A truck safety detection system

Abstract

In order to solve the problems of the prior art, the truck safety detection system is provided, which comprises a carrier, a second scanning laser sensor, a cargo safety inspection system and a control system. After the target vehicle to be inspected enters the second scanning field of the second scanning laser sensor to form an effective trigger, the control system obtains the distance data of each scanning point of the surface of the target vehicle to be inspected relative to the second scanning laser sensor, connects the distance data to form a vehicle body data model, and analyzes the vehicle cab based on the vehicle body data model. The cargo safety inspection system is controlled to be opened or closed according to the analysis result of the vehicle cab. The application mainly forms a boundary data model of the target vehicle to be inspected based on the data point cloud of the scanning laser sensor to analyze and judge, has the advantages of high precision, high stability, strong anti-interference ability and high adaptability to vehicle types, and has low requirements for the deployment site.

Description

Technical Field

[0001] This invention belongs to the field of safety monitoring equipment technology, and specifically relates to a truck safety detection system. Background Technology

[0002] Security checks on cargo in trucks are a crucial part of ensuring public safety, especially for hubs involving large volumes of goods, such as border transport, airport transport, and seaport transport. Not only is it necessary to conduct comprehensive security checks on all cargo, but it is also necessary to ensure transport efficiency. Therefore, using cargo security inspection systems with X-ray inspection capabilities for non-stop inspection has become an important inspection method, with X-ray imaging inspection systems being the most commonly used.

[0003] However, cargo security inspection systems with X-ray inspection capabilities often employ high-power detection fields (such as X-ray fields) to inspect the cargo inside truck compartments as thoroughly as possible, which can cause injury to truck drivers. Existing technologies primarily overcome this problem by employing the following technical means to avoid such injury:

[0004] 1. A proximity sensor trigger signal is used to detect vehicle approach and determine whether the cargo compartment has reached the X-ray detection field. However, sensor detection has limited accuracy and uses indirect data as the basis for judgment, which can easily lead to misjudgment, premature beam exit, and accidental exposure. Furthermore, it is difficult to differentiate between vehicles of different models and heights, resulting in limited adaptability.

[0005] 2. Using a vehicle traction track to drive the vehicle onto a fixed traction track for controlling vehicle speed and direction, and determining the cargo hold position based on positioning devices on the track. However, this method has the drawbacks of high cost, inconvenience in mobile equipment deployment, and limited improvement in detection speed.

[0006] 3. A camera system is used, based on AI and big data analysis, to determine the type of truck and the location of the truck cab. However, this method requires a large amount of truck image data for training, resulting in high localization and training costs. Furthermore, its recognition capability is weak for new vehicles or vehicles with modified paint schemes. Since truck security checks are mainly conducted in logistics areas such as border stations and ports, network deployment presents numerous challenges related to ensuring stable and secure network communication, leading to high deployment costs. Summary of the Invention

[0007] This invention addresses the problems existing in the prior art by providing a truck safety inspection system, comprising: a carrier disposed in a target inspection area, wherein a second scanning laser sensor, a cargo safety inspection system, and a control system are installed on the carrier.

[0008] The second scanning laser sensor is located above the vehicle target to be inspected, and the second scanning field formed is perpendicular or approximately perpendicular to the longitudinal axis of the vehicle target to be inspected.

[0009] Before receiving the start command, the cargo security inspection system is in a closed or standby state. After the target vehicle to be inspected enters the second scanning field and forms a valid trigger, the control system acquires the distance data of each scanning point of the target vehicle surface relative to the second scanning laser sensor, connects them to form a shape data model of the target vehicle, and performs vehicle cab analysis based on the shape data model of the target vehicle.

[0010] Based on vehicle cab analysis, if the area of ​​the target vehicle to be inspected that is close to the cargo security inspection system is the cab, the cargo security inspection system remains closed or in standby mode.

[0011] Based on analysis of the vehicle's cab, the cargo security inspection system is activated when it is determined that the area near the target vehicle is the cargo compartment. The detection field formed by the activated cargo security inspection system is perpendicular or approximately perpendicular to the target vehicle in the vertical direction.

[0012] Furthermore, the vehicle cab analysis includes the following analysis steps:

[0013] Step 101: Based on the shape data model of the vehicle to be inspected, determine whether the area separating the cab and cargo box enters the second scanning field.

[0014] If the area separating the cab and cargo box is not entered into the second scanning field or the area separating the cab and cargo box cannot be detected, proceed to step 102.

[0015] If the area separating the cab and cargo box enters the second scanning field, proceed to step 103.

[0016] Step 102: The cargo security inspection system remains off or in standby mode. The judgment in Step 101 continues until the distance from the foremost point of the cab to the detection field of the cargo security inspection system is L1. Then, a prompt is given asking whether to manually start the cargo security inspection system.

[0017] Step 103 When the distance between the cab and the cargo compartment separation area and the detection field of the cargo security inspection system is L2, the control system sends a start command to the cargo security inspection system.

[0018] Furthermore, the separation area between the cab and the cargo box mentioned in step 102 is the interval area between the cab and the cargo box.

[0019] Furthermore, the method for determining the interval area between the cab and the cargo box includes the following steps:

[0020] Step 201: After the target vehicle to be inspected enters the second scanning field and forms a valid trigger, determine the driver's cab part corresponding to the current data model.

[0021] Step 202 When a region on the model surface is recessed away from the second scanning laser sensor, it is marked as a suspected region n, where n is a natural number.

[0022] Step 203: As the data model moves, when the depth of the depression in the suspected area n reaches the preset depth H or the depth change trend of the suspected area n conforms to the preset change trend, the suspected area n is determined to be the gap area between the cab and the cargo box.

[0023] Furthermore, the carrier is also provided with a first scanning laser sensor on the side of the vehicle target to be inspected, and the first scanning field of the first scanning laser sensor is parallel or approximately parallel to the road surface.

[0024] The first scanning field completely or partially covers the second scanning field and completely covers the detection field of the cargo security inspection system.

[0025] Furthermore, after the target vehicle enters the first scanning field and forms a valid trigger, the control system receives data from the first scanning laser sensor and performs a security analysis of the inspection area.

[0026] The security analysis of the inspection area includes the following steps:

[0027] Step 301: A first safety monitoring boundary and a second safety monitoring boundary are respectively set at preset safety distances before and after the detection field within the first scanning field. The first scanning field, together with the scanning boundary, the first safety monitoring boundary, and the second safety monitoring boundary, forms a safety detection zone.

[0028] Step 302: Based on the target boundary data model of the vehicle to be inspected, obtain the safety zone exclusion boundary line that divides the safety detection area into an identification zone and an exclusion zone.

[0029] Step 303 When a target is detected in the identification area and the dwell time exceeds the preset security monitoring time, an intrusion alarm for the inspection area is issued.

[0030] When a target is detected in the identification zone, if the distance between the target's position in the identification zone and the detection field is less than a preset safe distance, the cargo security inspection system will be switched to a shutdown or standby state, and a stop inspection alarm will be issued.

[0031] Furthermore, the safety zone exclusion boundary line is obtained through the following steps:

[0032] Step 401: Connect the data points of the target vehicle to be inspected when they are first triggered by each scan line in the first scan field to obtain the motion curve.

[0033] Step 402: Fit the motion curves to obtain the motion simulation equations.

[0034] Step 403: Based on the motion simulation equation, extend the motion curve to penetrate the boundary of the first scan field to obtain the safety zone exclusion boundary line.

[0035] Furthermore, in step 203, the preset depth H = G * K, where G is the height of the target vehicle to be inspected, and K is a value of 0.5-0.9.

[0036] Furthermore, the preset change trend mentioned in step 203 is: as the target vehicle to be inspected moves, the depth of the suspected area n increases proportionally until it exceeds the preset depth threshold R.

[0037] Preferably, the preset depth threshold R is 30-50cm.

[0038] Optionally, the distance L2 mentioned in step 103 is a preset value.

[0039] Optionally, the distance L2 mentioned in step 103 is obtained by the following method: based on the movement speed v of the separation area between the cab and the cargo compartment in the first scanning field and the preset time t for the cargo security inspection system to change from the off or standby state to the start state, the distance L2 = v*t is obtained.

[0040] This invention has at least one of the following advantages:

[0041] 1. The scanning laser sensor used in this invention has the advantages of high precision, high stability and strong anti-interference ability, and can accurately determine the approach of the truck and the position of the cab in real time.

[0042] 2. This invention mainly uses the point cloud data of scanning laser sensors to form a target boundary data model of the vehicle to be inspected, and performs analysis and judgment based on the target boundary data model of the vehicle to be inspected. Therefore, it has high adaptability to vehicle models and low requirements for deployment site.

[0043] 3. The data analysis in this invention is real-time modeling analysis, which has a very low reliance on big data and AI, thus significantly reducing the cost of local deployment and data training.

[0044] 4. The scanning laser sensor used in this invention is a safe detection technology. Under specific conditions such as not looking directly at the light source, being exposed to the skin for a long time by the light source, or using a light source with power exceeding the safety regulations, it will not cause harm to the human body.

[0045] 5. This invention enables non-stop vehicle detection and inspection, effectively ensuring transportation efficiency. Attached Figure Description

[0046] Figure 1The diagram shown is a structural schematic of the truck safety detection system of the present invention;

[0047] Figure 2 The diagram illustrates an exemplary process of forming a truck data model based on the present invention for a truck entity.

[0048] Figure 3 The diagram shows the installation locations of the various sensors and the cargo security inspection system of this invention, as well as the security detection area.

[0049] Figure 4 The diagram shows the principle of setting up the virtual functional area and the security detection area divided by the security area exclusion boundary line of the present invention.

[0050] Figure 5 The diagram illustrates the motion of an exemplary truck entity continuously passing through a first scan area.

[0051] Figure 6 The image shows the scanning process of the first scanning laser sensor of the present invention. Figure 5 The obtained shape data model of the vehicle to be inspected;

[0052] In the diagram: 1. First scanning laser sensor; 101. First scanning field; 1011. Scanning boundary; 1012. First security monitoring boundary; 1013. Second security monitoring boundary; 1014. Security zone exclusion boundary line; 102. Pulsed beam; 103. Judgment threshold point; 2. Second scanning laser sensor; 201. Second scanning field; 3. Vehicle target to be inspected; 4. Cargo security inspection system; 5. Truck; 501. Cab; 502. Cargo box; 503. Cab-cargo box separation area; 6. Vehicle 3D data model; 601. Cab section; 602. Cargo box section; 603. Suspected area n section; 604. Vehicle target boundary data line model; 605. Cab model; 606. Cargo box model; 607. Cab-cargo box separation area model; 7. Carrier. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0054] Please note that the terms "above", "below", "left", "right", "top", "top", "bottom", "bottom", etc., used in this invention to describe positional relationships do not represent the absolute positional relationship between modules / components / assemblies / parts / components, but rather the relative positional relationship between modules / components / assemblies / parts / components.

[0055] This invention provides, by way of example, a truck safety detection system, such as... Figure 1 As shown, it includes: a carrier 7 disposed in the target inspection area, on which a second scanning laser sensor 2, a cargo security inspection system 4, and a control system are mounted. The cargo security inspection system 4 is selected as needed, and generally an X-ray imaging inspection system can be selected. The carrier 7 can be a door frame mounting frame, a transport vehicle, or other carriers that meet the design requirements and can realize the installation and inspection functions of this invention.

[0056] The second scanning laser sensor 2 is located above the vehicle target 3 to be inspected, and the second scanning field 201 formed is perpendicular or approximately perpendicular to the longitudinal axis of the vehicle target 3 to be inspected.

[0057] Before receiving the start command, the cargo security inspection system 4 is in a closed or standby state. After the target vehicle 3 to be inspected enters the second scanning field 201 and forms a valid trigger, the control system acquires the distance data of each scanning point of the target vehicle 3 relative to the second scanning laser sensor 2, connects them to form the shape data model of the target vehicle, and performs vehicle cab analysis based on the shape data model of the target vehicle.

[0058] Based on the analysis of the vehicle cab, when it is determined that the area of ​​the current vehicle target 3 that is close to the cargo security inspection system 4 is the cab, the cargo security inspection system 4 remains closed or in standby mode.

[0059] Based on analysis of the vehicle's cab, when it is determined that the area of ​​the vehicle target 3 to be inspected near the cargo compartment is the cargo compartment, the cargo security inspection system 4 is activated. The detection field 401 formed after the cargo security inspection system 4 is activated is perpendicular or approximately perpendicular to the vehicle target 3 to be inspected in the vertical direction.

[0060] Compared to existing technologies, this invention uses a scanning laser sensor as the data acquisition source. The scanning laser sensor can detect the distance of each target in the scanning field relative to the sensor using the Time-of-Flight (TOF) principle. Based on this, the invention connects these distance point data points in a virtual XY plane to form a data model of the outer contour of the vehicle target 3 facing the sensor. Compared to proximity sensors, the scanning laser sensor not only determines the relative distance to the target, enabling target position determination, but also forms a data model with analytical significance through point cloud data, thus facilitating accurate identification of the truck cab and cargo box through data model analysis.

[0061] This invention provides an exemplary method for analyzing a vehicle cab, comprising the following analysis steps:

[0062] Step 101: Based on the shape data model of the vehicle to be inspected, determine whether the area separating the cab and cargo box enters the second scanning field 201.

[0063] If the area separating the cab and cargo box is not entered into the second scanning field 201 or the area separating the cab and cargo box cannot be detected, proceed to step 102.

[0064] If the area separating the cab and cargo box enters the second scanning field 201, then proceed to step 103.

[0065] Step 102: The cargo security inspection system 4 remains off or in standby mode. The judgment in Step 101 continues until the distance from the foremost point of the cab to the detection field 401 of the cargo security inspection system 4 is L1. At this point, a prompt is issued asking whether to manually activate the cargo security inspection system 4. This situation may occur because the gap between the cab and the cargo box is too small or there are obstructions, preventing proper differentiation between the cab and the cargo box through analysis. When the distance from the foremost point of the cab to the detection field 401 is L1, it is considered that the cab has left the detection field 401's range, prompting the staff to manually determine whether to activate the detection field 401.

[0066] Step 103: When the distance between the cab and the cargo compartment separation area and the detection field 401 of the cargo security inspection system 4 reaches L2, the control system sends a start command to the cargo security inspection system 4. At this time, based on the analysis and judgment of the present invention, the cab can move out of the detection field 401 range when the detection field 401 is activated, while the cargo compartment has not yet passed through the detection field 401, thus achieving a complete scan of the cargo compartment without harming the driver.

[0067] This invention uses real-time modeling and analysis of distance measurement data from a scanning laser sensor to determine the cab and cargo compartment of the target vehicle 3. Therefore, it eliminates the need to compare the data model with the vehicle model to pinpoint their locations, making it insensitive to vehicle type. Furthermore, the high precision, stability, and strong anti-interference capabilities of the scanning laser sensor reduce the need for site-specific deployment. Whether using a fixed gantry or mobile vehicle-mounted installation, as long as the second scanning field 201 can detect the data features of the target vehicle 3—specifically, the area between the cab and cargo compartment—accurate identification of the cab and cargo compartment is achieved, thus reducing the requirements for the deployment site. Additionally, because this invention uses real-time modeling and feature data analysis, it has low reliance on AI and big data models, allowing for localized deployment with minimal or no training, resulting in lower deployment costs. Moreover, it eliminates the need for the target vehicle 3 to be stopped for inspection, enabling non-stop vehicle detection and inspection, effectively ensuring transportation efficiency.

[0068] Furthermore, the scanning laser sensor used in this invention is a safe detection technology. Under specific conditions such as not looking directly at the light source, being exposed to the skin for a long time by the light source, or using a light source with power exceeding the safety regulations, it will not cause harm to the human body.

[0069] The present invention provides an exemplary embodiment of the separation area between the cab and the cargo box mentioned in step 102, which is: the interval area between the cab and the cargo box.

[0070] The method for determining the interval area between the cab and the cargo box includes the following steps:

[0071] Step 201: When the vehicle target 3 to be inspected enters the second scanning field 201 and forms a valid trigger, determine the driver's cab part corresponding to the current data model.

[0072] Step 202 When a region on the model surface that is concave away from the second scanning laser sensor 2 appears, it is marked as a suspected region n, where n is a natural number.

[0073] Step 203: As the data model moves, when the depth of the depression in the suspected area n reaches the preset depth H or the depth change trend of the suspected area n conforms to the preset change trend, the suspected area n is determined to be the gap area between the cab and the cargo box.

[0074] Since actual vehicles are unlikely to have completely smooth and flat exterior surfaces, any depression on the surface of a digital model cannot be simply considered as a gap between the cab and the cargo box, as this would lead to an excessively high misjudgment rate in the analysis results. Therefore, this invention not only needs to identify the depression area but also needs to determine its depth. Only when the depth of the depression area exceeds a preset depth or conforms to a preset trend, i.e., it is highly likely to be a gap between the cab and the cargo box, will it be identified as a gap between the cab and the cargo box. In addition, since the second scanning laser sensor 2 is set in a fixed position, the depth data of the depression area it detects will vary due to different angles. Even for the gap between the cab and the cargo box, when it first enters the second scanning field 201 for detection, its depth data often fails to exceed the preset inspection area due to the influence of the detection angle. Therefore, this invention achieves tracking detection by continuously scanning with a scanning laser sensor in steps 201 to 203, and updates the depth data of the suspected area n in real time, further reducing the possibility of misjudgment.

[0075] This invention provides, by way of example, a truck safety detection system that further includes a first scanning laser sensor 1, such as... Figure 1 and Figure 3As shown, the carrier 7 is also provided with a first scanning laser sensor 1 on the side of the vehicle target 3 to be inspected, and the first scanning field 101 of the first scanning laser sensor 1 is parallel or approximately parallel to the road surface.

[0076] The first scanning field 101 completely or partially covers the second scanning field and completely covers the detection field 401 of the cargo security inspection system 4.

[0077] In this invention, the data model formed by the second scanning laser sensor 2 for detecting the target vehicle 3 to be inspected is an outer contour model. However, this invention mainly relies on identifying the separation area between the cab and the cargo box to distinguish between the cab and the cargo box. Therefore, when there is an obstruction that blocks the separation area between the cab and the cargo box, there may be problems such as missed detection, misjudgment, or untimely judgment.

[0078] Therefore, the present invention also includes a first scanning laser sensor 1, based on the outer contour line of the first scanning laser sensor 1 and the cross-sectional outer contour line of the second scanning laser sensor 2, to... Figure 2 Taking the example shown, a truck 5, which has a cab 501, a cargo box 502, and a cab-cargo separation area 503, forms a target boundary data line model 604 of the vehicle to be inspected after the first scanning laser sensor 1 of this invention scans and collects data points. The second scanning laser sensor 2 then scans the truck 5 to obtain data point clouds of various parts of the cab 501, cargo box 502, and cab-cargo separation area 503. By stitching the data point clouds obtained by the second scanning laser sensor 2 with the target boundary data line model 604 of the vehicle to be inspected and supplementing the lateral connection surfaces, a three-dimensional vehicle data model 6 with a top and a side (closer to the first scanning laser sensor 1) can be formed. This three-dimensional vehicle data model 6 correspondingly represents the cab model 605, cargo box model 606, and cab-cargo separation area model 607 of the truck 5. The digital model obtained by this method is a three-dimensional model, which can more clearly represent the cab-cargo separation area of ​​the target vehicle 3 to be inspected, thereby further reducing the problems of misjudgment, missed judgment, or untimely judgment.

[0079] Based on the aforementioned truck safety detection system, this invention provides an exemplary method for ensuring personnel safety, such as... Figure 3 As shown, specifically, after the vehicle target 3 to be inspected enters the first scanning field 101 and forms a valid trigger, the control system receives the data from the first scanning laser sensor 1 and performs a security analysis of the inspection area.

[0080] The security analysis of the inspection area includes the following steps:

[0081] Step 301: A first safety monitoring boundary 1012 and a second safety monitoring boundary 1013 are respectively set at preset safety distance positions before and after the detection field 401 within the first scanning field 101. The first scanning field 101 is surrounded by the scanning boundary 1011, the first safety monitoring boundary 1012, and the second safety monitoring boundary 1013 to form a safety detection zone 1016.

[0082] Step 302 Based on the target boundary data model of the vehicle to be inspected, obtain the safety zone exclusion boundary line 1014 that divides the safety detection zone 1016 into the identification zone 10161 and the exclusion zone 10162.

[0083] Step 303 When the identification area 10161 detects a target and the dwell time exceeds the preset security monitoring time, an intrusion alarm for the inspection area is issued.

[0084] When the identification zone 10161 detects a target, if the distance between the target's position in the identification zone 10161 and the detection field 401 is less than a preset safe distance, the cargo security inspection system 4 is switched to a shutdown or standby state, and a stop inspection alarm is issued.

[0085] This method sets up a safety monitoring area around the detection field 401 by setting up a virtual sensing area within the first scanning field 101, so as to avoid potential radiation damage caused by personnel passing through the detection field 401 when it is activated, thus ensuring personnel safety.

[0086] The principle of setting up a virtual sensing area within the first scanning field 101 is as follows: Figure 4 As shown, the scanning laser sensor uses a rotating mirror to deflect the pulsed light beam emitted by the pulsed light source to different angles, thus forming a fan-shaped scanning area, i.e., the first scanning field 101, as the mirror rotates. Since the frequency of the pulsed light beam emitted by the pulsed light source is constant, and the rotation speed of the mirror is also constant, the angle and time of each pulsed light beam 102 forming the first scanning field 101 are fixed. Therefore, by setting different judgment thresholds for each pulsed light beam 102, an effective scanning area and a virtual sensing area can be formed. For example, if sensing points beyond a distance of 3 meters are set as invalid points, then the fan radius of the first scanning field 101 is 3 meters, i.e., the scanning boundary 1011 is 3 meters. This means the first scanning laser sensor only feeds back data from sensing points ≤3 meters away. Similarly, a judgment threshold point 103 is set on different pulsed light beams 102, so that the judgment threshold points 103 on different pulsed light beams 102 can be connected to form a... Figure 4The first security monitoring boundary 1012 and the second security monitoring boundary 1013 shown, combined with the scanning boundary 1011, form a security detection zone 1016. That is, points that trigger sensing within the security detection zone 1016 respond according to the rules corresponding to the security detection zone 1016.

[0087] The present invention provides an exemplary provision for the safety zone exclusion boundary line 1014, which is obtained through the following steps:

[0088] Step 401: Connect the data points of the vehicle target 3 to be inspected when they are first triggered by each scan line in the first scan field 101 to obtain the motion curve.

[0089] Step 402: Fit the motion curves to obtain the motion simulation equations.

[0090] Step 403: Based on the motion simulation equation, extend the motion curve to penetrate the boundary of the first scan field 101 to obtain the safety zone exclusion boundary line 1014.

[0091] The exclusion zone 10162 of the safety detection zone 1016 of this invention is mainly to avoid false alarms caused by the vehicle target 3 being inspected. The method of this invention fully considers the movement state of the vehicle target 3 during the formation of the safety zone exclusion boundary line 1014, that is, it can adjust the safety zone exclusion boundary line 1014 in real time according to the movement trajectory of the vehicle target 3, thereby effectively reducing the problem of false alarms caused by the vehicle target 3 passing through the safety detection zone 1016.

[0092] The present invention provides an exemplary method for obtaining a preset depth H: step 203, the preset depth H = G * K, where G is the height of the vehicle target 3 to be inspected, and K is 0.5-0.9.

[0093] Since the installation height P of the second scanning laser sensor 2 is fixed, after detecting the distance O of the vehicle target 3 to be inspected relative to the second scanning laser sensor 2, the height W of each detection point cloud of the vehicle target 3 to be inspected relative to the ground can be obtained by W=PO. The highest point or the data point close to the highest point in W and the data points are continuously and widely distributed as the height G of the vehicle target 3 to be inspected.

[0094] In practice, vehicles passing through the inspection area are often not of the same model. Therefore, using a fixed preset value as the preset depth H may lead to misjudgment or incorrect judgment due to differences in vehicle models, especially differences in vehicle height.

[0095] Using this method, the present invention can adjust the preset depth H in real time according to the different models of the target vehicle 3 to be inspected, avoiding the possibility of misjudgment or misjudgment due to the different vehicle heights caused by different target vehicle models.

[0096] The present invention provides an exemplary provision for the preset change trend mentioned in step 203, which is: as the target vehicle 3 to be inspected moves, the depth of the suspected area n increases proportionally to exceed the preset depth threshold R.

[0097] like Figure 5 As shown, when a truck 5, which has a cab 501, a cargo box 502, and a cab-cargo box separation area 503, continuously passes through the second scanning field 201 of the second scanning laser sensor 2, the second scanning field 201 will sequentially form the following patterns within one scanning cycle as the truck 5 moves: Figure 6 The vehicle body shape data model shown includes the cab section 601, the cargo box section 602, and the suspected area n section 603. As the truck 5 continues to move, the depth of the cab and cargo box separation area section 603 gradually increases.

[0098] This invention incorporates this principle into a trend-based judgment method. Specifically, as the target vehicle 3 moves, the depth of the suspected area n increases proportionally. The depth of the suspected area n is judged in real time, and when it exceeds a preset depth threshold R, it is determined to be the gap between the cab and the cargo box. This method can accurately and quickly identify the gap between the cab and the cargo box, improving the accuracy of subsequent analysis.

[0099] This invention provides an example of a preset depth threshold R, which is 30-50cm. This preset depth threshold can reduce the impact of conventional recesses on the roof on the accuracy of judgment, and can also identify the gap between the cab and the cargo box as early as possible, which is beneficial for subsequent analysis and judgment.

[0100] This invention provides an example of a distance L2 mentioned in step 103, which is a preset value, such as 1.5 meters. Using a preset value can reduce the analysis and judgment process and reduce the consumption of computing resources, but its adaptability to vehicle models is relatively poor. It is generally suitable for places such as container terminals where vehicle models and speeds are relatively fixed.

[0101] The present invention provides an exemplary method for obtaining the distance L2 mentioned in step 103 by means of the following method: based on the movement speed v of the separation area between the cab and the cargo compartment in the first scanning field 101 and the preset time t for the cargo security inspection system 4 to change from the off or standby state to the start state, the distance L2 = v*t is obtained.

[0102] This method is based on the vehicle's speed and the start-up time of the cargo security inspection system 4, and has good vehicle adaptability and vehicle motion state adaptability, significantly improving the applicability of the system of the present invention.

[0103] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A truck safety detection system, characterized by, The application relates to a vehicle target safety inspection system. The application comprises: a carrier (7) arranged at a target inspection area, wherein a second scanning laser sensor (2), a cargo safety inspection system (4) and a control system are arranged on the carrier (7); the second scanning laser sensor (2) is arranged above a vehicle target (3) to be inspected, and a second scanning field (201) formed by the second scanning laser sensor (2) is perpendicular or approximately perpendicular to the vehicle target (3) to be inspected along the longitudinal axis direction of the vehicle target (3) to be inspected; the cargo safety inspection system (4) is in a closed or standby state before receiving a starting instruction, and after the vehicle target (3) to be inspected enters the second scanning field (201) to form an effective trigger, the control system obtains distance data of each scanning point of the vehicle target (3) to be inspected relative to the second scanning laser sensor (2), connects the distance data to form a vehicle target shape data model, and performs vehicle cab analysis based on the vehicle target shape data model; based on the vehicle cab analysis, when it is judged that the area where the vehicle target (3) to be inspected approaches the cargo safety inspection system (4) is a cab, the cargo safety inspection system (4) is maintained in a closed or standby state; based on the vehicle cab analysis, when it is judged that the area where the vehicle target (3) to be inspected approaches the cargo safety inspection system (4) is a cargo compartment, the cargo safety inspection system (4) is started; a detection field (401) formed by the cargo safety inspection system (4) after being started is perpendicular or approximately perpendicular to the vehicle target (3) to be inspected along a vertical direction; the carrier (7) is further provided with a first scanning laser sensor (1) at the side of the vehicle target (3) to be inspected, and a first scanning field (101) of the first scanning laser sensor (1) is parallel or approximately parallel to the road surface; the first scanning field (101) completely or partially covers the second scanning field and completely covers the detection field (401) of the cargo safety inspection system (4); after the vehicle target (3) to be inspected enters the first scanning field (101) to form an effective trigger, the control system receives data of the first scanning laser sensor (1) and performs inspection area safety analysis; the inspection area safety analysis comprises the following steps: step 301: first safety monitoring boundaries (1012) and second safety monitoring boundaries (1013) are arranged at positions with a preset safety distance before and after the detection field (401) in the first scanning field (101); and the first scanning field (101) forms a safety detection area (1016) together with the scanning boundaries (1011) and the first safety monitoring boundaries (1012) and the second safety monitoring boundaries (1013); step 302: based on a vehicle target boundary data model, a safety area exclusion boundary line (1014) is obtained, which divides the safety detection area (1016) into an identification area part (10161) and an exclusion area part (10162); step 303: when a target is detected in the identification area part (10161) and the staying time exceeds a preset safety monitoring time, an inspection area intrusion alarm is sent. When the identification area part (10161) detects the target, if the distance between the position of the target in the identification area part (10161) and the detection field (401) is less than the preset safety distance, the control system controls the cargo safety inspection system (4) to turn off or standby, and an inspection stop alarm is sent out at the same time; The safety area exclusion boundary line (1014) is obtained by the following steps: Step 401: connecting the data points of the first trigger of the target (3) in the first scanning field (101) to obtain a motion curve; Step 402: data fitting is performed on the motion curve to obtain a motion simulation equation; Step 403: the motion curve is extended to the boundary of the first scanning field (101) based on the motion simulation equation to obtain the safety area exclusion boundary line (1014).

2. The truck safety inspection system of claim 1, wherein The vehicle cab analysis includes the following analysis steps: Step 101: judging whether the cab and the compartment separation area enter the second scanning field (201) based on the vehicle body data model; If the cab and the compartment separation area do not enter the second scanning field (201) or the cab and the compartment separation area cannot be detected, step 102 is entered; If the cab and the compartment separation area enter the second scanning field (201), step 103 is entered; Step 102: the cargo safety inspection system (4) is maintained in the off or standby state, and the judgment of step 101 is continuously performed until the distance between the frontmost point of the cab and the detection field (401) of the cargo safety inspection system (4) is L1, and whether to manually start the cargo safety inspection system (4) is prompted; Step 103: when the cab and the compartment separation area reach a distance L2 from the detection field (401) of the cargo safety inspection system (4), the control system sends a start instruction to the cargo safety inspection system (4).

3. The truck safety inspection system of claim 2, wherein The cab and the compartment separation area in step 102 are the interval area between the cab and the compartment.

4. The truck safety inspection system of claim 3, wherein The judgment method of the interval area between the cab and the compartment includes the following steps: Step 201: judging the current data model corresponding to the cab part when the target (3) enters the second scanning field (201) to form an effective trigger; Step 202: when the model surface appears to be concave away from the second scanning laser sensor (2), it is marked as a suspected area n, n is a natural number sequence; Step 203: as the data model moves, when the depth of the suspected area n reaches a preset depth H or the depth change trend of the suspected area n meets a preset change trend, it is determined that the suspected area n is the interval area between the cab and the compartment.

5. The truck safety inspection system of claim 4, wherein, The preset depth H=G*K in step 203, wherein G is the height of the target (3), and K is 0.5-0.

9.

6. The truck safety inspection system of claim 4, wherein, The preset change trend in step 203 is that as the target (3) moves, the depth of the suspected area n increases exponentially to exceed a preset depth threshold R.

7. The truck safety inspection system of claim 6, wherein The preset depth threshold R is 30-50 cm.

8. The truck safety inspection system of claim 2, wherein, The distance L2 in step 103 is obtained by the following method: The distance L2 is a preset value; Or, Based on the movement speed v of the cab and the cargo compartment separation area in the first scanning field (101) and the preset time t of the cargo safety inspection system (4) from the off or standby state to the start state, the distance L2=v*t is obtained.

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