Security method, security robot and security system

Abstract

A security inspection method for a security inspection robot is provided. The method includes: the security inspection robot moving to a specific location near a target to be inspected; the security inspection robot detecting the target using a non-contact detection method to obtain detection data; when the target is determined to be suspicious based on the detection data, the security inspection robot issues a first warning, the first warning prompting the use of the security inspection robot's material composition analysis module to inspect the suspicious item; in response to the suspicious item being placed in an analysis area, the security inspection robot obtaining the composition analysis results of the suspicious item through the material composition analysis module. A security inspection robot and a security inspection system are also provided.

Description

Technical Field

[0001] This disclosure relates to the field of security inspection, and more specifically, to security inspection methods, security inspection robots, and security inspection systems. Background Technology

[0002] In locations requiring security checks, fixed security screening equipment is typically installed at the entrance, with security personnel assisting in the inspection of the targets. For example, in airports, train stations, or plazas, security personnel often passively wait for passengers or pedestrians to enter the security screening lanes. Outside these lanes, experienced patrol personnel may conduct security patrols. After suspicious items are detected by the security equipment or patrol personnel, they are then taken to a separate material composition analysis institution for analysis.

[0003] In realizing the inventive concept of this disclosure, the inventors discovered that existing security inspection solutions have at least the following problems:

[0004] Fixed security screening equipment has a limited screening range and lacks flexibility. It also places certain demands on the number and professional level of security and patrol personnel. In addition, the method of material composition analysis makes the process relatively cumbersome and time-consuming. Summary of the Invention

[0005] In view of the above issues, this disclosure provides security inspection methods, security inspection robots, and security inspection systems.

[0006] According to a first aspect of this disclosure, a security inspection method is provided for a security inspection robot, comprising: the security inspection robot moving to a specific location near a target to be inspected; the security inspection robot detecting the target to be inspected via non-contact detection to obtain detection data; when the target to be inspected is determined to be suspicious based on the detection data, the security inspection robot issuing a first warning, the first warning being used to prompt the use of the security inspection robot's material composition analysis module to inspect the suspicious item; in response to the suspicious item being placed in an analysis area, the security inspection robot obtaining the composition analysis result of the suspicious item through the material composition analysis module.

[0007] According to embodiments of this disclosure, the non-contact detection includes at least one of the following: visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

[0008] According to embodiments of this disclosure, the security inspection robot detects the target being inspected through non-contact detection. Obtaining detection data further includes: the security inspection robot determining the detection range of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection; and the security inspection robot moving relative to the target being inspected at least once to adapt to the detection range of at least one of the visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

[0009] According to an embodiment of this disclosure, when the security inspection robot determines that the target being inspected is suspicious based on the detection data, the method further includes: the security inspection robot continuously capturing a visible light image of the target being inspected; the security inspection robot performing target tracking based on the visible light image, the target tracking including detecting at least one of the target's movement, real-time position, and movement speed.

[0010] According to embodiments of this disclosure, issuing the first warning includes: the security inspection robot displaying the first warning on its screen; and / or, the security inspection robot playing the first warning via audio.

[0011] According to an embodiment of this disclosure, when the security inspection robot determines that the inspected target is suspicious based on the detection data, the method further includes: determining the location of the suspicious item and / or identifying the type of the suspicious item; wherein, the first warning includes the location and / or type of the suspicious item.

[0012] According to embodiments of this disclosure, the security inspection robot moving to a specific location near the target being inspected includes: the security inspection robot moving along a pre-planned path or a random path, the specific location being located on the pre-planned path or the random path; and / or, the security inspection robot moving to the specific location in response to a remote movement command from a server, the remote movement command including coordinate information of the specific location; and / or, the security inspection robot moving to the specific location in response to a remotely designated target command from a server, the remotely designated target command including information about the target being inspected.

[0013] According to an embodiment of this disclosure, when the security inspection robot determines that the target being inspected is suspicious based on the detection data, the method further includes: the security inspection robot sending a second warning to the server, the second warning including a warning symbol and the detection data; and / or, the security inspection robot communicating with a human agent to enable the human agent to communicate remotely with the target being inspected.

[0014] According to an embodiment of this disclosure, the method further includes: when the component analysis result indicates the presence of prohibited components, the security inspection robot issues a third warning, the third warning being used to indicate the presence of prohibited components; when the component analysis result indicates the absence of prohibited components, the security inspection robot issues an end signal, the end signal being used to indicate the end of the inspection of the suspicious item.

[0015] Another aspect of this disclosure provides a security inspection robot for performing the security inspection method as described in any of the preceding claims, comprising: a movement module for moving to a specific location near the target to be inspected; a security inspection module for detecting the target to be inspected using a non-contact detection method to obtain detection data; a prompting module for issuing a first warning when the security inspection robot determines the target to be inspected is suspicious based on the detection data, the first warning being used to prompt the use of the security inspection robot's material composition analysis module to inspect the suspicious item; and a material composition analysis module for obtaining the composition analysis results of the suspicious item in response to the suspicious item being placed in an analysis area.

[0016] Another aspect of this disclosure provides a security inspection system, comprising: N cameras installed at N locations in a security inspection area, where N is an integer greater than or equal to 1; a server communicatively connected to the N cameras, the server being configured to receive images of the security inspection area captured by the N cameras and send security inspection instructions based on the images; and a security inspection robot as described above, communicatively connected to the server, the security inspection robot being configured to execute the security inspection method as described in any one of the preceding claims in response to the received security inspection instructions.

[0017] The above-described one or more embodiments offer the following advantages: They provide an interactive security inspection solution based on a security inspection robot, enabling the robot to autonomously perform movement, detection, and early warning functions. Furthermore, after the first warning is issued, it can prompt relevant personnel to place suspicious items in the analysis area. Through this interactive process, the security inspection robot utilizes its built-in material composition analysis module to directly perform material composition analysis. Therefore, non-contact detection reduces interference with the inspected target, eliminates the need for location-based composition analysis, and, combined with the interactive security inspection solution, improves the scope and flexibility of security inspections, effectively reducing reliance on security personnel, lowering labor costs, and increasing security inspection efficiency. Attached Figure Description

[0018] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0019] Figure 1 This diagram schematically illustrates an application scenario of a security inspection system according to an embodiment of the present disclosure.

[0020] Figure 2 A flowchart illustrating a security inspection method according to an embodiment of the present disclosure is shown schematically.

[0021] Figure 3 A flowchart illustrating target tracking according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 4 The diagram illustrates the interaction between a security inspection robot and a server according to an embodiment of the present disclosure.

[0023] Figure 5 The diagram illustrates the interaction between a security inspection robot and a server according to another embodiment of the present disclosure.

[0024] Figure 6 A flowchart illustrating the dynamic movement of a security inspection robot according to an embodiment of the present disclosure is shown schematically.

[0025] Figure 7 A perspective view of a security inspection robot according to an embodiment of the present disclosure is shown schematically;

[0026] Figure 8 A schematic diagram illustrating the structure of a security inspection robot according to an embodiment of the present disclosure is shown.

[0027] Figure 9 A schematic diagram illustrating the principle of terahertz wave imaging according to an embodiment of the present disclosure is shown.

[0028] Figure 10 This schematically illustrates the interaction between a security inspection robot, a server, a camera, and a tablet computer in a security inspection system according to embodiments of the present disclosure; and

[0029] Figure 11 A block diagram schematically illustrates a main control module suitable for implementing data processing in a security inspection method according to an embodiment of the present disclosure.

[0030] It should be noted that, for clarity, the dimensions of the overall / partial structure or the overall / partial region in the drawings used to describe embodiments of the present invention may be enlarged or reduced, i.e., these drawings are not drawn to actual scale. Detailed Implementation

[0031] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0032] In the technical solution of this invention, the information (including but not limited to personal information, image information, device information, such as location information) and data (including but not limited to data used for analysis, stored data, and displayed data) of the inspected persons are all information and data authorized by the inspected persons or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, and application of the relevant data all comply with relevant laws, regulations, and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding prompts or operation portals for the inspected persons to choose authorization to decide whether to accept or refuse security checks.

[0033] Existing technical solutions, such as fixed security screening equipment, have limited screening range and lack flexibility. They also require a certain number of security personnel and patrol personnel with specific levels of expertise. Furthermore, the method of material composition analysis results in a cumbersome process that is time-consuming.

[0034] Specifically, during security checks, the roles of security personnel and patrol officers include guiding and supervising individuals to cooperate with security requirements, such as guiding them to turn around and remove personal belongings or items from their luggage. Simply providing mobile security screening equipment to perform the existing X-ray scanning method is insufficient for achieving satisfactory security results. Even with mobile equipment, the existing method still requires the cooperation of individuals during the check, without reducing the demand on the number and professional skills of security personnel and patrol officers, and also necessitates additional material composition analysis.

[0035] Some embodiments of this disclosure provide an interactive security inspection solution based on a security inspection robot, enabling the robot to autonomously perform functions such as movement, detection, and early warning. After the first early warning is issued, it can prompt relevant personnel to place suspicious items in the analysis area. Through this interactive process, the security inspection robot can directly perform material composition analysis using its built-in material composition analysis module. Therefore, non-contact detection reduces interference with the inspected target, eliminates the need for location-based composition analysis, and, combined with an interactive security inspection solution, improves the scope and flexibility of security inspections, effectively reducing reliance on security personnel, lowering labor costs, and increasing security inspection efficiency.

[0036] Figure 1 The diagram illustrates an application scenario of a security inspection system according to an embodiment of the present disclosure. It should be noted that... Figure 1 The examples shown are merely examples to illustrate the application of the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure. However, they do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments, or scenarios.

[0037] like Figure 1 As shown, the security inspection system 100 includes a security inspection robot 120, a network 130, a server 140, and N cameras (such as a first camera 151 and a second camera 152, where N is an integer greater than or equal to 1). The first passenger 111 and the second passenger 112 are individuals freely moving around in public places. The network 130 is the medium used to provide communication links between the first camera 151, the second camera 152, the security inspection robot 120, and the server 140. The network 130 can include various connection types, such as wired or wireless communication links, or fiber optic cables, etc. The N cameras are installed at N locations within the security inspection area; for example, the first camera 151 and the second camera 152 can be respectively installed at different locations within the public place.

[0038] Server 140 is communicatively connected to N cameras. The server receives images of the security checkpoint captured by the N cameras and sends security check instructions based on these images. Specifically, the first camera 151 and the second camera 152 can each capture video within their respective areas. For example, when passengers 111-112 pass through the capture area of ​​any camera, their images can be captured. Then, the first camera 151 and the second camera 152 can interact with server 140 via network 130 to send video. The first camera 151 and the second camera 152 can be surveillance cameras or various electronic devices with video recording capabilities.

[0039] Server 140 can be a server providing various services, such as processing videos or images, and performing tasks like target tracking, motion state detection, and matching degree acquisition. In some embodiments, a terminal device can interact with server 140 to send user requests, which may be instructions issued to the security robot 120. The backend management server can analyze and process the received user requests and other data, and feed the processing results back to the terminal device, or issue security inspection instructions to the security robot 120. Terminal devices include, but are not limited to, smartphones, tablets, laptops, and desktop computers.

[0040] Security inspection robot 120 communicates with server 140 via network 130. Security inspection robot 120 performs security inspection operations in response to received security inspection instructions. For example, one or more security inspection robots 120 can be placed within a security inspection area. Each security inspection robot 120 can move within the security inspection area, such as moving along a pre-planned path or moving to the vicinity of a target detected in real time. When the security inspection robot 120 moves to the vicinity of the target to be inspected, at least one of the functions of personnel inspection, item detection, and environmental detection can be activated to achieve non-contact detection.

[0041] The security inspection robot 120 can send the detected data or results to the server 140. The security inspection robot 120 can also receive remote control commands or detection results from the server 140 via the network 130, whereby the detection results are obtained by the server 140 based on the detection data sent by the security inspection robot 120.

[0042] It should be understood that Figure 1 The number of security robots, personnel, and servers shown is merely illustrative.

[0043] The following will be based on Figure 1 The described scene, through Figures 2-10 The security inspection method and security inspection robot according to the embodiments of this disclosure will be described in detail.

[0044] Figure 2 A flowchart illustrating a security inspection method according to an embodiment of the present disclosure is shown schematically.

[0045] like Figure 2 As shown, this embodiment includes:

[0046] In operation S210, the security inspection robot 120 moves to a specific location near the target to be inspected.

[0047] For example, the target to be inspected can be located within the security checkpoint. It can be something that can be captured by the robot's camera, such as a pedestrian or a suitcase, or something that cannot be captured by the robot's camera, such as items hidden inside a pedestrian's clothing or items stored in a suitcase. The target to be inspected can be a pedestrian, an animal, or an object. It can be pre-determined by the security robot 120, scanned by the security robot 120 during automatic patrol, or sent to the security robot 120 by the server 140. The specific location is the position within a certain range of the target to be inspected. The specific location can be determined based on the range that the security robot 120 can detect. That is, the security robot 120 autonomously moves to a suitable position for inspection and adjusts the specific location in real time according to the current position of the target to be inspected.

[0048] When operating the S220, the security inspection robot 120 detects the target being inspected through non-contact detection and obtains detection data.

[0049] When operating S230, the detection data is used to determine whether the target being inspected is suspicious or whether it is carrying suspicious items.

[0050] The security robot 120 can process detection data locally to obtain detection results. These results can be either suspicious or non-suspicious. In the case of a suspicious result, the robot determines whether the object being inspected, or the items carried by the object, are suspicious. Alternatively, the security robot 120 can send the detection data to a server 140, which processes the data, obtains the results, and receives them to take appropriate action. For example, in the case of a suspicious result, this action could be issuing an alarm or tracking the object being inspected.

[0051] When operating S240, if the target to be inspected is determined to be suspicious based on the detection data, the security inspection robot 120 issues a first warning. The first warning is used to prompt the security inspection robot 120 to use the material composition analysis module 123 to inspect the suspicious item.

[0052] Based on the initial warning, the person being inspected or the security personnel place the suspicious item in the analysis area. The analysis area includes the area where the material composition analysis module 123 can normally process the suspicious item. It is understood that when the person being inspected understands the initial warning and follows the instructions to achieve an interactive security check, the involvement of security personnel is unnecessary. However, if the person being inspected requires assistance, security personnel can complete the interactive security check.

[0053] In some embodiments, issuing the first warning includes: the security robot 120 displaying the first warning on its screen; and / or, the security robot 120 playing the first warning via audio.

[0054] By using text or audio, the inspected person or security personnel can be reminded to cooperate with the subsequent inspection. For example, the screen can display or the audio can play "Suspicious item detected: liquid bottle, please place it in the analysis area for testing."

[0055] In some embodiments, when the security robot 120 determines that the target being inspected is suspicious based on detection data, it determines the location of the suspicious item and / or identifies the type of the suspicious item. The first warning includes the location and / or type of the suspicious item. Captured images (such as visible light images or radiation scan images) can also be displayed on the screen, and the location of the suspicious item can be marked.

[0056] For example, after the security inspection robot 120 detects the target being inspected, it can run an object detection algorithm locally to process the visible light image in the detection data to achieve target detection, such as one or more object detection algorithms like Faster R-CNN, SSD (SingleShot Multibox Detector), and YOLO (You Only Look Once). It can further run image segmentation algorithms, such as Mask R-CNN, to perform pixel-level segmentation of the image based on object detection, determining the location of suspicious items. Then, it uses one or more algorithms such as SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features) to extract features, and identifies the type of suspicious item (such as liquid, knife, etc.) based on the extracted features.

[0057] It's understandable that the security robot 120 conducts inspections while ensuring the safety of those being inspected. For example, it might only scan luggage with X-rays, ensuring the radiation dose is below the threshold that would cause harm to the human body. Terahertz imaging technology can be used for human bodies.

[0058] According to embodiments of this disclosure, determining the specific location and type of suspicious items can help inspected personnel or security personnel quickly locate suspicious items, reduce unnecessary actions, and improve overall security inspection efficiency.

[0059] In operation S250, in response to a suspicious item being placed in the analysis area, the security robot 120 obtains the composition analysis results of the suspicious item through the material composition analysis module 123.

[0060] The security inspection robot 120 can determine whether a suspicious item has been placed in the analysis area by means of image recognition, weight sensing, or monitoring the pressing of a specific button. The specific button may be the start button of the material composition analysis module 123, or other buttons on the security inspection robot 120.

[0061] For example, the material composition analysis module 123 may include one or more instruments such as a Raman spectrometer, a chemical reagent analyzer, a mass spectrometer, or an infrared spectrometer. Taking a Raman spectrometer as an example, light of a certain frequency interacts with a substance and is scattered. In addition to Rayleigh scattering light with the same frequency as the original light, there is also Raman scattering light with a different frequency. The difference between the Raman scattering light frequency and the incident light frequency reflects the vibrational and rotational energy levels of molecules and is independent of the excitation light frequency. Different molecules under certain conditions or states possess unique molecular structures; therefore, Raman spectroscopy becomes a "fingerprint" spectrum for substance identification and can be used for substance recognition and identification. Raman spectroscopy technology obtains characteristic spectral images of the substance's molecules by scanning suspicious items and comparing them with the spectral images of standard substances in a spectral library to obtain substance identification and identification results. Specifically, the spectral library stores information such as the name, source, size, and image of the standard substances.

[0062] In some embodiments, after a suspicious item is detected, the person being inspected or the security personnel can independently take out the material composition analysis module 123 (such as a handheld Raman spectrometer) to perform Raman spectral scanning. The material composition analysis module 123 compares the Raman characteristic spectrum of the suspicious item with information in the spectral library to obtain the composition analysis results. The material composition analysis module 123 can also be connected to the main control module of the security robot 120 via wired or wireless connection to transmit the material composition analysis results, facilitating the security robot 120 to take corresponding actions, such as issuing an initial warning. The material composition analysis module 123 can be removed and used, providing greater flexibility. The material composition analysis module 123 can also be easily replaced to improve security inspection efficiency.

[0063] In other embodiments, the material composition analysis module 123 may be fixedly or detachably installed within the housing 121 of the security inspection robot 120 and connected to other structures or circuits within the housing 121. That is, the material composition analysis module 123 is stationary, and the person being inspected or the security personnel place suspicious items within the analysis area of ​​the module.

[0064] In some embodiments, when the component analysis results indicate the presence of prohibited substances, the security robot 120 issues a third warning, which serves to indicate the presence of prohibited substances in the component analysis results. When the component analysis results indicate the absence of prohibited substances, the security robot 120 issues a termination signal, which serves to indicate the end of the inspection of the suspicious item.

[0065] For example, in an airport terminal with a large number of passengers, a security robot 120 can move autonomously within the terminal, navigating to appropriate locations near passengers to perform non-contact detection. The robot 120 activates its built-in multi-directional non-contact detection instruments to determine if there are prohibited items in the terminal area, and whether passengers' luggage or clothing contains prohibited items. When a suspicious item is detected, it immediately alerts the person being inspected or security personnel through a screen display and audio playback. For example, it may indicate the location and type of the suspicious item via text, while simultaneously issuing a voice alert via speaker: "Suspicious item detected in jacket pocket, possibly a prohibited item. Please conduct composition analysis." The person being inspected or security personnel places the suspicious item in the analysis area of ​​the composition analysis module 123 to obtain the analysis results. If the analysis results indicate the presence of prohibited components, an alarm is triggered, and security personnel will handle the matter further. If the analysis results indicate the absence of prohibited components, the inspection of the suspicious item ends, and the person is prompted to retrieve it. The inspection of the person being inspected can then be terminated, or other items on their person can be inspected.

[0066] Figure 3 A flowchart illustrating target tracking according to an embodiment of the present disclosure is shown schematically.

[0067] When the security robot 120 determines that the target being inspected is suspicious based on detection data, such as Figure 3 As shown, this embodiment includes:

[0068] When operating the S310, the security inspection robot 120 continuously captures visible light images of the target being inspected.

[0069] When operating S320, the security inspection robot 120 performs target tracking on the target to be inspected based on visible light images. Target tracking includes detecting at least one of the target's motion, real-time position, and movement speed.

[0070] For example, when the target of inspection is a person, and the suspicious item is something the person is carrying, the security robot 120 continuously captures images or records videos of the target through its robot camera. It then uses a target tracking algorithm to analyze the person's movements in the captured images in real time, recording their real-time position and speed within the security area to ensure continuous monitoring even when the person moves.

[0071] To elaborate, during the security check process, the security robot 120 determines whether the current distance between the person being checked and the robot exceeds the preset security distance or monitoring range. If it does, the robot moves to track the person until they reach a suitable distance. This means it can track the person when they are moving normally. However, if the person's actions include running, actions that damage the robot, or actions that obstruct the camera, the robot may have difficulty detecting and tracking them. Therefore, by analyzing motion detection, real-time position, and movement speed, any abnormal behavior or danger signals can be detected promptly and notified to security personnel.

[0072] It should be noted that during non-contact detection, the security robot 120 can detect passengers or luggage only within its detection range without tracking them; that is, it will abandon detection once the passenger leaves its detection range. Alternatively, the security robot 120 can continuously track the target during the detection process, but can refrain from motion detection and speed detection until it determines that the target is suspicious, thus reducing the consumption of computing resources.

[0073] Figure 4 The diagram illustrates the interaction between a security inspection robot 120 and a server 140 according to an embodiment of the present disclosure.

[0074] In some embodiments, refer to Figure 4 The security inspection robot 120 moves to a specific location near the target being inspected, including:

[0075] The security inspection robot 120 moves along a pre-planned or random path, with specific locations situated within either the pre-planned or random path. And / or,

[0076] The security inspection robot 120 responds to a remote movement command from the server 140, moving to a specific location. The remote movement command includes the coordinates of that specific location. And / or,

[0077] The security inspection robot 120 responds to the remotely designated target instruction from the server 140 and moves to a specific location. The remotely designated target instruction includes information about the target to be inspected.

[0078] For example, a pre-planned path includes a pre-set movement route for the security robot 120 before it begins patrolling or inspecting. People or objects within the detection range of the security robot 120 near this route can be targeted for inspection. A random path includes the trajectory of the security robot 120 moving randomly, which avoids the security robot evading inspection by revealing the pre-planned path. A remote movement command refers to an instruction issued from the server 140 that causes the security robot 120 to move to a specific location, such as coordinates within a public place. A remote target designation command also refers to an instruction issued from the server 140 that specifies a particular target for the security robot 120 to inspect. This specific target can be a category, such as targeting only travelers. It can also be a specific object, such as specifying the physical characteristics of a particular traveler, which the security robot 120 captures and determines automatically.

[0079] For example, while the security inspection robot 120 is moving along a pre-planned or random path, if it receives at least one of a remote movement command and a remote target designation command sent by the server 140, it can replan its route and continue moving to the specific location. The remote movement command and remote target designation command sent by the server 140 may be generated in response to manual operation or by recognizing images captured by a camera.

[0080] According to embodiments of this disclosure, the coverage and timeliness of security checks can be improved. By pre-planning paths, key areas can be checked in a timely manner. Combined with remote movement commands and / or remote target designation commands, the security robot 120 has high flexibility and the ability to respond to emergencies, such as quickly locating and detecting potential security threats.

[0081] Figure 5 The diagram illustrates the interaction between a security inspection robot 120 and a server 140 according to another embodiment of the present disclosure.

[0082] In some embodiments, refer to Figure 5 When the security robot 120 determines that the target being inspected is suspicious based on the detection data, the security robot 120 sends a second warning to the server 140. The second warning includes a warning symbol and the detection data. And / or, the security robot 120 communicates with a human operator to enable remote communication between the human operator and the target being inspected.

[0083] The second alert is a notification signal sent by the security robot 120 to the server 140 when it detects a suspicious target. For example, if the security robot 120 at an airport detects a piece of luggage that may contain a suspicious item, it will send a second alert to the workstation server 140, which includes detection data such as warning signs and images. Its purpose is to prevent the security robot 120 from losing track of the suspicious target. If the target is lost after the second alert is sent, the matter is handed over to the server 140 for processing. The server 140 can simultaneously notify security personnel.

[0084] By using the security inspection robot 120 to communicate with a human operator via video call, remote security personnel can guide individuals to cooperate with the inspection process, such as explaining how to use the substance composition analysis module 123. Furthermore, remote video communication between security personnel and individuals can further verify the situation, such as having individuals display suspicious items for manual inspection via video, enhancing reliability in conjunction with the results from the substance composition analysis module 123.

[0085] According to embodiments of this disclosure, issuing a second warning to server 140 can reduce security check vulnerabilities such as losing track of someone. It also provides a method for robots and remote human agents to work collaboratively, increasing the interactivity of communication during interactive security checks and thereby improving the accuracy of security checks.

[0086] Figure 6 A flowchart illustrating the dynamic movement of a security inspection robot 120 according to an embodiment of the present disclosure is shown.

[0087] In some embodiments, non-contact detection includes at least one of the following:

[0088] Visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

[0089] like Figure 6 As shown, in this embodiment, the security inspection robot 120 detects the target being inspected through non-contact detection, and the detection data obtained also includes:

[0090] When operating the S610, the security inspection robot 120 determines the detection range of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

[0091] When operating the S620, the security inspection robot 120 moves at least once relative to the target being inspected.

[0092] When operating the S630, after each movement, the security inspection robot 120 maintains a distance from the inspected person that is adapted to the detection range of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

[0093] The above detection technologies are explained as follows: Visible light imaging is a technology that uses the visible light band for imaging, commonly used in conventional photography and video recording. For example, the camera of the security robot 120 uses visible light imaging technology to capture images. Terahertz scanning imaging can use the terahertz waves emitted by the human body to detect concealed items. For example, in airport security checks, it is used to find dangerous items hidden under clothing. Thermal imaging can detect the infrared radiation emitted by an object, thereby generating a temperature distribution map of the object, which is used to detect cryogenic biological products. Radioactive material detection can use gamma ray or neutron detectors to locate and identify nuclear materials. For example, in port security checks, it is used to detect illegally transported radioactive materials. Electromagnetic pulse detection refers to the technology of detecting electromagnetic pulses, which can be used to detect certain types of electronic devices or attack devices. For example, in security checks, it is used to detect concealed electronic detonation devices, high-energy electromagnetic pulse weapons that cause permanent damage to human tissue, etc.

[0094] In some embodiments, the security robot 120 may first perform object identification on the target to be inspected, and then determine the detection technology to be activated based on the identification result. For example, if the identification result is that the target to be inspected is merely a suitcase placed on an open space, then terahertz scanning imaging may not be performed. If the identification result is a passenger and their suitcase, then visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection may be performed.

[0095] It's understandable that the security inspection robot 120 integrates visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection to achieve comprehensive security inspection of people, objects, and the environment. Since each detection technology is different, the required detection distance may not be entirely the same.

[0096] Therefore, the security inspection robot 120 first determines the optimal detection distance of each detection technology relative to the target being inspected. Next, the robot adapts its movement to ensure it is in a suitable position, allowing the detection technologies to operate at the ideal detection distance, thereby improving the accuracy and efficiency of the inspection.

[0097] For example, in a security checkpoint, once the security robot 120 locates the first passenger 111, the distance between the robot and the passenger determines the effectiveness of each detection technology. First, visible light imaging is used to confirm that the passenger and their luggage appear normal. Then, terahertz scanning imaging technology is used to check if the passenger is carrying any concealed suspicious items. To ensure the accuracy of the terahertz scan, the robot calculates and adjusts the optimal detection distance. Afterward, thermal imaging may be used to confirm the presence of cryogenic biological products, and radioactive material detection and electromagnetic pulse detection may be used to check for dangerous goods. Throughout the process, the robot determines the position of the first passenger 111 through visible light imaging and moves according to the optimal detection distance requirements of different detection technologies and the passenger's real-time position to obtain accurate detection results.

[0098] It should be noted that the above detection sequence is merely an example, and this disclosure is not limited thereto. For example, terahertz scanning, thermal imaging, radioactive material detection, and electromagnetic pulse detection can be performed simultaneously.

[0099] To further illustrate, the detection distance for terahertz scanning imaging is 0.5 meters. This means that a distance of 0.5 meters between the security robot 120 and the first passenger 111 is sufficient to meet the requirements for full-body terahertz scanning and achieve good terahertz imaging results. The detection distances for thermal imaging, visible light imaging, radioactive material detection, and electromagnetic pulse detection are 0.6 meters, 2 meters, 1 meter, and 1.5 meters, respectively, allowing for dynamic adjustment of the distance between the security robot 120 and the first passenger 111. Furthermore, to avoid interference with the first passenger 111, who may be constantly moving during the detection process, the security robot 120 can acquire the passenger's position in real-time using visible light imaging and dynamically adjust the distance between itself and the passenger. During this process, the orientation of the security robot 120 relative to the first passenger 111 may also change dynamically. For example, the orientation may differ when inspecting a person versus inspecting luggage.

[0100] It should be noted that the above 0.5 meters, 0.6 meters, 2 meters, 1 meter and 1.5 meters are only examples for the purpose of understanding the scheme, and this disclosure is not limited thereto.

[0101] According to embodiments of this disclosure, after determining the detection distance, the security inspection robot 120 moves at least once to adapt to the optimal detection distance of at least one detection technology. This ensures optimal imaging results and improves detection accuracy.

[0102] The security inspection robot 120 that performs the above-mentioned security inspection method is described in further detail below.

[0103] Figure 7 A perspective view of a security inspection robot 120 according to an embodiment of the present disclosure is shown schematically. Figure 8 A schematic block diagram of a security inspection robot 120 according to an embodiment of the present disclosure is shown.

[0104] In some embodiments, the security inspection robot 120 includes a housing 121, a movement module 124, a security inspection module 122, a prompting module 126, and a substance composition analysis module 123. The security inspection module 122, the prompting module 126, and the substance composition analysis module 123 are installed within the housing 121, and the movement module 124 is connected to the housing 121. The movement module 124 is used to move to a specific position near the target to be inspected. The security inspection module 122 is used to detect the target to be inspected using a non-contact detection method and obtain detection data. When the security inspection robot 120 determines that the target to be inspected is suspicious based on the detection data, the prompting module 126 is used to issue a first warning, which prompts the use of the substance composition analysis module 123 of the security inspection robot 120 to inspect the suspicious item. The substance composition analysis module 123 is used to obtain the composition analysis results of the suspicious item in response to the suspicious item being placed in the analysis area.

[0105] For example, the mobile module 124 includes a robot chassis with autonomous navigation capabilities. For instance, multiple omnidirectional wheels are mounted on the bottom of the chassis. The chassis's drive unit is connected to the wheels to drive their rotation, which in turn moves the housing 121, ultimately causing the entire security inspection robot 120 to move.

[0106] According to embodiments of this disclosure, the security inspection module 122, the material composition analysis module 123, and the alert module 126 are installed within the housing 121, and the movement module 124 is integrated into the security inspection robot 120. This allows the security inspection robot 120 to move flexibly within the security inspection area and reduces interference with the inspected target through non-contact detection. If the security inspection module 122 detects a suspicious item, it can issue an alert. Through interactive security inspection, the inspected person or security personnel can directly perform material composition analysis on-site using the material composition analysis module 123 built into the security inspection robot 120 itself, thereby quickly and accurately identifying the substance, effectively reducing costs, and increasing security inspection efficiency.

[0107] In some embodiments, refer to Figure 7 The housing 121 defines an opening 125, wherein the material composition analysis module 123 is used to perform material composition analysis on a suspected item after being removed from the housing 121 via the opening 125. Exemplarily, the housing 121 defines a receiving space communicating with the opening 125, in which the material composition analysis module 123 can be individually placed and removed.

[0108] Figure 9 A schematic diagram illustrating the principle of terahertz wave imaging according to an embodiment of the present disclosure is shown.

[0109] In some embodiments, the security inspection module 122 includes a terahertz detection unit 1221, which includes a mirror assembly 12212 and a detector array 12213. The mirror assembly 12212 reflects terahertz waves from the target being inspected. The detector array 12213 receives the terahertz waves and converts them into electrical signals to obtain a terahertz wave image. The mirror assembly 12212 includes a mirror and a pitch oscillation mechanism for driving the mirror to pitch oscillate vertically. The detector assembly 12213 may include a detector array 12213 arranged in a single row or multiple rows of arcs or straight lines.

[0110] Reference Figure 9 Terahertz waves emitted by the human body pass through the terahertz window 12211, enter the housing 121, are reflected by the mirror, and then focused by the focusing lens 12214 before illuminating the detector assembly 12213. This is converted into an electrical signal, which is then acquired by the main control module and transmitted as a digital signal locally or via network port to a server 140 outside the security robot 120 for data processing and image reconstruction. The mirror's reciprocating motion scans the entire human body in the longitudinal direction. Multiple terahertz detectors are arranged laterally (this is just an example; longitudinal or other arrangements can be chosen) to detect various locations on the human body in the horizontal direction. The mirror assembly 12212 can be elliptical in shape, with its minor axis matching the size of the focusing lens 12214 (e.g., 20cm-50cm) and its major axis (e.g., 30cm-60cm). The size of the focusing lens 12214 is determined based on the imaging distance and resolution requirements.

[0111] According to embodiments of this disclosure, a mobile security inspection robot 120 integrates a terahertz detection unit 1221 and a material composition analysis module 123. This allows the security inspection robot 120 to flexibly scan personnel within the inspection area during patrols, and to perform timely material composition analysis on-site when suspicious items are detected.

[0112] In some embodiments, refer to Figure 7 and Figure 8 The security inspection module 122 also includes a cryogenic biological product detection unit 1222, which includes a thermal imager for thermal imaging the target being inspected. Cryogenic biological products may include live cold-blooded animals or articles made from cold-blooded animals.

[0113] According to embodiments of this disclosure, terahertz imaging technology, thermal imaging technology, and material composition analysis technology are integrated into a mobile security inspection robot 120, which can simultaneously detect people and objects and perform material composition analysis on suspicious items on-site in a timely manner, reducing the time and cost wasted on site transfer analysis.

[0114] In some embodiments, refer to Figure 7 and Figure 8 The security inspection module 122 also includes a visible light imaging unit 1223, which includes a robot camera for capturing visible light images of the target being inspected as it enters the inspection area.

[0115] In some embodiments, refer to Figure 7 and Figure 9 A window 12211 is provided on one side of the housing 121, through which the terahertz wave of the target being inspected is emitted by the reflector assembly 12212. The camera, thermal imager, and window 12211 are located on the same side of the housing 121.

[0116] Reference Figure 7 The camera and thermal imager of the visible light imaging unit 1223 can be set below the window 12211 and close to each other, which is beneficial for the main control module to locate the position using the visible light image, and also beneficial for the thermal imaging and terahertz image to be matched with the visible light image respectively.

[0117] In detail, before activating the terahertz detection unit 1221 for terahertz scanning imaging, and before activating the cryogenic biological product detection unit 1222 for thermal imaging, the main control module can use visible light images to determine the orientation and distance of the target being inspected relative to the security inspection robot 120. The visible light image generated by the visible light imaging unit 1223, after cropping, matches the generated terahertz wave image within the depth of field of the terahertz detection unit 1221, and the visible light image, after cropping, matches the depth of field of the thermal imaging.

[0118] For example, when the visible light imaging unit 1223 captures the target (person) entering the field of view (i.e., the inspection area), the main control module determines the distance between itself and the target based on the visible light image. It then sends a command to the robot chassis to move it to the optimal distance range (depth of field) from the target to achieve a more ideal imaging effect. The robot then aligns itself with the target at a suitable angle to perform terahertz imaging and detect cryogenic biological products. During this detection process, if suspicious items are found on the target, the main control module records the target's visible light characteristics (e.g., facial features) through the visible light image. This information is then linked to the target's terahertz image and cryogenic detection image and stored for future reference. The target can also be tracked and monitored under manual intervention for further confirmation.

[0119] For example, the main control module can receive visible light images, terahertz images, and thermal images. Based on the terahertz images and visible light images, it can determine whether the inspected target includes suspicious items, and based on the thermal images and visible light images, it can determine whether the inspected target includes low-temperature products.

[0120] According to embodiments of this disclosure, the visible light imaging unit 1223, the thermal imager, and the terahertz detection unit 1221 cooperate to acquire visible light images, thermal images, and terahertz images. Furthermore, the main control module comprehensively utilizes the visible light images, thermal images, and terahertz images to achieve simultaneous detection of people and objects.

[0121] In some embodiments, the security inspection module 122 further includes a radioactive material detection unit 1224, which includes a detector for detecting radioactive materials within the inspection area. The radioactive material detection unit 1224 may employ one or more of a thermoluminescent detector, a semiconductor detector, and a gas ionization detector.

[0122] In some embodiments, the security inspection module 122 further includes an electromagnetic pulse detection unit 1225, which includes a probe. The probe is used to detect electromagnetic pulses within the inspection area that are greater than or equal to a specific voltage threshold.

[0123] For example, the electromagnetic pulse detection unit 1225 may include a high-energy transient electromagnetic pulse detector. The detector includes a probe, a receiving unit, and a connecting component connecting the probe and the receiving unit. The connecting component is an optical fiber. The probe includes an antenna, a cylindrical sealed shielding housing, and a signal processing unit disposed within the shielding housing. The receiving unit includes a receiving unit power supply circuit and, in sequence, an optical fiber receiver, a receiving unit amplification circuit, and an output interface. The optical fiber receiver is connected to an optical fiber, and the output interface includes an oscilloscope interface. The electromagnetic pulse detection unit 1225 can detect high-energy, wide-spectrum, high-frequency electromagnetic pulses with steep signal rise edges, wide frequency range, and high peak field strength.

[0124] In some embodiments, the material composition analysis module 123, the radioactive material detection unit 1224, and the electromagnetic pulse detection unit 1225 are located at the top of the housing 121. This facilitates material composition analysis and, due to their elevated position, provides a larger radioactive material detection range and an electromagnetic pulse detection range.

[0125] According to embodiments of this disclosure, a terahertz detection unit 1221, a cryogenic biological product detection unit 1222, a radioactive material detection unit 1224, an electromagnetic pulse detection unit 1225, and a material composition analysis module 123 are integrated to form a broadband electromagnetic wave comprehensive inspection device. This device is placed on a robot chassis with autonomous navigation capabilities to form a security inspection robot 120. This robot can perform patrol-style security scanning and detection of randomly walking or queued personnel in specific locations (such as airport waiting halls, customs import / export halls, embassy visa halls, etc.), and continuously monitor the environment in which the robot is located for the presence of dangerous goods or dangerous radiation or emissions. Therefore, it can achieve "one-stop" security inspection of personnel, goods, and their surrounding environment, simultaneously detecting people, goods, and the environment, with centralized alarms, significantly improving security inspection efficiency, capabilities, and flexibility.

[0126] In some embodiments, return to reference Figure 6 The main control module is used to issue at least one movement command based on the detection distance of at least one of the terahertz detection unit 1221, the cryogenic biological product detection unit 1222, the visible light imaging unit 1223, the radioactive material detection unit 1224, and the electromagnetic pulse detection unit 1225, causing the movement module 124 to move to the command-corresponding position near the inspected target. The distance between the command-corresponding position and the inspected target is adapted to the detection distance.

[0127] Figure 10 The illustration shows an interactive diagram of a security inspection robot, server, camera, and terminal device in a security inspection system according to an embodiment of the present disclosure.

[0128] In related technologies, terahertz technology alone cannot effectively detect more dangerous and suspicious items, such as cryogenic biological products and radioactive materials. Even if it can detect them, it is sometimes impossible to quickly and accurately identify some suspicious items (such as drugs and hazardous chemicals). If identification is required, the items need to be sent to relevant institutions for further analysis of material composition, which is time-consuming, labor-intensive, significantly increases costs, and is extremely inefficient.

[0129] To address the aforementioned deficiencies, refer to Figures 1-9This invention provides a security inspection method, a security inspection robot 120 that performs the method, and a security inspection system. The security inspection robot 120 has an integrated broadband electromagnetic wave detection device on its upper part and a robot chassis on its lower part. The main body of the broadband electromagnetic wave detection device is a passive terahertz detection unit 1221, which also integrates a radioactive material detection unit 1224, a visible light imaging unit 1223, a cryogenic biological product detection unit 1222, an electromagnetic pulse detection unit 1225, and a material composition analysis module 123.

[0130] In detail, the main control module is responsible for the robot's walking control, command transmission, data acquisition and processing, image processing, storage, and communication. It mainly consists of a low-power industrial control computer and related peripheral circuits. The power supply module draws power from the robot chassis and supplies power to the various modules on the main body of the device after level conversion. The terahertz detection unit 1221 is used for passive terahertz imaging of the human body to detect contraband carried in clothing. The visible light imaging unit 1223 uses visible light images captured by the robot's camera to track and identify the object being tested. The material composition analysis module 123 is used to further identify the material composition of the detected contraband carried by the person. The cryogenic biological product detection unit 1222 is used to detect cryogenic biological products carried by passengers or present in the environment. The electromagnetic pulse detection unit 1225 is used to detect high-energy transient electromagnetic pulses in the environment. The radioactive material detection unit 1224 is used to detect radioactive materials in the environment. The communication module is used for wireless communication with the terminal equipment and / or server 140 to transmit data, commands, and images.

[0131] Among them, reference Figure 7 The terahertz detection section is located in the lower middle part of the robot's main body. The visible light imaging unit 1223 and the cryogenic biological product detection unit 1222 are located below the terahertz window 12211, while other units are located on top of the security inspection robot 120 and covered by a cover plate. Except for the material composition analysis module 123, which can be removed and used independently (for example only), all other functional modules are integrated with the terahertz detection unit 1221. They are centrally powered by a power supply module, interconnected by signals, and can each perform independent detection, but the detection results are integrated and displayed in the software interface. The main control module can interact with external devices, such as exchanging data with the server 140, through a network interface and communication module.

[0132] The detection unit or module on the upper part of the security inspection robot 120 is responsible for the detection function, while the robot chassis on the lower part is responsible for the equipment's navigation and target tracking. All the functions of the security inspection robot 120, including the detection and alarm functions of the aforementioned functional modules and the control functions of the robot chassis, can be integrated and unified in the main control module through the host computer software.

[0133] For example, the security inspection robot 120 communicates with the server 140 and terminal devices via wireless signals. The server 140 processes and judges the received information and provides necessary alarm indicators and reminders. Security personnel can view the detection results and alarm information of the security inspection robot 120 on the inspected object through their handheld terminal devices. After receiving the alarm information, the security personnel can make further decisions.

[0134] For example, server 140 can receive images from cameras in public places, covering a wider area, and coordinate them with images acquired by security robot 120 itself. Server 140 can perform image recognition from angles beyond the detection range of security robot 120 and promptly provide feedback or issue security inspection instructions to security robot 120. For instance, if security robot 120 loses track of a target, it can interact with server 140, which can then use the public place's cameras to track the target and issue security inspection instructions to security robot 120 and security personnel.

[0135] According to embodiments of this disclosure, terahertz human body security inspection is integrated with technologies such as radioactive material detection, cryogenic biological product detection, high-energy electromagnetic pulse detection, and material composition analysis to achieve comprehensive inspection under broadband electromagnetic wave technology. This allows for the detection of multiple hazardous materials and suspicious items in the same location, avoiding the need for transferring items between locations and sequentially testing multiple hazardous materials, thus improving security inspection efficiency and enhancing security inspection capabilities.

[0136] Furthermore, by integrating the aforementioned detection technologies with robotic inspection technology, autonomous patrol and detection can be achieved within the security checkpoint (it can travel along a prescribed path or move randomly), detecting personnel within the security checkpoint and tracking and confirming key suspects, while also allowing for remote manual intervention by security personnel. Therefore, comprehensive inspection of on-site personnel, items, and their environment can be achieved, enabling "one-stop" inspection, centralized alarms, and significantly improving security check efficiency.

[0137] Figure 11 A block diagram schematically illustrates a main control module suitable for implementing data processing in a security inspection method according to an embodiment of the present disclosure.

[0138] like Figure 11As shown, the main control module according to an embodiment of this disclosure includes a processor 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage portion 1108 into a random access memory (RAM) 1103. The processor 1101 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1101 may also include onboard memory for caching purposes. The processor 1101 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this disclosure.

[0139] RAM 1103 stores various programs and data required for the operation of the main control module. Processor 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. Processor 1101 executes various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 1102 and / or RAM 1103. It should be noted that programs may also be stored in one or more memories other than ROM 1102 and RAM 1103. Processor 1101 may also execute various operations of the method flow according to embodiments of the present disclosure by executing programs stored in one or more memories.

[0140] According to embodiments of this disclosure, the main control module may further include an input / output (I / O) interface 1105, which is also connected to a bus 1104. The main control module may also include one or more of the following components connected to the I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1110 as needed so that computer programs read from it can be installed into the storage section 1108 as needed.

[0141] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0142] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0143] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0144] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A security inspection method, characterized in that, For use in security inspection robots, the method includes: The security robot moves to a specific location near the target to be inspected and performs object recognition on the target, which includes the person being inspected and their luggage. The security robot determines the non-contact detection method based on the object recognition result. When the person being inspected moves, it moves according to the optimal detection distance requirements of different non-contact detection methods and the position of the person being inspected or the luggage to adjust the distance between the security robot and the person being inspected or the luggage, and obtains detection data by detecting the person being inspected and the luggage. This includes detecting the human body by terahertz scanning imaging and visible light imaging set on the security robot, and detecting the luggage by at least one of thermal imaging, radioactive material detection and electromagnetic pulse detection set on the security robot. During the detection process, the orientation of the security robot relative to the person being inspected and the luggage changes dynamically, and the orientation is different when inspecting the human body and when inspecting the luggage. When the detected target is determined to be suspicious based on the detection data, the security robot determines the location of the suspicious item and / or identifies the type of the suspicious item, and issues a first warning, wherein the first warning includes the location and / or type of the suspicious item, and the first warning is used to prompt the use of the material composition analysis module of the security robot to inspect the suspicious item; In response to the security inspection robot determining that the suspicious item has been placed in the analysis area, the security inspection robot obtains the composition analysis results of the suspicious item through the material composition analysis module.

2. The method according to claim 1, characterized in that, The security inspection robot detects the target being inspected through non-contact detection, and the detection data obtained includes: The security inspection robot determines the detection range of at least one of the visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection. The security inspection robot moves at least once relative to the target being inspected to adapt to the detection distance of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

3. The method according to claim 1 or 2, characterized in that, When the security inspection robot determines that the target being inspected is suspicious based on the detection data, the method further includes: The security inspection robot continuously captures visible light images of the target being inspected; The security inspection robot tracks the target being inspected based on the visible light image. The target tracking includes detecting at least one of the target's movement, real-time position, and movement speed.

4. The method according to claim 1 or 2, characterized in that, The issuance of the first warning includes: The security robot displays the first warning on its screen; and / or, The security inspection robot plays the first warning via audio.

5. The method according to claim 1, characterized in that, The security inspection robot moves to a specific location near the target being inspected, including: The security inspection robot moves according to a pre-planned path or a random path, and the specific location is situated on the pre-planned path or the random path; and / or, The security inspection robot responds to a remote movement command from the server and moves to the specific location, the remote movement command including the coordinate information of the specific location; and / or, The security inspection robot responds to a remotely designated target instruction from the server and moves to the specific location, whereby the remotely designated target instruction includes information about the target to be inspected.

6. The method according to claim 5, characterized in that, When the security inspection robot determines that the target being inspected is suspicious based on the detection data, the method further includes: The security robot sends a second warning to the server, the second warning including a warning symbol and the detection data; and / or, The security robot communicates with a human operator, enabling the human operator to communicate remotely with the target being inspected.

7. The method according to claim 1, characterized in that, The method further includes: When the component analysis results indicate the presence of prohibited components, the security inspection robot issues a third warning, which is used to alert the security inspection robot to the component analysis results. When the component analysis results indicate that no prohibited components are present, the security robot issues a termination signal, which is used to indicate the end of the inspection of the suspicious item.

8. A security inspection robot, characterized in that, The security inspection method for performing any one of claims 1 to 7 includes: The moving module is used to move to a specific location near the target being inspected. The security inspection module is used to detect the target being inspected through non-contact detection and obtain detection data; The alert module is used to issue a first warning when the security robot determines that the target being inspected is suspicious based on the detection data. The first warning is used to prompt the security robot to use its material composition analysis module to inspect the suspicious item. The material composition analysis module is used to obtain the composition analysis results of the suspicious item in response to the suspicious item being placed in the analysis area.

9. A security inspection system, characterized in that, include: N cameras are installed at N locations in the security checkpoint, where N is an integer greater than or equal to 1; The server is communicatively connected to the N cameras. The server is used to receive images of the security checkpoint captured by the N cameras and send security check instructions based on the images. The security inspection robot of claim 8 is communicatively connected to the server, and the security inspection robot is used to execute the security inspection method of any one of claims 1 to 7 in response to the received security inspection command.

Images