Vehicle inspection method, device, system and computer-readable storage medium

Abstract

The present disclosure proposes a vehicle inspection method, device, system and computer-readable storage medium, which relate to the field of security inspection technology. A vehicle inspection method disclosed in the present disclosure includes: obtaining vehicle contour information through a first sensor measuring perpendicular to the channel direction, and determining the parameters of the vehicle's feature points according to the vehicle contour information; determining the position of the vehicle's feature points in the channel according to the detection result of the second sensor and the parameters of the feature points; switching the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the position relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, wherein the channel includes multiple ray sources, and each ray source corresponds to one or more second sensors. Through such a method, while using multiple ray sources for detection to improve detection accuracy, the accuracy of the timing of switching the working mode of each ray source can be improved to ensure the safety of the driver.

Description

Technical Field

[0001] The present disclosure relates to the field of security inspection technology, and in particular to a vehicle inspection method, device, system and computer-readable storage medium. Background Art

[0002] The truck cab avoidance system is usually used in rapid X-ray inspections of vehicles. The vehicle passes through the X-ray inspection area on its own. When the cab passes through, the inspection system does not emit radiation or emits radiation at a lower dose. After the vehicle cab passes the set position, the system will emit beams normally to achieve the limit requirements for the driver's single absorbed dose in radiation protection. Summary of the invention

[0003] One purpose of the present disclosure is to provide a mode switching solution during vehicle detection to improve the accuracy of working mode switching timing and detection accuracy.

[0004] According to one aspect of some embodiments of the present disclosure, a vehicle inspection method is proposed, comprising: acquiring vehicle contour information through a first sensor measuring perpendicular to a channel direction, and determining parameters of feature points of the vehicle based on the vehicle contour information; determining a position of the feature points of the vehicle in the channel based on a detection result of a second sensor and the parameters of the feature points; switching an operating mode of the ray source corresponding to the second sensor based on a predetermined strategy according to a positional relationship between the position of the feature point in the channel and a main beam position of a ray source corresponding to the second sensor, wherein the channel includes multiple ray sources, and each ray source corresponds to one or more second sensors.

[0005] In some embodiments, vehicle contour information is obtained by a first sensor measuring perpendicular to the channel direction, and parameters of feature points of the vehicle are determined based on the vehicle contour information, including: obtaining vehicle contour information and vehicle travel speed information based on detection results of the first sensor; identifying feature points in the vehicle contour information; and determining the length of the vehicle interval between the feature point and the front edge of the vehicle or the rear edge of the vehicle based on the vehicle travel speed information.

[0006] In some embodiments, based on the detection results of the second sensor and the parameters of the feature point, the second sensor determines the position of the feature point of the vehicle in the channel, including: determining through the second sensor that the leading edge or trailing edge of the vehicle reaches the detection position of the second sensor; determining the position of the feature point based on the detection position of the second sensor and the length of the interval between the feature point and the vehicle.

[0007] In some embodiments, according to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, switching the working mode of the ray source corresponding to the second sensor based on a predetermined strategy includes: determining at least one of the stop beam control point or the beam out control point when triggering the switching of the working mode of the ray source according to the positional relationship between the position of the feature point and the main beam position of the ray source corresponding to the second sensor; when it is determined that the front edge of the vehicle reaches the stop beam control point or the beam out control point, or the rear edge of the vehicle reaches the stop beam control point or the beam out control point, switching the working mode of the ray source corresponding to the second sensor based on the predetermined strategy.

[0008] In some embodiments, when it is determined that the front edge of the vehicle reaches the stop-beam control point and / or the beam-out control point, or the rear edge of the vehicle reaches the stop-beam control point and / or the beam-out control point, switching the working mode of the radiation source corresponding to the second sensor based on a predetermined strategy includes: when the position of the front edge of the vehicle or the rear edge of the vehicle is equivalent to the corresponding beam-out control point, controlling the radiation source corresponding to the second sensor to start emitting radiation; when the position of the front edge of the vehicle or the rear edge of the vehicle is equivalent to the corresponding stop-beam control point, controlling the radiation source corresponding to the second sensor to stop emitting radiation in the current mode.

[0009] In some embodiments, the arrival of the front edge of the vehicle at the stop beam control point or the beam exiting point is determined, or the arrival of the rear edge of the vehicle at the stop beam control point or the beam exiting point is determined, based on the distance between the second sensor and the main beam position of the corresponding radiation source and the vehicle's driving speed.

[0010] In some embodiments, the vehicle inspection method further includes: determining the number of working mode switching and the characteristic points of the vehicle corresponding to each switching according to a predetermined strategy; and matching the number of beam stop control points and beam output control points with the number of working mode switching of a single ray source.

[0011] In some embodiments, the first sensor is located on a side of the radiation source close to the channel entrance, and the distance between the radiation source and the first sensor is not less than a predetermined distance threshold.

[0012] In some embodiments, the feature point includes a rear edge of a cab; determining the position of the feature point of the vehicle in the channel by means of a second sensor includes: determining the arrival of the front edge of the vehicle at a detection position of the second sensor by means of the second sensor; determining the position of the rear edge of the cab based on the detection position of the second sensor and the length of the vehicle interval between the rear edge of the cab and the front edge of the vehicle; switching the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor includes: determining that when the rear edge of the cab reaches the main beam position of the ray source corresponding to the second sensor, the position of the front edge of the vehicle is a beam-emitting control point for triggering switching of the working mode of the ray source; and controlling the corresponding ray source to emit a beam when it is determined that the front edge of the vehicle arrives at the beam-emitting control point.

[0013] In some embodiments, the feature point includes a rear edge of a vehicle; determining the position of the feature point of the vehicle in the channel by using a second sensor includes: determining by using the second sensor that the front edge of the vehicle reaches a detection position of the second sensor; determining the position of the rear edge of the vehicle based on the detection position of the second sensor and the length of the vehicle interval between the rear edge of the vehicle and the front edge of the vehicle; switching the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor includes: when determining that the position of the rear edge of the vehicle reaches the position of the main beam position of the ray source corresponding to the second sensor, the position of the front edge of the vehicle is a stop beam control point for triggering switching of the working mode of the ray source; when determining that the front edge of the vehicle reaches the stop beam control point, controlling the corresponding ray source to stop the beam.

[0014] In some embodiments, the vehicle inspection method further includes: when it is determined that the vehicle has entered the channel, preheating one or more radiation sources in the channel.

[0015] In some embodiments, the vehicle inspection method also includes: when it is determined that the position of the vehicle in the channel has reached a predetermined sealing trigger point, stopping the preheating radiation source and entering a working state, wherein the sealing trigger point is located between the first radiation source close to the entrance position in the channel direction and the channel entrance.

[0016] In some embodiments, the ray emission parameters of different ray sources in a channel are not completely the same.

[0017] Through this method, the position and side profile of the vehicle can be obtained based on the detection results of the first sensor, and the timing of switching the working mode of each radiation source can be determined according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, the accuracy of the timing of switching the working mode of each radiation source can be improved to ensure the safety of the driver.

[0018] According to one aspect of some embodiments of the present disclosure, a vehicle inspection control device is proposed, comprising: a vehicle contour information acquisition unit, configured to acquire vehicle contour information through a first sensor measuring perpendicular to a channel direction, and determine parameters of feature points of the vehicle according to the vehicle contour information; a vehicle position determination unit, configured to determine the position of a feature point of the vehicle in the channel according to a detection result of a second sensor and the parameters of the feature point; and a working mode switching unit, configured to switch the working mode of a ray source corresponding to the second sensor based on a predetermined strategy according to a positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, wherein the channel includes multiple ray sources, and each ray source corresponds to one or more second sensors.

[0019] According to one aspect of some embodiments of the present disclosure, a vehicle inspection control device is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute any one of the above vehicle inspection methods based on instructions stored in the memory.

[0020] Such a device can obtain the position and side profile of the vehicle based on the detection results of the first sensor, and determine the timing of switching the working mode of each radiation source according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, it can also improve the accuracy of the timing of switching the working mode of each radiation source to ensure the safety of the driver.

[0021] According to one aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the steps of any one of the vehicle inspection methods described above are implemented.

[0022] By executing instructions on such a storage medium, the position and side profile of the vehicle can be obtained based on the detection results of the first sensor, and the timing of switching the working mode of each radiation source can be determined according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, the accuracy of the timing of switching the working mode of each radiation source can be improved to ensure the safety of the driver.

[0023] According to one aspect of some embodiments of the present disclosure, a vehicle inspection system is proposed, comprising: a first sensor, measuring perpendicularly to the channel direction, configured to obtain vehicle contour information; multiple second sensors, configured to detect whether the vehicle has reached the position of the corresponding detection area; multiple radiation sources, located on the side, top or bottom of the channel, configured to emit radiation beams to the channel and switch working states under the control of a vehicle inspection control device; and any one of the above vehicle inspection control devices.

[0024] In some embodiments, each radiation source corresponds to one or more second sensors, and the second sensors are located in front of or behind the corresponding radiation source along the advancing direction of the channel.

[0025] In some embodiments, the ray emission parameters of different ray sources are not completely the same.

[0026] Such a vehicle inspection system can obtain the position and side profile of the vehicle based on the detection results of the first sensor, and determine the timing of switching the working mode of each radiation source according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, it can also improve the accuracy of the timing of switching the working mode of each radiation source to ensure the safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0028] Figure 1 The following is a flow chart of some embodiments of the vehicle inspection method of the present disclosure.

[0029] Figure 2 Flowcharts of other embodiments of the vehicle inspection method disclosed herein.

[0030] Figures 3A to 3E Schematic diagram of some embodiments of the vehicle inspection method disclosed herein with respect to a single radiation source.

[0031] Figure 4 Schematic diagrams of some embodiments of the vehicle inspection method disclosed herein.

[0032] Figure 5 Schematic diagrams of some embodiments of the vehicle check control device disclosed herein.

[0033] Figure 6 Schematic diagrams of other embodiments of the vehicle inspection control device disclosed herein.

[0034] Figure 7 Schematic diagrams of some further embodiments of the vehicle inspection control device disclosed herein.

[0035] Figure 8 Schematic diagrams of some embodiments of the vehicle inspection system disclosed herein. DETAILED DESCRIPTION

[0036] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments.

[0037] The flowcharts of some embodiments of the vehicle inspection method of the present disclosure are as follows Figure 1 shown.

[0038] In step 101, the vehicle profile information is obtained by a first sensor that measures perpendicularly to the channel direction, and the parameters of the characteristic points of the vehicle are determined according to the vehicle profile information. In some embodiments, the first sensor may be a measuring light curtain, a linear array camera, or an area laser sensor, which is deployed on the side of the driving direction along the measuring channel. Compared with other parts of the vehicle inspection system, the first sensor is closer to the channel entrance. The first sensor obtains the profile information of the passing vehicle through measurement. In some embodiments, the vehicle profile information may be image profile information of the side of the vehicle.

[0039] In some embodiments, parameters of feature points may be extracted based on the vehicle profile information. For example, features of predetermined feature points may be set, matched in the vehicle profile information, and positions of feature points in the vehicle profile information may be determined.

[0040] In some embodiments, the feature point may include a rear edge of the cab.

[0041] In some embodiments, the parameter of the feature point may include the length of the vehicle interval between the feature point and the front edge of the vehicle or the rear edge of the vehicle. For example, if the feature point is the rear edge of the cab, the parameter of the feature point may be the length of the front of the vehicle or the length of the cargo box; if the feature point is the rear edge of the vehicle, the parameter of the feature point may be the total length of the vehicle. In some embodiments, the vehicle speed may be determined based on the detection result of the first sensor, and then the proportion of the vehicle side profile information may be adjusted based on the vehicle speed to obtain the parameter of the feature point.

[0042] In step 102, the position of the feature point of the vehicle in the channel is determined according to the detection result of the second sensor and the parameters of the feature point.

[0043] In some embodiments, the second sensor can detect along the channel direction, determine the position of the front or rear of the vehicle through its own position and the distance between it and the vehicle, and then determine the position of the feature point in the channel according to the distance of the feature point relative to the front or rear of the vehicle.

[0044] In some embodiments, the second sensor can detect in the direction of the channel from the side of the channel. If the state changes from no vehicle detection to a vehicle detection state, the position of the front of the vehicle is determined to be the detection position of the second sensor, and then the position of the feature point in the channel can be obtained according to the parameters of the feature point. If the state changes from a vehicle detection state to a vehicle non-detection state, it is determined that the rear of the vehicle has just passed the detection position of the second sensor, and then the position of the feature point in the channel can be obtained according to the parameters of the feature point.

[0045] In step 103, according to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, the working mode of the ray source corresponding to the second sensor is switched based on a predetermined strategy. In some embodiments, the channel includes multiple ray sources, each of which corresponds to one or more second sensors.

[0046] In some embodiments, the principle of switching the working mode of the radiation source can be: when it is determined that the front of the vehicle enters the main beam position, the radiation source is stopped from emitting beams or switched to low-dose beams, or switched to the backscatter detection state; when it is determined that the front of the vehicle leaves the main beam position and the cargo box is in the main beam position, the radiation source is controlled to emit beams or switched to high-dose beams, or switched to the transmission detection state.

[0047] Through this method, the position and side profile of the vehicle can be obtained based on the detection results of the first sensor, and the timing of switching the working mode of each radiation source can be determined according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, the accuracy of the timing of switching the working mode of each radiation source can be improved to ensure the safety of the driver.

[0048] In some embodiments, one or more second sensors correspond to a ray source, so the relative position relationship between the vehicle feature point and the ray source can be determined based on the detection results of the one or more second sensors, thereby improving the accuracy of determining the relative position relationship.

[0049] In some embodiments, the ray emission parameters of the multiple ray sources in the channel are not completely the same. For example, one or more of the ray emission power, ray source deployment position, or ray emission direction are different between the multiple ray sources, thereby improving the accuracy of vehicle detection and reducing the missed detection area.

[0050] In some embodiments, the radiation source can be preheated when it is determined that the vehicle has entered the channel. In some embodiments, the radiation source can emit a beam at a low dose in the preheated state, thereby reducing the delay for the radiation source to switch to a normal working state and improving the efficiency of mode switching. When it is determined that the position of the vehicle in the channel has reached a predetermined sealing trigger point, the preheating of the radiation source is stopped and the normal working state is entered, wherein the sealing trigger point is between the radiation source closest to the entrance and the channel entrance. In some embodiments, the sealing trigger point can be between the first sensor and the radiation source closest to the entrance, or between the first sensor and the channel entrance.

[0051] In some embodiments, the radiation source can be switched to a low-dose working state after the vehicle reaches a predetermined sealing trigger point. The radiation dose of the low-dose working state meets the requirements for cab detection, thereby achieving subsequent detection of the cab.

[0052] In some embodiments, when it is determined that a vehicle has entered a channel, it can be determined whether the channel also includes a preceding vehicle. If there is a preceding vehicle in the channel, the radiation source does not need to be preheated, nor does it need to react to the vehicle reaching a predetermined sealing trigger point. This method can simultaneously inspect multiple vehicles in the channel, improving inspection efficiency; it also prevents the entry of subsequent vehicles from affecting the detection status of the preceding vehicle, ensuring the accuracy of the inspection.

[0053] Flow charts of other embodiments of the vehicle inspection method disclosed herein are as follows: Figure 2 shown.

[0054] In step 201, vehicle profile information and vehicle speed information are obtained according to the detection result of the first sensor. In some embodiments, the image profile information of the side of the vehicle can be obtained using the detection data of the first sensor, and the vehicle speed can be determined according to the change of the real-time detection data.

[0055] In step 202, feature points are identified in the vehicle profile information. In some embodiments, the feature points may include but are not limited to the rear edge of the cab.

[0056] In step 203, the length of the vehicle interval between the feature point and the front edge of the vehicle or between the feature point and the rear edge of the vehicle is determined according to the vehicle speed information. In some embodiments, the corresponding vehicle interval length can be determined according to the vehicle speed and the length of time from the front edge of the vehicle to the feature point or from the rear edge of the vehicle to the feature point through the detection interval of the first sensor.

[0057] In step 204, the second sensor determines whether the front edge or the rear edge of the vehicle reaches the detection position of the second sensor. In some embodiments, all second sensors in the channel can continuously measure their respective detection areas to determine whether a vehicle appears in the detection area.

[0058] In step 205, the position of the feature point is determined according to the detection position of the second sensor and the length of the feature point and the vehicle interval.

[0059] In some embodiments, if the second sensor changes from a state where no vehicle is detected to a state where a vehicle is detected, the position of the front of the vehicle is determined to be the detection position of the second sensor, and the position of the feature point in the channel can be obtained based on the parameters of the feature point. If the state where a vehicle is detected changes to a state where a vehicle is not detected, it is determined that the rear of the vehicle has just passed the detection position of the second sensor, and the position of the feature point in the channel can be obtained based on the parameters of the feature point.

[0060] In step 206, at least one of the beam stop control point and the beam output control point for triggering switching of the working mode of the ray source is determined according to the positional relationship between the position of the feature point and the main beam position of the ray source corresponding to the second sensor.

[0061] In some embodiments, assuming that the second sensor is located at a distance D1 from the main beam position of the corresponding ray source close to the channel entrance, the length of the cab is determined as length according to the parameters of the feature point. 驾驶室 , when the front of the vehicle begins to be detected by the second sensor, the distance between the feature point and the main beam position is D1+length 驾驶室 , then it can be determined that the beam control point is located at D1+length along the channel direction of the second sensor 驾驶室In some embodiments, when the second sensor detects the rear edge of the vehicle (changes to a state where the vehicle is not detected), the distance between the feature point (the rear edge of the vehicle) and the main beam position is D1, then it can be determined that the stop beam control point is located at a distance of D1 along the channel direction of the second sensor, and the beam is stopped when the rear edge of the vehicle reaches this position, or at a distance of D1+length along the channel direction of the second sensor. 车辆 When the front edge of the vehicle reaches this position, it stops.

[0062] In some embodiments, the stop beam control point and the outgoing beam control point can be the position of the front edge or the rear edge of the vehicle when the position of the feature point is equivalent to the main beam position. Since the position of the front edge and the rear edge of the vehicle are easy to measure, when the vehicle feature point reaches the position of the ray source, there is no need to calculate the position of the position feature point according to the vehicle profile parameters, thereby improving the efficiency of position matching. In some embodiments, the position of the front edge and the rear edge of the vehicle can be determined according to the position of the second sensor and the vehicle speed. For example, when the front of the vehicle is located at the detection position of the second sensor, the vehicle speed is v, and after time t, the front of the vehicle is located at a distance vt from the second sensor away from the entrance. Therefore, when it is detected that the front of the vehicle is located at the detection position of the second sensor, the ray source working mode can be switched after time t. In this way, the operation of position judgment is converted into mode switching time control through calculation, thereby reducing the control difficulty.

[0063] In some embodiments, the first sensor can stop collecting vehicle profile information after completing the scanning of the vehicle cab, and the second sensor can obtain the vehicle position information. This method can reduce the amount of processing of the data collected by the first sensor, reduce the system burden, and increase the service life of the sensor.

[0064] In some embodiments, the number of beam-stopping control points and beam-out control points may be determined according to the number of determined feature points. In some embodiments, the number of feature points may be equal to the sum of the number of beam-stopping control points and beam-out control points.

[0065] In step 207, when it is determined that the front edge of the vehicle reaches the stop beam control point or the outgoing beam control point, or the rear edge of the vehicle reaches the stop beam control point or the outgoing beam control point, the working mode of the radiation source corresponding to the second sensor is switched based on a predetermined strategy.

[0066] In some embodiments, when the position of the front edge or the rear edge of the vehicle is equivalent to the corresponding beam-out control point, the ray source is controlled to start emitting rays in the next mode; when the position of the front edge or the rear edge of the vehicle is equivalent to the corresponding beam-stop control point, the ray source is controlled to stop emitting rays in the current mode.

[0067] In some embodiments, a correspondence of "working mode - identification point including the front edge of the vehicle or the rear edge of the vehicle - beam-out control point or beam-stop control point" can be generated. For example, when the front edge of the vehicle reaches the first beam-out control point, the first working mode is enabled. When the front edge of the vehicle reaches the second beam-out control point, the second working mode is switched. When the rear edge of the vehicle reaches the first beam-stop control point, the third working mode is adopted, etc., thereby realizing rapid determination and switching of working modes.

[0068] In some embodiments, different working modes may include different ray sources, different ray intensities, different ray scanning methods, etc. In some embodiments, the working modes may include low-dose ray emission, high-dose ray emission, and no ray emission. For example, when the front edge of the vehicle reaches the first beam emission control point, scattering or low-dose ray emission is performed, when the front edge of the vehicle reaches the second beam emission control point, transmission and high-dose ray emission are performed, and when the rear edge of the vehicle reaches the first stop beam control point, the beam emission is stopped.

[0069] Through this method, the position of the control point can be determined by utilizing the distance between the feature point and the identification point including the front edge or the rear edge of the vehicle, as well as the position of the ray source, and then the working state of the ray source can be switched in time when the front edge or the rear edge of the vehicle reaches the corresponding control point, thereby improving the timeliness and accuracy of switching the working mode of the ray source and avoiding safety risks caused by premature beam emission or missing scanning images caused by delayed beam emission.

[0070] In some embodiments, Figures 3A to 3E As shown, a one-dimensional coordinate system can be established along the channel axis. Figures 3A to 3E Only one combination of the second sensor and the ray source is shown. According to the extension direction of the channel, there are multiple combinations of the second sensor and the ray source. Each group has only one main beam area. The number of second sensors can be the same or different, and the relative position relationship between the second sensor and the ray source can be the same or different.

[0071] by Figure 3A Take the layout as an example, with an area laser sensor (second sensor) as the origin O, and the vehicle driving direction as the positive direction. Other sensors or devices are arranged in this coordinate system and have a position coordinate. The first sensor for obtaining vehicle shape data is arranged at position S, which can be a measuring light curtain, a linear array camera, or an area laser sensor.

[0072] Taking the first sensor as a two-dimensional area laser sensor as an example, according to the control characteristics of the X-ray generator, the system includes three types of control points: ① sealing trigger control point R, ② beam control point P, and ③ beam stop control point Q. When the vehicle enters the channel and reaches the channel entrance (Enter) position, the system sends a vehicle arrival information, and the scanning control system starts the corresponding process, such as starting to add high voltage.

[0073] like Figure 3B As shown, when the vehicle reaches the S position, it starts to accumulate vehicle side profile data, and calls the vehicle profile recognition algorithm after reaching the set number of frames; after accumulating twice the set number of frames, the recognition algorithm is called again until the algorithm gives recognition results such as the cab rear edge information and the vehicle front length L information, thereby realizing the calling of the recognition algorithm every time a predetermined number of frames are scanned.

[0074] like Figure 3C As shown, when the vehicle reaches R1, R2, ... i When the position is (i is the number of R points, which can also be equal to the number of combinations of radiation sources and second sensors in the system, i is a positive integer, n in the figure is a positive integer, and 1≤n≤i), the scanning control subsystem adopts a corresponding control strategy, such as sealing triggering.

[0075] like Figure 3D As shown, the manner of determining the position of the switching mode may include the following two methods:

[0076] (1) Based on the obtained vehicle front (cab) length L and the real-time position information of the vehicle front, the vehicle front reaches Lp n When the position is reached, the corresponding control point is reached, and the scanning control subsystem adopts the corresponding control strategy, among which,

[0077] Lp n =Lb n -L-Lp r

[0078] Lp r For the additional protection avoidance length, the minimum value can be set to 0. n is the ray source identifier, n is a positive integer, and 1≤n≤j, j is the number of ray sources.

[0079] (2) Starting from the time point when the rear edge of the cab is determined according to the detection result of the second sensor, when the vehicle continues to travel Ls-Lb n +Lpr distance, the scanning control subsystem adopts corresponding control strategies, such as beam control, low-dose and high-dose switching control, etc. Among them, Ls is the distance between the second sensor and the first sensor, Lb n is the distance between the ray source and the second sensor, Ls-Lb n That is, the distance between the radiation source and the second sensor.

[0080] like Figure 3E As shown, when the vehicle reaches the channel exit position, the system sends a vehicle departure information.

[0081] The positions of R, P, and Q points can be determined according to the business needs of the scanning process, and there is no positional relationship requirement between them. Usually R is set at a point in the negative direction of the ray source, and P and Q are set at a point in the positive direction of the main beam of the ray. P and Q can overlap; considering system calculation, data transmission and system operation time, combined with the maximum speed of the vehicle, B n There is a minimum distance limit between the vehicle and S, and the minimum distance limit is not less than the distance that the vehicle can travel within the system operation time.

[0082] Through this method, fewer sensors can be used, multiple precise control points can be provided, the control strategy of the X-ray container / vehicle inspection system can be enriched, the amount of civil engineering used and the difficulty of system installation and debugging can be reduced, and the workload can be reduced. In addition, through this method, since the collected image includes the depth information of the vehicle outline, it is conducive to the identification and positioning of the rear edge of the cab of a vehicle with a complex shape; the output of multiple control points can enrich the control strategy of the scanning process and improve the control accuracy; the vehicle status in the channel is monitored in real time, and the response speed to abnormal working conditions such as parking and reversing is greatly improved.

[0083] In some embodiments, in the case of continuous detection (i.e., vehicles can continuously enter the channel without waiting for the first vehicle to exit the exit), the parameters of the feature points and the vehicle order can be obtained each time a vehicle passes through the detection area of ​​the first sensor, and the parameters of the feature points required for each combination of the second sensor and the radiation source to perform subsequent working mode switching are added to the queue. The queue is in a first-in-first-out form, so that for each combination of the radiation source and the second sensor, when a vehicle is detected, the parameters of the feature points can be extracted according to the order of the current queue. For example, the channel includes i (i is an integer greater than 1) combinations of radiation sources and second sensors, numbered B1, B2...B from the entrance. i , when the first car enters the channel, for each combination of ray source and second sensor, the required feature point parameter queue includes the parameter f1 of the first car's feature point. When the second car enters the channel, parameter f2 is added to the queue...; and when the first car passes B1, f1 is removed from the parameter queue of the feature point required by B1, thereby ensuring that the parameter extracted when the next vehicle passes B1 is f2; every time a car passes a main beam position, the front parameter in the queue of the corresponding combination of ray source and second sensor is removed from the queue.

[0084] Through this method, it is possible to achieve the avoidance of each radiation source to the driving area of ​​each vehicle under continuous working conditions of multiple vehicles. Even for vehicles of different models and sizes, accurate and personalized avoidance can be achieved according to the situation of each vehicle, thereby improving the accuracy and efficiency of detection while ensuring safety.

[0085] Schematic diagrams of some embodiments of the vehicle inspection method disclosed herein are as follows Figure 4shown.

[0086] The first sensor is deployed at the S position, and the sensor can be a measuring light curtain, a linear array camera, or an area laser sensor. B1, B2…Bi (i is a positive integer greater than 1) are the main beams generated by the ray source, and one or more second sensors (not shown in the figure) are arranged before and after each main beam, such as a measuring light curtain or a photoelectric sensor. The magnetic breaking enable, beam emission, and beam stop timing are obtained according to the detection data of the second sensor. One or more second sensors can form a combination with a ray source, and work with the first sensor as a detection device in the vehicle inspection system. In some embodiments, different ray sources have different ray emission parameters, such as at least one of the ray intensity, ray type, ray source deployment position (side, bottom or top), scanning mode, or ray source emission direction.

[0087] Through this method, a single first sensor can be used in conjunction with multiple second sensors to asynchronously adjust the working states of multiple radiation sources, thereby achieving refined control of the radiation sources, thereby improving the thoroughness of vehicle detection while ensuring safety at the lowest possible cost.

[0088] In some embodiments, the installation position and the number of combinations of each ray source and the second sensor can be adjusted as needed to achieve a flexible and scalable configuration.

[0089] Schematic diagrams of some embodiments of the vehicle inspection control device disclosed in the present invention are as follows Figure 5 shown.

[0090] The vehicle profile information acquisition unit 501 can acquire the vehicle profile information through the first sensor measured perpendicular to the channel direction, and determine the parameters of the characteristic points of the vehicle according to the vehicle profile information. In some embodiments, the first sensor can be a measuring light curtain, a linear array camera or an area laser sensor, which is deployed on the side of the driving direction along the measuring channel. Compared with other parts of the vehicle inspection system, the first sensor is closer to the channel entrance. The first sensor obtains the profile information of the passing vehicle through measurement. In some embodiments, the vehicle profile information can be the image profile information of the side of the vehicle.

[0091] The vehicle position determination unit 502 can determine the position of the feature point of the vehicle in the channel according to the detection result of the second sensor and the parameters of the feature point.

[0092] In some embodiments, the second sensor can detect along the channel direction, determine the position of the front or rear of the vehicle through its own position and the distance between it and the vehicle, and then determine the position of the feature point in the channel according to the distance of the feature point relative to the front or rear of the vehicle.

[0093] In some embodiments, the second sensor can detect in the direction of the channel from the side of the channel. If the state changes from no vehicle detection to a detected vehicle state, the position of the front of the vehicle is determined to be the detection position of the second sensor, and then the position of the feature point in the channel can be obtained based on the parameters of the feature point. If the state changes from a detected vehicle to a non-detected vehicle state, it is determined that the rear of the vehicle has just passed the detection position of the second sensor, and then the position of the feature point in the channel can be obtained based on the parameters of the feature point, thereby reducing the detection difficulty of the second sensor and improving the accuracy of position determination.

[0094] The working mode switching unit 503 can switch the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the position relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor. In some embodiments, the channel includes multiple ray sources, each of which corresponds to one or more second sensors.

[0095] Such a device can obtain the position and side profile of the vehicle based on the detection results of the first sensor, and determine the timing of switching the working mode of each radiation source according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, it can also improve the accuracy of the timing of switching the working mode of each radiation source to ensure the safety of the driver.

[0096] The structural diagram of an embodiment of the vehicle inspection control device disclosed in the present invention is as follows: Figure 6 As shown. The vehicle inspection control device includes a memory 601 and a processor 602. Among them: the memory 601 can be a disk, a flash memory or any other non-volatile storage medium. The memory is used to store the instructions in the corresponding embodiment of the vehicle inspection method above. The processor 602 is coupled to the memory 601 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 602 is used to execute the instructions stored in the memory, and can improve the accuracy of the switching timing of the working mode of each radiation source while using multiple radiation sources for detection to improve the detection accuracy, thereby ensuring the safety of the driver.

[0097] In one embodiment, it is also possible to Figure 7 As shown, the vehicle inspection control device 700 includes a memory 701 and a processor 702. The processor 702 is coupled to the memory 701 via a BUS bus 703. The vehicle inspection device 700 can also be connected to an external storage device 705 via a storage interface 704 to call external data, and can also be connected to a network or another computer system (not shown) via a network interface 706. No further detailed description will be given here.

[0098] In this embodiment, by storing data instructions in a memory and processing the instructions through a processor, it is possible to improve the accuracy of the switching timing of the working mode of each radiation source while using multiple radiation sources for detection to improve detection accuracy, thereby ensuring the safety of the driver.

[0099] In another embodiment, a computer-readable storage medium stores thereon computer program instructions, which, when executed by a processor, implement the steps of the method in the corresponding embodiment of the vehicle inspection method. It should be understood by those skilled in the art that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] Schematic diagrams of some embodiments of the vehicle inspection system of the present disclosure are as follows Figure 8 shown.

[0101] The vehicle inspection system may include a first sensor 81, a second sensor 812, 822...8i2, and a radiation source 813, 823...8i3 (i is an integer greater than 1), and any one of the vehicle inspection devices 80 mentioned above, wherein 8n2 and 8n3 form a group, n is a positive integer less than or equal to i, and the number of 8n2 in each group may be one or more.

[0102] In some embodiments, the vehicle inspection device 80 can be implemented by a scanning control system of a PLC (Programmable Logic Controller) or an industrial computer.

[0103] The first sensor 81 measures perpendicularly to the channel direction and can obtain the contour information of the vehicle side; the second sensor 8n2 measures along the channel direction, or also measures perpendicularly to the channel direction; the ray source 8n3 is located on the side, top or bottom of the channel, can emit a ray beam to the channel, and switch the working state under the control of the vehicle inspection control device.

[0104] In some embodiments, the first sensor may be a measuring light curtain, a linear array camera or an area laser sensor, and the second sensor may be a horizontally mounted two-dimensional or three-dimensional area laser sensor, or a measuring light curtain, a linear array camera or an area laser sensor that measures perpendicular to the channel direction.

[0105] Such a vehicle inspection system can obtain the position and side profile of the vehicle based on the detection results of the first sensor, and determine the timing of switching the working mode of each radiation source according to the detection results of each second sensor. While using multiple radiation sources to improve detection accuracy, it can also improve the accuracy of the timing of switching the working mode of each radiation source to ensure the safety of the driver.

[0106] In some embodiments, the installation position and the number of combinations of each ray source 8n3 and the second sensor 8n2 can be adjusted as needed to improve the scalability of the system.

[0107] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0111] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present disclosure, which should be included in the scope of the technical solution for protection of the present disclosure.

Claims

1. A vehicle inspection method, comprising: Acquire vehicle profile information and vehicle travel speed information through a first sensor measuring perpendicularly to the channel direction, and determine parameters of feature points of the vehicle according to the vehicle profile information; Determine the position of the characteristic point of the vehicle in the channel according to the detection result of the second sensor and the parameter of the characteristic point; According to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, the working mode of the ray source corresponding to the second sensor is switched based on a predetermined strategy, including: when the beam control point is the position of the front edge of the vehicle when the position of the feature point is equivalent to the main beam position, when it is detected that the front edge of the vehicle is located at the detection position of the second sensor, the ray source working mode is switched after a time t, wherein the time t is the time required for the sum of the distance between the second sensor and the main beam of the corresponding ray source and the distance between the front edge of the vehicle and the feature point determined according to the vehicle driving speed information, The channel includes a plurality of ray sources, each ray source corresponds to a plurality of the second sensors, and the ray sources of the plurality of ray sources are deployed at different positions.

2. The method according to claim 1, wherein: The obtaining of vehicle profile information and vehicle speed information by a first sensor measuring perpendicularly to the channel direction, and determining parameters of characteristic points of the vehicle according to the vehicle profile information include: identifying feature points in the vehicle profile information; The length of the vehicle interval between the feature point and the front edge of the vehicle or the rear edge of the vehicle is determined according to the vehicle travel speed information.

3. The method according to claim 2, wherein: Determining the position of the feature point of the vehicle in the channel according to the detection result of the second sensor and the parameter of the feature point includes: Determining, by the second sensor, that the leading edge or the trailing edge of the vehicle reaches the detection position of the second sensor; The position of the feature point is determined according to the detection position of the second sensor and the length of the vehicle section.

4. According to the method of claim 1, the step of switching the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the position relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor further comprises: Determine at least one of a beam stop control point or a beam output control point when triggering switching of the working mode of the ray source according to a positional relationship between the position of the feature point and a main beam position of the ray source corresponding to the second sensor; When it is determined that the front edge of the vehicle reaches the stop beam control point or the outgoing beam control point, or the rear edge of the vehicle reaches the stop beam control point or the outgoing beam control point, the working mode of the radiation source corresponding to the second sensor is switched based on a predetermined strategy.

5. The method according to claim 4, wherein: When it is determined that the front edge of the vehicle reaches the beam stop control point and / or the beam exit control point, or the rear edge of the vehicle reaches the beam stop control point and / or the beam exit control point, switching the working mode of the radiation source corresponding to the second sensor based on a predetermined strategy includes: When the position of the front edge of the vehicle or the rear edge of the vehicle is equal to the corresponding beam-emitting control point, controlling the ray source corresponding to the second sensor to start emitting rays; When the position of the front edge or the rear edge of the vehicle is equal to the corresponding stop beam control point, the ray source corresponding to the second sensor is controlled to stop emitting rays in the current mode.

6. The method according to claim 4 or 5, wherein: According to the distance between the second sensor and the main beam position of the corresponding ray source, and the vehicle speed, it is determined whether the front edge of the vehicle reaches the stop beam control point or the beam exiting point, or whether the rear edge of the vehicle reaches the stop beam control point or the beam exiting point.

7. The method according to claim 4 or 5, further comprising: Determine the number of working mode switching and the characteristic points of the vehicle corresponding to each switching according to a predetermined strategy; The number of the beam stop control points and the beam out control points matches the number of times the working mode of a single ray source is switched.

8. The method according to claim 1, wherein: The first sensor is located on a side of the ray source close to the channel entrance, and the distance between the ray source and the first sensor is not less than a predetermined distance threshold.

9. The method according to claim 1, wherein: The characteristic point includes the rear edge of the cab; Determining the position of the feature point of the vehicle in the channel according to the second sensor includes: Determining, by the second sensor, that the front edge of the vehicle reaches a detection position of the second sensor; Determine the position of the rear edge of the cab according to the position detected by the second sensor and the length of the vehicle section between the rear edge of the cab and the front edge of the vehicle; The switching of the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the position relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor comprises: Determine that when the rear edge of the cab reaches the main beam position of the radiation source corresponding to the second sensor, the position of the front edge of the vehicle is the beam control point for triggering switching of the working mode of the radiation source; When it is determined that the front edge of the vehicle reaches the beam-out control point, the corresponding ray source is controlled to emit a beam.

10. The method according to claim 1, wherein: The characteristic point includes the rear edge of the vehicle; Determining the position of the feature point of the vehicle in the channel according to the second sensor includes: Determining, by the second sensor, that the front edge of the vehicle reaches a detection position of the second sensor; Determine the position of the rear edge of the vehicle according to the detection position of the second sensor and the length of the vehicle interval between the rear edge of the vehicle and the front edge of the vehicle; The switching of the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the position relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor comprises: When it is determined that the position of the rear edge of the vehicle reaches the position of the main beam position of the radiation source corresponding to the second sensor, the position of the front edge of the vehicle is the beam stop control point for triggering switching of the working mode of the radiation source; When it is determined that the front edge of the vehicle reaches the beam stop control point, the corresponding radiation source is controlled to stop the beam.

11. The method according to claim 1, further comprising: When it is determined that a vehicle enters the channel, the plurality of radiation sources in the channel are preheated.

12. The method according to claim 11, further comprising: When it is determined that the position of the vehicle in the channel has reached a predetermined sealing trigger point, the preheating of the radiation source is stopped and the vehicle enters a working state, wherein the sealing trigger point is located between the first radiation source close to the entrance position in the channel direction and the channel entrance.

13. The method according to claim 1, wherein: The ray emission parameters of different ray sources in a channel are not exactly the same.

14. A vehicle inspection control device, comprising: A vehicle profile information acquisition unit is configured to acquire vehicle profile information and vehicle travel speed information through a first sensor measuring perpendicularly to the channel direction, and determine parameters of feature points of the vehicle according to the vehicle profile information; a vehicle position determination unit, configured to determine the position of the feature point of the vehicle in the channel according to the detection result of the second sensor and the parameter of the feature point; The working mode switching unit is configured to switch the working mode of the ray source corresponding to the second sensor based on a predetermined strategy according to the positional relationship between the position of the feature point in the channel and the main beam position of the ray source corresponding to the second sensor, including: when the beam control point is the position of the front of the vehicle when the position of the feature point is equivalent to the main beam position, when it is detected that the front of the vehicle is located at the detection position of the second sensor, the ray source working mode is switched after a time t, wherein the time t is the time length required for the sum of the distance between the second sensor and the corresponding main beam of the ray source determined according to the vehicle speed information and the distance between the front of the vehicle and the feature point, wherein the channel includes multiple ray sources, each ray source corresponds to multiple second sensors, and the ray source deployment positions of the multiple ray sources are different.

15. A vehicle inspection control device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the method according to any one of claims 1 to 13 based on instructions stored in the memory.

16. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 13.

17. A vehicle inspection system comprising: A first sensor, measuring perpendicular to the channel direction, is configured to obtain vehicle profile information; A plurality of second sensors are configured to detect whether the vehicle reaches a position of a corresponding detection area; A plurality of radiation sources, located at the side, top or bottom of the channel, are configured to emit radiation beams to the channel and switch working states under the control of the vehicle inspection control device; and, The vehicle inspection control device according to claim 14 or 15.

18. The vehicle inspection system according to claim 17, wherein: Each radiation source corresponds to a plurality of the second sensors, and the second sensors are located in front of or behind the corresponding radiation source along the advancing direction of the channel.

19. The vehicle inspection system according to claim 17 or 18, wherein: The ray emission parameters of different ray sources are not exactly the same.

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