portion of the vehicle 100 ′ is set as the length of the vehicle 100 ′.
  • rear end 104' The distance (L7'-L1') between the rear end 104' of the vehicle 100' upstream of the scanning device 1 in the travel direction F and the radiation beam 102 of the scanning device 1 (L7'-L1') is less than In the case of the second distance, the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the selection module selects the second distance to be in the range of 70-90 cm, preferably about 80 cm. It can be understood that the second distance is substantially equal to the length L3' of the hatchback trunk 105'.
  • the position sensor 2 is further adapted to measure the traveling speed of the vehicle 100 , and the controller controls the scanning frequency of the scanning device 1 according to the traveling speed. In this way, it is possible to ensure that the scanning frequency of the scanning device 1 corresponds to the traveling speed of the vehicle, so that a stable scanning image can be obtained. Further, in the process of scanning and imaging the vehicle 100 or 100', the controller adjusts the proportion of the scanned image formed by the scanning device 1 according to the traveling speed, so as to obtain a clearer scanned image.
  • FIG. 9 shows a block diagram of a security checking method according to an exemplary embodiment of the present disclosure.
  • a safety inspection method for inspecting the trunk of a vehicle using the vehicle safety inspection system described in any of the above embodiments including the following steps: step S100 , obtaining a drive-in inspection through the imaging device 3
  • the scanning device 1 is controlled to scan and inspect the trunk 106 .
  • the controller controls the The scanning device 1 stops scanning and checking.
  • the identification module may identify the type of the vehicle 100 and select the characteristics of the trunk 105 of the vehicle.
  • the controller controls the scanning device 1 to scan the back-up Box 105 is scanned for inspection.
  • the scanning device 1 only performs safety inspection on the trunk 105 of the vehicle 100, and the timing of the scanning inspection is selected according to different types of vehicles, so that the driver and passengers of the vehicle 100 do not need to get off, and the vehicle does not need to stop running. It realizes the scanning inspection of vehicles and improves the efficiency of security inspection.
  • the controller controls the scanning device 1 to stop scanning and checking, so as to prepare for the next security check operation .
  • the distance between the rear rim 1042 upstream of the scanning device 1 in the traveling direction F and the radiation beam of the scanning device 1 is less than 40-60 cm Below, preferably, in the case of about 45 cm, it means that the front end 106 of the trunk 105 has entered the scanning area 16, and the controller controls the scanning device 1 to scan and inspect the trunk 105 lines.
  • the distance between the front rim 1041 upstream of the scanning device 1 in the traveling direction F and the radiation beam 12 of the scanning device 1 is less than 5-25 cm In this case, preferably, when it is about 10 cm, it means that the front end 106 of the trunk 105 has entered the scanning area 16 , and the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the vehicle is driven In the case where the distance between the rear end 102 located upstream of the scanning device 1 in the direction F and the radiation beam of the scanning device 1 is less than 90-110 cm, preferably about 100 cm , the controller controls the scanning device 1 to scan and inspect the trunk 105 .
  • the controller controls the scanning device 1 to scan and inspect the trunk 105'.
  • the security inspection system and the security inspection method for the vehicle bumper plate that are about to enter the public security, judicial, prison, customs, border inspection, anti-smuggling and anti-drug, airports, important government agencies, important security agencies, military bases, consulates, important Vehicles in the passages of people's residences, important meeting venues, etc. are subject to safety inspection.
  • the trunk of the vehicle is inspected to check whether there are drugs, smuggling, etc. hidden in the trunk. Items, controlled knives, firearms, flammable and explosive items and other prohibited items.
  • the scanning device emits the radiation beam only during the inspection of the trunk, which realizes the avoidance of the driver and other passengers on the vehicle, ensures that the driver and other passengers on the vehicle are protected from the radiation beam, and improves the safety. .
  • the controller determines that the front end of the trunk of the vehicle enters the scanning area of the scanning device according to the selected feature and position of the vehicle
  • the scanning device is controlled to scan and inspect the trunk.
  • the scanning device selects different scanning and inspection timings according to different vehicle types, so as to accurately determine the position of the trunk, and the scanning device can quickly emit radiation beams and stop emitting radiation beams, and vehicles can continuously enter the inspection area.
  • Using the position sensor to determine the position of the vehicle is easy to install and low cost in practical applications.

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  • General Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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Abstract

一种车辆安全检查系统和安全检查方法。车辆安全检查系统包括：扫描装置（1），安装在检查区域（200）中，适用于对被检测的车辆（100）进行扫描；成像设备（3），适用于获取驶入检查区域（200）的车辆（100）的实物图像；识别模块，适用于识别实物图像，并根据识别的实物图像确定车辆（100）的类型；选择模块，适用于根据所确定的车辆（100）的类型选择车辆（100）的后备箱（105）的特征；位置传感器（2），适用于检测车辆（100）的预定部位在检查区域（200）中的位置；以及控制器，适用于在根据所述车辆（100）的所选择的特征和位置确定车辆（100）的后备箱（105）的前端部（106）进入扫描装置（1）的扫描区域（16）的情况下，控制扫描装置（1）对后备箱（105）进行扫描检查。扫描装置（1）只是在对后备箱（105）检查的过程中才发射辐射束，确保驾驶员以及车辆上其它乘客免受辐射束的辐射。

Description

车辆安全检查系统和安全检查方法 技术领域
本公开的实施例涉及一种车辆安全检查系统，特别是涉及一种适用于对车辆的后备箱进行安检的车辆安全检查系统、以及利用车辆安全检查系统检查车辆后备箱的安全检查方法。
背景技术
目前，人们越来越多地选择小轿车等私家车出行。一般地，选择传统的公共交通工具出行时会对行李物品进行安检，但采用小轿车等私家车出行的在安检方面由于可操作难度大，并没有完全实施对每辆小车进行安检，因此存在很大的安全隐患。特别是，在小轿车进入公安、司法、监狱、海关、边检、缉私缉毒、机场、重要政府机关、重要安保机构、军事基地、领事馆、重要人物住所通道、重要会议场馆等处所时，针对小轿车的非乘员区(如外部看不见的前、后备箱)是否藏有例如毒品、走私物品、管制刀具、枪支、易燃易爆物品之类的违禁品的检查，已受到越来越多的关注。
目前对车辆的安全检查的方式包括人工观察，其效率低且不易发现隐藏的违禁品。警犬或是气味提取装置对爆炸装置及一些爆炸物的排出可靠性也不高。
已研发了一种小型车辆安全检查系统，车辆停车，随车人员下车，然后由X射线装置移动小轿车从前至后进行检测成像。此种检测方式由于是人工控制操作X射线检查装置，通过人眼来主观判别车内是否含有违禁品，存在人为因素，工作效率不仅低下且存在漏报，对于车流量较大的收费站或路口很容易排长队等待检测，显著降低了通行效率。
发明内容
本公开的目的旨在解决现有技术中存在的上述问题和缺陷的至少一个方面。
根据本公开的一个方面的实施例，提供一种车辆安全检查系统，包括：扫描装置，安装在检查区域中，适用于对被检测的车辆进行扫描；成像设备，适用于获取驶入所述检查区域的车辆的实物图像；识别模块，适用于 识别所述实物图像，并根据识别的实物图像确定车辆的类型；选择模块，适用于根据所确定的车辆的类型选择所述车辆的后备箱的特征；位置传感器，适用于检测所述车辆的预定部位在所述检查区域中的位置；以及控制器，适用于在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前端部进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，所述控制器进一步适用于在所述位置传感器检测到所述车辆的后端部离开所述扫描装置的扫描区域的情况下，控制所述扫描装置停止扫描检查。
根据本公开的一种实施例，确定所述车辆的类型包括确定所述车辆是两厢车还是三厢车。
根据本公开的一种实施例，所述车辆的预定部位设定为所述后轮的低于所述车辆的底盘的前轮缘或者后轮缘，所述后备箱的特征包括所述后备箱的前端在车辆的行驶方向上超出所述前轮缘或者后轮缘的第一距离。在所述行驶方向上位于所述扫描装置的上游的所述预定部位与所述扫描装置的辐射束之间的距离小于所述第一距离的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果所述识别模块确定所述车辆为三厢车，且所述预定部位设定为所述前轮缘，则所述选择模块选择所述第一距离在5-25厘米的范围内，优选地，为大约10厘米。如果所述识别模块确定所述车辆为三厢车，且所述预定部位设定为所述后轮缘，则所述选择模块选择所述第一距离在40-60厘米的范围内，优选地，为大约45厘米。
根据本公开的一种实施例，如果所述识别模块确定所述车辆为两厢车，且所述预定部位设定为所述前轮缘，则所述选择模块选择所述第一距离在(-10)-10厘米的范围内，优选地，为大约-5厘米。如果所述识别模块确定所述车辆为两厢车，且所述预定部位设定为所述后轮缘，则所述选择模块选择所述第一距离在30-50厘米的范围内，优选地，为大约35厘米，。
根据本公开的一种实施例，所述控制器进一步适用于在所述位置传感器检测到所述车辆的前端部在所述行驶方向上离开所述扫描装置的辐射束距离超出200厘米时，开始控制所述位置传感器检测所述后轮的后轮缘 或者前轮缘的位置。
根据本公开的一种实施例，所述后备箱的特征包括所述后备箱的长度，所述车辆的预定部位设定为所述车辆的后端部。在所述行驶方向上位于所述扫描装置的上游的所述车辆的后端部与所述扫描装置的辐射束之间的距离小于所述第二距离的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果所述识别模块确定所述车辆为三厢车，则所述选择模块选择所述第二距离在90-110厘米的范围内，优选地，为大约100厘米。
根据本公开的一种实施例，如果所述识别模块确定所述车辆为两厢车，则所述选择模块选择所述第二距离在70-90厘米的范围内，优选地，为大约80厘米。
根据本公开的一种实施例，所述位置传感器包括区域激光扫描仪、多线激光传感器、和单线激光传感器中的任一种。
根据本公开的一种实施例，所述位置传感器还适用于测量所述车辆的行驶速度，所述控制器根据所述行驶速度控制所述扫描装置的扫描频率。
根据本公开的一种实施例，所述控制器根据所述行驶速度调整所述扫描装置形成的扫描图像的比例。
根据本公开的一种实施例，扫描装置包括：相对地设置在所述检查区域的两侧的两个直立框架；以及分别设置在两个直立框架上的辐射源和阵列探测器。
根据本公开的一种实施例，所述扫描装置还包括两个屏蔽墙，分别设置在所述直立框架上，以屏蔽来自于所述辐射源的辐射线。
根据本公开另一方面的实施例，提供一种上述车辆安全检查系统检查车辆的安全检查方法，包括如下步骤：
获取驶入检查区域的车辆的实物图像；
识别所述实物图像，并根据识别的实物图像确定车辆的类型；
根据所确定的车辆的类型选择所述车辆的后备箱的特征；
检测所述车辆的预定部位在所述检查区域中的位置；以及
在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前 端进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，在所述位置传感器检测到所述车辆的后端部离开所述扫描装置的扫描区域的情况下，控制所述扫描装置停止扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的后轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述后轮缘与所述扫描装置的辐射束之间的距离小于40-60厘米的情况下，优选地，为大约45厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的前轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述前轮缘与所述扫描装置的辐射束之间的距离小于5-25厘米的情况下，优选地，为大约10厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的后轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述后轮缘与所述扫描装置的辐射束之间的距离小于30-50厘米的情况下，优选地，为大约35厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的前轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述前轮缘与所述扫描装置的辐射束之间的距离小于(-10)-10厘米的情况下，优选地，为大约-5厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后端部，则在所述行驶方向上位于所述扫描装置的上游的所述后端部与所述扫描装置的辐射束之间的距离小于90-110厘米的情况下，优选地，为大约100厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的一种实施例，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆的后端部，则在所述行驶方向上位于所述扫描装置的上游的所述后端部与所述扫描装置的辐射束之间的距离小于80-100厘米的情况下，优选地，为大约90厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
附图说明
图1示出了本公开的一种示例性实施例的车辆安全检查系统的原理性示意图；
图2示出了本公开的一种示例性实施例的车辆安全检查系统的扫描装置的立体示意图；
图3示出了本公开的一种示例性实施例的车辆安全检查系统的扫描装置的横向剖视图；
图4示出了本公开的一种示例性实施例的三厢车的立体示意图；
图5示出了本公开的一种示例性实施例被检三厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图；
图6示出了本公开的另一种示例性实施例被检三厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图；
图7示出了本公开的一种示例性实施例的两厢车的立体示意图；
图8示出了本公开的一种示例性实施例被检两厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图；以及
图9示出了本公开的一种示例性实施例的安全检查方法的方框图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在下面的详细描述中，为便于解释，阐述了许多具体的细节以提供对本披露实施例的全面理解。然而明显地，一个或多个实施例在没有这些具 体细节的情况下也可以被实施。在其他情况下，公知的结构和装置以图示的方式体现以简化附图。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，并且以车辆的行进方向为基础，仅是为了便于描述本公开和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
根据本公开的一种总体上的发明构思，提供一种车辆安全检查系统，包括：扫描装置，安装在检查区域中，适用于对被检测的车辆进行扫描；成像设备，适用于获取驶入所述检查区域的车辆的实物图像；识别模块，适用于识别所述实物图像，并根据识别的实物图像确定车辆的类型；选择模块，适用于根据所确定的车辆的类型选择所述车辆的后备箱的特征；位置传感器，适用于检测所述车辆的预定部位在所述检查区域中的位置；以及控制器，适用于在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前端进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
根据本公开的另一种总体上的发明构思，提供一种上述车辆安全检查系统检查车辆的安全检查方法，包括如下步骤：获取在检查区域行驶的车辆的实物图像；识别所述实物图像，并根据识别的实物图像确定车辆的类型；根据所确定的车辆的类型选择所述车辆的后备箱的特征；检测所述车辆的预定部位在所述检查区域中的位置；以及在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前端进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
图1示出了本公开的一种示例性实施例的车辆安全检查系统的原理性示意图；图2示出了本公开的一种示例性实施例的车辆安全检查系统的扫描装置的立体示意图；图3示出了本公开的一种示例性实施例的车辆安全检查系统的扫描装置的横向剖视图。
根据本公开实施例的车辆安全检查系统适用于对例如家庭用小轿车之类的车辆的后备箱进行快速、安全检查。通过安检，可以发现车辆的后备箱中是否存在例如毒品、爆炸物、管制刀具、枪支之类的违禁物品。参见图4，车辆100为三厢车，并包括前端部101、后端部102、前轮103、后轮104、和后备箱105，后备箱105具有前端106。
根据本公开的一种示例性实施例，如图1-4所示，提供一种车辆安全检查系统，包括：扫描装置1、成像设备3、识别模块、选择模块、位置传感器2和控制器。扫描装置1安装在检查区域200中，并适用于对被检测的车辆进行扫描。成像设备3适用于获取驶入检查区域200的车辆100的实物图像。成像设备2包括面阵摄像机、区域激光扫描仪、多线激光传感器、或者线阵相机。识别模块适用于识别所述实物图像，并根据识别的实物图像确定车辆100的类型，例如确定车辆100是三厢车还是两厢车。选择模块适用于根据所确定的车辆100的类型选择所述车辆的后备箱105的特征。位置传感器2适用于检测所述车辆100的预定部位在所述检查区域200中的位置。控制器适用于在根据所述车辆100的所选择的特征和位置确定所述车辆的后备箱105的前端106在行驶方向F上进入所述扫描装置1的扫描区域16的情况下，控制所述扫描装置1对所述后备箱105进行扫描检查。
在一种示例性实施例中，所述控制器进一步适用于在所述位置传感器2检测到所述车辆100的后端部102离开所述扫描装置1发出的辐射束12形成的扫描区域16的情况下，控制所述扫描装置1停止扫描检查。
根据本公开实施例的车辆安全检查系统，识别模块可以识别车辆100的类型选择所述车辆的后备箱105的特征。控制器在根据所述车辆100的所选择的特征和位置确定所述车辆的后备箱105的前端106进入所述扫描装置1的扫描区域16的情况下，控制所述扫描装置1对所述后备箱105进行扫描检查。这样，扫描装置1仅对车辆100的后备箱105进行安全检 查，而且根据不同的车辆类型选择扫描检查的时机不同，车辆100的驾驶员和乘客无需下车，而且不需要车辆停止行驶，就能够实现对车辆的扫描检查，提高了安检效率。控制器在位置传感器2检测到所述车辆100的后端部102离开所述扫描装置1的扫描区域16的情况下，控制所述扫描装置1停止扫描检查，以为下一次的安检操作做好准备。
在一种示例性实施例中，参见图2，扫描装置1包括：相对地设置在所述检查区域200的两侧的两个直立框架11；以及分别设置在两个直立框架11上的适用于发射辐射束(例如X射线束)12的辐射源13和接收辐射束12的阵列探测器14，辐射束12限定扫描区域16。进一步地，所述扫描装置1还包括设置在所述直立框架11上的横梁。扫描装置2可以利用支撑架22安装在检查区域200的外侧，并且在行驶方向F上位于扫描装置1的下游。在一种示例性实施例中，扫描装置包括背散射成像装置和/或透射成像装置。在图3所示的示例性实施例中，扫描装置1设置成将辐射源设置在直立框架上的侧视角扫描装置。在一种可替换的实施例中，扫描装置设置成将辐射源设置在两个直立框架上部的横向框架上的顶视角扫描装置。
在一种示例性实施例中，所述扫描装置1还包括两个屏蔽墙15，分别设置在所述直立框架11上，以屏蔽来自于所述辐射源13的辐射线。
图4示出了本公开的一种示例性实施例的三厢车的立体示意图；图5示出了本公开的一种示例性实施例被检三厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图；图6示出了本公开的另一种示例性实施例被检三厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图。
在一种示例性实施例中，参见图1和4-6，位置传感器2包括激光传感器。利用一个激光传感器在一次检测过程中实时测量车辆100的前端部101、后轮104和后端部102与激光传感器2之间的距离L2、L6或L6’、以及L7。激光传感器例如包括区域激光扫描仪、多线激光传感器、和单线激光传感器中的任一种。激光传感器一般包括适用于向目标(例如车辆)发射激光束21的发射器、和适用接收从所述目标反射的激光的接收器。激光传感器可通过探测所发射的激光的回波信号来直接获取目标的距离、 角度、反射强度、速度等信息，生成目标多维度图像。
可以理解，在作为位置传感器2的激光传感器安装就位的情况下，激光传感器与扫描装置1之间在行驶方向F上的距离L1是固定的。预先设定由激光传感器的发射器发射的第一激光211用于测量车辆100的前端部101与激光传感器之间在行驶方向上的第一距离L2，由激光传感器的发射器发射的第二激光212用于测量车辆100的后轮104的前轮缘1041与激光传感器之间在行驶方向上的第二距离L6，由激光传感器的发射器发射的第三激光213用于测量车辆100的后端部102与激光传感器之间在行驶方向上的第三距离L7。
由于后备箱105的前端106在外部没有明显的特征，不容易测量后备箱的前端的位置。但是，无论三厢还是两厢轿车之类的车辆100，其后轮104与后备箱105的位置关系相对固定，而且后轮104的中心与后备箱104的前端105之间的距离也相对固定。为便于测量，利用激光传感器测量后轮104的位于车辆底盘之下的前轮缘1041在检查区域200中的位置。例如，可以设定对前轮缘1041的高于地面10-15厘米的部位进行测量。可以理解，参见图4，一旦预设定之后，在检测过程中，后轮104的前轮缘1041与后备箱105的前端106之间的距离L41、以及后轮104的后轮缘1042与后备箱105的前端106之间的距离L42基本上都是固定的。控制器可以根据后轮104的前轮缘1041与扫描装置1发射的辐射束12限定的扫描区域16之间的距离确定后备箱105的前端16是否到达扫描装置1的扫描区域16，并能够控制扫描装置1对后备箱105进行精确扫描检查。
在一种示例性实施例中，确定所述车辆100的类型包括确定所述车辆是两厢车还是三厢车。一般而言，三厢车的后备箱的长度大于两厢车的后备箱的长度，例如三厢车的长度为90-110厘米，而两厢车的长度为70-90厘米。进一步地，三厢车的后轮相对于后备箱的前端的距离与两厢车的后轮相对于后备箱的前端的距离也不相同。在一种实施例中，所述车辆100的预定部位设定为所述后轮104的低于所述车辆的底盘的前轮缘1041或者后轮缘1042，所述后备箱105的特征包括所述后备箱的前端106在车辆100的行驶方向F上超出车辆的后轮104的前轮缘1041或者后轮缘1042的第一距离。由于后轮104的前轮缘1041或者后轮缘1042与后备箱105 的前端106之间的距离L41或L42是固定的，因此，通过测量作为预定部位的后轮104的前轮缘1041或者后轮缘1042在检查区域200中的位置，可以确定后备箱105的前端106与扫描装置1的扫描区域16之间的相对位置。可以理解，如图1、4-6所示，随着车辆100在行驶方向F上行驶，后轮104的前轮缘1041或者后轮缘1042与所述扫描装置1的辐射束12之间的距离L4逐渐减小。
如图5所示，在测量后轮104的前轮缘1041在检查区域200中的位置的情况下，后备箱105的前端106与扫描装置1的扫描区域16之间的距离L4为：
L4＝L6-L41。
在一种实施例中，在所述行驶方向F上位于所述扫描装置1的上游的所述预定部位(即后轮104的前轮缘1041或者后轮缘1042)与所述扫描装置1的辐射束12之间的距离L4小于所述第一距离的情况下，说明后备箱105的前端106进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。
在一种示例性实施例中，如图5所示，如果所述识别模块确定所述车辆100为三厢车，且所述预定部位设定为所述前轮缘1041，则所述选择模块选择所述第一距离在5-25厘米的范围内，优选地，为大约10厘米。也就是说，在所述行驶方向F上位于所述扫描装置1的上游的前轮缘1041与所述扫描装置1的辐射束12之间的距离L4小于5-25厘米的情况下，优选小于10厘米的情况下，说明后备箱105的前端106进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。
另一方面，如图6所示，在测量后轮104的后轮缘1042在检查区域200中的位置的情况下，后备箱105的前端106与扫描装置1的扫描区域16之间的距离L4为：
L4＝L6’-L42。
如果所述识别模块确定所述车辆为三厢车，且所述预定部位设定为所述后轮缘1042，则所述选择模块选择所述第一距离在40-60厘米的范围内，优选地，为大约45厘米。也就是说，在所述行驶方向F上位于所述扫描装置1的上游的后轮缘1042与所述扫描装置1的辐射束12之间的距离 L4小于40-60厘米的情况下，优选小于45厘米的情况下，说明后备箱105的前端106进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。
图7示出了本公开的一种示例性实施例的两厢车的立体示意图；图8示出了本公开的一种示例性实施例被检两厢车通过车辆安全检查系统的扫描装置时扫描后备箱的原理性示意图。
参见如7和8，在一种实施例中，车辆100’为两厢车，并包括前端部101’、后端部102’、前轮103’、后轮104’、和后备箱105’，后备箱105’具有前端106’。后轮104’的前轮缘1041’与后备箱105’的前端106’之间的距离L41’、以及后轮104’的后轮缘1042’与后备箱105’的前端106’之间的距离L42’都是固定的。预先设定由激光传感器的发射器发射的第一激光211用于测量车辆100’的前端部101’与激光传感器之间在行驶方向上的第一距离L2’，由激光传感器的发射器发射的第二激光212用于测量车辆100’的后轮104’的前轮缘1041’与激光传感器之间在行驶方向上的第二距离L6”，由激光传感器的发射器发射的第三激光213用于测量车辆100的后端部102’与激光传感器之间在行驶方向上的第三距离L7’。
可以理解，与图4所示的三厢车不同，在图7所示的两厢车中，后轮104’的前轮缘1041’在车辆向前行驶的方向上位于后备箱105’的前端106’的下游。也就是说，以车辆向前行驶的方向为参照，两厢车的后轮104’的前轮缘1041’与后备箱105’的前端106’之间的距离L41’之间的距离L41’为负值。在两厢车的情况下，控制器可以根据后轮104’的前轮缘1041’与扫描装置1发射的辐射束12限定的扫描区域16之间的距离确定后备箱105’的前端16’是否到达扫描装置1的扫描区域16，并能够控制扫描装置1对后备箱105’进行精确扫描检查。
如图1、7和8所示，在测量两厢车的后轮104’的前轮缘1041’在检查区域200中的位置的情况下，后备箱105’的前端106’与扫描装置1的扫描区域16(或者辐射束12)之间的距离L4’为：
L4’＝L6”-L41’，其中L41’可能为负值，例如，L41’＝-5厘米。
在一种示例性实施例中，如图7和8所示，如果所述识别模块确定所述车辆100’为两厢车，且所述预定部位设定为所述两厢车的前轮缘1041’， 则所述选择模块选择所述第一距离在(-10)-10厘米的范围内，优选地，为大约-5厘米。也就是说，在所述行驶方向F上位于所述扫描装置1的上游的前轮缘1041’与所述扫描装置1的辐射束12之间的距离L4小于(-10)-10厘米的情况下，优选小于-5厘米的情况下，说明后备箱105’的前端106’进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。
在一种示例性实施例中，如果所述识别模块确定所述车辆为12厢车，且所述预定部位设定为所述两厢车的后轮缘1042’，则所述选择模块选择所述第一距离在30-50厘米的范围内，优选地，为大约35厘米。也就是说，在所述行驶方向F上位于所述扫描装置1的上游的后轮缘1042与所述扫描装置1的辐射束12之间的距离L4小于30-50厘米的情况下，优选小于35厘米的情况下，说明后备箱105的前端106’进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。
在一种示例性实施例中，参见图5，所述控制器进一步适用于在所述位置传感器2检测到所述车辆100的前端部101在所述行驶方向F上离开所述扫描装置1的辐射束12距离超出200厘米时，即(L1-L2)＞200厘米时，说明车辆100的前轮103已经过扫描装置1，开始控制所述位置传感器2检测所述后轮104的后轮缘1041或者前轮缘1042的位置。这样，可以避免位置传感器2错误地测量前轮103的位置。
在一种示例性实施例中，参见图1、4-6，所述后备箱105的特征包括所述后备箱的长度L3，所述车辆100的预定部位设定为所述车辆的后端部104。在所述行驶方向F上位于所述扫描装置1的上游的所述车辆100的后端部104与所述扫描装置1的辐射束102之间的距离L5(＝L7-L1)小于所述第二距离的情况下，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。进一步地，如果所述识别模块确定所述车辆100为三厢车，则所述选择模块选择所述第二距离在90-110厘米的范围内，优选地，为大约100厘米。可以理解，该第二距离大致等于三厢车后备箱105的长度L3。
在一种示例性实施例中，参见图1、7-8，所述后备箱105’的特征包括所述后备箱的长度L3’，所述车辆100’的预定部位设定为所述车辆的后端 部104’。在所述行驶方向F上位于所述扫描装置1的上游的所述车辆100’的后端部104’与所述扫描装置1的辐射束102之间的距离(L7’-L1’)小于所述第二距离的情况下，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。进一步地，如果所述识别模块确定所述车辆100为两厢车，则所述选择模块选择所述第二距离在70-90厘米的范围内，优选地，为大约80厘米。可以理解，该第二距离大致等于两厢车后备箱105’的长度L3’。
在一种示例性实施例中，所述位置传感器2进一步适用于测量所述车辆100的行驶速度，所述控制器根据所述行驶速度控制所述扫描装置1的扫描频率。这样，可以确保扫描装置1的扫描频率与车辆的行驶速度相对应，从而能够得到稳定的扫描图像。进一步地，在对车辆100或100’扫描成像的过程中，所述控制器根据所述行驶速度调整所述扫描装置1形成的扫描图像的比例，以获得更清晰的扫描图像。
图9示出了本公开的一种示例性实施例的安全检查方法的方框图。
根据本公开另一方面的实施例，提供一种利用上述任一实施例所述的车辆安全检查系统检查车辆后备箱的安全检查方法，包括如下步骤：步骤S100，通过成像设备3获取驶入检查区域200的车辆100的实物图像；通过识别模块识别所述实物图像，并根据识别的实物图像确定车辆的类型，例如识别车辆是三厢车还是两厢车；通过选择模块根据所确定的车辆的类型选择所述车辆100的后备箱105的特征；通过位置传感器2检测所述车辆100的预定部位在所述检查区域200中的位置；以及通过控制器在根据所述车辆100的所选择的特征和位置确定所述车辆的后备箱105的前端106进入所述扫描装置1的扫描区域16的情况下，控制所述扫描装置1对所述后备箱106进行扫描检查。
在一种示例性实施例中，在所述位置传感器2检测到所述车辆100的后端部102离开所述扫描装置1发出的辐射束12形成的扫描区域16的情况下，通过控制器控制所述扫描装置1停止扫描检查。
根据本公开实施例的车辆安全检查系统，识别模块可以识别车辆100的类型选择所述车辆的后备箱105的特征。控制器在根据所述车辆100的所选择的特征和位置确定所述车辆的后备箱105的前端106进入所述扫描 装置1的扫描区域16的情况下，控制所述扫描装置1对所述后备箱105进行扫描检查。这样，扫描装置1仅对车辆100的后备箱105进行安全检查，而且根据不同的车辆类型选择扫描检查的时机不同，车辆100的驾驶员和乘客无需下车，而且不需要车辆停止行驶，就能够实现对车辆的扫描检查，提高了安检效率。控制器在位置传感器2检测到所述车辆100的后端部102离开所述扫描装置1的扫描区域16的情况下，控制所述扫描装置1停止扫描检查，以为下一次的安检操作做好准备。
在一种实施例中，参见图1、4和6，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆100的后轮104的低于所述车辆的底盘的后轮缘1042，则在所述行驶方向F上位于所述扫描装置1的上游的所述后轮缘1042与所述扫描装置1的辐射束之间的距离小于40-60厘米的情况下，优选地，为大约45厘米的情况下，说明后备箱105的前端106进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱进105行扫描检查。
在一种实施例中，参见图1、4和5，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆100的后轮104的低于所述车辆的底盘的前轮缘1041，则在所述行驶方向F上位于所述扫描装置1的上游的所述前轮缘1041与所述扫描装置1的辐射束12之间的距离小于5-25厘米的情况下，优选地，为大约10厘米的情况下，说明后备箱105的前端106进入了扫描区域16，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。
在一种实施例中，参见图1和7，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆100’的后轮104’的低于所述车辆的底盘的后轮缘1042’，则在所述行驶方向F上位于所述扫描装置1的上游的所述后轮缘1042’与所述扫描装置1的辐射束之间的距离小于30-50厘米的情况下，优选地，为大约35厘米的情况下，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。
在一种实施例中，参见图1、6和7，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆100’的后轮1042’的低于所述车辆的底盘的前轮缘1041’，则在所述行驶方向F上位于所述扫描装置1的上游 的所述前轮缘1041’与所述扫描装置1的辐射束之间的距离小于(-10)-10厘米的情况下，优选地，为大约-5厘米的情况下，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。
在一种实施例中，参见图1和4-6，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆100的后端部102，则在所述行驶方向F上位于所述扫描装置1的上游的所述后端部102与所述扫描装置1的辐射束之间的距离小于90-110厘米的情况下，优选地，为大约100厘米的情况下，所述控制器控制所述扫描装置1对所述后备箱105进行扫描检查。
在一种实施例中，参见图1和7-8，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆100’的后端部102’，则在所述行驶方向F上位于所述扫描装置1的上游的所述后端部102’与所述扫描装置1的辐射束之间的距离小于80-100厘米的情况下，优选地，为大约90厘米的情况下，所述控制器控制所述扫描装置1对所述后备箱105’进行扫描检查。
根据本公开实施例的车辆缓冲板安检系统和安全检查方法，可以对即将进入公安、司法、监狱、海关、边检、缉私缉毒、机场、重要政府机关、重要安保机构、军事基地、领事馆、重要人物住所通道、重要会议场馆等处所的车辆进行安全检查，在车辆不停止行驶并且驾驶员并下车的情况下，对车辆的后备箱进行检查，以检查后备箱内是否藏有例如毒品、走私物品、管制刀具、枪支、易燃易爆物品之类的违禁品。扫描装置只是在对后备箱检查检查的过程中才发射辐射束，实现了对驾驶员和车辆上其它乘客的避让，确保了驾驶员以及车辆上其它乘客免受辐射束的辐射，提高了安全性。
根据本公开实施例的车辆安全检查系统和安全检查方法，控制器在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前端进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。这样，扫描装置根据不同的车辆类型选择扫描检查的时机不同，实现对后备箱位置的准确判断，可以实现扫描设备快速发射辐射束和停止发射辐射束，车辆可以连续进入检查区域。使用位置传感器确定车辆的位置，实际应用中易于安装，成本低。
本领域的技术人员可以理解，上面所描述的实施例都是示例性的，并且本领域的技术人员可以对其进行改进，各种实施例中所描述的结构在不 发生结构或者原理方面的冲突的情况下可以进行自由组合。
虽然结合附图对本公开进行了说明，但是附图中公开的实施例旨在对本公开优选实施方式进行示例性说明，而不能理解为对本公开的一种限制。虽然本公开发明构思的一些实施例已被显示和说明，本领域普通技术人员将理解，在不背离本总体实用新型构思的原则和精神的情况下，可对这些实施例做出改变，本公开的范围以权利要求和它们的等同物限定。

Claims (23)

  1. 一种车辆安全检查系统，包括：
    扫描装置(1)，安装在检查区域(200)中，适用于对被检测的车辆进行扫描；
    成像设备(3)，适用于获取驶入所述检查区域的车辆的实物图像；
    识别模块，适用于识别所述实物图像，并根据识别的实物图像确定车辆的类型；
    选择模块，适用于根据所确定的车辆的类型选择所述车辆的后备箱的特征；
    位置传感器(2)，适用于检测所述车辆的预定部位在所述检查区域中的位置；以及
    控制器，适用于在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱(105)的前端部(106)进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
  2. 根据权利要求1所述的车辆安全检查系统，其中，所述控制器进一步适用于在所述位置传感器检测到所述车辆的后端部离开所述扫描装置的扫描区域的情况下，控制所述扫描装置停止扫描检查。
  3. 根据权利要求1或2所述的车辆安全检查系统，其中，确定所述车辆的类型包括确定所述车辆是两厢车还是三厢车。
  4. 根据权利要求3所述的车辆安全检查系统，其中，所述车辆的预定部位设定为所述后轮的低于所述车辆的底盘的前轮缘或者后轮缘，所述后备箱的特征包括所述后备箱的前端(106)在车辆的行驶方向上超出所述前轮缘或者后轮缘的第一距离，
    在所述行驶方向上位于所述扫描装置的上游的所述预定部位与所述扫描装置的辐射束之间的距离小于所述第一距离的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  5. 根据权利要求4所述的车辆安全检查系统，其中，
    如果所述识别模块确定所述车辆为三厢车，且所述预定部位设定 为所述前轮缘，则所述选择模块选择所述第一距离在5-25厘米的范围内，优选地，为大约10厘米，
    如果所述识别模块确定所述车辆为三厢车，且所述预定部位设定为所述后轮缘，则所述选择模块选择所述第一距离在40-60厘米的范围内，优选地，为大约45厘米。
  6. 根据权利要求4或5所述的车辆安全检查系统，其中，
    如果所述识别模块确定所述车辆为两厢车，且所述预定部位设定为所述前轮缘，则所述选择模块选择所述第一距离在(-10)-10厘米的范围内，优选地，为大约-5厘米，
    如果所述识别模块确定所述车辆为两厢车，且所述预定部位设定为所述后轮缘，则所述选择模块选择所述第一距离在30-50厘米的范围内，优选地，为大约35厘米。
  7. 根据权利要求4-6中的任一项所述的车辆安全检查系统，其中，所述控制器进一步适用于在所述位置传感器检测到所述车辆的前端部在所述行驶方向上离开所述扫描装置的辐射束距离超出200厘米时，开始控制所述位置传感器检测所述后轮的后轮缘或者前轮缘的位置。
  8. 根据权利要求3所述的车辆安全检查系统，其中，所述后备箱的特征包括所述后备箱的长度，所述车辆的预定部位设定为所述车辆的后端部，
    在所述行驶方向上位于所述扫描装置的上游的所述车辆的后端部与所述扫描装置的辐射束之间的距离小于所述第二距离的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  9. 根据权利要求8所述的车辆安全检查系统，其中，如果所述识别模块确定所述车辆为三厢车，则所述选择模块选择所述第二距离在90-110厘米的范围内，优选地，为大约100厘米。
  10. 根据权利要求8或9所述的车辆安全检查系统，其中，如果所述识别模块确定所述车辆为两厢车，则所述选择模块选择所述第二距离在70-90厘米的范围内，优选地，为大约80厘米。
  11. 根据权利要求1-10中的任一项所述的车辆安全检查系统，其 中，位置传感器包括区域激光扫描仪、多线激光传感器、和单线激光传感器中的任一种。
  12. 根据权利要求11所述的车辆安全检查系统，其中，所述位置传感器还适用于测量所述车辆的行驶速度，
    所述控制器根据所述行驶速度控制所述扫描装置的扫描频率。
  13. 根据权利要求12所述的车辆安全检查系统，其中，所述控制器根据所述行驶速度调整所述扫描装置形成的扫描图像的比例。
  14. 根据权利要求1-13中的任一项所述的车辆安全检查系统，其中，扫描装置包括：
    相对地设置在所述检查区域的两侧的两个直立框架(11)；以及
    分别设置在两个直立框架上的辐射源(13)和阵列探测器(14)。
  15. 根据权利要求14所述的车辆安全检查系统，其中，所述扫描装置还包括两个屏蔽墙(15)，分别设置在所述直立框架上，以屏蔽来自于所述辐射源的辐射线。
  16. 一种利用根据权利要求1-15中的任一项所述的车辆安全检查系统检查车辆的安全检查方法，包括如下步骤：
    获取驶入检查区域的车辆的实物图像；
    识别所述实物图像，并根据识别的实物图像确定车辆的类型；
    根据所确定的车辆的类型选择所述车辆的后备箱的特征；
    检测所述车辆的预定部位在所述检查区域中的位置；以及
    在根据所述车辆的所选择的特征和位置确定所述车辆的后备箱的前端进入所述扫描装置的扫描区域的情况下，控制所述扫描装置对所述后备箱进行扫描检查。
  17. 根据权利要求16所述的安全检查方法，其中，在所述位置传感器检测到所述车辆的后端部离开所述扫描装置的扫描区域的情况下，控制所述扫描装置停止扫描检查。
  18. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的后轮缘，则在所述行驶方向上位于所述扫描 装置的上游的所述后轮缘与所述扫描装置的辐射束之间的距离小于40-60厘米的情况下，优选地，为大约45厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  19. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的前轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述前轮缘与所述扫描装置的辐射束之间的距离小于5-25厘米的情况下，优选地，为大约10厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  20. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的后轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述后轮缘与所述扫描装置的辐射束之间的距离小于30-50厘米的情况下，优选地，为大约35厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  21. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后轮的低于所述车辆的底盘的前轮缘，则在所述行驶方向上位于所述扫描装置的上游的所述前轮缘与所述扫描装置的辐射束之间的距离小于(-10)-10厘米的情况下，优选地，为大约-5厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  22. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为三厢车，且所述预定部位设定为所述车辆的后端部，则在所述行驶方向上位于所述扫描装置的上游的所述后端部与所述扫描装置的辐射束之间的距离小于90-110厘米的情况下，优选地，为大约100厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
  23. 根据权利要求16或17所述的安全检查方法，其中，如果确定所述车辆的类型为两厢车，且所述预定部位设定为所述车辆的后端部，则在所述行驶方向上位于所述扫描装置的上游的所述后端部与所 述扫描装置的辐射束之间的距离小于80-100厘米的情况下，优选地，为大约90厘米的情况下，所述控制器控制所述扫描装置对所述后备箱进行扫描检查。
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