Detection guidance method, device and system, robot and storage medium

Abstract

The present disclosure relates to a detection guidance method, device and system, robot and storage medium. The detection guidance method comprises: judging whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; when the detection part of the object to be detected appears within the shooting range of the image acquisition device, first positioning the detection part according to the detection part photo taken by the image acquisition device, and instructing the robot to move the detection device to the detection part for corresponding detection. The present disclosure can realize automatic detection of objects to be detected with detection parts such as breathable hoods, and the present disclosure greatly improves the inspection work efficiency and reduces the detection cost through automatic positioning and detection.

Description

Technical Field

[0001] The present disclosure relates to the field of object detection, and in particular to a detection guidance method, device and system, robot and storage medium. Background Art

[0002] In recent years, the proportion of objects to be inspected in the transportation of inbound and outbound goods has been increasing as a fast, convenient and safe mode of transportation. Due to the relative closedness of objects to be inspected, some trading parties use them as quarantine treatment sites such as fumigation, and do not follow the safety operating procedures to effectively open the boxes to disperse the poison or naturally disperse the poison (open the ventilation holes for a long time), which poses a safety hazard to the port inspection and quarantine inspection work and the unloading of enterprises; in addition, wooden packaging from some countries is used for export goods after fumigation before export, but the poison is not fully dispersed. During the transportation process, the fumigant is emitted into the objects to be inspected, which also poses a safety hazard to the inspection and quarantine inspection work at the port of arrival and the unloading of enterprises.

[0003] At present, portable gas detectors are usually used for objects to be inspected upon entry. The instruments are manually operated to detect the odors of toxic and harmful gases, volatile hazardous chemicals, animal and plant food products, etc. through the door cracks or air vents of the objects to be inspected. Sometimes, it is even necessary to open the boxes for manual inspection. Summary of the invention

[0004] The inventors have discovered through research that the related art gas detection of objects to be inspected requires manual operation of the objects to be inspected, which is cumbersome, inefficient and has limited application scenarios; when the objects to be inspected are unpacked for inhalation testing, the process is complicated and time-consuming; during manual unpacking testing, toxic and harmful gases remaining in the objects to be inspected may cause harm to the health of practitioners.

[0005] In view of at least one of the above technical problems, the present disclosure provides a detection guidance method, device and system, robot and storage medium, which can realize automatic detection of an object to be inspected with a detection part such as a breathable hood.

[0006] According to one aspect of the present disclosure, a detection guidance method is provided, comprising:

[0007] Determine whether the inspection part of the object to be inspected appears within the shooting range of the image acquisition device;

[0008] When the inspection part of the object to be inspected appears within the shooting range of the image acquisition device, the inspection part is first positioned according to the photo of the inspection part taken by the image acquisition device, and the robot is instructed to move the inspection device to the inspection part for corresponding inspection.

[0009] In some embodiments of the present disclosure, the detection guidance method further includes:

[0010] When the detection part of the object to be inspected does not appear within the shooting range of the image acquisition device, the detection part is secondly positioned according to the detection information of the area laser sensor, and the robot is instructed to move the detection device toward the detection part; then, the step of determining whether the detection part of the object to be inspected appears within the shooting range of the image acquisition device is executed.

[0011] In some embodiments of the present disclosure, first locating the detection part according to the detection part photo taken by the image acquisition device, and instructing the robot to move the detection device to the detection part includes:

[0012] The detection part is photographed by the image acquisition device, and the detection part is located through the image recognition algorithm and the proportional integral differential control algorithm, and the detection device is controlled to move to the detection part.

[0013] In some embodiments of the present disclosure, obtaining a photo of the detection part taken by an image acquisition device, locating the detection part by using an image recognition algorithm and a proportional integral differential control algorithm, and controlling the detection device to move to the detection part includes:

[0014] Obtaining a photo of the inspection part taken by an image acquisition device;

[0015] An image recognition algorithm is used to identify the detection part in the detection part photo, and the pixel coordinate position of the detection part in the photo is obtained;

[0016] The pixel coordinates at the center of the photo are taken as the target position, the current pixel error is calculated, and the proportional integral differential control algorithm is used to convert the current pixel error into the actual coordinate position, and the robot is controlled to move so that the image acquisition device is aligned with the detection part;

[0017] Controlling the robot to move a first predetermined distance so that the detection device is aligned with the detection part, wherein the first predetermined distance is determined according to the relative position of the image acquisition device and the detection device;

[0018] The robot is controlled to extend a second predetermined distance toward the detection part so that the detection device is attached to the detection part.

[0019] In some embodiments of the present disclosure, taking the pixel at the center coordinate of the photo as the target position, calculating the current pixel error, converting the current pixel error into the actual coordinate position using a proportional integral differential control algorithm, and controlling the movement of the robot so that the image acquisition device is aligned with the detection part includes:

[0020] Determine whether the current pixel error is less than a predetermined threshold;

[0021] When the current pixel error is not less than a predetermined threshold, a proportional integral differential control algorithm is used to convert the current pixel error into an actual coordinate position, and the robot is controlled to move, and then a step of obtaining a photo of the detection part taken by an image acquisition device is performed;

[0022] When the current pixel error is less than a predetermined threshold, it is determined that the image acquisition device is aligned with the detection part.

[0023] In some embodiments of the present disclosure, performing a second positioning of the detection part according to the detection information of the regional laser sensor includes:

[0024] Determine the front position information of the object to be inspected according to the detection information of the regional laser sensor;

[0025] The location of the detection part is determined according to the front position information of the object to be detected and the model of the object to be detected.

[0026] In some embodiments of the present disclosure, the detection guidance method further includes:

[0027] When the object to be inspected enters the inspection area or receives an inspection guidance instruction, a step of determining whether the inspection part of the object to be inspected appears within the shooting range of the image acquisition device is performed.

[0028] In some embodiments of the present disclosure, the detection site is a gas detection site, and the detection device is a gas detection device.

[0029] According to another aspect of the present disclosure, a detection and guidance device is provided, comprising:

[0030] a memory configured to store instructions;

[0031] The processor is configured to execute the instructions so that the detection and guidance device performs operations to implement the detection and guidance method as described in any of the above embodiments.

[0032] According to another aspect of the present disclosure, there is provided a robot, comprising:

[0033] The detection guiding device is configured to determine whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; if the detection part of the object to be detected appears within the shooting range of the image acquisition device, first locate the detection part according to the photo of the detection part taken by the image acquisition device, and instruct the robot to move the detection device to the detection part;

[0034] An image acquisition device is configured to determine position information of a detection part of the object to be detected, and send the position information of the detection part to the detection guidance device;

[0035] An actuator is configured to move the detection device to the detection position according to the control instruction of the detection guidance device;

[0036] The detection device is configured to perform corresponding detection on the object to be detected through the detection part according to the control instruction of the detection guidance device.

[0037] In some embodiments of the present disclosure, the actuator has multiple displacement degrees of freedom, and the three degrees of freedom are horizontal displacement, vertical displacement and longitudinal displacement, wherein the horizontal displacement is the movement along the guide rail, the vertical displacement is the movement in the direction perpendicular to the horizontal plane of the guide rail, and the longitudinal displacement is the movement perpendicular to the cross-sectional direction of the detection device.

[0038] In some embodiments of the present disclosure, the detection site is a gas detection site, and the detection device is a gas detection device;

[0039] The gas detection device is configured to collect the gas in the object to be detected and transmit the gas in the object to be detected to the gas detector through the exhaust pipeline for gas detection.

[0040] In some embodiments of the present disclosure, the image acquisition device and the detection device are both disposed on the robot body;

[0041] The relative position between the image acquisition device and the detection device is a fixed value.

[0042] According to another aspect of the present disclosure, a detection and guidance system is provided, comprising: a robot as described in any of the above embodiments.

[0043] In some embodiments of the present disclosure, the detection guidance system further includes:

[0044] The area laser sensor is configured to obtain detection information of the object to be detected and send the detection information of the object to be detected to the detection guidance device of the robot.

[0045] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the detection and guidance method as described in any of the above embodiments is implemented.

[0046] The present invention can realize automatic detection of an object to be inspected having a detection part such as a breathable cover, and the present invention greatly improves the inspection efficiency and reduces the detection cost through automatic positioning and detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 Schematic diagram of some embodiments of the detection and guidance system disclosed herein.

[0049] Figure 2 Schematic diagrams of other embodiments of the detection and guidance system disclosed herein.

[0050] Figure 3 Schematic diagrams of some further embodiments of the detection and guidance system disclosed herein.

[0051] Figure 4 Schematic diagrams of some embodiments of the robot disclosed herein.

[0052] Figure 5 Schematic diagrams of some further embodiments of the detection and guidance system disclosed herein.

[0053] Figure 6 Schematic diagrams of other embodiments of the detection and guidance system disclosed herein.

[0054] Figure 7 This is a schematic diagram of the combination of the sampling component and the detection site in some embodiments of the present disclosure.

[0055] Figure 8 Schematic diagrams of some further embodiments of the detection and guidance system disclosed herein.

[0056] Fig. 9 Schematic diagram of the secondary positioning mechanism in some embodiments of the present disclosure.

[0057] Fig.10 Schematic diagram of some embodiments of the detection guidance method disclosed in the present invention.

[0058] Fig.11 Schematic diagram of some embodiments of the detection guidance method disclosed in the present invention.

[0059] Fig.12 This is a schematic diagram of first positioning of a detection site in some embodiments of the present disclosure.

[0060] Fig.13 Schematic diagram of some embodiments of the working state transition of the detection and guidance device disclosed in the present invention.

[0061] Fig.14 Schematic diagram of some embodiments of the detection and guidance device disclosed in the present invention. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0063] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0064] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0065] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0066] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0067] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0068] Figure 1 Schematic diagram of some embodiments of the detection and guidance system disclosed in the present invention. Figure 1 As shown, the detection and guidance system disclosed herein may include a robot 1, wherein:

[0069] The robot 1 is used to determine whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; when the detection part of the object to be detected appears within the shooting range of the image acquisition device, the detection part is first positioned according to the photo of the detection part taken by the image acquisition device, and the detection device set on the robot is moved to the detection part to perform corresponding detection.

[0070] In some embodiments of the present disclosure, the subject to be detected may be an object to be detected, a person to be detected, an animal to be detected, etc.

[0071] In some embodiments of the present disclosure, the detection equipment may be gas detection equipment, liquid detection equipment, drug detection equipment, flammable and explosive goods detection equipment, or other detection equipment.

[0072] In some embodiments of the present disclosure, the detection site may be a gas collection site, a liquid collection site, a dangerous goods detection site, etc.

[0073] In some embodiments of the present disclosure, both the image acquisition device and the detection device are arranged on the robot body.

[0074] In some embodiments of the present disclosure, the relative position between the image acquisition device and the detection device is a fixed value.

[0075] In some embodiments of the present disclosure, the robot 1 may be a robot that can move autonomously or a robot that can move on a guide rail.

[0076] In some embodiments of the present disclosure, Figure 1 As shown, the detection and guidance system may further include an area laser sensor 8, wherein:

[0077] The area laser sensor 8 is configured to obtain detection information of the object to be detected and send the detection information of the object to be detected to the detection guidance device of the robot 1.

[0078] Robot 1 is used to perform a second positioning of the detection part according to the detection information of the area laser sensor when the detection part of the object to be inspected does not appear in the shooting range of the image acquisition device, and instruct the robot to move the detection device to the detection part; and then execute the operation of determining whether the detection part of the object to be inspected appears in the shooting range of the image acquisition device.

[0079] Figure 2 Schematic diagrams of other embodiments of the detection and guidance system disclosed in the present invention. Figure 2 As shown, the detection and guidance system disclosed in the present invention may include a robot 1, a truss 2 and a guide rail 3, wherein:

[0080] A truss 2 is provided on which a guide rail 3 is arranged, and the robot 1 is arranged on the guide rail 3 .

[0081] The truss 2 is arranged at one side of a passage 5, wherein the passage 5 may be a vehicle passage. The object 6 to be inspected may be carried into the passage 5 by a target carrier such as a vehicle.

[0082] The guide rail 3 is arranged on the truss 2 .

[0083] The robot 1 is configured to be movable along a guide rail.

[0084] The detection device 11 is arranged on the robot 1 .

[0085] The robot 1 is used to determine whether the detection part 7 of the object to be detected appears in the shooting range of the image acquisition device when the target carrier enters the channel 5; when the detection part of the object to be detected appears in the shooting range of the image acquisition device, the detection part is first located according to the photo of the detection part taken by the image acquisition device 12, and the robot is instructed to move the detection device 11 to the detection part to perform corresponding detection.

[0086] In some embodiments of the present disclosure, Figure 2 As shown, the area laser sensor 8 is arranged on the truss.

[0087] The area laser sensor 8 is configured to obtain detection information of the target carrier and send the detection information of the target carrier to the robot 1.

[0088] In some embodiments of the present disclosure, the robot 1 can also be used to perform a second positioning of the detection part according to the detection information of the area laser sensor 8 when the detection part of the object to be inspected does not appear within the shooting range of the image acquisition device, and instruct the robot to move the detection device toward the detection part; and then perform an operation to determine whether the detection part of the object to be inspected appears within the shooting range of the image acquisition device.

[0089] In some embodiments of the present disclosure, Figure 2 As shown, the detection device 11 and the image acquisition device 12 are both arranged on the robot body. The relative position of the image acquisition device 12 and the detection device 11 is a fixed value.

[0090] In some embodiments of the present disclosure, the detection part may be a gas detection part, and the detection device 11 may be a gas detection device.

[0091] In some embodiments of the present disclosure, the gas detection device may be configured to collect gas in the object to be detected, and transmit the gas in the object to be detected to the gas detector through a gas extraction pipeline for gas detection.

[0092] In some embodiments of the present disclosure, the gas detection device may be an electronic nose collection head.

[0093] In some embodiments of the present disclosure, Figure 2 As shown, the target carrier may be a truck to be inspected.

[0094] In some embodiments of the present disclosure, Figure 2 As shown, the detection part 7 can be a breathable cover of the object to be detected.

[0095] In some embodiments of the present disclosure, the object to be inspected 6 can be various large or medium-sized objects or areas, such as containers, suitcases, packages, vehicles, etc.; the odor collection part of the object to be inspected is the area on the surface of the object to be inspected 6 that is connected to the internal odor space, such as the breathable cover (ventilation hole) of a container, the zipper of a suitcase, etc.

[0096] In some embodiments of the present disclosure, the robot may have multiple degrees of freedom of displacement.

[0097] In some embodiments of the present disclosure, the robot may have three degrees of freedom of displacement, wherein the three degrees of freedom are horizontal displacement x, vertical displacement z and longitudinal displacement y, the horizontal displacement x is the movement along the direction of the guide rail, the vertical displacement z is the movement in the direction perpendicular to the horizontal plane of the guide rail, and the longitudinal displacement y is the movement perpendicular to the cross-sectional direction of the detection equipment.

[0098] In some embodiments of the present disclosure, a rectangular coordinate system can be established with reference to the side of the object to be inspected, wherein the direction parallel to the side of the object to be inspected and the horizontal plane is the x direction, the direction perpendicular to the side of the object to be inspected and parallel to the horizontal plane is the y direction, and the direction perpendicular to both the x direction and the y direction is the z direction.

[0099] Figure 3 Schematic diagram of some other embodiments of the detection and guidance system disclosed in the present invention. Figure 1 and Figure 2 Compared with the embodiment, Figure 3 The detection guidance system of the embodiment may further include a gas detector 4, wherein:

[0100] The gas detector 4 is configured to perform gas detection on the gas transmitted by the robot through the gas extraction pipeline.

[0101] In some embodiments of the present disclosure, the gas detector 4 may be a mass spectrometer 42 .

[0102] The gas detector 4 may be configured to perform gas analysis on the gas in the object to be inspected, and feed back the gas analysis result to the robot 1 .

[0103] In some embodiments of the present disclosure, Figure 2 As shown, the area laser sensor 8 is arranged on a side of the truss 2 close to the barrier rod 9 .

[0104] In some embodiments of the present disclosure, the area laser sensor 8 may include a first area laser sensor and a second area laser sensor, wherein: the scanning surface of the first area laser sensor is a vertical scanning surface, parallel to the zy plane, and can be configured to collect the side profile information of the object to be inspected. The scanning surface of the second area laser sensor is a horizontal scanning surface, parallel to the xy plane, and can be configured to collect the position and motion information of the object to be inspected relative to the electronic nose, for example, to obtain the real-time position of the object to be inspected.

[0105] Figure 4 Schematic diagrams of some embodiments of the robot disclosed herein. Figure 4 As shown, the robot disclosed herein (e.g. Figure 1 Figure 3 The robot 1) of any embodiment may include a detection device 11, an image acquisition device 12, an actuator 13 and a detection guide device 14, wherein:

[0106] The detection guiding device 14 is configured to determine whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; when the detection part of the object to be detected appears within the shooting range of the image acquisition device, the detection part is first positioned according to the photo of the detection part taken by the image acquisition device, and the robot is instructed to move the detection device to the detection part.

[0107] In some embodiments of the present disclosure, the first positioning may be precise positioning.

[0108] In some embodiments of the present disclosure, the detection and guidance device 14 is the control core of the entire system.

[0109] The image acquisition device 12 is configured to determine the position information of the detection part of the object to be detected, and send the position information of the detection part to the detection guidance device.

[0110] In some embodiments of the present disclosure, the image acquisition device 12 may be implemented as a camera.

[0111] The actuator 13 is configured to move the detection device to the detection location according to the control instruction of the detection guidance device.

[0112] In some embodiments of the present disclosure, the actuator 13 may include a moving mechanism and a mechanical arm, wherein:

[0113] The moving mechanism is configured to move the robot to a predetermined position along the guide rail according to the driving of the detection and guiding device.

[0114] The robot arm is configured to extend and retract according to the driving of the detection guide device, wherein the robot arm is provided with a fitting portion that can fit with the detection part set on the object to be detected to form a closed chamber.

[0115] The detection device 11 is configured to collect gas in the object to be detected according to the control instructions of the detection guidance device, and transmit the gas in the object to be detected to the gas detector through the exhaust pipeline for gas detection.

[0116] In some embodiments of the present disclosure, Figure 2 As shown, the image acquisition device 12 and the detection device 11 are both arranged on the robot 1 .

[0117] In some embodiments of the present disclosure, the robot of the present disclosure may further include a shaking sensor. The shaking sensor is configured to collect the shaking amplitude of the fitting part and send the collected data to the detection and guidance device.

[0118] In some embodiments of the present disclosure, the detection and guiding device 14 can also be configured to determine the shaking amplitude of the fitting part through data collected by a shaking sensor provided on the robot during the process of the detection equipment 11 collecting the gas in the object to be inspected, and judge whether the shaking amplitude of the fitting part is greater than a preset threshold. If the shaking amplitude of the fitting part is greater than the preset threshold, drive the robot to retract the mechanical arm.

[0119] In some embodiments of the present disclosure, the detection guidance device 14 of the robot 1 can be configured to determine whether the detection part of the object to be inspected appears within the shooting range of the image acquisition device; when the detection part of the object to be inspected appears within the shooting range of the image acquisition device, the detection part is first positioned according to the photo of the detection part taken by the image acquisition device, and the robot is instructed to move the detection device to the detection part; when the detection part of the object to be inspected does not appear within the shooting range of the image acquisition device, the detection part is second positioned according to the detection information of the regional laser sensor, and the robot is instructed to move the detection device to the detection part; and then an operation of determining whether the detection part of the object to be inspected appears within the shooting range of the image acquisition device is performed.

[0120] In some embodiments of the present disclosure, the first positioning may be a precise positioning, and the second positioning may be a coarse positioning.

[0121] In some embodiments of the present disclosure, the detection and guidance device 14 of the robot 1 can be configured to send a vehicle entry signal when the target carrier enters the channel; send a stop signal when the target carrier stops; and determine the front position information of the object to be inspected according to the detection information of the regional laser sensor when the detection part of the object to be inspected appears within the shooting range of the image acquisition device; determine the position of the detection part according to the front position information of the object to be inspected and the model of the object to be inspected.

[0122] In some embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the detection and guidance system disclosed in the present invention may further include a barrier bar 9 and a traffic light 10, wherein:

[0123] The blocking bar 9 is configured to fall down according to the instruction of the detection and guidance device 14 when the target carrier (such as a container truck) enters the channel.

[0124] The traffic light 10 is configured to turn on a red light according to the instruction of the detection and guidance device 14 when the target carrier enters the channel.

[0125] The image detection device 11 is configured to start photographing when the target carrier enters the passage and stops in front of the barrier bar 9 .

[0126] The detection guiding device 14 is configured to determine whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; when the detection part of the object to be detected appears within the shooting range of the image acquisition device, the detection part is first positioned according to the photo of the detection part taken by the image acquisition device, and the robot is instructed to move the detection device to the detection part; when the detection part of the object to be detected does not appear within the shooting range of the image acquisition device, the detection part is second positioned according to the detection information of the regional laser sensor, and the robot is instructed to move the detection device to the detection part; and then the operation of determining whether the detection part of the object to be detected appears within the shooting range of the image acquisition device is performed.

[0127] The area laser sensor 8 is configured to perform detection when the target carrier enters the channel and stops in front of the barrier rod 9 and when the detection part of the object to be detected does not appear within the shooting range of the image acquisition device, obtain the detection information of the target carrier, and send the detection information of the target carrier to the robot 1.

[0128] In some embodiments of the present disclosure, Figure 4 As shown, the area laser sensor 8 is arranged on a side of the truss 2 close to the barrier rod 9 .

[0129] The detection guiding device 14 is configured to determine the front position information of the object to be detected according to the detection information of the regional laser sensor; determine the position of the detection part according to the front position information of the object to be detected and the model of the object to be detected; and instruct the robot to move the detection equipment to the detection part.

[0130] In some embodiments of the present disclosure, the detection guidance device 14 can also be configured to perform a first positioning of the detection part based on a photo of the detection part taken by the image acquisition device 11, and instruct the robot to move the detection device to the detection part, wherein the image acquisition device is arranged on the robot.

[0131] In some embodiments of the present disclosure, the first positioning may be precise positioning.

[0132] In some embodiments of the present disclosure, the detection guidance device 14 can also be configured to obtain a photo of the detection part taken by the image acquisition device when the detection part appears within the shooting range of the image acquisition device, and locate the detection part through an image recognition algorithm and a proportional integral differential control algorithm and control the detection device to accurately position and fit the detection part.

[0133] In some embodiments of the present disclosure, the detection guidance device 14 can also be configured to obtain a photo of the detection part taken by an image acquisition device; use an image recognition algorithm to identify the detection part in the photo of the detection part, and obtain the pixel coordinate position of the detection part in the photo; use the pixel center coordinates in the photo as the target position, calculate the current pixel error, use a proportional integral differential control algorithm to convert the current pixel error into an actual coordinate position, and control the movement of the robot; control the robot to move a first predetermined distance so that the detection device is aligned with the detection part, wherein the first predetermined distance is determined according to the relative position of the image acquisition device and the detection device; control the robot to extend a second predetermined distance in the direction of the detection part so that the detection device fits onto the detection part.

[0134] In some embodiments of the present disclosure, the detection and guidance device 14 can also be configured to determine whether the current pixel error is less than a predetermined threshold; when the current pixel error is not less than the predetermined threshold, the proportional integral differential control algorithm is used to convert the current pixel error into an actual coordinate position, the robot is controlled to move, and then the step of obtaining a photo of the detection part taken by the image acquisition device is executed; when the current pixel error is less than the predetermined threshold, it is determined that the image acquisition device is aligned with the detection part, and the robot is controlled to move a first predetermined distance so that the detection device is aligned with the detection part.

[0135] In some embodiments of the present disclosure, Figure 4 As shown, the detection and guidance system disclosed in the present invention can also include a host computer 20, wherein:

[0136] The host computer 20 is configured to receive status information sent by the detection and guidance device of the robot and manually control the relevant equipment of the detection and guidance system.

[0137] The above embodiments of the present disclosure are of great significance for protecting the environment and the health of practitioners and improving the automation level of port inspection and quarantine work.

[0138] The above embodiments of the present disclosure can be widely configured for various occasions where positioning is required. The above embodiments of the present disclosure can roughly locate the target position through the second positioning, and can accurately locate the target position through the first positioning.

[0139] The first positioning submodule and the second positioning submodule of the above embodiments of the present disclosure can be independently configured for corresponding positioning scenarios.

[0140] The above embodiments of the present disclosure can add or reduce positioning modules as needed. For example: in the case where the image acquisition device captures the detection part of the object to be inspected, the above embodiments of the present disclosure can directly perform the first positioning without the second positioning. In the case where the image acquisition device does not capture the detection part of the object to be inspected, the above embodiments of the present disclosure can first use the second positioning to roughly locate the target position, and then use the first positioning to accurately locate the target position. Or the above embodiments of the present disclosure require multiple first positioning or second positioning.

[0141] The above embodiment of the present disclosure has been configured to detect the object to be inspected with a breathable cover, which can be fully automatic and unattended. The above embodiment of the present disclosure detects the object in the object to be inspected without unpacking, without human participation, and automatically completes positioning, detection, and result output, and controls the traffic flow through the barrier 9 and traffic lights 10.

[0142] The above-mentioned embodiments of the present disclosure use a multi-degree-of-freedom robot to achieve accurate and tight docking of the detection equipment and the detection part (such as the sampling head and the breathable cover).

[0143] The above-mentioned embodiments of the present disclosure greatly improve the inspection efficiency and reduce the inspection cost through automatic positioning and detection.

[0144] The structure of the detection and guidance system is described below through specific embodiments.

[0145] Figure 5 Schematic diagrams of some further embodiments of the detection and guidance system disclosed herein. Figure 6 Schematic diagrams of other embodiments of the detection and guidance system disclosed in the present invention. Figure 5 and Figure 6 As shown, the detection and guidance system disclosed in the present invention may include a robot 1 and a truss 2, wherein the truss 2 may adopt a truss structure, the bottom of the truss 2 is fastened to the cement platform by bolts, and has a horizontal adjustment structure. The truss structure can reduce weight while having sufficient strength and reserving maintenance space.

[0146] The robot 1 is movably disposed on the truss 2 along a first direction x. The robot 1 includes a robot body 100 and a detection device 11. The detection device 11 is movably disposed on the robot body 100 along a second direction y and a third direction z.

[0147] The detection device 11 includes a sampling component 111, which is configured to reach the detection part 7 on the object to be detected 6 through the movement of at least one of the robot 1 and the detection device 11, and dock with the detection part 7 to inhale gas sampling. After the gas collection is completed, the sampling component 111 is returned to the initial position to avoid damage to the sampling component 111 when the object to be detected 6 leaves. The object to be detected 6 can be a closed container for accommodating items such as a container, a suitcase, or a package. For example, when the object to be detected 6 is a container, a closed cavity is formed between the detection part 7 and the object to be detected 6, and one or more air holes can be provided on the detection part 7; when the object to be detected 6 is a suitcase, the detection part 7 can be a zipper on the suitcase, etc.

[0148] For example, the detection equipment 11 samples volatile organic compounds (VOCs) and uses mass spectrometry, ion migration, gas chromatography-ion migration spectrometry and their combined technologies to achieve qualitative and quantitative analysis and detection of toxic and harmful gases, volatile hazardous chemicals, odors of animal and plant food products, drugs with a certain volatility, precursor chemicals, explosives, etc.

[0149] In some embodiments of the present disclosure, the sampling component can perform air sampling by moving at least one of the sniffing component and the odor scanning component to dock with the air permeable member on the object to be tested 6. This structure enables the sampling component to flexibly move to the position of the air permeable member, which can improve the efficiency of inspecting the gas in the object to be tested 6, and can realize automatic inspection. Compared with the use of a complex mechanical arm to control the sampling component, the structure of the sampling component position adjustment mechanism is simplified, and the movements of the sampling component in three directions are independent of each other, avoiding mutual coupling, and are easy to control, so that the sampling component can quickly and accurately reach the air permeable member, thereby improving the inspection efficiency.

[0150] Moreover, the truss 2 is fixedly arranged. Compared with the method in which the robot 1 is arranged on a movable vehicle chassis, it is only necessary to ensure the docking position of the object to be tested 6 during inspection. It is easier to ensure the positional relationship between the object to be tested and the robot 1, and prevent the sniffer device from docking at an angle, which makes it difficult for the sampling component to dock with the object to be tested 6. This can improve the positioning accuracy of the sampling component 111 relative to the detection part 7.

[0151] Figure 7 Schematic diagram of the combination of the sampling component and the detection part in some embodiments of the present disclosure. Figure 7As shown, the detection part 7 is arranged on the side wall of the object to be detected 6 close to the detection guide system. For example, the detection part 7 can adopt a breathable cover with a plurality of breathable holes. The sampling component 111 is configured to align with the detection part 7 by at least one of the robot 1 moving along the first direction x and the detection device 11 moving along the second direction y, that is, reaching a position aligned with the detection part 7 in the vertical plane; and the detection device 11 moves along the third direction z to approach or move away from the detection part 7, so as to engage with the detection part 7 for gas collection.

[0152] In some embodiments, the detection and guidance system further includes: a first adjustment mechanism configured to move the robot 1 along a first direction x; a second adjustment mechanism configured to move the detection device 11 along a second direction y; and a third adjustment mechanism configured to move the detection device 11 along a third direction z. Further, the detection and guidance device in the detection and guidance system is configured to control the actions of the first adjustment mechanism, the second adjustment mechanism, and the third adjustment mechanism.

[0153] This embodiment realizes three-axis adjustment of the sampling component 111 through three independent adjustment mechanisms, so that the position adjustment of the sampling component 111 in three directions can be independent of each other, which can improve the efficiency of position adjustment of the sampling component 111, thereby improving the efficiency of odor inspection of the object 6 to be tested.

[0154] Figure 8 Schematic diagram of some other embodiments of the detection and guidance system disclosed in the present invention. Figure 8 As shown, the first adjustment mechanism includes: a first guide structure and a first driving component. The first guide structure is provided between the truss 2 and the robot body 100, and the first guide structure extends along the first direction x, and is configured to provide guidance for the movement of the robot body 100. The first driving component is configured to drive the robot body 100 to move along the first direction x. For example, the first driving component includes a motor and a synchronous belt, which can achieve smooth transmission, reduce noise, and achieve greater transmission force.

[0155] This embodiment can automatically adjust the position of the robot body 100 relative to the truss 2 along the first direction x through the first adjustment mechanism.

[0156] Specifically, Figure 8As shown, the first guide structure includes a first guide rail 101 and a first guide portion, the first guide rail 101 is provided on the truss 2 and extends along the first direction x, the first guide portion is provided at the bottom of the robot body 100, and the first guide portion cooperates with the first guide rail 101 and is movably provided along the first guide rail 101. Further, the first guide structure may also include a first support rail 102 extending along the first direction x, configured to provide support for the robot body 100, for example, the first guide rail 101 is provided at the middle position of the truss 2 along the third direction z, and two first support rails 102 are provided at positions close to both ends of the truss 2 along the third direction z to provide support for the robot body 100.

[0157] Optionally, the first driving component may be a servo motor, and the first adjusting mechanism may further include a first position sensor to detect whether the robot body 100 moves to the target position, and perform feedback control on the first driving component when the target position is not reached. The first driving component is electrically connected to the controller 90 .

[0158] This embodiment can improve the stability of the robot body 100 when adjusting its position relative to the truss 2 along the first direction x, so that the robot body 100 can run smoothly when running along the first direction x.

[0159] In some embodiments, Figure 6 and Figure 8 As shown, the robot body 100 includes a support platform 110, a column 120 and a first mounting frame 130, the column 120 is fixed on the support platform 110, the detection device 11 is arranged on the first mounting frame 130, and the second adjustment mechanism includes: a second driving component 16, which is arranged on the first mounting frame 130, for example, the second driving component 16 can be a motor; a first rack 121, which is arranged on the column 120 along the second direction y; and a first gear 17, which is connected to the output shaft of the second driving component 16 and cooperates with the first rack 121. The second driving component 16 is configured to drive the first mounting frame 130 to move along the second direction y relative to the column 120 through the cooperation of the first gear 17 and the first rack 121.

[0160] This embodiment can automatically adjust the position of the detection device 11 relative to the column 120 along the second direction y through the second adjustment mechanism, thereby adjusting the position of the sampling component 111 along the second direction y to align it with the air-permeable member. The cooperation between the first gear 17 and the first rack 121 can achieve smooth adjustment and easy to achieve precise control of the adjustment amount.

[0161] Specifically, Figure 8As shown, the first rack 121 is arranged at the middle position of the column 120 along the third direction z, the output shaft of the second driving component 16 is perpendicular to the surface of the column 120 on which the first rack 121 is arranged, and the teeth on the first rack 121 can be arranged on the side along the third direction z. In order to achieve the smooth operation of the first mounting frame 130, the second adjustment mechanism may also include a second guide structure, and the second guide mechanism may include at least one set of second support rails 122 and second guide parts that cooperate with each other, the second support rails 122 are arranged on the column 120 along the second direction y, the second guide parts are arranged on the first mounting frame 130, and the second guide parts are movably arranged relative to the second support rails 122. For example, two sets of second support rails 122 and second guide parts are respectively arranged at positions close to both ends of the column 120 along the third direction z.

[0162] Optionally, the second driving component 16 may be a servo motor, and the second adjustment mechanism may further include a second position sensor to detect whether the first mounting bracket 130 moves to the target position, and perform feedback control on the second driving component 16 when the target position is not reached. The second driving component 16 is electrically connected to the controller 90 .

[0163] This embodiment can improve the stability of the detection device 11 when the position is adjusted relative to the robot body 100 along the second direction y. While driving the first mounting frame 130 to move through the gear rack cooperation, the movement of the first mounting frame 130 is supported and guided by the second guide part, so that the detection device 11 can run smoothly along the direction configured as y.

[0164] In some embodiments, Figure 6 and Figure 8 As shown, the robot body 100 includes a support platform 110, a column 120, a first mounting frame 130 and a second mounting frame 140. The column 120 is fixed on the support platform 110, the first mounting frame 130 is movably arranged on the column 120 along the second direction y, the detection device 11 is arranged on the first mounting frame 130 through the second mounting frame 140, and the third adjustment mechanism includes: a third driving component 18, a second rack 131 and a second gear 19. Among them, the third driving component 18 can be a motor, etc., and is arranged on the second mounting frame 140; the second rack 131 is arranged on the first mounting frame 130 along the third direction z; and the second gear 19 is connected to the output shaft of the third driving component 18.

[0165] The third driving component 18 is configured to drive the second mounting frame 140 to move along the first mounting frame 130 along the third direction z through the cooperation between the second gear 19 and the second rack 131. The output shaft directions of the third driving component 18 and the second driving component 16 are consistent and are both arranged along the first direction x.

[0166] This embodiment can automatically adjust the position of the detection device 11 relative to the first mounting frame 130 along the third direction z through the third adjustment mechanism, thereby adjusting the position of the sampling component 111 along the third direction z to make it close to or away from the air-permeable member. The cooperation between the second rack 131 and the second gear 19 can achieve smooth adjustment and easy to achieve accurate control of the adjustment amount.

[0167] Specifically, Figure 8 As shown, the second rack 131 is arranged at the middle position of the column 120 along the second direction y, and the output shaft of the third driving component 18 is perpendicular to the surface of the first mounting frame 130 to set the second rack 131, and the teeth on the second rack 131 can be arranged on the side along the second direction y.

[0168] In order to achieve the smooth operation of the second mounting frame 140, the third adjustment mechanism may further include a third guide structure, which may include at least one set of third support rails 132 and third guide parts that cooperate with each other. The third support rails 132 are arranged on the first mounting frame 130 along the third direction z. The first mounting frame 130 may be an inverted T-shaped structure, the third support rails 132 are arranged on the horizontal part of the T-shaped structure, and the second driving component 16 is arranged on the vertical part of the T-shaped structure. The third guide part is arranged on the second mounting frame 140, and the third guide part is movably arranged relative to the third support rails 132. For example, two sets of third support rails 132 and third guide parts are respectively arranged at positions close to both ends of the first mounting frame 130 along the second direction y.

[0169] Optionally, the third driving component 18 may be a servo motor, and the third adjustment mechanism may further include a third position sensor to detect whether the second mounting bracket 140 moves to the target position, and perform feedback control on the third driving component 18 when the target position is not reached. The third driving component 18 is electrically connected to the controller 90.

[0170] This embodiment can improve the stability of the detection device 11 when adjusting the position relative to the robot body 100 along the third direction z. While driving the first mounting frame 130 to move through the gear rack cooperation, the movement of the first mounting frame 12 is supported and guided by the second guide part, so that the detection device 11 can run smoothly when moving along the third direction z.

[0171] In some embodiments, the detection and guidance system further includes: a running state detection component. The running state detection component is arranged on the truss 2 and is configured to detect the running speed of the object to be detected 6 and identify the front edge of the object to be detected 6 after the object to be detected 6 enters the detection area. For example, the running state detection component can be an area laser sensor or other sensors capable of detecting the motion state of the object to be detected 6. The object to be detected 6 can be carried by a truck.

[0172] The detection guiding device 14 can be configured to derive the spatial position of the detection part 7 according to the running speed of the object to be detected 6 and the front edge position of the object to be detected 6 when it is determined that the running speed of the object to be detected 6 is not zero, and to move the robot 1 to the area where the detection part 7 is located in advance.

[0173] In this embodiment, since the position of the detection part 7 on the same model of the object to be tested 6 is relatively fixed, the general position and running track of the detection part 7 can be determined according to the running speed of the object to be tested 6. By making the robot 1 move in advance following the movement of the detection part 7, the time spent by the robot 1 to move to the target position after the object to be tested 6 stops running can be effectively saved, thereby improving the inspection efficiency of the object to be tested 6.

[0174] In some embodiments, the robot 1 can follow the object 6 to move to the detection part 7 in advance, so that the detection part 7 falls into the shooting field of the image acquisition component 12, and then accurately locate the position of the detection part 7 according to the acquired image, so that the sampling component 111 can dock with the detection part 7 more accurately. By combining initial positioning and precise positioning, the efficiency of odor inspection of the object 6 can be improved, and the sampling component 111 can be accurately docked with the detection part 7, thereby ensuring the success rate of gas sampling.

[0175] Figure 7 and Fig. 9 Schematic diagram of the secondary positioning mechanism in some embodiments of the present disclosure. Figure 8 As shown, Figure 7 and Fig. 9 As shown, the detection guidance system also includes a secondary positioning mechanism 30, which is provided on the detection device 11 and is configured to perform secondary positioning on the sampling component 111 after the sampling component 111 reaches the detection part 7 but before docking with the detection part 7.

[0176] This embodiment can accurately position the sampling component 111 again through the secondary positioning 30 before the sampling component 111 is docked with the detection part 7, thereby improving the accuracy of the docking of the sampling component 111 with the detection part 7, improving the success rate of gas sampling, and having an adaptive function within a certain range for the stopping position and angle change of the truck carrying the object to be tested 6.

[0177] In some embodiments, Fig. 9 As shown, the positions of the sampling component 111 and the secondary positioning mechanism 30 are relatively fixed, and the sampling component 111 is located above the secondary positioning mechanism 30 along the second direction y. Since the detection part 7 on the object to be detected is generally located at the upper right corner of the side, it is more convenient to locate the secondary positioning mechanism 30 below the sampling component 111.

[0178] In some embodiments, Figure 7 As shown, the object to be tested 6 is a container, and a plurality of ridges 41 are arranged at intervals along the first direction x on the side wall of the container, and each ridge 41 extends along the second direction y, and the detection part 7 is arranged in a groove 42 formed between adjacent ridges 41. The secondary positioning mechanism 30 is swingably arranged on the detection device 11 in a horizontal plane, and is retractable along the third direction z relative to the detection device 11, and is configured to automatically position the sampling component 111 along the first direction x by utilizing the guiding effect of two adjacent ridges 41 of the detection part 7.

[0179] This embodiment can realize passive positioning through the cooperation of the secondary positioning mechanism 30 and the ridge 41 on the object to be measured 6, and can realize adaptive adjustment positioning, eliminating the need to set up an active adjustment mechanism. It can not only simplify the structure and realize automatic positioning without setting up a driving component, but also can adjust according to the actual position and angle of the object to be measured 6 when it stops, thereby further improving the positioning accuracy.

[0180] In some embodiments, Figure 7 As shown, both side walls of the ridge 41 are inclined surfaces, and the distance between the opposite side surfaces of adjacent ridges 41 gradually increases from the bottom of the groove 42 .

[0181] In some embodiments, Figure 7 As shown, the secondary positioning mechanism 30 may include: a positioning frame 31, including a first connection part 311, a second connection part 312 and a third connection part 313 arranged in a triangle, the first connection part 311 is swingably connected to the detection device 11 in a horizontal plane, the second connection part 312 and the third connection part 313 are located on the side of the first connection part 311 away from the robot body 100, and the distances between the first connection part 311 and the second connection part 312 and the first connection part 311 and the third connection part 313 are equal; and two guide wheels 32, which are rotatably mounted on the second connection part 312 and the third connection part 313, respectively, and the two guide wheels 32 are configured to achieve secondary positioning of the sampling component 111 when rolling to the bottom of the groove 42 along the opposite sides of the adjacent convex ridges 41. Wherein, a space for avoiding the detection part 7 is formed between the second connection part 312 and the third connection part 313.

[0182] Optionally, the distance between the first connection portion 311 and the second connection portion 312 is consistent with the width of the bottom of the groove along the first direction x, so that positioning is completed when both guide wheels 32 reach the bottom of the groove.

[0183] The secondary positioning mechanism 30 in this embodiment realizes the positioning of the sampling component 111 by rolling the guide wheels 32 along the side of the convex ridges 41. When the sampling component 111 moves toward the detection part 7, the two guide wheels 32 first contact the two side walls of the two adjacent convex ridges 41 of the detection part 7. When deflection occurs, they will automatically align and the two guide wheels 32 will reach the detection part 7. Figure 4 The bottom position of the groove shown is aligned, and the sampling component 111 can be docked with the detection part 7. This mechanism has a simple structure and is easy to implement.

[0184] In some embodiments, Fig. 9 As shown, the sniffing device further includes a secondary positioning mechanism 30, which is configured to perform secondary positioning on the sampling component 111. The robot body 100 includes a support platform 110, a column 120, a first mounting frame 130 and a second mounting frame 140, the column 120 is fixed on the support platform 110, the first mounting frame 130 is movably disposed on the column 120 along the second direction y, and the second mounting frame 140 is movably disposed on the first mounting frame 130 along the third direction z.

[0185] like Figure 8 and Fig. 9 As shown, the detection device 11 also includes a host part 15, a mounting tube 22 and a connecting pipeline 26. The host part 15 and the mounting tube 22 are both fixed to the second mounting frame 140. The mounting tube 22 can be a cylindrical structure with a rectangular cross-section. The host part 15 is located at the first end of the mounting tube 22. The host part 15 may include an odor detection component and a control component. The sampling component 111 and the secondary positioning mechanism 30 are both installed at the second end of the mounting tube 22. The connecting pipeline 26 is located in the mounting tube 22 and connects the sampling component 111 to the host part 15. The connecting pipeline 26 includes an air pipe and an electric wire. The air pipe is used to introduce the gas absorbed by the sampling component 111 into the host part 15 for detection and analysis.

[0186] This embodiment can arrange the main body part 15 in the area where the robot body 100 is located by providing the installation cylinder 22, and extend the sampling component 111 outside the robot body 100 to facilitate gas collection when there is a preset distance from the object to be measured 6.

[0187] In some embodiments, Fig. 9As shown, an adjustment seat 24 is provided in the installation cylinder 22, and the adjustment seat 24 is provided in the installation cylinder 22 and is movably provided along the third direction z, and the secondary positioning mechanism 30 and the sampling component 111 are both provided on the adjustment seat 24. The adjustment seat 24 can be moved under the drive of the fourth driving component 25 to adjust the positions of the secondary positioning mechanism 30 and the sampling component 111, so that after the sampling component 111 reaches the detection part 7, the position of the sampling component 111 along the third direction z is finely adjusted to make the sampling component 111 more closely docked with the detection part 7, or slightly retreat for adjustment when the contact pressure is too large.

[0188] In some embodiments, Fig. 9 As shown, the detection device 11 may further include: a first elastic element 27, such as a spring, connected between the sampling component 111 and the adjustment seat 24, and configured to push out the sampling component 111 in a free state. This mechanism can not only ensure that the sampling component 111 is in reliable contact with the detection part 7, but also prevent the sampling component 111 from damaging the object 6 due to a large force when the sampling component 111 contacts the object 6.

[0189] In some embodiments, Fig. 9 As shown, the detection device 11 may further include: a second elastic element 28, such as a spring, connected between the secondary positioning mechanism 30 and the adjustment seat 24, and configured to allow the secondary positioning mechanism 30 to swing in the horizontal plane. This structure can achieve the deflection of the secondary positioning mechanism 30 in the horizontal plane to achieve positioning.

[0190] In some embodiments, Fig. 9 As shown, the detection device 11 further includes a protective cover 23 which is sleeved outside the sampling component 111. The sampling component 111 is retractably arranged relative to the protective cover 23 and extends out of the protective cover 23 when inhalation sampling is required.

[0191] This embodiment provides a protective cover 23, so that when the system is not used for a long time, the sampling component 111 can be retracted into the protective cover 23, which can prevent dust and rain and can be used outdoors.

[0192] In some embodiments, the end of the sampling component 111 is made of flexible material, and the detection device 11 also includes: a pressure detection component 80, which is provided on the sampling component 111 and is configured to detect the pressure between the sampling component 111 and the detection part 7; and a controller 90, which is configured to stop the sampling component 111 from moving toward the object to be tested 6 when the pressure detection value exceeds a preset pressure.

[0193] This embodiment can control the contact pressure between the sampling component 111 and the detection part 7 within a suitable range, which can ensure reliable docking for inhalation sampling and prevent damage to the sampling component 111 due to excessive pressure.

[0194] In some embodiments, the robot 1 may further include a magnetic adsorption component, which is disposed on the detection device 11 and is configured to be adsorbed with the object to be detected 6 after the sampling component 111 reaches the location of the detection part 7, so that the sampling component 111 is docked with the detection part 7. The magnet may be an electromagnet, and the magnetic adsorption component is configured to be adsorbed with the object to be detected 6 when powered on, so that the sampling component 111 is reliably docked with the detection part 7 for gas sampling, and is detached from the object to be detected 6 when the power is off.

[0195] For example, the magnetic adsorption component can be disposed above, below, or on both sides of the sampling component 111. For a container, since the detection portion 7 is generally disposed on the side of the container near the upper area, the magnetic adsorption component can be and is located below the sampling component 111.

[0196] This embodiment can arrange a magnetic adsorption component to enable the sampling component 111 to reliably dock with the detection part 7 for gas sampling, and can also prevent the sampling component 111 from being separated from the detection part 7 due to shaking of the object to be measured 6 during the gas collection process.

[0197] In some embodiments, the robot 1 may further include a cabin 201 and an air conditioning component 202 . The air conditioning component 202 is disposed in the cabin 201 and may adopt an air conditioner and is configured to adjust the temperature in the cabin 201 .

[0198] This embodiment can adjust the temperature of the cabin 201 to a temperature suitable for the operation of the device through the air conditioning component 202 when the operating environment temperature of the sniffing device is too high or too low to affect the operation of the device, thereby improving the adaptability of the sniffing device to the operating environment.

[0199] In some embodiments, the robot 1 may also include a shake sensor configured to detect the shake amplitude of the sampling component 111; the control component 90 is configured to determine whether the detection value of the shake sensor exceeds a preset threshold value. If the shake amplitude exceeds the preset threshold value, the sampling component 111 is moved back to avoid damage to the sampling component 111 or other components of the robot 1 due to excessive shaking of the object 6 to be tested.

[0200] The sniffing device of the above embodiment can accurately locate the breathable part of the object to be tested, and make the sampling component 111 fit tightly with the detection part 7 without mixing with the air outside the box, providing a reliable method for sampling the odor diffused inside the box without opening the box.

[0201] The detection and guidance method and device disclosed herein are described below through specific embodiments.

[0202] Fig.10 Schematic diagrams of some embodiments of the detection and guidance method disclosed in the present invention. Preferably, this embodiment can be performed by the detection and guidance system disclosed in the present invention, the robot disclosed in the present invention, or the detection and guidance device disclosed in the present invention. Fig.10 As shown, Fig.10 The detection guidance method of the embodiment may include step 11-step 12, wherein:

[0203] Step 11, determining whether the detection part of the object to be detected appears within the shooting range of the image acquisition device.

[0204] In some embodiments of the present disclosure, the detection portion may be a breathable cover of the object to be detected.

[0205] In some embodiments of the present disclosure, the object to be inspected may be various large or medium-sized objects or areas, such as containers, suitcases, packages, vehicles, etc.; the odor collection site of the object to be inspected is the area on the surface of the object to be inspected that is connected to the internal odor space, such as the breathable cover (ventilation hole) of a container, the zipper of a suitcase, etc.

[0206] In some embodiments of the present disclosure, Figure 2 As shown, the object to be inspected is a container 8.

[0207] In some embodiments of the present disclosure, the object to be inspected may be carried on a target carrier and enter the inspection area.

[0208] In some embodiments of the present disclosure, the target carrier may be a truck to be inspected.

[0209] In some embodiments of the present disclosure, the target carrier is a container truck, and the object to be inspected is a breathable cover of the container.

[0210] Step 12, when the inspection part of the object to be inspected appears within the shooting range of the image acquisition device, the inspection part is first positioned according to the photo of the inspection part taken by the image acquisition device, and the robot is instructed to move the inspection device to the inspection part for corresponding inspection.

[0211] In some embodiments of the present disclosure, in step 12, the step of performing corresponding detection may include: collecting the gas in the object to be inspected by means of a detection device integrated in the robot, and transmitting the gas in the object to be inspected to a gas detector through an exhaust pipeline for gas detection, wherein the detection part is the breathable cover of the object to be inspected.

[0212] In some embodiments of the present disclosure, the first positioning may be precise positioning.

[0213] In some embodiments of the present disclosure, the detection site is a gas detection site, and the detection device is a gas detection device.

[0214] In some embodiments of the present disclosure, step 12 may include: obtaining a photo of the detection part taken by an image acquisition device, locating the detection part through an image recognition algorithm and a proportional integral differential control algorithm, and controlling the detection device to move to the detection part.

[0215] In some embodiments of the present disclosure, step 12 may include steps 121 to 125, wherein:

[0216] Step 121, obtaining a photo of the inspection part taken by an image acquisition device.

[0217] Step 122, using an image recognition algorithm to identify the detection part in the detection part photo, and obtaining the pixel coordinate position of the detection part in the photo.

[0218] Step 123, taking the pixel at the center of the photo as the target position, calculate the current pixel error, use the proportional integral differential control algorithm to convert the current pixel error into the actual coordinate position, control the movement of the robot, and make the image acquisition device align with the detection part.

[0219] In some embodiments of the present disclosure, step 123 may include steps 1231 to 1233, wherein:

[0220] Step 1231, determine whether the current pixel error is less than a predetermined threshold.

[0221] Step 1232, when the current pixel error is not less than a predetermined threshold, a proportional integral differential control algorithm is used to convert the current pixel error into an actual coordinate position to control the movement of the robot, followed by step 121.

[0222] Step 1233: when the current pixel error is less than a predetermined threshold, it is determined that the image acquisition device is aligned with the detection part.

[0223] Step 124, controlling the robot to move a first predetermined distance so that the detection device is aligned with the detection part, wherein the first predetermined distance is determined according to the relative position of the image acquisition device and the detection device.

[0224] Step 125, controlling the robot to extend toward the detection part by a second predetermined distance, so that the detection device is attached to the detection part.

[0225] Fig.11 Schematic diagrams of some embodiments of the detection and guidance method disclosed in the present invention. Preferably, this embodiment can be performed by the detection and guidance system disclosed in the present invention, the robot disclosed in the present invention, or the detection and guidance device disclosed in the present invention. Fig.11 As shown, Fig.11 The detection guidance method of the embodiment may include steps 21 to 23, Fig.11 Step 21 and step 23 of the embodiment are respectively Fig.10 Step 11 and step 12 of the embodiment are the same or similar, wherein:

[0226] Step 21, when the object to be inspected enters the inspection area or receives the inspection guidance instruction, it is determined whether the inspection part of the object to be inspected appears in the shooting range of the image acquisition device. If the inspection part of the object to be inspected appears in the shooting range of the image acquisition device, step 23 is executed; otherwise, if the inspection part of the object to be inspected does not appear in the shooting range of the image acquisition device, step 22 is executed.

[0227] In some embodiments of the present disclosure, the step of receiving a detection guidance instruction when the object to be inspected enters the detection area may include: receiving a vehicle entry signal when the target carrier enters the channel; and receiving a parking signal when the target carrier stops.

[0228] Step 22, performing a second positioning of the detection part according to the detection information of the regional laser sensor, and instructing the robot to move the detection device to the detection part; then executing step 21.

[0229] In some embodiments of the present disclosure, the second positioning may be a coarse positioning.

[0230] In some embodiments of the present disclosure, in step 22, the step of performing a second positioning of the detection part according to the detection information of the area laser sensor may include: determining the front position information of the object to be detected according to the detection information of the area laser sensor; determining the position of the detection part according to the front position information of the object to be detected and the model of the object to be detected.

[0231] Step 23, first positioning the detection part according to the detection part photo taken by the image acquisition device, and instructing the robot to move the detection device to the detection part to perform corresponding detection.

[0232] In some embodiments of the present disclosure, the detection guidance method of the present disclosure may further include: after the object to be detected enters the detection area, detecting the running speed of the object to be detected according to the data collected by the speed sensor; determining whether the running speed is zero; if the running speed is not zero, determining the position of the detection part according to the running speed; and driving the robot according to the position of the detection part so that the detection part falls into the field of view of the image acquisition device. The above-mentioned embodiment of the present disclosure can make the truss robot move along with the movement of the ventilation position through the above-mentioned processing, thereby effectively saving the positioning time spent in subsequent processing.

[0233] In some embodiments of the present disclosure, the detection guidance method of the present disclosure may further include: in the process of collecting the gas in the object to be tested through the closed chamber, determining the shaking amplitude of the fitting part through the data collected by the shaking sensor arranged on the robot; judging whether the shaking amplitude of the fitting part is greater than a preset threshold; if the shaking amplitude of the fitting part is greater than the preset threshold, driving the robot to retract the robotic arm to avoid damage to the robotic arm or the sampling component 21 due to excessive shaking amplitude of the object to be tested.

[0234] Fig.12 Schematic diagram of first positioning of the detection part in some embodiments of the present disclosure. Preferably, this embodiment can be performed by the detection guidance system of the present disclosure, the robot of the present disclosure, or the detection guidance device of the present disclosure. Fig.12 As shown, the detection site is first positioned (for example Fig.10 Step 12 or Fig.11 Step 23) of the embodiment may include steps 61 to 65, wherein:

[0235] Step 61, using an image acquisition device to obtain a photo of the breathable cover.

[0236] Step 62, calling an AI (Artificial Intelligence) image recognition algorithm to identify the breathable cover in the photo, and the algorithm will provide a recognition result and the pixel coordinate position of the breathable cover in the photo.

[0237] Step 63, taking the pixel at the center coordinate of the image as the target position, calculate the current pixel error.

[0238] Step 64: Use the PID algorithm to convert the error pixels into actual coordinate positions.

[0239] Step 65, control the robot to move according to the actual coordinate position. After executing this process (step 61-step 65) multiple times, when the current pixel error is within the predetermined threshold (tolerance range), the breathable cover photographed by the image acquisition device is already in the center of the image, indicating that the image acquisition device has been aligned with the breathable cover. Since the relative position of the image acquisition device and the detection device in the above embodiment of the present disclosure is fixed, when the image acquisition device is aligned with the breathable cover, moving a relative position can achieve accurate alignment of the detection device with the breathable cover, and finally, as long as the y-axis is extended, it can be accurately fitted to the breathable cover.

[0240] Fig.13 Schematic diagram of some embodiments of the working state conversion of the detection and guidance device disclosed in the present invention. Preferably, this embodiment can be executed by the detection and guidance device disclosed in the present invention. Fig.13 As shown, the steps of detecting the working state transition of the guiding device disclosed in the present invention may include steps 71 to 77, wherein:

[0241] Step 71, detecting that the guiding device is in an initialization state.

[0242] Step 72: If the detection and guidance device determines that the current operating condition is normal, it is in a ready state.

[0243] Step 73, if it is determined that a vehicle (target carrier) has entered and the detection part of the object to be detected does not appear in the shooting range of the image acquisition device, then enter the second positioning (coarse positioning) state.

[0244] Step 74, when the second positioning is successful (the detection part of the object to be detected does not appear in the shooting range of the image acquisition device), enter the first positioning (precise positioning) state.

[0245] Step 75, when the first positioning is successful (the detection device fits the detection part), the detection device enters the working state (for example, the electronic nose inhalation state).

[0246] Step 76, when the inhalation is completed, enter the process end state; after the process is completed, return to step 72, ready state.

[0247] Step 77, if a fault occurs in the initialization state, ready state, first positioning state, second positioning state and detection equipment working state, enter the fault state; after the fault is eliminated, reset to the initialization state.

[0248] In some embodiments of the present disclosure, the detection and guidance device 14 can be configured to receive data from each subsystem and monitor the status of the entire system; control the system working status process; coordinate each subsystem to complete their respective functions; define the system working status as several states with clear functions: initialization state, ready state, first positioning state, second positioning state, detection equipment working state (electronic nose inhalation state), process end state and fault state.

[0249] For example: Figure 2The detection and guidance method for the target carrier (vehicle) by the detection and guidance system of the embodiment may include: at the beginning, the barrier 9 falls and the traffic light 10 turns red; when the vehicle enters the channel and stops in front of the barrier 9, and the detection part of the object to be inspected does not appear in the shooting range of the image acquisition device, the second positioning (coarse positioning) is started, and the edge of the object to be inspected is first found using the regional laser sensor, and then the breathable cover is roughly positioned by the edge of the object to be inspected; when the breathable cover is within the shooting range of the image acquisition device, the video stream or photo taken by the image acquisition device is obtained through the first positioning (fine positioning) (the above embodiment of the present disclosure uses photos as an example), and the AI ​​image recognition algorithm is called and the PID (proportional integral differential) control algorithm is used to accurately position the detection device and fit it to the breathable cover; then the electronic nose is started to inhale, sample, and detect, and the results are output to the upper computer software; finally, the barrier 9 is controlled to be lifted, the traffic light 10 turns green, and the vehicle is released.

[0250] The detection guidance method provided by the above embodiment of the present disclosure includes a method of roughly locating the target position according to the target characteristics. The above embodiment of the present disclosure also includes a method of using regional laser to locate the object to be inspected and then roughly locating the breathable cover.

[0251] The above embodiment of the present disclosure first roughly locates the target position and then accurately locates the target position. The above embodiment of the present disclosure first roughly locates the breathable cover by regional laser and then accurately locates the breathable cover by image recognition algorithm and PID algorithm.

[0252] The above embodiment of the present disclosure is a method for positioning a two-dimensional or three-dimensional space detection part using an image recognition algorithm. The above embodiment of the present disclosure is a method for positioning a breathable cover of an object to be detected using an image recognition algorithm.

[0253] The above embodiments of the present disclosure include a method of using an image recognition algorithm to obtain the precise pixel position of a target, and then using a PID algorithm to accurately locate the actuator to the target position. The above embodiments of the present disclosure include a method of combining an image recognition algorithm with a PID algorithm to accurately locate the target position.

[0254] The above embodiment of the present disclosure integrates the electronic nose system 4 into the truss system, and realizes a solution in which the electronic nose automatically detects gas in the object to be inspected through automatic positioning.

[0255] The above-mentioned embodiments of the present disclosure use a multi-degree-of-freedom robot to achieve accurate and tight docking between the sampling head and the breathable cover.

[0256] The above embodiments of the present disclosure can be used for the detection of objects to be inspected with breathable covers, and can be fully automatic and unattended. The above embodiments of the present disclosure detect objects in the objects to be inspected without unpacking or human involvement, and automatically complete positioning, detection, and result output, and control traffic flow through barriers and traffic lights.

[0257] Fig.14 Schematic diagram of some embodiments of the detection and guidance device disclosed in the present invention. Fig.14 As shown, the detection and guidance device (eg Figure 4 The detection and guidance device 14) of the embodiment may include a memory 951 and a processor 952, wherein:

[0258] The memory 951 is used to store instructions. The processor 952 is coupled to the memory 951. The processor 952 is configured to execute and implement any of the above embodiments (for example, Figure 10-13 The detection guidance method described in any embodiment).

[0259] like Fig. 9 As shown, the gas collection control device also includes a communication interface 953 for information exchange with other devices. At the same time, the gas collection control device also includes a bus 954, through which the processor 952, the communication interface 953, and the memory 951 communicate with each other.

[0260] The memory 951 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The memory 951 may also be a memory array. The memory 951 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0261] In addition, the processor 952 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0262] Based on the detection guidance device provided by the above embodiment of the present disclosure, the electronic nose device is integrated into the robot, and the detection device is automatically positioned on the breathable cover of the object to be inspected by the method of first positioning and then second positioning, and the detection device is tightly fitted, and then the electronic nose absorbs the gas in the object to be inspected, analyzes it and feeds back the results. The above embodiment of the present disclosure is of great significance for protecting the environment and the health of practitioners, and improving the automation level of port inspection and quarantine work.

[0263] The above embodiments of the present disclosure can be widely configured for various occasions where positioning is required. The above embodiments of the present disclosure can roughly locate the target position through the first positioning, and can accurately locate the target position through the second positioning.

[0264] The first positioning submodule and the second positioning submodule of the above embodiments of the present disclosure can be independently configured for corresponding positioning scenarios.

[0265] The above embodiments of the present disclosure can add or reduce subsystems as needed. For example, the above embodiments of the present disclosure can directly perform the second positioning without the first positioning submodule. Or the above embodiments of the present disclosure require multiple first positioning or second positioning.

[0266] The above embodiment of the present disclosure has been configured to detect the object to be inspected with a breathable cover, which can be fully automatic and unattended. The above embodiment of the present disclosure detects the object in the object to be inspected without unpacking, without human participation, and automatically completes positioning, detection, and result output, and controls the traffic flow through the barrier 9 barrier and traffic light 10.

[0267] The above-mentioned embodiments of the present disclosure use a multi-degree-of-freedom robot to achieve accurate and tight docking between the sampling head and the breathable cover.

[0268] The above-mentioned embodiments of the present disclosure greatly improve the inspection efficiency and reduce the inspection cost through automatic positioning and detection.

[0269] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, any of the above embodiments (for example Figure 10-13 The detection guidance method described in any embodiment).

[0270] Based on the non-transient computer-readable storage medium provided by the above embodiments of the present disclosure, the non-transient computer-readable storage medium integrates the electronic nose device into the robot, and adopts the method of first positioning and then second positioning to automatically position the detection device on the breathable cover of the object to be inspected, and fit it tightly, and then the electronic nose absorbs the gas in the object to be inspected, analyzes it and feeds back the results. The above embodiments of the present disclosure are of great significance for protecting the environment and the health of practitioners, and improving the automation level of port inspection and quarantine work.

[0271] The above embodiments of the present disclosure have been configured to detect objects with breathable covers, which can be fully automatic and unattended. The above embodiments of the present disclosure detect objects in the objects to be inspected without unpacking or human involvement, automatically complete positioning, detection, and result output, and control traffic flow through barriers and traffic lights.

[0272] The above-mentioned embodiments of the present disclosure greatly improve the inspection efficiency and reduce the inspection cost through automatic positioning and detection.

[0273] The detection and guidance device and the host computer described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component or any appropriate combination thereof configured to perform the functions described in this application.

[0274] 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.

[0275] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0276] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A detection guidance method, It is characterized in that include: Determine whether the inspection part of the object to be inspected appears within the shooting range of the image acquisition device; When the inspection part of the object to be inspected appears within the shooting range of the image acquisition device, the inspection part is first located according to the photo of the inspection part taken by the image acquisition device, and the robot is instructed to move the inspection device to the inspection part to perform corresponding inspection, including: Obtain a photo of the inspection part taken by the image acquisition device, locate the inspection part through the image recognition algorithm and the proportional integral differential control algorithm, and control the inspection device to move to the inspection part, including: An image recognition algorithm is used to identify the detection part in the detection part photo, and the pixel coordinate position of the detection part in the photo is obtained; Taking the pixel at the center coordinate of the photo as the target position, calculating the current pixel error, using a proportional integral differential control algorithm to convert the current pixel error into an actual coordinate position, and controlling the robot to move so that the image acquisition device is aligned with the detection part, including: judging whether the current pixel error is less than a predetermined threshold, and if the current pixel error is not less than the predetermined threshold, using a proportional integral differential control algorithm to convert the current pixel error into an actual coordinate position, controlling the robot to move, and then executing the step of acquiring a photo of the detection part taken by the image acquisition device, and if the current pixel error is less than the predetermined threshold, determining that the image acquisition device is aligned with the detection part; Controlling the robot to move a first predetermined distance so that the detection device is aligned with the detection part, wherein the first predetermined distance is determined according to the relative position of the image acquisition device and the detection device; The robot is controlled to extend a second predetermined distance toward the detection part so that the detection device is attached to the detection part.

2. The detection guidance method according to claim 1, It is characterized in that Also includes: When the detection part of the object to be inspected does not appear within the shooting range of the image acquisition device, the detection part is secondly positioned according to the detection information of the area laser sensor, and the robot is instructed to move the detection device toward the detection part; then, the step of determining whether the detection part of the object to be inspected appears within the shooting range of the image acquisition device is executed.

3. The detection guidance method according to claim 2, It is characterized in that The second positioning of the detection part according to the detection information of the regional laser sensor includes: Determine the front position information of the object to be inspected according to the detection information of the regional laser sensor; The location of the detection part is determined according to the front position information of the object to be detected and the model of the object to be detected.

4. The detection guidance method according to claim 1 or 2, It is characterized in that Also includes: When the object to be inspected enters the inspection area or receives an inspection guidance instruction, a step of determining whether the inspection part of the object to be inspected appears within the shooting range of the image acquisition device is performed.

5. The detection guidance method according to claim 1 or 2, It is characterized in that The detection part is a gas detection part, and the detection equipment is a gas detection equipment.

6. A detection and guidance device, It is characterized in that include: a memory configured to store instructions; The processor is configured to execute the instruction so that the detection and guidance device performs the operation of implementing the detection and guidance method according to any one of claims 1 to 5.

7. A robot, include: A detection guiding device is configured to determine whether the detection part of the object to be detected appears within the shooting range of the image acquisition device; When the inspection part of the object to be inspected appears within the shooting range of the image acquisition device, the inspection part is first positioned according to the photo of the inspection part taken by the image acquisition device, and the robot is instructed to move the inspection device to the inspection part; the inspection guiding device is the inspection guiding device according to claim 6; An image acquisition device is configured to determine position information of a detection part of the object to be detected, and send the position information of the detection part to the detection guidance device; An actuator is configured to move the detection device to the detection position according to the control instruction of the detection guidance device; The detection device is configured to perform corresponding detection on the object to be detected through the detection part according to the control instruction of the detection guidance device.

8. The robot according to claim 7, It is characterized in that The actuator has multiple displacement degrees of freedom, the three degrees of freedom being horizontal displacement, vertical displacement and longitudinal displacement, wherein the horizontal displacement is the movement along the guide rail, the vertical displacement is the movement in the direction perpendicular to the horizontal plane of the guide rail, and the longitudinal displacement is the movement perpendicular to the cross-sectional direction of the detection device.

9. The robot according to claim 7 or 8, It is characterized in that The detection part is a gas detection part, and the detection equipment is a gas detection equipment; The gas detection device is configured to collect the gas in the object to be detected and transmit the gas in the object to be detected to the gas detector through the exhaust pipeline for gas detection.

10. The robot according to claim 7 or 8, It is characterized in that The image acquisition device and the detection device are both arranged on the robot body; The relative position between the image acquisition device and the detection device is a fixed value.

11. A detection and guidance system, include: A robot as claimed in any one of claims 7 to 10.

12. The detection guidance system according to claim 11, It is characterized in that Also includes: The area laser sensor is configured to obtain detection information of the object to be detected and send the detection information of the object to be detected to the detection guidance device of the robot.

13. A non-transitory computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the detection and guidance method according to any one of claims 1 to 5 is implemented.

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