Explosive detecting and processing device based on laser radar

Abstract

The invention discloses an explosive detection processing device based on a laser radar, and relates to the technical field of explosive detection. The device comprises a detection processing system, a laser radar detection mechanism, an image acquisition mechanism, a metal detection mechanism, an X-ray detection mechanism, an explosive detection mechanism and an explosive processing mechanism. The detection processing system comprises a server, an image display unit and an alarm module; the laser radar detection mechanism is used for performing imaging judgment on the shape and the size of an article; the metal detection mechanism is used for detecting whether the article contains metal; the X-ray detection mechanism is used for imaging the interior of the article; the explosive detection mechanism comprises a Raman spectrum acquisition unit and a trace detection unit. The appearance and size of the laser radar are judged, whether most of objects are explosives or not can be eliminated by combining image recognition, metal detection and X-ray detection, and the problem that in the prior art, micro trace detection, Raman spectrum detection and other detection methods cannot be effectively applied to equipment is solved.

Description

Technical Field

[0001] This invention belongs to the field of explosive detection technology, and in particular relates to an explosive detection and processing device based on lidar. Background Technology

[0002] Explosives pose a serious threat to national security and the safety of people and property in today's society, making research on explosives detection technology a hot topic of widespread concern both domestically and internationally. Currently, the main explosives detection technologies already in use and under preliminary research include trace detection and Raman spectroscopy. However, during the unpacking and inspection of cargo transported within airports, explosives cannot be completely identified by the human eye. Manual detection using trace detection and Raman spectroscopy methods suffers from drawbacks such as high labor costs, long processing times, and slow operation speed. Furthermore, there is limited public disclosure of assembly methods and collaborative detection techniques for integrating these detection devices into unified detection systems. Therefore, improving and optimizing explosives detection methods at airports is a key area for advancement.

[0003] LiDAR (Light Detection and Ranging) is an active 3D remote sensing technology that accurately acquires the 3D coordinates, shape, and material information of a target by emitting a laser beam and measuring the time, intensity, and angle of the reflected signal. Its core advantages are high precision, high resolution, and strong environmental adaptability, making it a core sensing device in fields such as autonomous driving, intelligent security inspection, and terrain mapping. However, its application in airport object detection is relatively limited. Furthermore, the combination of using LiDAR to quickly determine the shape of objects and integrating it with other detection methods to examine their external appearance and internal structure to improve the efficiency of explosives detection is also relatively rare. Summary of the Invention

[0004] The purpose of this invention is to provide an explosive detection and processing device based on lidar. The device uses lidar to determine the shape and size of the object, and combines image recognition, metal detection and X-ray detection to rule out most items as explosives. Furthermore, it uses high-precision Raman and trace tests to accurately identify explosives. This invention solves the problems of existing airport machines being cumbersome to detect explosives and unable to effectively apply micro-trace detection and Raman spectroscopy detection methods to the equipment.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: The present invention is an explosive detection and processing device based on lidar, comprising a detection and processing system, a detection mounting cover, and lidar detection mechanism, image acquisition mechanism, metal detection mechanism, X-ray detection mechanism, explosive detection mechanism and explosive processing mechanism mounted on the detection mounting cover; The detection and processing system includes a server, an image display unit, and an alarm module. The server is used to analyze detection data, the image display unit is used to display the detected images and data, and the alarm module is used to issue an alarm for confirmed explosives and suspected explosives. The lidar detection mechanism is used to image and determine the shape and size of each item, and the image acquisition mechanism is used to acquire images of the surface of each item and combine the acquired images with the shape and size determined by the lidar detection mechanism to perform explosive probability analysis. The metal detection mechanism is used to detect whether an item contains metal; The X-ray detection mechanism is used to image the interior of the object; The explosive detection mechanism includes a Raman spectroscopy acquisition unit and a trace detection unit. The Raman spectroscopy acquisition unit is used to perform Raman transmission detection on each transparent glass bottle, and the trace detection unit is used to collect trace gaseous substances from the surface of the item and send the collected gaseous substances into the trace detection device. The explosives handling unit is used to retrieve identified or suspected explosives onto the explosives conveyor belt; The detection cover is installed on the transport belt of the goods.

[0006] The present invention is further configured such that the server contains an item database and an image database; The lidar detection mechanism includes a first mounting frame and a row of lidar detectors. A row of lidar detectors is installed at equal intervals at the bottom of the first mounting frame. The server performs data fitting on the data detected by the row of lidar detectors and performs three-dimensional imaging on the items on the transport belt. The resulting three-dimensional imaging is compared and analyzed with three-dimensional images in the item database to determine the item type. The image acquisition mechanism includes a second mounting frame and a row of high-definition cameras. A row of high-definition cameras is installed at equal intervals at the bottom of the second mounting frame. The images of the items captured by the high-definition cameras are captured by the system and then compared and analyzed with the image database to determine the type of item.

[0007] The present invention is further configured such that after the lidar detection mechanism and the image acquisition mechanism analyze the type and category of the item respectively, the analysis results of the two are combined for comprehensive analysis to determine the item's type and specifications. After comprehensive analysis, the items are classified by location and type, and the locations of items that cannot be determined to contain metal or that are determined to contain metal are determined to be located.

[0008] The present invention is further configured such that the metal detection mechanism includes a third mounting frame and a row of metal detection components, the metal detection components include a telescopic detection rod, a metal detector and a first lifting hydraulic cylinder, the bottom of the third mounting frame is provided with slots at equal intervals, each slot is embedded with a first lifting hydraulic cylinder, the top of the telescopic detection rod is inserted into the slot and fixedly connected to the telescopic shaft of the first lifting hydraulic cylinder, and a metal detector is installed at the bottom of the telescopic detection rod; When an item identified as containing metal, or an item whose metal content cannot be determined, passes under a row of metal detection components, the corresponding telescopic detection rod will descend to be detected by the metal detector. After detection, the telescopic detection rod will immediately rise.

[0009] The present invention is further configured such that the X-ray detection mechanism includes a fourth mounting frame and X-ray probes arranged in an array at the bottom of the fourth mounting frame; The X-ray probe is used to image the internal structure of an object; The X-ray probe analyzes the internal metal structure of objects identified as containing metal by the metal detection mechanism, constructing a metal frame structure. Based on this metal frame structure, it is determined whether the object is an explosive. The invention is further configured such that the Raman spectroscopy acquisition unit includes a fifth mounting frame and multiple sets of Raman spectroscopy acquisition components. The bottom of the fifth mounting frame is provided with multiple U-shaped frames that are equally spaced and perpendicular to the direction of movement of the conveyor belt. The Raman spectroscopy acquisition components include a first displacement screw, a first servo motor, a convex slider, four second telescopic hydraulic cylinders, a laser emitting plate, and a Raman scattering light acquisition plate. The upper half of the convex slider is slidably fitted onto the U-shaped frame. The first displacement screw spirally passes through the upper half of the convex slider. One end of the first displacement screw is connected to the shaft of the first servo motor. A downward-facing second telescopic hydraulic cylinder is installed at each of the four corner positions of the lower half of the convex slider. The bottom end of the telescopic shaft of two second telescopic hydraulic cylinders on the same side is fixed with a laser emitting plate and a Raman scattering light acquisition plate. The laser emitting plate and the Raman scattering light acquisition plate are arranged opposite to each other. When the lidar detection mechanism and image acquisition mechanism determine that the item is a transparent glass bottle, according to the determination position, one of the Raman spectroscopy acquisition components is activated to move the laser emission plate and the Raman scattering light acquisition plate down synchronously, so that the laser emission plate and the Raman scattering light acquisition plate are on both sides of the bottle body, and then the Raman scattering test is started.

[0010] The present invention is further configured such that the lengths of the multiple convex sliders are different, so as to achieve different spacings between the laser emitting plate and the Raman scattering light collecting plate in the multiple sets of Raman spectroscopy collecting components, and to select the Raman spectroscopy collecting component with the required spacing to move down to collect data according to the width of the bottle.

[0011] The present invention is further configured such that the trace detection unit includes a sixth mounting frame and two sets of trace detection components. The bottom of the sixth mounting frame is provided with two double-rail slides. The trace detection components include a second displacement screw, a second servo motor, a transverse block, a third telescopic hydraulic cylinder, and a trace suction component. The transverse block is slidably sleeved on the double-rail slide. The second displacement screw spirally passes through the middle position of the transverse block. Four downward-facing third telescopic hydraulic cylinders are provided through the transverse block. The telescopic shaft ends of the four third telescopic hydraulic cylinders are fixed with trace suction components. The trace aspiration device includes a circular aspiration cylinder and multiple aspiration tubes. Multiple aspiration tubes are evenly connected around the bottom edge of the circular aspiration cylinder, and a negative pressure tube is connected to one side wall of the circular aspiration cylinder.

[0012] The present invention is further configured such that the negative pressure connector is connected to the air inlet pipe of the trace detection device via a hose, the trace detection device is provided with multiple detection chambers, each of the detection chambers is used for alternating detection, and after each detection chamber is completed, it is necessary to change the air to remove residual gas.

[0013] The present invention is further configured such that the explosives handling mechanism includes intelligent robotic arms and clamping components. One intelligent robotic arm is configured on each side of the conveyor belt behind the detection mounting cover, and each of the two intelligent robotic arms is configured with a clamping component, which is a bottle clamping device and a bag clamping device, respectively.

[0014] The present invention has the following beneficial effects: 1. This invention utilizes lidar to make a preliminary judgment on the shape and size of items during transportation, which can help to initially screen items. By using the efficient imaging of lidar, combined with high-definition camera image recognition, metal detection and X-ray detection, most items can be ruled out as explosives. For the problem of highly concealed items or items that are difficult to inspect when inserted inside the item, a trace detection unit is used to detect surface traces, which greatly improves the accuracy of explosive detection by utilizing the precision and accuracy of trace detection.

[0015] 2. This invention performs Raman scattering tests on transparent bottled liquids. As the transparent bottle passes through, a laser emitting plate and a Raman scattering light collection plate are placed on both sides of the bottle to emit high-frequency lasers to collect Raman scattering, thereby improving the composition of the liquid in the bottle. For opaque bottles, trace detection is required, which solves the problem of having to disassemble the bottle for testing.

[0016] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an explosive detection and processing device based on lidar.

[0019] Figure 2 This is a schematic diagram of the explosion structure of an explosive detection and processing device based on lidar.

[0020] Figure 3 This is a schematic diagram of the lidar detection mechanism.

[0021] Figure 4 This is a schematic diagram of the image acquisition mechanism.

[0022] Figure 5 This is a schematic diagram of a metal detection mechanism.

[0023] Figure 6 This is a schematic diagram of the X-ray detection mechanism.

[0024] Figure 7 This is a schematic diagram of the Raman spectroscopy acquisition unit.

[0025] Figure 8 This is a schematic diagram of the trace detection unit.

[0026] Figure 9 This is a cross-sectional structural diagram of a trace intake component.

[0027] The attached diagram lists the components represented by each number as follows: 1. Goods conveyor belt; 2. Detection mounting cover; 3. LiDAR detection mechanism; 31. First mounting frame; 32. LiDAR detector; 4. Image acquisition mechanism; 41. Second mounting frame; 42. High-definition camera; 5. Metal detection mechanism; 51. Third mounting frame; 52. Metal detection assembly; 521. First lifting hydraulic cylinder; 522. Telescopic detection rod; 523. Metal detector; 6. X-ray detection mechanism; 61. Fourth mounting frame; 62. X 7. X-ray probe; 7. Raman spectroscopy acquisition unit; 71. Fifth mounting bracket; 711. U-shaped bracket; 72. Raman spectroscopy acquisition assembly; 721. Convex slider; 722. Second telescopic hydraulic cylinder; 723. Laser emitting plate; 724. Raman scattering light acquisition plate; 725. First displacement screw; 726. First servo motor; 8. Trace detection unit; 81. Sixth mounting bracket; 811. Double-rail slide; 82. Trace detection assembly; 821. Transverse block; 822. Trace suction component; 8221. Circular suction cylinder; 8222. Suction pipe; 8223. Negative pressure connection pipe. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figures 1-8 The present invention is an explosive detection and processing device based on lidar, including a detection and processing system, a detection mounting cover 2, and a lidar detection mechanism 3, an image acquisition mechanism 4, a metal detection mechanism 5, an X-ray detection mechanism 6, an explosive detection mechanism, and an explosive processing mechanism mounted on the detection mounting cover 2. Attach the inspection mounting cover 2 (inverted U-shaped cover) to both sides of the input end of the conveyor belt 1 (e.g., Figure 1 The items are laid flat on the conveyor belt 1, evenly spread out without stacking. As the items move, they first pass through the lidar detection mechanism 3, which scans their shape and size. Combined with images captured by a high-definition camera, this allows for the identification of items that closely resemble explosives. Machine identification is more efficient than manual identification. The metal detection mechanism 5 can detect whether there are metallic substances inside the items. The X-ray detection mechanism 6 can detect the different density layers and shapes inside the items.

[0030] The detection and processing system includes a server, an image display unit, and an alarm module. The server is used to analyze detection data, the image display unit is used to display the detected images and data, and the alarm module is used to issue an alarm for confirmed explosives and suspected explosives. The server is a computer used for analysis. The image display unit mainly displays the shapes and images detected by the lidar detection mechanism 3, the image acquisition mechanism 4 (which displays suspected explosives, while those that are not explosives are not displayed), and the X-ray detection mechanism 6, as well as data on the possible types of explosives and the shape analysis of the objects. The alarm module provides early warning or alarm processing for the detection of explosives or highly suspected explosives, by flashing lights or emitting an alarm sound.

[0031] The lidar detection mechanism 3 is used to image and judge the shape and size of each item, and the image acquisition mechanism 4 is used to acquire images of the surface of each item and combine the acquired images with the shape and size judged by the lidar detection mechanism 3 to perform explosive probability analysis. The lidar detection unit 3 can quickly and efficiently generate a 3D image of an object to determine if it resembles an explosive (in terms of shape). However, lidar only provides an outline and cannot identify the surface color of the object. It needs to be combined with high-definition camera images for a more accurate assessment of the object's shape. Once the precise shape of the object is obtained, it can be used to determine whether it is an explosive.

[0032] The metal detection mechanism 5 is used to detect whether an item contains metal. Metal is relatively easy to prepare as explosives, especially remote-controlled ones, which must contain metal (circuit boards are also an example). Detonators are metal explosives. Once metal is present, combined with the imaging of the X-ray detection mechanism 6, the structure of the metal can be determined (analysis and judgment, which has errors). This allows for efficient determination of whether an item containing metal is an explosive.

[0033] The X-ray detection mechanism 6 is used to image the interior of the object; the X-ray detection mechanism 6 can image the internal structure of the object, and can determine the internal structure without disassembling the object, which is beneficial for quickly analyzing whether the object contains explosives.

[0034] The explosive detection mechanism includes a Raman spectroscopy acquisition unit 7 and a trace detection unit 8. The Raman spectroscopy acquisition unit 7 is used to perform Raman transmission detection on each transparent glass bottle, and the trace detection unit 8 is used to collect trace gaseous substances from the surface of the item and send the collected gaseous substances into the trace detection device. The explosives handling unit is used to retrieve identified or suspected explosives onto the explosives conveyor belt; The detection mounting cover 2 is installed on the goods conveyor belt 1.

[0035] The Raman spectroscopy acquisition unit 7 requires transmitting a laser through the transparent bottle to collect Raman scattering data for explosive analysis. However, the Raman spectroscopy acquisition unit 7 can only be used with transparent items (containing liquids); it cannot detect opaque bottles. For opaque items (including bottles), surface trace substance collection is performed to analyze whether they contain explosives. Trace detection equipment involves extracting surface trace gases and then performing chamber adsorption detection.

[0036] The server contains an item database and an image database; The lidar detection mechanism 3 includes a first mounting frame 31 and a row of lidar detectors 32. A row of lidar detectors 32 are installed at equal intervals at the bottom of the first mounting frame 31. The server performs data fitting on the data detected by the row of lidar detectors 32 and performs three-dimensional imaging on the items on the item conveyor belt 1. The resulting three-dimensional imaging is compared and analyzed with the three-dimensional images in the item database to determine the item type. The image acquisition mechanism 4 includes a second mounting bracket 41 and a row of high-definition cameras 42 (e.g., ...). Figure 4 As shown), a row of high-definition cameras 42 are installed at equal intervals at the bottom of the second mounting bracket 41. The images of the items captured by the high-definition cameras 42 are captured by the system and compared and analyzed with the image database to determine the type of items.

[0037] Because precise judgment of object shape is required, and given the close proximity of the LiDAR to the surface of the conveyor belt, a row of LiDAR sensors is needed for image stitching to create a more accurate outline and size of the objects. This allows for the initial screening of most non-explosive items. Furthermore, combining this with high-definition cameras to capture object surface color and using database analysis for efficient screening, the goal is to effectively identify explosives based on their shape.

[0038] The lidar detection mechanism 3 and the image acquisition mechanism 4 analyze the type and category of the items respectively, and then combine the analysis results of the two to conduct a comprehensive analysis to determine the type and specifications of the items. After comprehensive analysis, the items are classified by location and type, and the locations of items that cannot be determined to contain metal or that are determined to contain metal are determined to be located.

[0039] The lidar detection unit 3 and the image acquisition unit 4 can filter out objects that cannot be determined by their shape to be explosive. This allows for the identification of suspected explosives that cannot be determined by their appearance, facilitating subsequent metal detection and X-ray inspection to determine whether they contain metal and to focus on internal inspections. Furthermore, it can provide location coordinates for subsequent detection based on positional relationships (the conveyor belt 1 operates at a constant speed), ensuring a relatively certain timeframe for reaching a specific location.

[0040] The metal detection mechanism 5 includes a third mounting frame 51 and a row of metal detection components 52. The metal detection components 52 include a telescopic detection rod 522, a metal detector 523, and a first lifting hydraulic cylinder 521. The bottom of the third mounting frame 51 is provided with slots at equal intervals. Each slot is fitted with a first lifting hydraulic cylinder 521. The top of the telescopic detection rod 522 is inserted into the slot and fixedly connected to the telescopic shaft of the first lifting hydraulic cylinder 521. The bottom of the telescopic detection rod 522 is equipped with a metal detector 523. When an item identified as containing metal, or an item whose metal content cannot be determined, passes under a row of metal detection components 52, the corresponding telescopic detection rod 522 will be lowered for detection by the metal detector 523. After detection, the telescopic detection rod 522 will be raised immediately.

[0041] When metal detection is required, as the item approaches a metal detection component 51, the first lifting hydraulic cylinder 521 is activated to push the corresponding telescopic detection rod 522 downwards, causing the metal detector 523 to approach the item. If metal is detected, the metal detector 523 will emit a beeping sound and the system will mark the item as containing metal (the height of the item to be detected is determined, and the descent height will also decrease as needed). The detection time is short, so the telescopic detection rod 522 should be raised promptly to avoid affecting the transport of the item.

[0042] The X-ray detection mechanism 6 includes a fourth mounting frame 61 and X-ray probes 62 arranged in an array at the bottom of the fourth mounting frame 61; The X-ray probe 62 is used to image the internal structure of an object; The X-ray probe 62 analyzes the internal metal structure of an item containing metal as determined by the metal detection mechanism 5, constructs a metal frame structure, and analyzes whether it is an explosive based on the metal frame structure.

[0043] The array of X-ray probes 62 can image the shape and internal materials of different densities of objects passing beneath them. Analysis can reveal structural diagrams of potentially metallic internal structures, and further analysis of the object's shape can help determine if it contains explosives.

[0044] The Raman spectroscopy acquisition unit 7 includes a fifth mounting frame 71 and multiple sets of Raman spectroscopy acquisition components 72. The bottom of the fifth mounting frame 71 is provided with multiple U-shaped frames 711 that are equally spaced and perpendicular to the direction of movement of the conveyor belt 1. The Raman spectroscopy acquisition components 72 include a first displacement screw 725, a first servo motor 726, a convex slider 721, four second telescopic hydraulic cylinders 722, a laser emitting plate 723, and a Raman scattering light acquisition plate 724. The upper half of the convex slider 721 is slidably fitted onto the U-shaped frame 711. The first displacement screw 725 spirally passes through the upper half of the convex slider 721. One end of the first displacement screw 725 is connected to the shaft of the first servo motor 726. A downward-facing second telescopic hydraulic cylinder 722 is installed at each of the four corners of the lower half of the convex slider 721. A laser emitting plate 723 and a Raman scattering light collecting plate 724 are fixed at the bottom of the telescopic shafts of the two second telescopic hydraulic cylinders 722 on the same side. The laser emitting plate 723 and the Raman scattering light collecting plate 724 are arranged opposite to each other. When the lidar detection mechanism 3 and the image acquisition mechanism 4 determine that the item is a transparent glass bottle, according to the determination position, one of the Raman spectral acquisition components 72 is activated to move the laser emission plate 723 and the Raman scattering light acquisition plate 724 downwards synchronously, so that the laser emission plate 723 and the Raman scattering light acquisition plate 724 are on both sides of the bottle body, and then the Raman scattering test is started.

[0045] Before a bottle or transparent box (possibly containing liquid) passes through the Raman spectroscopy acquisition unit 72, the corresponding Raman spectroscopy acquisition unit 72 is activated. The laser emitting plate 723 and the Raman scattering light acquisition plate 724 are simultaneously lowered. When an object passes between them, the laser emitting plate 723 emits a high-frequency laser beam that penetrates the bottle or transparent box. The emitted Raman scattering is collected by the Raman scattering light acquisition plate 724 for analysis to determine if it contains explosives. After the detection is complete, the laser emitting plate 723 and the Raman scattering light acquisition plate 724 are immediately raised to prevent them from hitting subsequent objects.

[0046] The first displacement screw 725 is driven by the first servo motor 726, causing the convex slider 721 to move back and forth, so that the convex slider 721 can be moved to the required position. This allows for the precise downward movement of the laser emitting plate 723 and the Raman scattering light acquisition plate 724, which can also accurately detect the downward movement of items that may have errors in placement or cannot be transported along the track.

[0047] The multiple convex sliders 721 have different lengths, so that the spacing between the laser emitting plate 723 and the Raman scattering light collecting plate 724 in the multiple sets of Raman spectroscopy collecting components 72 is different. The Raman spectroscopy collecting component 72 with the required spacing is selected to move down to collect data according to the width of the bottle.

[0048] Since the bottle or transparent box is different, after the width is determined in the previous detection process, the length of the convex slider 721 corresponding to the detection width is activated in the next step. This makes the distance between the laser emitting plate 723 and the Raman scattering light acquisition plate 724 more suitable for the detection width, and the detection accuracy will be higher.

[0049] The trace detection unit 8 includes a sixth mounting frame 81 and two sets of trace detection components 82. The bottom of the sixth mounting frame 81 is provided with two double-rail slides 811. The trace detection components 82 include a second displacement screw 824, a second servo motor 825, a transverse block 821, a third telescopic hydraulic cylinder 823, and a trace suction component 822. The transverse block 821 is slidably sleeved on the double-rail slide 811. The second displacement screw 824 spirally passes through the middle position of the transverse block 821. Four downward-facing third telescopic hydraulic cylinders 823 are provided through the transverse block 821. The ends of the telescopic shafts of the four third telescopic hydraulic cylinders 823 are fixed with trace suction components 822. The trace aspiration device 822 includes a circular aspiration cylinder 8221 and multiple aspiration tubes 8222. Multiple aspiration tubes 8222 are evenly connected around the bottom edge of the circular aspiration cylinder 8221. A negative pressure tube 8223 is connected to one side wall of the circular aspiration cylinder 8221.

[0050] When collecting volatile substances from the surface of an object, air is first blown outward for a short time (2-3 seconds, then the internal pressure of the circular suction cylinder 8221 is changed to negative pressure) to suspend the object adhering to or sticking to the surface. Then, the high-pressure negative suction is immediately turned on to draw the substance into multiple suction pipes 8222, which are then drawn into the circular suction cylinder 8221 and then into the trace detection device for trace detection. The trace detection device is an existing device.

[0051] The negative pressure connector 8223 is connected to the air inlet pipe of the trace detection device via a hose. The trace detection device has multiple detection chambers, and each detection chamber is used for alternating detection. After each detection chamber is completed, it is necessary to change the air to remove residual gas.

[0052] Multiple detection chambers are set up so that after a test is completed, the residual gas can be replaced in time to remove it, and the gas will not be interfered with by the previous gas when it is drawn into the detection chamber next time. Multiple detection chambers can be used to directly detect the gas that has been replaced during the gas replacement process, which prevents the gas from being drawn into the detection chamber in time when there are consecutive tests that need to be tested.

[0053] The explosive ordnance handling mechanism includes intelligent robotic arms and clamping components. One intelligent robotic arm is configured on each side of the conveyor belt behind the detection mounting cover. Each of the two intelligent robotic arms is equipped with a clamping component, which is a bottle clamping device and a bag clamping device, respectively.

[0054] The system employs a modern intelligent robotic arm to handle and retrieve items. A high-definition camera is mounted on the gripper; if the image matches a previously captured image indicating an explosive or suspected explosive device, the item will be retrieved. When an item is detected as a suspected or confirmed explosive, it is promptly gripped and removed. Alternatively, suction (air suction head) can be used for retrieval, with multiple gripping or retrieval devices, not limited to two.

[0055] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An explosive detection and processing device based on lidar, characterized in that: It includes a detection and processing system, a detection mounting cover (2), and a lidar detection mechanism (3), an image acquisition mechanism (4), a metal detection mechanism (5), an X-ray detection mechanism (6), an explosive detection mechanism, and an explosive handling mechanism installed on the detection mounting cover (2); The detection and processing system includes a server, an image display unit, and an alarm module. The server is used to analyze detection data, the image display unit is used to display the detected images and data, and the alarm module is used to issue an alarm for confirmed explosives and suspected explosives. The lidar detection mechanism (3) is used to image and judge the shape and size of each item, and the image acquisition mechanism (4) is used to acquire images of the surface of each item and combine the acquired images with the shape and size judged by the lidar detection mechanism (3) to perform explosive probability analysis. The metal detection mechanism (5) is used to detect whether the item contains metal; The X-ray detection mechanism (6) is used to image the interior of the item; The explosive detection mechanism includes a Raman spectroscopy acquisition unit (7) and a trace detection unit (8). The Raman spectroscopy acquisition unit (7) is used to perform Raman transmission detection on each transparent glass bottle, and the trace detection unit (8) is used to collect trace gaseous substances from the surface of the item and send the collected gaseous substances into the trace detection device. The explosives handling unit is used to retrieve identified or suspected explosives onto the explosives conveyor belt; The detection mounting cover (2) is installed on the goods conveyor belt (1).

2. The explosive detection and processing device based on lidar according to claim 1, characterized in that, The server contains an item database and an image database; The laser radar detection mechanism (3) includes a first mounting frame (31) and a row of laser radar detectors (32). A row of laser radar detectors (32) is installed at equal intervals at the bottom of the first mounting frame (31). The server performs data fitting on the data detected by the row of laser radar detectors (32) and performs three-dimensional imaging on the items on the item conveyor belt (1). The resulting three-dimensional imaging is compared and analyzed with the three-dimensional images in the item database to determine the item type. The image acquisition mechanism (4) includes a second mounting frame (41) and a row of high-definition cameras (42). A row of high-definition cameras (42) is installed at equal intervals at the bottom of the second mounting frame (41). The images of the items captured by the high-definition cameras (42) are captured by the system and compared and analyzed with the image database to determine the type of items.

3. The explosive detection and processing device based on lidar according to claim 2, characterized in that, The lidar detection mechanism (3) performs type analysis on the items and the image acquisition mechanism (4) performs category analysis on the items. The results of the two analyses are combined to perform a comprehensive analysis to determine the type and specifications of the items. After comprehensive analysis, the locations and types of items are classified, and the locations of items that cannot be determined to contain metal and those that can be determined to contain metal are identified.

4. The explosive detection and processing device based on lidar according to claim 3, characterized in that, The metal detection mechanism (5) includes a third mounting bracket (51) and a row of metal detection components (52). The metal detection components (52) include a telescopic detection rod (522), a metal detector (523), and a first lifting hydraulic cylinder (521). The bottom of the third mounting bracket (51) is provided with slots at equal intervals. Each slot is fitted with a first lifting hydraulic cylinder (521). The top of the telescopic detection rod (522) is inserted into the slot and fixedly connected to the telescopic shaft of the first lifting hydraulic cylinder (521). The bottom of the telescopic detection rod (522) is fitted with a metal detector (523). When an item is determined to contain metal, or an item whose metal content cannot be determined, passes under a row of metal detection components (52), the corresponding telescopic detection rod (522) will be activated to descend and be detected by the metal detector (523). After the detection is completed, the telescopic detection rod (522) will be raised immediately.

5. The explosive detection and processing device based on lidar according to claim 4, characterized in that, The X-ray detection mechanism (6) includes a fourth mounting bracket (61) and X-ray probes (62) arranged in an array at the bottom of the fourth mounting bracket (61). The X-ray probe (62) is used to image the internal structure of the article; The X-ray probe (62) analyzes the internal metal structure of an article containing metal as determined by the metal detection mechanism (5) and constructs a metal frame structure. Based on the metal frame structure, it analyzes whether the object is an explosive.

6. The explosive detection and processing device based on lidar according to claim 3, characterized in that, The Raman spectroscopy acquisition unit (7) includes a fifth mounting frame (71) and multiple sets of Raman spectroscopy acquisition components (72). The bottom of the fifth mounting frame (71) is provided with multiple U-shaped frames (711) that are equally spaced and perpendicular to the direction of movement of the conveyor belt (1). The Raman spectroscopy acquisition components (72) include a first displacement screw (725), a first servo motor (726), a convex slider (721), four second telescopic hydraulic cylinders (722), a laser emitting plate (723), and a Raman scattering light acquisition plate (724). The upper half of the convex slider (721) slides on the U-shaped frame (711). 11) The first displacement screw (725) spirally passes through the upper half of the convex slider (721). One end of the first displacement screw (725) is connected to the shaft of the first servo motor (726). A second telescopic hydraulic cylinder (722) facing downward is installed at the four corners of the lower half of the convex slider (721). A laser emitting plate (723) and a Raman scattering light collection plate (724) are fixed at the bottom of the telescopic shaft of the two second telescopic hydraulic cylinders (722) on the same side. The laser emitting plate (723) and the Raman scattering light collection plate (724) are arranged opposite to each other. When the lidar detection mechanism (3) and the image acquisition mechanism (4) determine that the item is a transparent glass bottle, according to the determination position, one of the Raman spectral acquisition components (72) is activated to move the laser emitting plate (723) and the Raman scattering light acquisition plate (724) down synchronously, so that the laser emitting plate (723) and the Raman scattering light acquisition plate (724) are on both sides of the bottle body, and then the Raman scattering test is started.

7. The explosive detection and processing device based on lidar according to claim 6, characterized in that, The multiple convex sliders (721) have different lengths so that the spacing between the laser emitting plate (723) and the Raman scattering light collecting plate (724) in the multiple sets of Raman spectral acquisition components (72) is different. The Raman spectral acquisition component (72) with the required spacing is selected according to the width of the bottle to move down and collect data.

8. The explosive detection and processing device based on lidar according to claim 1, characterized in that, The trace detection unit (8) includes a sixth mounting bracket (81) and two sets of trace detection components (82). The bottom of the sixth mounting bracket (81) is provided with two double-rail slides (811). The trace detection components (82) include a second displacement screw (824), a second servo motor (825), a transverse block (821), a third telescopic hydraulic cylinder (823), and a trace suction component (822). The transverse block (821) is slidably sleeved on the double-rail slide (811). The second displacement screw (824) spirally passes through the middle position of the transverse block (821). Four downward-facing third telescopic hydraulic cylinders (823) are provided through the transverse block (821). The ends of the telescopic shafts of the four third telescopic hydraulic cylinders (823) are fixed with trace suction components (822). The trace aspiration device (822) includes a circular aspiration cylinder (8221) and multiple aspiration tubes (8222). Multiple aspiration tubes (8222) are evenly connected around the bottom edge of the circular aspiration cylinder (8221). A negative pressure tube (8223) is connected to one side wall of the circular aspiration cylinder (8221).

9. The explosive detection and processing device based on lidar according to claim 8, characterized in that, The negative pressure connector (8223) is connected to the air inlet pipe of the trace detection device through a hose. The trace detection device is equipped with multiple detection chambers. Each detection chamber is used for alternating detection. After each detection chamber is completed, it is necessary to change the air to remove residual gas.

10. The explosive detection and processing device based on lidar according to claim 1, characterized in that, The explosive ordnance handling mechanism includes intelligent robotic arms and clamping components. One intelligent robotic arm is configured on each side of the conveyor belt behind the detection mounting cover. Each of the two intelligent robotic arms is equipped with a clamping component, which is a bottle clamping device and a bag clamping device, respectively.

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