Automatic attitude adjustment and calibration control system for detection box of security inspection equipment

Abstract

The invention relates to the technical field of attitude adjustment control, in particular to an automatic attitude adjustment and calibration control system for a detection box of security inspection equipment, which comprises a laser feedback acquisition module, a structure response identification module, an attitude parameter analysis module, a fine adjustment control generation module and a calibration stability locking module. According to the method, laser ranging data and displacement feedback are collected, a three-dimensional Euclidean interval is constructed in combination with space coordinates, a mapping relation is established, space quantization information related to an offset state is obtained, and stability recognition of structural response is achieved in combination with the displacement change amplitude and the angle fluctuation degree in a continuous period. Through axial difference mapping of an attitude vector and a target instruction value, cyclic positioning of attitude offset and dynamic matching of a control channel are realized, an adjustment step length and an execution segment are matched according to a pose adjustment demand, and whether a system reaches a stable state can be accurately identified by combining a stable residence time evaluation mechanism after an action is completed. And the accuracy, coherence and response self-consistency of attitude adjustment execution are improved.

Description

Technical Field

[0001] This invention relates to the field of posture control technology, and in particular to an automatic posture adjustment and calibration control system for a security inspection equipment detector box. Background Technology

[0002] Attitude control technology involves the precise control and adjustment of the spatial attitude of a target object. Its core aspects include attitude detection, attitude adjustment, attitude maintenance, and attitude calibration, and it is widely used in aerospace, intelligent manufacturing, precision instruments, and automated equipment. Specifically, the attitude adjustment and calibration control system for security inspection equipment detector boxes refers to a control system that automatically adjusts and calibrates the attitude deviation of the detector box caused by placement errors or environmental interference during security inspections. The technical aspects it addresses include detector box position detection, attitude adjustment, spatial alignment, and automatic calibration. It acquires attitude angle information and performs three-axis angle adjustments to achieve the set attitude, and uses standard physical reference components for manual or semi-automatic calibration to update the system's initial attitude reference and correct errors.

[0003] In the current security inspection equipment's detector box attitude adjustment process, it mainly relies on attitude angle information in conjunction with physical reference components for three-axis adjustment and manual or semi-automatic calibration. During execution, it cannot identify the quantitative spatial data of the detector box's attitude deviation in real time, and lacks a mechanism for judging the stability of the structural motion state. This makes the system prone to misjudgment when detecting environmental disturbances or the detector box's own micro-movements. In attitude adjustment, it is also unable to achieve distributed deconstruction of multi-axis differences and precise matching of control paths. There is a lack of a control command generation process that is dynamically associated with the target attitude requirements, resulting in problems such as fuzzy adjustment step size and inconsistent action rhythm. For example, in high-frequency calibration scenarios, the detector box attitude adjustment often involves repeated fine adjustments but still cannot achieve stable calibration, which can easily lead to the accumulation of system attitude reference errors and response lag. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and propose an automatic attitude adjustment and calibration control system for the detection box of security inspection equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an automatic attitude adjustment and calibration control system for a security inspection equipment detector box includes:

[0006] The laser feedback acquisition module acquires the distance reading output by the laser rangefinder sensor of the security inspection equipment detection box, the current displacement value of the position encoder and the displacement feedback value of the push rod, calculates the three-dimensional Euclidean distance between the two points as the offset basis, and establishes the offset mapping to obtain the spatial offset data of the detection box.

[0007] The structural response identification module uses the spatial offset data of the detection box to count the change value of the push rod stroke length and the change value of the rotating component angle in a continuous cycle. It then compares the change amplitude in each cycle with the minimum detectable displacement. If the condition is not met in a continuous cycle, the structural action is marked as stopped and a detection box response stop flag is generated.

[0008] The attitude parameter parsing module collects reference values ​​of each axis direction and attitude vector parameters of the probe box in the attitude command according to the stop flag of the probe box response. The difference between the pitch axis and the yaw axis is decomposed into a cyclic positioning offset distribution. The push rod control channel and the rotation control channel are matched to obtain the attitude adjustment parameter set.

[0009] The fine-tuning control generation module, based on the set of attitude adjustment parameters, sequentially matches the instruction templates, compares the adjustment step range with the attitude requirements of the offset direction, establishes a set of control instruction segments, and integrates them to generate an attitude adjustment action control sequence.

[0010] As a further aspect of the present invention, the spatial offset data of the detection box includes three-dimensional Euclidean spacing, the average spatial distribution of coordinate points, and offset mapping relationship; the detection box response stop indicator includes the structural action stop state judgment result, the push rod stroke stability state indicator, and the rotation component angle stability indicator; the attitude adjustment parameter set includes pitch axis offset, yaw axis offset, control channel matching parameters, and cyclic positioning offset standard deviation; and the attitude adjustment action control sequence includes a control command segment set, a sequence control set, and attitude adjustment matching parameters.

[0011] As a further aspect of the present invention, the laser feedback acquisition module includes:

[0012] The distance acquisition submodule acquires the distance reading, current displacement value of the position encoder and push rod displacement feedback value output by the laser ranging sensor within the current period, merges the three data according to the timestamp, identifies the ranging parameters collected by the sensor at each time, filters the valid ranging points with error values ​​within the set sampling error threshold range, and obtains the effective spatial ranging value.

[0013] Based on the effective value of the spatial ranging, the coordinate calculation submodule obtains the corresponding laser reflection coordinate points between the detection box and the collimated target boundary, performs joint spatial positioning by combining the ranging points and the push rod displacement feedback value, calculates the spatial position deviation between point pairs, and statistically analyzes the set of spatial distance values ​​corresponding to the current coordinate sequence to obtain the spatial distance sequence value.

[0014] The offset mapping submodule analyzes the spatial mean change trend between points based on the spatial distance sequence values, filters points that deviate from the average value in the sequence, uses the position deviation as the offset benchmark to construct a mapping relationship, performs boundary mapping, and performs spatial registration on all laser reflection points to generate spatial offset data of the detection box.

[0015] As a further aspect of the present invention, the structural response recognition module includes:

[0016] The stroke extraction submodule extracts the stroke change records of the push rod within a continuous cycle based on the spatial offset data of the detection box, obtains the push rod displacement values ​​at the start and end times of each cycle, filters the maximum and minimum values ​​within each cycle, compares and analyzes the change amplitude of each cycle in the sequence, confirms the displacement fluctuation trend of each cycle, and generates the cycle displacement change amount.

[0017] The angle difference submodule synchronously extracts the angle values ​​of the rotating component in each cycle based on the periodic displacement change, merges the maximum and minimum angle values ​​within the cycle, identifies the angle response amplitude of each cycle, and partitions the periodic response state with the minimum perceived angle value as a reference, sorts out the angle change trend and records the response characteristics of each cycle, and generates a periodic angle response sequence.

[0018] The state determination submodule performs synchronous judgment on the two indicators for each cycle based on the periodic angle response sequence and the periodic displacement change. Based on the state combination results within the continuous cycle, it identifies and registers the periodic segments that meet the conditions and generates a detection box response stop flag.

[0019] As a further aspect of the present invention, the attitude parameter parsing module includes:

[0020] The attitude acquisition submodule extracts the reference attitude values ​​in the pitch and yaw directions of the attitude control command within the corresponding time period based on the stop flag of the detection box, acquires the attitude vector values ​​recorded by the position encoder of the detection box, and merges and marks them into pitch attitude components and yaw attitude components according to the axial direction, and generates an attitude error vector sequence.

[0021] The offset analysis submodule identifies the target point distribution of each axis in the XY plane under the pitch and yaw axes based on the attitude error vector sequence, determines the position of 5 representative target points in each axis direction, performs 10 repeated attitude acquisitions around each point, performs variance analysis and distribution evaluation on the position values ​​in the acquired data, calculates the position dispersion coefficient under the multi-point distribution, and outputs the results for each axis separately. It compares the results with the distribution benchmark value, filters the axes with offset concentration characteristics, and obtains the cyclic offset distribution data.

[0022] Based on the cyclic offset distribution data, the control mapping submodule classifies the offset directions under different axes, extracts the channel numbers corresponding to the pitch axis offset direction, maps them to the corresponding push rod control channel numbers, extracts the channel numbers corresponding to the yaw axis offset direction, maps and integrates them with the rotation control channels, maps the component values ​​of the offset vector in each direction, and generates a set of attitude adjustment parameters.

[0023] As a further aspect of the present invention, the fine-tuning control generation module includes:

[0024] The step size matching submodule extracts the contents of each control template in the current task instruction table according to the attitude adjustment parameter set, searches and matches the control directions of the pitch axis and yaw axis, and makes a range judgment with the current adjustment angle to identify whether each offset direction is within the instruction range. Simultaneously, it verifies the direction correspondence between the push rod channel and the rotation channel to obtain the matching step size parameter set.

[0025] The segmentation creation submodule, based on the matching step size parameter set, sequentially extracts executable segmentation requirements according to the control direction, splits and groups the offset correction value of each direction into segments, numbers and archives consecutive segments under the same direction, extracts the execution channel and action target information corresponding to each segment, establishes a multi-level matching mapping between segments and control objects, and obtains the instruction segmentation control set.

[0026] The sequence generation submodule divides the control set into segments according to the instructions, sorts the action nodes in each direction according to the order specified by the task template, extracts the required action execution timing and synchronization parameters of each node, sets the sequence index number for the push rod control channel and the rotation control channel respectively, and sets the execution beat after merging the two control sequences, establishes the timing control mapping structure, and generates the attitude adjustment action control sequence.

[0027] As a further aspect of the present invention, the system further includes:

[0028] The calibration stabilization and locking module drives the detector box to adjust its posture according to the posture adjustment action control sequence, identifies whether a stable dwell time is maintained, and if so, registers the calibration status and outputs the posture adjustment calibration record of the security inspection equipment detector box.

[0029] The attitude adjustment and calibration record includes a stable dwell time record, an attitude adjustment completion indicator, and a calibration status registration record.

[0030] As a further aspect of the present invention, the calibration stability locking module includes:

[0031] The instruction-driven submodule performs structural decomposition operations on each instruction according to the posture adjustment action control sequence, and drives the corresponding push rod control channel and rotation control channel to perform physical posture adjustment operations step by step. If the feedback angle is consistent with the target offset direction, the action is determined to be valid. If the direction is inconsistent, the current instruction is stopped, the current posture angle is recalibrated as a new reference value, the scheduling sequence is refilled, and the execution action feedback dataset is obtained.

[0032] The stability judgment submodule performs continuous time period stability recognition operation on each feedback data according to the execution action feedback dataset, collects the posture feedback curve after the execution action ends, extracts the time axis data of posture change and angle change trend, judges the posture angle change rate, and establishes a posture adjustment stability time record set.

[0033] The status registration submodule registers each channel that meets the stability conditions by numbering it according to the attitude adjustment stabilization time record set, archives and manages the completed channel control status, sets a calibration mark corresponding to the attitude adjustment success status of each channel, establishes a multi-channel joint status registration list, and outputs the attitude adjustment calibration record of the security inspection equipment detector box.

[0034] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0035] In this invention, by collecting laser ranging data and displacement feedback, and constructing a three-dimensional Euclidean distance and establishing a mapping relationship with spatial coordinates, spatial quantitative information related to the offset state is obtained. By combining the displacement change amplitude and angle fluctuation degree within a continuous period, the stability of the structural response is identified. Through the difference mapping between the attitude vector and the target command value in a specific axis, the cyclic positioning of the attitude offset and the dynamic matching of the control channel are realized. According to the position adjustment requirements, the step size and execution segment are matched and adjusted to effectively generate a sequence of control commands with directionality and rhythm. Combined with the stable dwell time evaluation mechanism after the action is completed, it can accurately identify whether the system has reached a stable state. This realizes a closed-loop control of the entire process from spatial offset data acquisition to precise attitude adjustment control and finally to calibration registration, improving the accuracy, coherence and response self-consistency of attitude adjustment execution. Attached Figure Description

[0036] Figure 1 This is a system flowchart of the present invention;

[0037] Figure 2 This is a flowchart of the laser feedback acquisition module of the present invention;

[0038] Figure 3 This is a flowchart of the structural response recognition module of the present invention;

[0039] Figure 4 This is a flowchart of the attitude parameter parsing module of the present invention;

[0040] Figure 5 This is a flowchart of the fine-tuning control generation module of the present invention;

[0041] Figure 6 This is a flowchart of the calibration stability locking module of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] Please see Figure 1 An automatic attitude adjustment and calibration control system for a security inspection equipment detector box includes:

[0045] The laser feedback acquisition module acquires the distance reading output by the laser ranging sensor above the security inspection equipment detection box in the current cycle, the current displacement value of the position encoder and the push rod displacement feedback value. Based on the laser reflection coordinate points between the detection box and the collimated target boundary, the three-dimensional spatial Euclidean distance between the two points is calculated as the offset basis. The offset mapping is established by combining the spatial distribution mean between each coordinate point sequence to obtain the spatial offset data of the detection box.

[0046] The structural response recognition module uses the spatial offset data of the detection box to count the change value of the push rod stroke length and the change value of the rotating component angle in a continuous cycle. It compares the change amplitude in each cycle with the minimum detectable displacement (the position resolution threshold is 0.05mm as defined by the standard). If the condition is not met in a continuous cycle, the structural action is marked as stopped and a detection box response stop mark is generated.

[0047] The attitude parameter parsing module collects reference values ​​of each axis direction in the attitude command based on the stop flag of the probe box response, obtains the attitude vector parameters output by the position encoder of the current probe box, decomposes the difference between the two vectors on the pitch axis and the yaw axis into a cyclic positioning offset distribution (taking 5 target points on each axis in the XY plane for 10 cyclic positioning), and matches the push rod control channel and the rotation control channel according to the offset direction to obtain the attitude adjustment parameter set;

[0048] The fine-tuning control generation module is based on the attitude adjustment parameter set. It sequentially matches the current instruction template in the task table, compares whether the adjustment step size range in each direction matches the attitude requirements in the offset direction, establishes a control instruction segment set, integrates all segmented actions into a sequence control set, and generates an attitude adjustment action control sequence.

[0049] The calibration stabilization and locking module drives the detector box to adjust its posture according to the posture adjustment action control sequence, identifies whether it maintains a stable dwell time (greater than or equal to 1.5 seconds), and if so, registers the calibration status and outputs the posture adjustment calibration record of the security inspection equipment detector box.

[0050] The spatial offset data of the probe box includes three-dimensional Euclidean spacing, mean spatial distribution of coordinate points, and offset mapping relationship. The probe box response stop indicators include the structural action stop status judgment result, push rod stroke stability status indicator, and rotating component angle stability indicator. The attitude adjustment parameter set includes pitch axis offset, yaw axis offset, control channel matching parameters, and cyclic positioning offset standard deviation. The attitude adjustment action control sequence includes control command segment set, sequence control set, and attitude adjustment matching parameters. The attitude adjustment calibration record includes stable dwell time record, attitude adjustment completion indicator, and calibration status registration record.

[0051] Please see Figure 2 The laser feedback acquisition module includes:

[0052] The distance acquisition submodule acquires the distance reading, current displacement value of the position encoder and push rod displacement feedback value output by the laser ranging sensor within the current period, merges the three data according to the timestamp, identifies the ranging parameters collected by the sensor at each time, filters the valid ranging points with error values ​​within the set sampling error threshold range, and obtains the effective spatial ranging value.

[0053] The system acquires the distance reading from the laser rangefinder sensor, the current displacement value from the position encoder, and the push rod displacement feedback value within the current cycle. First, after device startup, the data acquisition cycle is set to 10ms. The instantaneous distance measurement value output by the laser rangefinder module, the current axial displacement recorded by the position encoder, and the displacement feedback voltage value of the push rod motor are synchronously acquired via the data bus. The voltage value is then converted using a displacement conversion coefficient. For example, if the acquired voltage is 1.54V and the conversion coefficient is 10mm / V, the corresponding push rod displacement is 15.4mm. This value is then compared with the displacement value read by the position encoder to calculate the difference and determine if there is any interference noise. Records with a displacement difference less than a set threshold of 2.0mm are considered valid displacement values ​​and proceed to the next step. The laser rangefinder value, position encoder value, and push rod value are numbered and merged according to a unified time sequence to form a unified data sample set. In a real-world scenario, for example, if the device needs to monitor multiple laser points each time it runs, three points numbered P1 to P3 are selected, and their data records are as follows:

[0054] Table 1. Distance Measurement Point Location Information

[0055] Distance measurement point number X-coordinate (mm) Y coordinate (mm) Z-coordinate (mm) Push rod displacement value (mm) Distance measurement (mm) P1 182.3 43.6 72.0 15.4 105.6 P2 185.9 45.1 70.5 17.2 108.2 P3 188.0 47.0 68.3 18.5 109.7

[0056] As shown in Table 1, the sum of the measured distance and the push rod displacement is compared with the theoretical distance measurement constant reference value. When the theoretical distance measurement constant is 90mm, the distance measurement error for P1 is |105.6-(15.4+90.0)|=0.2mm, and for P2 it is |108.2-(17.2+90.0)

[0057] |=1.0mm, P3 is |109.7-(18.5+90.0)|=1.2mm. All three sets of data fall within the set error threshold of 2.0mm, and are therefore determined to be valid ranging points. In actual operation, this error threshold is set based on the average error range of 1.6mm obtained from the statistical analysis of 50 sets of samples in the equipment debugging sample set. The threshold is set to be 20% higher than this to form a 2.0mm standard, thus obtaining the effective value of spatial ranging.

[0058] The coordinate calculation submodule obtains the corresponding laser reflection coordinates between the probe box and the collimated target boundary based on the effective value of spatial ranging. It then performs joint spatial positioning by combining the ranging points with the push rod displacement feedback value, using the following formula:

[0059]

[0060] The calculation obtains the spatial positional deviation between point pairs, and the set of spatial distance values ​​corresponding to the current coordinate sequence is statistically analyzed to obtain the spatial distance sequence value, where D ij x represents the spatial positional deviation between point i and point j. i y i , z i Represent the position coordinates of point i in three-dimensional space, v ik v jk This represents the displacement value of point i and point j in the k-th direction, where n is the total number of axial directions or the number of sequences, and l im s represents the distance measurement length of point i in the m-th sequence. jm The detection response value of point j in the m-th sequence;

[0061] Based on the effective value of spatial ranging, the corresponding laser reflection coordinates between the detection box and the collimated target boundary are obtained. Joint spatial positioning is then performed using the ranging points and push rod displacement feedback values. Taking coordinate points P1 and P2 as examples, their three-dimensional coordinates are (x1, y1, z1) = (182.3, 43.6, 72.0) and (x2, y2, z2) = (185.9, 45.1, 70.5), corresponding to push rod displacements of 15.4 mm and 17.2 mm, respectively. To calculate the three-dimensional spatial position deviation, these values ​​are substituted into the formula, where x...i y i , z i This represents the coordinates of point i in three-dimensional space, in mm; v ik v jk The displacement values ​​of the push rod at points i and j along the k-th axis are in mm; n is the number of sampling axes or sequence number, set to 3; l im Here is the distance measurement value corresponding to point i in the m-th sequence, in mm; s jm Let be the detection signal response value corresponding to point j in the m-th sampling, and take a normalized value of 0 to 1.

[0062] Substitute the actual data as follows:

[0063] Sum of squared coordinate differences:

[0064] (x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2 = (182.3-185.9) 2 +......+(72.0-70.5) 2 =17.46;

[0065]

[0066] Average displacement difference of push rod (3-axis):

[0067] Let v i2 =15.0, v j2 =16.7, v i3 =14.6, v j3 =16.1, then

[0068]

[0069] Detection response item:

[0070] Let l i1 =105.6, l i2 =104.8, l i3 =106.2, s j1 =0.92, s j2 =0.90, s j3 =0.88;

[0071]

[0072] The final calculation yields:

[0073] D ij =4.18+1.67-95.64=-89.79mm;

[0074] This result represents a spatial offset of -89.79 mm between laser reflection points P1 and P2. This value is used as input for judging the point-to-point offset trend to obtain a spatial distance sequence value.

[0075] Spatial position deviation is a numerical expression used to measure the degree of change in the relative position of two laser reflection ranging points in three-dimensional space. It not only reflects the difference in geometric coordinate distance between the point pair, but also comprehensively considers the inconsistency of the displacement of the push rod in multiple axes and the influence of the detection response signal on the ranging stability. The larger the value, the more significant the spatial offset between the point pair during the equipment's operating cycle. This may be due to deviations caused by structural motion errors, sensor installation misalignment, or external disturbances. A positive value indicates that the offset is dominated by the increase in ranging, while a negative value may be due to underestimation of ranging caused by response decay or displacement contraction. Therefore, this deviation can serve as an important parameter for judging the structural stability, positioning consistency, and offset trend changes of the equipment.

[0076] The formula's operational logic is based on the principle of multi-source information fusion to evaluate the spatial offset between 3D point pairs. First, by squaring the 3D coordinate differences of the laser reflection points and summing them, the square root is taken to form an Euclidean distance calculation term, which represents the actual geometric distance difference between point pairs in 3D space. The squaring process enhances the contribution of each coordinate axis offset, and the square root restores it to linear distance dimensions. Second, the average displacement difference of the push rod in each direction is introduced. The arithmetic mean of the displacement differences of each axis is used to construct the overall difference in mechanically driven displacement between point pairs, reflecting the spatial misalignment that may be caused by the mechanical structure. The absolute value of this part is used to eliminate the directional influence and only evaluate the offset amplitude. Finally, the product of the ranging length and the detection response value is introduced as a dynamic suppression term, representing the weighted evaluation of the ranging reliability by the strength of the reflected signal. The weighted average of multiple ranging values ​​and response intensity is used to further balance the deviation caused by detection fluctuations. This term serves as a suppression factor in the overall expression. Through the difference operation with the first two terms, the measurement enhancement term and the signal correction term are matched, thereby realizing the spatial offset evaluation of multi-parameter fusion. The entire formula completes the evaluation and modeling of spatial errors through the combined logic of "Euclidean distance + mean displacement - detection weight value".

[0077] The offset mapping submodule analyzes the spatial mean change trend between points based on the spatial distance sequence values, filters points that deviate from the average value in the sequence, uses the position deviation as the offset benchmark to construct the mapping relationship, performs boundary mapping, and performs spatial registration on all laser reflection points to generate spatial offset data of the detection box.

[0078] The spatial distance sequence values ​​are called, and the spatial distribution values ​​between different coordinate point sequences are calculated item by item. The trend of spatial mean change between each point is analyzed. The spatial offset sequences are combined to form an offset sequence array D = {-89.79, -90.22, -89.15}, and its mean is calculated as D. mean = (-89.79-90.22-89.15) / 3≈-89.72mm. Then, the difference between each point pair and the mean is judged, and the differences from the mean are calculated to be 0.07mm, 0.50mm, and 0.57mm, respectively. The offset benchmark judgment value is set to 0.6mm (based on the maximum offset range of 0.48mm for 30 experimental samples, a 25% relaxation is set to 0.6mm). The above three sets of points all meet the offset benchmark and are included in the mapping relationship set as valid point pairs. The above judgment method is used to obtain the mapping vectors of 6 key point pairs. They are mapped and projected in space in coordinate form. The three-dimensional registration method is used, and the original reflection point coordinates are uniformly transformed into a unified reference system. The coordinate translation and rotation operations are performed by least squares alignment to complete the overall spatial offset correction, thereby generating the spatial offset data of the detection box.

[0079] Please see Figure 3 The structural response recognition module includes:

[0080] The stroke extraction submodule extracts the stroke change records of the push rod within a continuous cycle based on the spatial offset data of the probe box, obtains the push rod displacement values ​​at the start and end times of each cycle, filters the maximum and minimum values ​​within each cycle, compares and analyzes the change amplitude of each cycle in the sequence, confirms the displacement fluctuation trend of each cycle, and generates the cycle displacement change amount.

[0081] Based on the spatial offset data of the probe box, the stroke change records of the push rod within continuous cycles are extracted. Five consecutive cycles numbered C1 to C5 are used as the analysis objects. Displacement data of the push rod from the beginning to the end of each cycle is collected and preliminarily filtered. The maximum and minimum displacement values ​​within the same cycle are extracted and compared. For example, the maximum value in cycle C1 is 23.4 mm, and the minimum value is 23.3 mm, with a displacement difference of 0.1 mm. The maximum value in cycle C2 is 23.5 mm, and the minimum value is...

[0082] 23.4mm, displacement difference of 0.1mm, and so on to obtain the stroke change data for all cycles. A position resolution threshold of 0.05mm is set. The stroke change value in each cycle is compared with this threshold. During the judgment process, any cycle with a displacement difference less than 0.05mm is considered a low response cycle. In the current five cycles, all stroke differences are 0.1mm, which is higher than the threshold, so no low response marker is recorded. The table data is shown below:

[0083] Table 2 Comparison of Periodic Travel Changes

[0084] Periodic number Maximum displacement of the push rod (mm) Minimum displacement of the push rod (mm) Travel variation (mm) C1 23.4 23.3 0.1 C2 23.5 23.4 0.1 C3 23.4 23.3 0.1 C4 23.3 23.2 0.1 C5 23.3 23.2 0.1

[0085] As shown in Table 2, all periodic displacement differences are greater than 0.05 mm, which are judged to be high displacement response periods and not stagnant periods, thus generating periodic displacement changes.

[0086] The angle difference submodule extracts the angle values ​​of the rotating component in each cycle based on the change in periodic displacement, merges the maximum and minimum angle values ​​within the cycle, identifies the angle response amplitude of each cycle, and partitions the periodic response state with the minimum perceived angle value as a reference, sorts out the angle change trend and records the response characteristics of each cycle, and generates a periodic angle response sequence.

[0087] Based on the periodic displacement change, the angle values ​​of the rotating component in each of the aforementioned cycles C1 to C5 are extracted synchronously. The angle change range in each cycle is identified, and the maximum and minimum angle values ​​in each cycle are merged. The angle change is then analyzed accordingly. For example, the angle change in cycle C1 is 10.03° minus 10.00°, resulting in 0.03°. Similarly, the angle data for cycles C2 to C5 are processed, yielding angle differences of 0.02°, 0.02°, 0.02°, and 0.02°, respectively. A minimum sensing angle threshold of 0.02° is set, and the angle difference for each cycle is compared and analyzed with this threshold. Cycles with values ​​less than this threshold are recorded as static angle response cycles. Since the angle changes from C2 to C5 are all equal to the threshold, they do not meet the "below" condition. Only C1 is above the standard. Therefore, no cycle ultimately falls into the low response range. The corresponding angle data is shown below:

[0088] Table 3 Comparison of Periodic Angle Response

[0089] Periodic number Maximum angle (°) Minimum angle (°) Angular difference (°) C1 10.03 10.00 0.03 C2 10.01 9.99 0.02 C3 10.02 10.00 0.02 C4 10.00 9.98 0.02 C5 10.00 9.98 0.02

[0090] As shown in Table 3, since all period angle differences are not lower than the set threshold, it is determined that there is no low angle response period in the current period group, and a period angle response sequence is generated.

[0091] The state determination submodule performs synchronous judgment on the two indicators for each cycle based on the periodic angle response sequence and the periodic displacement change. Based on the state combination results within the continuous cycle, the periodic segments that meet the conditions are identified and registered, and a detection box response stop flag is generated.

[0092] The system calls the periodic angle response sequence and the periodic displacement change, and performs state matching judgment for each period number. The two response values ​​are compared with their respective thresholds. When a period simultaneously meets the condition that the displacement difference is less than 0.05mm and the angle difference is less than 0.02°, the period is marked as a stagnant response period. In the five periods C1 to C5, based on the judgment of the first two paragraphs, all displacement change values ​​are higher than the displacement response threshold of 0.05mm and the angle difference is not less than 0.02°. Therefore, no period simultaneously meets both conditions and there is no response stop state. Finally, a blank response flag sequence is generated based on the matching result, and the corresponding flag is output to generate the detection box response stop mark.

[0093] Please see Figure 4 The attitude parameter parsing module includes:

[0094] The attitude acquisition submodule extracts the reference attitude values ​​in the pitch and yaw directions of the attitude control command within the corresponding time period based on the stop flag of the detector box response, acquires the attitude vector values ​​recorded by the position encoder of the detector box, and merges and marks them into pitch attitude components and yaw attitude components according to the axial direction, and generates an attitude error vector sequence.

[0095] Based on the stop flag of the detection box response, the reference values ​​of the pitch and yaw axes in the attitude control command within the corresponding time period are extracted. The attitude command is then compared for each group of sampling points according to the sampling number. The reference pitch angle is set to 3.00° and the reference yaw angle to 4.00°. Simultaneously, the actual attitude angle output values ​​within the corresponding period are extracted from the position encoder. For example, the encoder pitch angle outputs for sampling numbers P1 to P5 are 3.12°, 3.10°, 3.15°, 3.11°, and 3.13°, respectively, and the encoder yaw angle outputs are 4.08°, 4.11°, 4.06°, 4.09°, and 4.10°, respectively. The reference attitude and encoder attitude are compared in the same direction, and the difference is calculated. For example, the pitch difference for P1 is 0.12°, and the yaw difference is 0.08°. The pitch and yaw errors of all sampling points are then organized to form an attitude error comparison structure, as shown in the table below.

[0096] Table 4 Comparison of Attitude Sampling Errors

[0097]

[0098] As shown in Table 4, the pitch and yaw error values ​​of each sampling point fluctuate in the range of 0.06° to 0.15°. This error set needs to be imported into the positioning offset evaluation step as input to generate an attitude error vector sequence.

[0099] The offset analysis submodule identifies the target point distribution along each axis in the XY plane under the pitch and yaw axes based on the attitude error vector sequence, determines the positions of 5 representative target points along each axis, performs 10 repeated attitude acquisitions around each point, and performs variance analysis and distribution evaluation on the position values ​​in the acquired data, using the formula:

[0100]

[0101] The positional dispersion coefficients under multi-point distribution are calculated, and the results are output separately for each axis. These results are compared with the distribution baseline value, and axes with offset concentration characteristics are selected to obtain cyclic offset distribution data. Wherein, σ xy x represents the two-dimensional offset distribution coefficient. i y i Let X and Y coordinates be the positions of each point in the i-th data collection. The coordinates of the average collection points within this period, Δ i Where N is the magnitude of the error vector for each acquisition, and N is the number of iterations.

[0102] Based on the attitude error vector sequence, select the position distribution points of the pitch and yaw axes in the XY plane, setting 5 points for each axis. For example, the XY coordinates of P1 to P5 are (10, 0), (20, 0), (30, 0), (40, 0), and (50, 0). Perform 10 repeated samplings at each target point and record the sampling displacement values. For example, in the 10 samplings at point P1, the X-direction data are [10.12, 10.08, 10.10, 10.09, 10.11, 10.13, 10.07, 10.14, 10.10, 10.09], and the Y-direction is 0.00. Calculate the average offset. Standard deviation σ x =0.021, and then perform the above processing on each point in sequence to obtain the mean and standard deviation data of each point, and calculate the offset distribution using the following innovative formula.

[0103] Assuming the sum of the absolute values ​​of the offset differences of point P1 on the X-axis is 0.25 mm, the total number of samples N = 10, and the sum of the root mean square deviations is 0.0042, then substituting these values ​​into the calculation:

[0104]

[0105] The calculation results are compared with the offset judgment threshold of 0.05mm. It is found that P1 does not meet the offset concentration feature. After processing other points in the same way, if P2 to P5 are all less than 0.05mm, four points with concentration characteristics in the pitch axis direction are selected and their distribution is determined to be stable, and the cyclic offset distribution data is obtained.

[0106] The position dispersion coefficient is a comprehensive parameter used to measure the distribution characteristics of the actual spatial coordinates of a target point in the X and Y axes during repeated positioning or continuous attitude sampling. This coefficient not only reflects the overall offset of the sampling point relative to the average position, but also reflects the fluctuation stability of each sampling data. The smaller the value, the closer the sampling points are to each sampling point, and the more stable the spatial position. When the coefficient increases, it means that there is a significant offset or oscillation phenomenon in space, which is manifested as the point position being unable to stably return to the reference center position. This parameter is widely used in application scenarios such as cyclic attitude positioning, servo mechanism control, and push rod return stability judgment. It is an important numerical basis for judging the controllability of spatial attitude and the identification of offset direction.

[0107] The formula's operational logic aims to comprehensively evaluate the attitude sampling offset characteristics in the XY plane. First, it takes the absolute value of the difference between each sampled coordinate point and the mean coordinate of 10 samples of that point, and sums them in the X and Y directions respectively to reflect the overall offset trend of the sampled point in the two principal axis directions. Then, it divides the offset by the total number of samples to obtain the average offset amplitude. Subsequently, it introduces a standard deviation term, which is obtained by summing the squares of the differences between each sample and the mean, dividing by the number of samples minus one to form the variance, and then taking the square root to restore the standard deviation dimension, thereby obtaining the dispersion of the sampled points. Finally, it sums the average offset and the standard deviation to reflect the comprehensive offset stability of each point. By combining the total linear offset and the degree of discrete fluctuation, it effectively measures the spatial offset reliability of the target point under repeated positioning, and thus identifies whether there is a concentrated offset distribution trend.

[0108] The control mapping submodule classifies the offset directions under different axes based on the cyclic offset distribution data, extracts the channel numbers corresponding to the pitch axis offset direction, and maps them to the corresponding push rod control channel numbers. It also extracts the channel numbers corresponding to the yaw axis offset direction and maps them to the rotation control channel. Finally, it maps the component values ​​of the offset vector in each direction to generate a set of attitude adjustment parameters.

[0109] The cyclic offset distribution data is called, and the direction assignment of each axis with stable distribution is identified. The distribution of the four sampling points in the pitch axis direction is mainly concentrated in the positive X-axis direction. Therefore, the corresponding push rod execution channel number T01 of the X-axis control in the system is matched and recorded as the pitch adjustment mapping channel. Similarly, in the yaw axis direction, the offset is identified as concentrated in the positive Y-axis direction, and the corresponding rotation control channel number R02 is matched and recorded as the yaw adjustment mapping channel. A numerical correspondence table between attitude error angle and channel execution step size is established for the two types of channels. For example, a pitch error of 0.12° corresponds to a push rod step size of 2.4mm, and a yaw error of 0.08° corresponds to a rotation angle compensation of 1.6°. All attitude errors and control correction ratios are integrated to establish a bidirectional mapping table. Finally, the correspondence between all offset directions and channel control corrections is output to generate a set of attitude adjustment parameters.

[0110] Please see Figure 5 The fine-tuning control generation module includes:

[0111] The step size matching submodule extracts the contents of each control template in the current task instruction table based on the attitude adjustment parameter set, searches and matches the control directions of the pitch axis and yaw axis, and makes a range judgment with the current adjustment angle to identify whether each offset direction is within the instruction range. Simultaneously, it verifies the direction correspondence between the push rod channel and the rotation channel and obtains the matching step size parameter set.

[0112] Based on the attitude adjustment parameter set, the currently matched control template data in the task instruction table is extracted, and the upper and lower limits of the preset adjustment step size for each channel in the template are read item by item. Matching judgment operations are performed separately for the pitch and yaw axes. First, the offset angle is extracted as the comparison object according to the axis. For example, in the pitch axis direction, if the adjustment value is 0.12° and the template step size range is 0.10° to 0.15°, then 0.12° is compared with the upper and lower limits to determine whether the value is within the allowable range. The judgment criteria are: if the minimum value ≤ current value ≤ maximum value, it is considered a successful match; otherwise, it is a mismatch. Similarly, the adjustment value in the yaw axis direction is 0.08°, and its template step size range is 0.05° to 0.12°, which also meets the matching condition. Then, the direction channel is verified, and the control channel number mapped to the current offset direction is extracted. The mapping relationship is verified against the channel type in the template. If the control channel for pitch is a push rod type and the template also identifies it as a push rod control channel, the mapping relationship is considered valid. If the direction does not match the channel structure in the template, it is marked as an incorrect mapping, and such channels need to be removed from the current operation. Taking 5 sets of sample data as an example, the offset angles in the pitch direction are [0.12, 0.10, 0.13, 0.11, 0.14], all within the allowable range. The yaw direction data are [0.08, 0.07, 0.06, 0.09, 0.11], which also meet the range constraints. The template numbers are M001 and M002, and the channel type numbers are T01 and R02. A four-tuple combination of direction-channel-template-step value is established. All combinations that meet the conditions are marked as valid matching entries and organized into structured data, as shown in the table below:

[0113] Table 5 Step Size Matching Data Table

[0114] Control direction Offset angle (°) Step size lower limit (°) Maximum step size (°) Template Number Channel number Pitch axis 0.12 0.10 0.15 M001 T01 Yaw axis 0.08 0.05 0.12 M002 R02 Pitch axis 0.13 0.10 0.15 M001 T01 Yaw axis 0.07 0.05 0.12 M002 R02 Pitch axis 0.11 0.10 0.15 M001 T01

[0115] As shown in Table 5, all directional matching values ​​are within the specified range, and the channel number is consistent with the template number, indicating that the current control data has good consistency in structural matching, and finally a matching step size parameter set is generated.

[0116] The segmentation submodule is based on the matching step size parameter set. It extracts the executable segmentation requirements in sequence according to the control direction, splits and classifies the offset correction value of each direction into segments, numbers and archives consecutive segments under the same direction, extracts the execution channel and action target information corresponding to each segment, establishes a multi-level matching mapping between segments and control objects, and obtains the instruction segmentation control set.

[0117] The matching step size parameter set is invoked. Based on the standard structure of segmented control in the task instruction template, the step size values ​​marked in each control direction are segmented into intervals. During the operation, the segment number threshold defined in the template is read first. For example, the pitch axis movement is divided into 3 segments, and the control angle of each segment is divided into 3 equal intervals of 0.12° offset. Each interval movement is approximately 0.04°. Then, they are numbered sequentially as S1 to S3 and associated with their channel number T01, marking their direction of action as the pitch axis. Similarly, the yaw axis 0.08° setting is divided into 2 segments, each 0.04°, numbered as H1 and H2, and the control channel is recorded as R02. Each segment movement needs to be set in conjunction with the channel delay parameters in the template. The execution timer is set up, for example, the timer for channel T01 is 20ms and for R02 is 25ms. After forming the segment action structure, the number, direction, control channel, segment value and execution timer of each segment are organized and summarized into a unified command segment control set. In multi-channel scenarios, if there is a situation where the same control direction is jointly adjusted by different channels, such as the pitch axis being driven by two push rods, T01 and T03, then the actions of the two channels need to be synchronized between segments. That is, the action segment numbers of T01 and T03 are bound to each other so that they act under the same timer to prevent execution conflicts. Finally, all segment action node structures are uniformly classified, a segment index set in each direction is constructed, and its control timer is identified to obtain the command segment control set.

[0118] The sequence generation submodule divides the control set into segments according to the instructions, sorts the action nodes in each direction according to the order specified by the task template, extracts the required action execution timing and synchronization parameters of each node, sets the sequence index number for the push rod control channel and the rotation control channel respectively, and sets the execution beat after merging the two control sequences, establishes the timing control mapping structure, and generates the attitude adjustment action control sequence.

[0119] Based on the instruction segmented control set, the segment numbers are extracted sequentially according to direction and channel order. A timing index structure is established for different control channels. For example, the segments controlled by channel T01 are S1-S3, sequentially coded as T01-01 to T01-03. The segments of channel R02 are H1 and H2, coded as R02-01 to R02-02. Then, the channel synchronization control parameters in the task template are read. If the push rod channel and rotation channel are set to have the same beat time of 25ms, the original T01 channel action beat time needs to be adjusted to a unified period. Beat identification correction is performed on all segment actions to form a four-dimensional mapping index of beat time - segment - direction - channel. If the number of segments in one direction is less than that in another direction, such as 3 segments for pitch axis and 2 segments for yaw axis, then a short... A blank segment is inserted at the end of the segment direction to complete the timing and prevent synchronization abnormalities caused by beat offset. Then, the segments of the two channels are interleaved and merged according to a unified beat to form a bidirectional control sequence for the channel. For example, the first beat executes T01-01 and R02-01, the second beat executes T01-02 and R02-02, and the third beat only executes T01-03, with a blank segment inserted at R02. After the integration of all segment scheduling structures is completed, a timing control list is constructed, and the instruction set corresponding to each control channel in each beat is set. A four-item data combination queue containing the control channel number, segment action number, beat period, and direction instruction is generated. Finally, the data sequence in the format required by the main control system instruction entry is summarized and output to generate the attitude adjustment action control sequence.

[0120] Please see Figure 6 The calibration stability lock module includes:

[0121] The instruction-driven submodule performs structural decomposition operations on each instruction according to the attitude adjustment action control sequence, and drives the corresponding push rod control channel and rotation control channel to perform physical attitude adjustment operations step by step. If the feedback angle is consistent with the target offset direction, the action is deemed valid. If the direction is inconsistent, the current instruction is stopped, the current attitude angle is recalibrated as the new reference value, the scheduling sequence is refilled, and the action feedback dataset is obtained.

[0122] Based on the attitude adjustment action control sequence, the action command list in the attitude adjustment control is extracted. The control channel number, action sequence number, target direction, and action amplitude under each beat are used as inputs. The push rod and rotation mechanism of the probe box are controlled to move sequentially according to the beat sequence. Assuming each beat is 20ms, if the pitch direction command is T01-01 to T01-03, the corresponding action amplitude is 0.04°, then the total execution time of 3 consecutive beats is 60ms. At the same time, the angle sensor is called to collect the feedback angle of the probe box in real time. For example, after executing T01-02, the pitch angle of the probe box changes from 2.96° to 3.00°. If the offset direction is consistent, it is a valid action. If the angle feedback after executing T01-03 is 2... If the angle is 0.97° and the direction is inconsistent with the offset, the control flow is interrupted and the feedback data is recorded as an abnormal state. The current attitude value is then read, the action target value is updated, and it is filled back into the scheduling list to form a new control sequence. At the same time, the execution status, start time, feedback angle, and execution validity of all channels are recorded. For example, if the feedback angle offset direction of channel T01 is inconsistent in the 3rd beat, the "action interrupted" state is recorded. If the angle change of channel R02 in continuous beats is less than 0.03° in the predetermined direction, the "action valid" state is recorded. The above feedback data is summarized in real time throughout the process and classified into an execution feedback table according to the channel number. A specific example is as follows:

[0123] Table 6. Control Action Feedback Diagram

[0124] Channel number beat number Target direction Range of motion (°) Starting angle (°) Termination angle (°) state T01 01 Pitch axis 0.04 2.92 2.96 efficient T01 02 Pitch axis 0.04 2.96 3.00 efficient T01 03 Pitch axis 0.04 3.00 2.97 Interruption R02 01 Yaw axis 0.04 4.00 4.04 efficient R02 02 Yaw axis 0.04 4.04 4.08 efficient

[0125] As shown in Table 6, during the control execution process, the feedback status of each channel is clear. Whether the action amplitude is consistent with the target direction is directly used to judge the effectiveness of the control execution. Finally, the recorded information of all channels is summarized to obtain the execution action feedback dataset.

[0126] The stability judgment submodule performs continuous time-period stability recognition on each feedback data based on the execution action feedback dataset, collects the posture feedback curve after the execution action ends, extracts the time axis data of posture change and angle change trend, judges the posture angle change rate, and establishes a posture adjustment stability time record set.

[0127] The system calls upon the action feedback dataset and performs continuous stability identification processing on the feedback data after all channels have been executed, oriented along the timeline. First, the judgment window time is set to 0.5 seconds. The feedback data is divided into multiple consecutive window segments based on time. For example, the first time window is between 2.6 seconds and 3.1 seconds, the second between 3.1 seconds and 3.6 seconds, and so on. The attitude angle change value within each time segment is extracted. If the difference between the maximum and minimum angles within any time segment does not exceed 0.02°, the window is marked as a "stable window." If three consecutive windows are determined to be stable windows, then the system is considered stable. The channel is in a stable state. Then, it is calculated whether this state has been maintained for more than 1.5 seconds to determine stability. The determination method is to record the start time of the first stable window and the end time of continuous stable maintenance. If the start time is 2.6 seconds and the final stable feedback is 4.2 seconds, then the stable duration is 4.2 - 2.6 = 1.6 seconds, which meets the threshold condition. If the time is less than 1.5 seconds, it is marked as "not met," and the next control segment continues. In addition, for each window, the channel number and angle change range need to be recorded for subsequent traceability. Through this process, the stable maintenance duration and channel state are identified, and the output is summarized as follows:

[0128] Table 7 Stability Judgment Record Table

[0129] Channel number Stable start time (s) Stable termination time (s) Stable duration (s) steady state T01 2.6 4.2 1.6 maintain R02 3.0 4.1 1.1 Not satisfied

[0130] As shown in Table 7, the T01 channel has maintained a stable duration of 1.6 seconds, which meets the set stability threshold. The R02 channel only lasts for 1.1 seconds, so control commands need to be executed continuously. Finally, the stable state and maintenance interval are summarized by channel to obtain the attitude adjustment stability time record set.

[0131] The status registration submodule registers each channel that meets the stability conditions by numbering it according to the attitude adjustment stabilization time record set, archives and manages the completed channel control status, sets a calibration mark corresponding to the attitude adjustment success status of each channel, establishes a multi-channel joint status registration list, and outputs the attitude adjustment calibration record of the security inspection equipment detector box.

[0132] Based on the attitude stabilization time record set, the channel number, duration, action feedback sequence, and termination time point corresponding to each stabilization record are read. Stabilization status registration entries are created sequentially according to the channel number. All control command numbers between the start and end times of stabilization are grouped into a calibration segment, and the stable output angle is recorded in conjunction with the final value of the feedback angle. For example, if channel T01 stabilizes at 4.2 seconds with an angle of 3.00°, its start action sequence is T01-01, and its termination is T01-03, then the status registration content is: Channel T01, calibration status "completed", stabilization time period 2.6s-4.2s, angle 3.00°, command sequence range T01-01 to T01-03. This information is recorded in the status logbook one by one. All channels that meet the stabilization criteria are processed in the same way. Channels that do not meet the stabilization time requirements are not generated as calibration entries; only feedback records are retained. The registration results are summarized as follows:

[0133] Table 8 Calibration Status Registration Form

[0134] Channel number Calibration status Start time (s) End time (s) sequence range Final angle (°) T01 Finish 2.6 4.2 T01-01~T01-03 3.00

[0135] As shown in Table 8, only control channels with a stable duration of 1.5 seconds or more are recorded. The recorded content fully covers information such as time period, control sequence, and attitude result, and finally outputs the attitude adjustment and calibration record of the security inspection equipment detector box.

[0136] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An automatic attitude adjustment and calibration control system for a security inspection equipment detector box, characterized in that, The system includes: The laser feedback acquisition module acquires the distance reading output by the laser rangefinder sensor of the security inspection equipment detection box, the current displacement value of the position encoder and the displacement feedback value of the push rod, calculates the three-dimensional Euclidean distance between the two points as the offset basis, and establishes the offset mapping to obtain the spatial offset data of the detection box. The structural response identification module uses the spatial offset data of the detection box to count the change value of the push rod stroke length and the change value of the rotating component angle in a continuous cycle. It then compares the change amplitude in each cycle with the minimum detectable displacement. If the condition is not met in a continuous cycle, the structural action is marked as stopped and a detection box response stop flag is generated. The attitude parameter parsing module collects reference values ​​of each axis direction and attitude vector parameters of the probe box in the attitude command according to the stop flag of the probe box response. The difference between the pitch axis and the yaw axis is decomposed into a cyclic positioning offset distribution. The push rod control channel and the rotation control channel are matched to obtain the attitude adjustment parameter set. The fine-tuning control generation module, based on the set of attitude adjustment parameters, sequentially matches the instruction templates, compares the adjustment step range with the attitude requirements of the offset direction, establishes a set of control instruction segments, and integrates them to generate an attitude adjustment action control sequence.

2. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The spatial offset data of the probe box includes three-dimensional Euclidean spacing, mean spatial distribution of coordinate points, and offset mapping relationship. The probe box response stop indicator includes the structural action stop state judgment result, push rod stroke stability state indicator, and rotating component angle stability indicator. The attitude adjustment parameter set includes pitch axis offset, yaw axis offset, control channel matching parameters, and cyclic positioning offset standard deviation. The attitude adjustment action control sequence includes control command segment set, sequence control set, and attitude adjustment matching parameters.

3. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The laser feedback acquisition module includes: The distance acquisition submodule acquires the distance reading, current displacement value of the position encoder and push rod displacement feedback value output by the laser ranging sensor within the current period, merges the three data according to the timestamp, identifies the ranging parameters collected by the sensor at each time, filters the valid ranging points with error values ​​within the set sampling error threshold range, and obtains the effective spatial ranging value. Based on the effective value of the spatial ranging, the coordinate calculation submodule obtains the corresponding laser reflection coordinate points between the detection box and the collimated target boundary, performs joint spatial positioning by combining the ranging points and the push rod displacement feedback value, calculates the spatial position deviation between point pairs, and statistically analyzes the set of spatial distance values ​​corresponding to the current coordinate sequence to obtain the spatial distance sequence value. The offset mapping submodule analyzes the spatial mean change trend between points based on the spatial distance sequence values, filters points that deviate from the average value in the sequence, uses the position deviation as the offset benchmark to construct a mapping relationship, performs boundary mapping, and performs spatial registration on all laser reflection points to generate spatial offset data of the detection box.

4. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The structural response recognition module includes: The stroke extraction submodule extracts the stroke change records of the push rod within a continuous cycle based on the spatial offset data of the detection box, obtains the push rod displacement values ​​at the start and end times of each cycle, filters the maximum and minimum values ​​within each cycle, compares and analyzes the change amplitude of each cycle in the sequence, confirms the displacement fluctuation trend of each cycle, and generates the cycle displacement change amount. The angle difference submodule synchronously extracts the angle values ​​of the rotating component in each cycle based on the periodic displacement change, merges the maximum and minimum angle values ​​within the cycle, identifies the angle response amplitude of each cycle, and partitions the periodic response state with the minimum perceived angle value as a reference, sorts out the angle change trend and records the response characteristics of each cycle, and generates a periodic angle response sequence. The state determination submodule performs synchronous judgment on the two indicators for each cycle based on the periodic angle response sequence and the periodic displacement change. Based on the state combination results within the continuous cycle, it identifies and registers the periodic segments that meet the conditions and generates a detection box response stop flag.

5. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The attitude parameter parsing module includes: The attitude acquisition submodule extracts the reference attitude values ​​in the pitch and yaw directions of the attitude control command within the corresponding time period based on the stop flag of the detection box, acquires the attitude vector values ​​recorded by the position encoder of the detection box, and merges and marks them into pitch attitude components and yaw attitude components according to the axial direction, and generates an attitude error vector sequence. The offset analysis submodule identifies the target point distribution of each axis in the XY plane under the pitch and yaw axes based on the attitude error vector sequence, determines the position of 5 representative target points in each axis direction, performs 10 repeated attitude acquisitions around each point, performs variance analysis and distribution evaluation on the position values ​​in the acquired data, calculates the position dispersion coefficient under the multi-point distribution, and outputs the results for each axis separately. It compares the results with the distribution benchmark value, filters the axes with offset concentration characteristics, and obtains the cyclic offset distribution data. Based on the cyclic offset distribution data, the control mapping submodule classifies the offset directions under different axes, extracts the channel numbers corresponding to the pitch axis offset direction, maps them to the corresponding push rod control channel numbers, extracts the channel numbers corresponding to the yaw axis offset direction, maps and integrates them with the rotation control channels, maps the component values ​​of the offset vector in each direction, and generates a set of attitude adjustment parameters.

6. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The fine-tuning control generation module includes: The step size matching submodule extracts the contents of each control template in the current task instruction table according to the attitude adjustment parameter set, searches and matches the control directions of the pitch axis and yaw axis, and makes a range judgment with the current adjustment angle to identify whether each offset direction is within the instruction range. Simultaneously, it verifies the direction correspondence between the push rod channel and the rotation channel to obtain the matching step size parameter set. The segmentation creation submodule, based on the matching step size parameter set, sequentially extracts executable segmentation requirements according to the control direction, splits and groups the offset correction value of each direction into segments, numbers and archives consecutive segments under the same direction, extracts the execution channel and action target information corresponding to each segment, establishes a multi-level matching mapping between segments and control objects, and obtains the instruction segmentation control set. The sequence generation submodule divides the control set into segments according to the instructions, sorts the action nodes in each direction according to the order specified by the task template, extracts the required action execution timing and synchronization parameters of each node, sets the sequence index number for the push rod control channel and the rotation control channel respectively, and sets the execution beat after merging the two control sequences, establishes the timing control mapping structure, and generates the attitude adjustment action control sequence.

7. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The system also includes: The calibration stabilization and locking module drives the detector box to adjust its posture according to the posture adjustment action control sequence, identifies whether a stable dwell time is maintained, and if so, registers the calibration status and outputs the posture adjustment calibration record of the security inspection equipment detector box. The attitude adjustment and calibration record includes a stable dwell time record, an attitude adjustment completion indicator, and a calibration status registration record.

8. The automatic attitude adjustment and calibration control system for the security inspection equipment detector box according to claim 1, characterized in that, The calibration stability locking module includes: The instruction-driven submodule performs structural decomposition operations on each instruction according to the posture adjustment action control sequence, and drives the corresponding push rod control channel and rotation control channel to perform physical posture adjustment operations step by step. If the feedback angle is consistent with the target offset direction, the action is determined to be valid. If the direction is inconsistent, the current instruction is stopped, the current posture angle is recalibrated as a new reference value, the scheduling sequence is refilled, and the execution action feedback dataset is obtained. The stability judgment submodule performs continuous time period stability recognition operation on each feedback data according to the execution action feedback dataset, collects the posture feedback curve after the execution action ends, extracts the time axis data of posture change and angle change trend, judges the posture angle change rate, and establishes a posture adjustment stability time record set. The status registration submodule registers each channel that meets the stability conditions by numbering it according to the attitude adjustment stabilization time record set, archives and manages the completed channel control status, sets a calibration mark corresponding to the attitude adjustment success status of each channel, establishes a multi-channel joint status registration list, and outputs the attitude adjustment calibration record of the security inspection equipment detector box.

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