Security inspection material basket recycling method, device and system and computer readable storage medium

Abstract

The invention relates to a security check material basket recycling method, device and system and a computer readable storage medium, the security check material basket recycling method comprises the steps that a detection area is determined according to a depth image acquired by 3D camera equipment, and the detection area comprises a security check material basket; in the detection area, a depth value larger than a preset depth threshold value is screened to determine a bottom surface area of the security check material basket, and a mask image of the bottom surface area is obtained; based on the mask image, scaling a depth value in the bottom surface area and carrying out edge detection on a depth image to obtain a contour image; according to the bottom surface area and the contour image, cutting the bottom surface area to obtain a bottom surface internal image; and counting the number of non-zero points in the bottom surface internal image, if the number of the non-zero points is smaller than or equal to a preset number threshold value, determining that the security check material basket is an empty basket, and recycling the security check material basket. According to the invention, the problem of low security check efficiency of a security check channel is solved.

Description

Technical Field

[0001] This application relates to the field of image recognition, and particularly to a method, device, system, and computer-readable storage medium for recycling security inspection material baskets. Background Art

[0002] Airports have extremely high requirements for personnel safety, and the luggage of tourists will be strictly inspected during security checks. The carry-on luggage of tourists is placed in security inspection material baskets, which are then conveyed by transmission equipment. After the carry-on luggage in the security inspection material baskets passes through the security inspection machine and is found to be correct, the tourists take away their luggage. Finally, security inspection staff continuously collect the empty security inspection material baskets at the end of the transmission equipment and then centrally place the empty security inspection material baskets at the front end of the security inspection machine. Recycling the empty security inspection material baskets in this way consumes a large amount of time and easily causes a large number of tourists to be stranded in the security inspection passage, resulting in low security inspection efficiency. Summary of the Invention

[0003] Embodiments of this application provide a method, device, system, and computer-readable storage medium for recycling security inspection material baskets to at least solve the problem of low security inspection efficiency in related technologies.

[0004] In a first aspect, embodiments of this application provide a method for recycling security inspection material baskets. The method is applied to a security inspection material basket recycling system, which includes 3D camera equipment. The method includes:

[0005] Determine a detection area based on the depth image obtained by the 3D camera equipment. The detection area includes security inspection material baskets;

[0006] In the detection area, filter out depth values greater than a preset depth threshold to determine the bottom area of the security inspection material basket and obtain a mask image of the bottom area;

[0007] Based on the mask image, scale the depth values in the bottom area and perform edge detection on the depth image to obtain a contour image;

[0008] According to the bottom area and the contour image, cut the bottom area to obtain an internal bottom image;

[0009] Count the number of non-zero points in the internal bottom image. If the number of non-zero points is less than or equal to a preset quantity threshold, the security inspection material basket is an empty basket, and the security inspection material basket is recycled.

[0010] In an embodiment, the step of filtering out depth values greater than a preset depth threshold in the detection area to determine the bottom area of the security inspection material basket and obtaining a mask image of the bottom area includes:

[0011] Within the detection area, depth values greater than a preset depth threshold are screened to obtain an edge image of the security inspection material basket, where the edge image includes the basket edge of the security inspection material basket;

[0012] Based on the edge image, determine the largest rectangle within the basket edge, take the largest rectangle as the bottom surface area of the security inspection material basket, and obtain the vertices of the largest rectangle;

[0013] Based on the vertices, obtain the mask image of the bottom surface area.

[0014] In one embodiment, the method of scaling the depth values within the bottom surface area based on the mask image and performing edge detection on the depth image to obtain a contour image includes

[0015] Based on the mask image and the depth image, amplify the depth values greater than the upper threshold and shrink the depth values less than the lower threshold to obtain a bottom surface depth image;

[0016] Convert the bottom surface depth image into a grayscale image, perform filtering processing on the grayscale image, and perform the edge detection on the processed grayscale image to obtain the contour image.

[0017] In one embodiment, the method of counting the number of non-zero points in the bottom surface internal image includes:

[0018] Obtain the internal mask image of the bottom surface internal image, perform morphological operations and image filtering operations on the internal mask image, and count the number of non-zero points in the processed internal mask image.

[0019] In one embodiment, the method further includes:

[0020] If the number of non-zero points is greater than the preset quantity threshold, there are items in the security inspection material basket, and wait for the items to be emptied.

[0021] In one embodiment, the method of determining the detection area according to the depth image includes

[0022] Obtain the depth image, perform cutting on the depth image to obtain a preliminary detection area;

[0023] Perform filtering processing on the preliminary detection area to obtain the detection area.

[0024] In a second aspect, an embodiment of the present application provides a security inspection material basket recycling system, including

[0025] Conveyor line drive device, the output line drive device includes a lifting member, an upper roller line and a lower roller line. The upper roller line is used to transport the security inspection material basket from the security inspection area to the recycling area, and the lower roller line is used to transport the security inspection material basket from the recycling area to the security inspection area. The lifting member is arranged at both ends of the upper roller line and the lower roller line and is located between the upper roller line and the lower roller line, and is used to enable the security inspection material basket to be transported between the upper roller line and the lower roller line;

[0026] 3D camera device, arranged above the recycling area of the conveyor line drive device, and is used to capture the depth image of the security inspection material basket;

[0027] Industrial control computer, which is used to realize visual display and conveyor program control;

[0028] Electric control cabinet, the electric control cabinet includes a PLC controller and several control lines, and is used to receive the signals sent by the conveyor drive device.

[0029] In one embodiment, the output line drive device includes:

[0030] Transfer unit, the transfer unit is used to form the upper roller line and the lower roller line. Along the transmission direction of the security inspection material basket, a photoelectric sensor is arranged at the end of any one of the transfer units to perform transmission according to the obtained photoelectric sensor.

[0031] In a third aspect, an embodiment of the present application provides a security inspection material basket recycling device, which is characterized in that it includes:

[0032] Determine detection area module, which is used to determine the detection area according to the depth image, and the detection area includes the security inspection material basket;

[0033] Determine bottom surface area module, which is used to screen the depth values greater than the preset depth threshold in the detection area to determine the bottom surface area of the security inspection material basket and obtain the mask image of the bottom surface area;

[0034] Obtain contour image module, which is used to scale the depth values in the bottom surface area based on the mask image and perform edge detection on the depth image to obtain the contour image;

[0035] Obtain bottom surface internal image module, which is used to cut the bottom surface area according to the bottom surface area and the contour image to obtain the bottom surface internal image;

[0036] Recycling module, which is used to count the number of non-zero points in the bottom surface internal image. If the number of non-zero points is less than or equal to the preset quantity threshold, the security inspection material basket is an empty basket, and the security inspection material basket is recycled.

[0037] Fourthly, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the security inspection material basket recycling method described in the first aspect above is implemented.

[0038] Fifthly, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the security inspection material basket recycling method described in the first aspect above is implemented.

[0039] The security inspection material basket recycling method, device, system, and computer-readable storage medium provided by the embodiments of the present application at least have the following technical effects.

[0040] Through the depth image obtained by the 3D camera device, objects in the security inspection material basket are detected according to the depth values in the depth image. If there are no objects in the security inspection material basket, the security inspection material basket is recycled. Through the security inspection material basket recycling system, the empty security inspection material basket is automatically recycled, thus solving the problem of slow security inspection efficiency caused by manual recycling of security inspection material baskets by security inspection personnel. Automatically recycling the empty security inspection basket improves the security inspection efficiency.

[0041] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more comprehensible. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0043] Figure 1 is a flowchart of a security inspection material basket recycling method shown according to an exemplary embodiment;

[0044] Figure 2 is a schematic diagram of a depth image of a calibration area shown according to an exemplary embodiment;

[0045] Figure 3 is a schematic diagram of a detection area shown according to an exemplary embodiment;

[0046] Figure 4 is a schematic diagram of an edge image of a security inspection material basket shown according to an exemplary embodiment;

[0047] Figure 5 is a schematic diagram of a bottom area mask image shown according to an exemplary embodiment;

[0048] Figure 6Schematic diagram of a bottom surface depth image shown according to an exemplary embodiment;

[0049] Figure 7 Schematic diagram of a contour image shown according to an exemplary embodiment;

[0050] Figure 8 Schematic diagram of an internal image of the bottom surface shown according to an exemplary embodiment;

[0051] Figure 9 Schematic diagram of a processed internal mask image shown according to an exemplary embodiment;

[0052] Figure 10 Schematic diagram of a conveyor line drive device shown according to an exemplary embodiment;

[0053] Figure 11 Block diagram of a security inspection material basket recycling device shown according to an exemplary embodiment;

[0054] Figure 12 Block diagram of an electronic device shown according to an exemplary embodiment.

[0055] In the above drawings, the meanings of the reference numerals are as follows:

[0056] 100, upper roller line; 200, lower roller line; 301, first lifting member; 302, second lifting member. Detailed implementation manners

[0057] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and explained below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0058] Obviously, the drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0059] References to "embodiments" in this application mean that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0060] Unless otherwise defined, technical terms or scientific terms involved in this application shall have the ordinary meaning as understood by those of ordinary skill in the technical field to which this application belongs. The words such as "a", "an", "one", "the" and the like involved in this application do not indicate a limitation in quantity and can represent a singular or plural number. The terms "including", "comprising", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The words such as "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0061] In a first aspect, an embodiment of this application provides a method for recycling security inspection material baskets. Figure 1 It is a flowchart showing a method for recycling security inspection material baskets according to an exemplary embodiment, as Figure 1 shown. The method for recycling security inspection material baskets includes:

[0062] Step S101: Determine a detection area according to the depth image obtained by the 3D camera device, where the detection area includes security inspection material baskets.

[0063] Figure 2 It is a schematic diagram of a depth image of a calibration area shown according to an exemplary embodiment, as Figure 2 shown. The 3D camera device captures a calibration area including security inspection material baskets to obtain a depth image. Figure 3 It is a schematic diagram of a detection area shown according to an exemplary embodiment, asFigure 3 As shown in the figure, perform ROI cutting on the depth image to obtain a preliminary detection area. Filter the obtained preliminary detection area to remove redundant noise points and obtain a detection area without noise interference.

[0064] Obtain a detection area without noise interference to provide a basic condition for subsequent identification of whether there is an object in the security inspection material basket, so as to improve the accuracy of whether there is an object.

[0065] Step S102: In the detection area, screen the depth values greater than a preset depth threshold to determine the bottom area of the security inspection material basket and obtain the mask image of the bottom area.

[0066] In the depth image, the depth value is represented by the gray level. Different depth values map different depth information, where the value range of the depth value is from 0 to 255. In other words, in the depth image, black maps the farthest depth and white maps the nearest depth. It should be noted that the depths mapped by black and white are determined according to the specific implementation scenario, and there are also cases where black maps the nearest depth and white maps the nearest depth.

[0067] The basis for recycling the security inspection material basket lies in whether there is an object in the security inspection material basket. Therefore, it is necessary to detect the bottom area inside the security inspection material basket. As Figure 3 shown, since the security inspection material basket is placed on a plane, the bottom surface of the security inspection material basket and the plane are likely to present the same depth value. If the bottom area of the security inspection material basket is directly obtained, it is easy to confuse the bottom area of the security inspection material basket with the external plane area, resulting in inaccurate detection. To solve the confusion of the external plane area with the bottom area, obtain the basket edge of the security inspection material basket far higher than the plane, and determine the bottom area of the security inspection material basket through the basket edge. The specific steps for determining the bottom area of the security inspection material basket include:

[0068] Step S100: In the detection area, screen the depth values greater than a preset depth threshold to obtain the edge image of the security inspection material basket, and the edge image includes the basket edge of the security inspection material basket.

[0069] The security inspection material basket is a load-bearing object with a certain height. Therefore, the basket edge of the security inspection material basket will be significantly higher than the plane where it is located. In the depth image, the basket edge of the security inspection material basket is shown as the gray level closest to the 3D camera device, that is, it is shown as white. Therefore, in the detection area of the depth image, screen the depth values greater than a preset depth threshold to obtain the edge image of the security inspection material basket. Figure 4 is a schematic diagram of the edge image of the security inspection material basket shown according to an exemplary embodiment. As Figure 4As shown, after screening the depth values greater than the preset depth threshold, the remaining depth values are the depth values of the edge of the security inspection material basket. In the edge image, mainly the edge part of the security inspection material basket is shown. It should be noted that the preset depth threshold is set according to the actual application scenario.

[0070] The height of the edge of the security inspection material basket is significantly higher than the plane where it is located. By screening the depth values greater than the preset depth threshold, the edge part of the security inspection material basket can be quickly obtained, and the interference of the external plane can be avoided, which can provide a more accurate bottom surface area for subsequent processing.

[0071] Step S200: Based on the edge image, determine the largest rectangle inside the edge, and use the largest rectangle as the bottom surface area of the security inspection material basket, and obtain the vertices of the largest rectangle.

[0072] Based on the edge part of the security inspection material basket in the edge image, use the inscribed rectangle solution and matrix contraction to determine the largest rectangle inside the edge. The largest rectangle inside the edge is the bottom surface area of the security inspection material basket. Based on the largest rectangle inside the edge, determine the top angles of the largest rectangle. According to the top angles, the position of the rectangle can be determined.

[0073] Step S300: Based on the vertices, obtain the mask image of the bottom surface area.

[0074] According to the top angles obtained in step S200, determine the mask image of the bottom surface area. Figure 5 is a schematic diagram of the mask image of the bottom surface area shown according to an exemplary embodiment, as Figure 5 shown, the pixel value inside the rectangle determined by the top angles is 255, and the pixel value outside the rectangle is 0. That is, in the mask image, the inside of the rectangle is white and the outside of the rectangle is black.

[0075] Continuing to refer to step S102, in the depth image, the edge is significantly higher than the plane where the security inspection material basket is placed, so the image of the edge can be accurately obtained. Based on the edge, the bottom surface area is determined, so that the obtained bottom surface area is not affected by the plane where the security inspection material basket is placed, providing a good premise for subsequent identification of the items inside the bottom surface area. The mask image of the bottom surface area provides a limiting condition for subsequent identification of the items inside the bottom surface area, so that the items inside the bottom surface area can be better identified according to the mask image.

[0076] Step S103: Based on the mask image, scale the depth values inside the bottom surface area and perform edge detection on the depth image to obtain a contour image.

[0077] If there are objects in the security inspection material basket and the thickness of the items is relatively small, such as items with a small thickness like ID cards and boarding passes. The depth values of the items with a small thickness in the depth image are basically the same as those of the plane. Therefore, it is difficult to distinguish the items with a small thickness from the bottom surface area through the depth values. In the mask image, the bottom surface area appears white, and in the depth image, white indicates that the closer the distance is to the 3D camera device. Therefore, using the mask image as a reference image to further process the depth image, magnify the depth values in the bottom surface area of the depth image that are greater than the upper threshold, and reduce the depth values that are less than the lower threshold to obtain the bottom surface depth image. Among them, the specific values of the upper threshold and the lower threshold are determined according to the application scenario. Figure 6 is a schematic diagram of the bottom surface depth image shown according to an exemplary embodiment, as Figure 6 shown, magnify and reduce the depth values of the bottom surface area to improve the distinguishability between the object and the bottom of the security inspection material basket, making the object more obvious in the security inspection image.

[0078] Convert the bottom surface depth image into a grayscale image, perform filtering processing on the grayscale image, and perform edge detection on the processed grayscale image to obtain a contour image.

[0079] Convert the depth image into a grayscale image and perform filtering processing on the grayscale image to remove the noise in the grayscale image. Then perform edge detection on the filtered grayscale image to obtain the contour of the object at the bottom of the security inspection material basket. Since the depth values of the depth image are magnified and reduced, the bottom of the security inspection material basket and the object are distinguished from the image. In the grayscale image, the object at the bottom is highlighted, so by performing contour detection on the grayscale image, the contour map of the object can be obtained. Figure 7 is a schematic diagram of the contour image shown according to an exemplary embodiment, as Figure 7 shown, there are the contour of the object and the contour of the basket edge in the contour image, and the contour of the object is clear.

[0080] Magnify and reduce the depth values of the depth image to increase the difference between the bottom surface of the security inspection material basket and the object, so that the contour of the object can be obtained more easily.

[0081] Step S104: According to the bottom surface area and the contour image, cut the bottom surface area to obtain the bottom surface internal image.

[0082] Based on the bottom surface area determined in step S102, perform 2D ROI cutting processing within the bottom surface area in the contour image to obtain the bottom surface internal image. Figure 8 is a schematic diagram of the bottom surface internal image shown according to an exemplary embodiment, as Figure 8As shown, in the internal image of the bottom surface, the outline of the object is retained while the outline of the basket edge of the security inspection material basket is removed. Although the outline of the bottom surface interior is obtained through the above steps, with only the outline, there is still a risk of misidentification. Therefore, further identification is required.

[0083] Cut the contour image to obtain the internal image of the bottom surface. The internal image of the bottom surface provides conditions for subsequent object identification.

[0084] Step S105: Count the number of non-zero points in the internal image of the bottom surface. If the number of non-zero points is less than or equal to the preset quantity threshold, the security inspection material basket is an empty basket, and the security inspection material basket is recycled.

[0085] Obtain the internal mask image of the internal image of the bottom surface, and perform morphological operations and image filtering operations on the internal mask image. After morphological processing and filtering processing, the image of the contour becomes clearer. Count the number of non-zero points in the processed internal mask image. Figure 9 is a schematic diagram of the processed internal mask image shown according to an exemplary embodiment, as Figure 9 shown, the contour of the processed internal mask image is clearer, and the contour appears white while the background appears black. The pixel value of the white pixel is 255, and the black pixel is 0. Therefore, counting the non-zero points in the processed internal mask image can determine the information of the existing contour. If the number of non-zero points is less than or equal to the preset quantity threshold, it means that the displayed contour is not the contour of the object, but other contents inside the security inspection material basket are recognized, such as the rough edges inside the basket. That is, the security inspection material basket is an empty basket and there is no object inside. If the number of non-zero points is greater than the preset quantity threshold, it means that there are items in the security inspection material basket. For the security inspection material basket, it needs to wait until the items are emptied before the security inspection material basket can be recycled.

[0086] Through the above method, it is possible to determine whether there is an object in the security inspection material basket through the depth image. And it is proved by practical scenarios that the time for single identification of whether there is an object is less than 2.5 seconds, which is significantly fast, so that it can be quickly detected at the security checkpoint. In addition, the recognition rate for objects with a small thickness is 99.9%. Objects with a small thickness include ID cards and boarding passes. The recognition rate for other items reaches 99%.

[0087] Before step S101, it is also necessary to perform external parameter calibration on the 3D camera device. The external parameter calibration specifically includes:

[0088] Place a calibration board within the camera's field of view and ensure that the calibration board is horizontal. Control the 3D imaging device to acquire an image and transmit the collected point cloud data to the calibration software. In the calibration software, obtain the fitting plane by fitting the point cloud, thereby completing the external parameter calibration. The content of steps S101 to S105 is all executed after the external parameter calibration.

[0089] In summary, for the security inspection material basket recycling method provided by the embodiments of the present application, through the depth image obtained by the 3D imaging device, the bottom surface area in the depth image is enlarged and shrunk in depth to expand the difference between the bottom surface area and the object, and based on the difference, a contour map and non-zero point statistics are obtained. If there is no item after two verifications, the security inspection material basket is recycled, realizing the automatic recycling of the security inspection material basket to be empty and improving the security inspection efficiency of the security inspection passage with a fast recognition speed.

[0090] In a second aspect, the embodiments of the present application provide a security inspection material basket recycling system. The security inspection material basket recycling system includes:

[0091] A conveyor line drive device, the output line drive device includes a lifting member, an upper roller line, and a lower roller line. The upper roller line is used to transport the security inspection material basket from the security inspection area to the recycling area, and the lower roller line is used to transport the security inspection material basket from the recycling area to the security inspection area. The lifting member is provided at both ends of the upper roller line and the lower roller line and is located between the upper roller line and the lower roller line for transporting the security inspection material basket between the upper roller line and the lower roller line.

[0092] A 3D imaging device, which is provided above the recycling area of the conveyor line drive device for taking a depth image of the security inspection material basket.

[0093] It is provided above the recycling area of the conveyor line drive device through a bracket, and it is ensured that the shooting field of view of the 3D imaging device includes the security inspection material basket. The 3D imaging device transmits the taken depth image to the vision software in the industrial control computer through the camera network cable for algorithm recognition. The type of the 3D imaging device is not specifically limited.

[0094] Preferably, the parameters of the 3D imaging device specifically include:

[0095] Working range, the 3D imaging device shoots items at a distance of 1.1 m to 3.5 m from the 3D imaging device.

[0096] Near the scene, at a distance of 1.1 m from the 3D imaging device, the size of the item shot by the 3D imaging device is 1057 mm × 880 mm.

[0097] Far from the scene, at a distance of 3.5 m from the 3D imaging device, the size of the item shot by the 3D imaging device is 3200 mm × 2600 mm.

[0098] Z-axis repeatability accuracy. The z-axis repeatability accuracy is 1 mm, that is, when the 3D imaging device measures the same position of the same object multiple times, the difference between the measurement results in the depth direction (Z-axis) will not exceed ±1 mm.

[0099] Acquisition time. The acquisition time of the 3D imaging device is 1.7 s, that is, the time required for the 3D imaging device to complete a full scan of the object.

[0100] Resolution. The resolution of the 3D imaging device is 1920×1200, that is, 2.3 megapixels.

[0101] Industrial control computer, which is used to realize visual display and conveyor program control.

[0102] The industrial control computer uses the Windows system to realize the display of the host computer vision software and control the output line to the conveyor program of the PLC. In the vision software, the depth image of the 3D imaging device is obtained, and the vision algorithm is executed to obtain the algorithm result, and the algorithm result is transmitted to the conveyor program of the PLC.

[0103] In the conveyor program of the PLC, the vision software is triggered to acquire an image, and whether to continue to transmit the material box is determined according to the algorithm result. If the algorithm result indicates that there is an object, the transmission is stopped and waiting. If the algorithm result indicates that there is no object, the object is continued to be transmitted.

[0104] Electric control cabinet. The electric control cabinet includes a PLC controller and several control lines, which are used to receive signals sent by the conveyor drive device.

[0105] Figure 10 It is a schematic diagram of the conveyor line drive device shown according to an exemplary embodiment. As Figure 10 shown, the conveyor line drive device includes a first lifting member 301, a second lifting member 302, an upper roller line 100, and a lower roller line 200. The upper roller line 100 and the lower roller line 200 are arranged in the order from top to bottom with the plane as the reference, and the first lifting member 30 and the second lifting member 302 are arranged on both sides of the two-layer roller line for transmitting the security inspection material basket between the upper and lower roller lines. The upper roller line 100 is used to transmit the security inspection material basket from the security inspection area to the recycling area. The second lifting member 302 lowers the security inspection material basket at the recycling area to the lower layer, and the first lifting member 301 raises the security inspection material basket to the upper layer for tourists to use.

[0106] In one embodiment, the conveyor line drive device includes:

[0107] Conveyor unit. The conveyor unit is used to form the upper roller line and the lower roller line. Along the transmission direction of the security inspection material basket, a photoelectric sensor is arranged at the end of any conveyor unit to perform transmission according to the obtained photoelectric sensor.

[0108] The length of each conveying unit is the same as the length of the security inspection material basket, and a photoelectric sensor is arranged at the end of the conveying unit. When the security inspection material basket is located on the current conveying unit, the security inspection material basket will block the photoelectric sensor, and the signal of the photoelectric sensor will change from 1 to 0, thereby triggering the conveying unit to roll and start conveying the security inspection material basket to the adjacent conveying unit until it is conveyed to the lifting member.

[0109] In summary, the security inspection material basket recycling system provided by this application can convey the security inspection material basket according to the algorithm recognition result, thereby improving the conveyance of the empty security inspection material basket. According to the security inspection material basket recycling system, the recycling speed of the security inspection material basket at the security inspection area can be improved, thereby improving the security inspection efficiency.

[0110] In a third aspect, an embodiment of this application provides a security inspection material basket recycling device. Figure 11 It is a block diagram of a security inspection material basket recycling device shown according to an exemplary embodiment. As Figure 11 shown, the security inspection material basket recycling device includes:

[0111] A detection area determination module, configured to determine a detection area according to a depth image, where the detection area includes a security inspection material basket;

[0112] A bottom area determination module, configured to screen depth values greater than a preset depth threshold in the detection area to determine the bottom area of the security inspection material basket and obtain a mask image of the bottom area;

[0113] A contour image acquisition module, configured to scale the depth values in the bottom area based on the mask image and perform edge detection on the depth image to obtain a contour image;

[0114] A bottom internal image acquisition module, configured to cut the bottom area according to the bottom area and the contour image to obtain a bottom internal image;

[0115] A recycling module, configured to count the number of non-zero points in the bottom internal image. If the number of non-zero points is less than or equal to a preset quantity threshold, the security inspection material basket is an empty basket, and the security inspection material basket is recycled.

[0116] In summary, the security inspection material basket recycling device provided by this application detects the objects in the security inspection material basket according to the depth values in the depth image obtained by a 3D camera device. If there are no objects in the security inspection material basket, the security inspection material basket is recycled. Through the security inspection material basket recycling system, the empty security inspection material basket is automatically recycled, thereby solving the problem of slow security inspection efficiency caused by manual recycling of the security inspection material basket by security inspection personnel. Automatically recycling the empty security inspection basket improves the security inspection efficiency.

[0117] It should be noted that the security inspection material basket recycling device provided in this embodiment is used to implement the above-mentioned implementation manners, and those that have been described will not be repeated. As used above, terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the above embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0118] In a fourth aspect, an embodiment of the present application provides an electronic device, Figure 12 which is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 12 shown, the electronic device may include a processor 81 and a memory 82 storing computer program instructions.

[0119] Specifically, the above-mentioned processor 81 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0120] Among them, the memory 82 may include a mass memory for data or instructions. By way of example and not limitation, the memory 82 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 82 may include removable or non-removable (or fixed) media. Where appropriate, the memory 82 may be internal or external to the data processing device. In a particular embodiment, the memory 82 is a non-volatile memory. In a particular embodiment, the memory 82 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable read-only memory (EAROM), or a flash memory, or a combination of two or more of these. Where appropriate, the RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), where the DRAM may be a fast page mode dynamic random access memory (FPMDRAM), an extended date out dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0121] The memory 82 can be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 81.

[0122] The processor 81 reads and executes the computer program instructions stored in the memory 82 to implement any one of the security inspection material basket recycling methods in the above embodiments.

[0123] In one embodiment, the security inspection material basket recycling device may further include a communication interface 83 and a bus 80. Among them, as Figure 12 shown, the processor 81, the memory 82, and the communication interface 83 are connected through the bus 80 and complete communication with each other.

[0124] The communication interface 83 is used to implement communication between the modules, devices, units, and / or devices in the embodiments of the present application. The communication port 83 can also implement data communication with other components such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0125] The bus 80 includes hardware, software, or both, and couples the components of the security inspection material basket recycling device to each other. The bus 80 includes, but is not limited to, at least one of the following: Data Bus, Address Bus, Control Bus, Expansion Bus, Local Bus. By way of example and not limitation, the bus 80 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. In suitable cases, the bus 80 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0126] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed by a processor, the security inspection material basket recycling method provided in the first aspect is implemented.

[0127] Among them, more specifically, the readable storage medium may include, but is not limited to: portable disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0128] In a possible implementation, the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps of implementing the security inspection material basket recycling method provided in the first aspect.

[0129] Among them, the program code for executing the present invention can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, executed as an independent software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0130] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0131] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for recovering security material baskets, characterized in that: The method is applied to a security inspection material basket recovery system, the system comprising a 3D camera device, and the method comprises: Determine a detection area according to the depth image acquired by the 3D camera device, wherein the detection area includes a security inspection material basket; In the detection area, a depth value greater than a preset depth threshold is screened to determine the bottom surface area of ​​the security inspection material basket, and obtain a mask image of the bottom surface area; Based on the mask image, scaling the depth value in the bottom surface area and performing edge detection on the depth image to obtain a contour image; According to the bottom surface area and the contour image, the bottom surface area is cut to obtain an internal image of the bottom surface; The number of non-zero points in the bottom surface internal image is counted. If the number of non-zero points is less than or equal to a preset number threshold, the security inspection material basket is an empty basket, and the security inspection material basket is recycled.

2. The method for recovering security material baskets according to claim 1, characterized in that: The method further comprises: screening a depth value greater than a preset depth threshold within the detection area to determine the bottom area of ​​the security inspection material basket and obtaining a mask image of the bottom area, including: In the detection area, a depth value greater than a preset depth threshold is screened to obtain an edge image of the security inspection material basket, wherein the edge image includes a basket edge of the security inspection material basket; Based on the edge image, determine the largest rectangle within the basket edge, use the largest rectangle as the bottom area of ​​the security inspection material basket, and obtain the vertices of the largest rectangle; Based on the vertices, a mask image of the bottom surface area is obtained.

3. The method for recovering security material baskets according to claim 1, characterized in that: The method of scaling the depth value in the bottom surface area based on the mask image and performing edge detection on the depth image to obtain a contour image includes: Based on the mask image and the depth image, the depth values ​​greater than the upper threshold are enlarged, and the depth values ​​less than the lower threshold are reduced to obtain a bottom depth image; The bottom surface depth image is converted into a grayscale image, the grayscale image is filtered, and the edge detection is performed on the processed grayscale image to obtain the contour image.

4. The method for recovering security material baskets according to claim 1, characterized in that: The counting of the number of non-zero points in the bottom surface internal image includes: An internal mask image of the bottom surface internal image is obtained, a morphological operation and an image filtering operation are performed on the internal mask image, and the number of non-zero points in the processed internal mask image is counted.

5. The method for recovering security material baskets according to claim 1, characterized in that: The method further comprises: If the non-zero number is greater than the preset number threshold, then there are items in the security inspection material basket, waiting for the items to be emptied.

6. The method for recovering security material baskets according to claim 1, characterized in that: The detection area is determined according to the depth image, including Acquire the depth image, and cut the depth image to obtain a preliminary detection area; The preliminary detection area is filtered to obtain the detection area.

7. A security material basket recovery system, characterized in that: include A conveyor line transmission device, wherein the output line transmission device comprises a lifting member, an upper roller line and a lower roller line, wherein the upper roller line is used to transfer the security material basket from the security inspection location to the recycling location, and the lower roller line is used to transfer the security material basket from the recycling location to the security inspection location, and the lifting member is arranged at both ends of the upper roller line and the lower roller line, and is located between the upper roller line and the lower roller line, and is used to transfer the security material basket between the upper roller line and the lower roller line; A 3D camera device is arranged above the recovery point of the transmission transposition of the conveyor line, and is used to take a depth image of the security inspection material basket; Industrial computer, used to realize visual display and conveying program control; An electric control cabinet includes a PLC controller and a plurality of control circuits for receiving signals sent by a conveying transmission device.

8. The security material basket recovery system method according to claim 1, characterized in that: The output line transmission transposition comprises: A conveying unit is used to form the upper drum line and the lower drum line. A photoelectric sensor is provided at the end of any one of the conveying units along the transmission direction of the security material basket to perform transmission according to the information obtained by the photoelectric sensor.

9. A security material basket recovery device, characterized in that: include: A detection area determination module is used to determine a detection area according to the depth image, wherein the detection area includes a security inspection material basket; A bottom surface area determination module is used to screen depth values ​​greater than a preset depth threshold in the detection area to determine the bottom surface area of ​​the security inspection material basket and obtain a mask image of the bottom surface area; A contour image acquisition module is used to scale the depth value in the bottom surface area and perform edge detection on the depth image based on the mask image to obtain a contour image; A bottom surface internal image acquisition module is used to cut the bottom surface area according to the bottom surface area and the contour image to acquire a bottom surface internal image; The recycling module is used to count the number of non-zero points in the bottom surface internal image. If the number of non-zero points is less than or equal to a preset number threshold, the security inspection material basket is an empty basket and the security inspection material basket is recycled.

10. An electronic device, characterized in that: It comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for recovering security material baskets as claimed in any one of claims 1 to 6 is implemented.

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