Gas collection control method, device and system based on unmanned aerial vehicle and program product

Abstract

The invention relates to a gas collection control method, device and system and a computer program product. The gas collection control method, device and system are used for collecting gas in a container through an unmanned aerial vehicle. The method comprises the following steps: in the process of performing security check scanning on a vehicle carrying a container by security check scanning equipment, identifying a ventilation cover of the container based on an image shot by a camera installed on the security check scanning equipment, and determining position coordinates of the ventilation cover; after the unmanned aerial vehicle is controlled to automatically fly to the position near the corresponding position of the upper surface of the container according to the position coordinates, based on camera images of the unmanned aerial vehicle, the position of the ventilation cover is further judged, whether the gas collection mechanism is aligned with the ventilation cover or not is judged, and the gas collection mechanism carried by the unmanned aerial vehicle collects gas in the container through the ventilation cover. According to the invention, automatic collection of gas in the container can be realized, the security check efficiency of the container is improved, and the risk of manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to the field of security inspection technology, and in particular to a method, device, system and computer program product for controlling gas collection inside a container based on a drone. Background Art

[0002] With the continuous development of global trade, container security inspections have become increasingly important as they serve as a vital vehicle for international logistics and transportation. During container security inspections, collecting and analyzing the gas inside the container is a crucial method for detecting the presence of dangerous goods, contraband, or other safety hazards.

[0003] Traditional container gas collection methods mainly rely on manual unpacking and inspection. This method is not only inefficient, but also may expose inspectors to dangerous environments, posing a major safety hazard. Summary of the Invention

[0004] With technological advancements, some automated gas collection methods are gradually being applied to container inspection. For example, an image acquisition device identifies the gas collection location on a target object, drives a mobile robot's arm to the corresponding gas collection area, and then controls the gas collection device mounted on the arm to collect gas from the target object. While this method automatically identifies the gas collection location and adjusts the robot's position for collection, the limited range of the arm's movement makes it difficult to adapt to various vehicle types. The limited speed of the mobile robot also limits sampling efficiency and customs clearance efficiency.

[0005] With the development of drone technology, its application in hazardous gas detection is becoming increasingly widespread. For example, in open environments, drones equipped with hazardous gas laser detectors can fly along pre-set inspection routes to collect hazardous gas concentration information in real time. However, this system is primarily designed for gas leak detection in open environments and is not specifically designed for collecting gas from within containers, eliminating the need to locate container vents. Another example is a human-controlled drone that manually locates vents on the container's surface, moves the drone to the appropriate location, and collects samples through the vents. While this method can collect samples from containers, it still requires manual control of the drone's flight path and sampling location, making it impossible to fully automate the gas collection process.

[0006] In summary, the existing technology presents the following problems: First, when using a mobile robot with a robotic arm for sampling, the robot's speed is limited for some vehicle models, and the arm is prone to problems such as jamming and inaccurate positioning, which limits sampling and customs clearance efficiency. Second, although drone technology has been applied to gas detection, existing drone gas collection systems mostly require manual control and cannot automatically coordinate with security scanning equipment, making it difficult to automatically position the container vent and accurately sample. Furthermore, the existing technology lacks an efficient solution that can simultaneously complete gas collection during the security scanning process, failing to meet the needs of modern ports, logistics centers, and other locations for fast, efficient, and safe container inspections. In particular, when multiple containers need to be inspected continuously, mobile robots and other methods cannot simultaneously collect gas from multiple containers while the security scanning equipment is scanning. In other words, simultaneous scanning and sniffing are impossible, requiring time-sharing operation with the security scanning equipment, which also limits sampling and customs clearance efficiency.

[0007] Therefore, the present invention provides a gas collection and control method and device for the gas inside a container based on a drone, a gas collection system, and a computer program product.

[0008] The first embodiment of the present invention provides a gas collection control method for collecting gas inside a container using a drone, and the gas collection control method includes: in the process of a security scanning device performing a security scan on a vehicle carrying a container parked in a scanning area, the breathable hood of the container is identified based on the image of a camera installed on the security scanning device, and the position coordinates of the breathable hood are determined; after controlling the drone to automatically fly to a position corresponding to the position coordinates according to the position coordinates, the position of the breathable hood is further accurately located based on the image of the camera installed on the drone, and it is determined whether the gas collection mechanism carried by the drone is aligned with the breathable hood, and then the gas collection mechanism carried by the drone is used to collect the gas inside the container through the breathable hood.

[0009] Optionally, when there are multiple vehicles in the scanning area, during the security scanning device's one security scan of the scanning area, the breathable covers of multiple containers carried by multiple vehicles are identified, and the position coordinates of the multiple containers are sent to the drone; after the drone completes gas collection of the current container, it is determined whether there is a breathable cover for the next container. If so, the drone automatically searches for the breathable cover of the next container for collection based on the position coordinates of the next breathable cover.

[0010] Optionally, when the security scanning device starts to perform a security scan on the container, the movement of the security scanning device triggers the camera to take pictures continuously. When the image recognition algorithm recognizes that the center pixel point of the breathable cover of the container is half of the pixel of the camera, it is considered that the breathable cover and the camera are aligned, and the position coordinates of the breathable cover are determined.

[0011] Optionally, a first distance measuring device installed on the security scanning device is used to measure the moving distance (L1) of the security scanning device, and a distance (L) between the breathable hood and the starting position of the security scanning device is calculated based on the distance (L0) between the camera and the center line of the security scanning device and the moving distance (L1) as the horizontal coordinate of the breathable hood; and a second distance measuring device installed on the security scanning device is used to measure the distance (W) between the camera and the container as the vertical coordinate of the breathable hood.

[0012] Optionally, the distance between the breathable cover and the upper surface of the container is calculated by an image recognition algorithm as the height of the breathable cover, and the height is sent to the drone. The relative distance between the drone and the upper surface of the container is also judged by a positioning device installed on the drone to control the drone to land stably on the upper surface of the container.

[0013] Optionally, when the security scanning device moves to a position beyond the breathable hood T and the distance between the center line of the security scanning device and the breathable hood T reaches a predetermined threshold, a sniffing command is issued to the drone. When the drone receives the sniffing command, it takes off from the base station to perform gas collection. The relative distance of the base station to the starting position of the security scanning device is fixed.

[0014] The second embodiment of the present invention provides a gas collection control device for collecting gas inside a container using a drone, and the gas collection control device includes: a breathable hood positioning module, which identifies the breathable hood of the container based on the image of the camera installed on the security scanning equipment and determines the position coordinates of the breathable hood during the security scanning of the vehicle carrying the container parked in the scanning area by the security scanning equipment; a drone control module, which controls the drone to automatically fly to the vicinity of the position corresponding to the position coordinates according to the position coordinates, and then further accurately locates the position of the breathable hood based on the image of the camera installed on the drone, and determines whether the gas collection mechanism carried by the drone is aligned with the breathable hood, and then uses the gas collection mechanism carried by the drone to collect the gas inside the container through the breathable hood.

[0015] The third embodiment of the present invention provides a gas collection system, comprising a drone equipped with a camera; a security scanning device that performs security scans on vehicles carrying containers parked in a scanning area and is equipped with a camera; and the gas collection control device described in the second embodiment.

[0016] A fourth aspect of the present invention provides a computer program product, comprising a computer program, wherein the program causes a computer to execute the steps of the gas collection and control method of the first aspect.

[0017] In this application, by combining the security scanning processing of the security scanning equipment with the gas collection processing based on the drone, the overall customs clearance efficiency of vehicles carrying containers is greatly improved; the drone can automatically fly according to the position information of the breathable cover, and no human control is required throughout the process, thus realizing the automation of gas collection; the position coordinates of the breathable cover are determined by the image of the camera installed on the security scanning equipment, which enables the drone to quickly fly near the breathable cover, and then switch to precise positioning based on the camera of the drone, thereby realizing the rapid and accurate positioning of the drone's target position and improving the overall collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram illustrating an embodiment of an application scenario of a gas collection and control method;

[0019] Figure 2 is a flowchart illustrating an example of a gas collection control method based on a drone according to the first embodiment;

[0020] Figure 3 is a schematic diagram showing a scene when the camera 2 of the security scanning device 1 is aligned with the breathable cover T;

[0021] Figure 4 Schematic diagram showing a scenario where the distance S0 between the center line of the security scanning device 1 and the air permeable cover T of the container is;

[0022] Figure 5 is a flowchart illustrating another embodiment of the drone-based gas collection control method according to the first embodiment;

[0023] Figure 6 A schematic diagram showing a situation where multiple vehicles are parked in the scanning area of ​​the security scanning device 1;

[0024] Figure 7 1 is a functional block diagram showing a gas collection and control device according to a second embodiment;

[0025] Figure 8 It is a schematic diagram showing the structure of an electronic device involved in this application. DETAILED DESCRIPTION

[0026] The following will describe in more detail exemplary embodiments or examples of the present application with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments or examples set forth herein. Instead, these embodiments or examples are provided to enable a clearer understanding of the present application.

[0027] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments or examples of the present application described herein can be implemented in an order other than that shown or described. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not limited to the steps or units that are clearly listed, but may include other steps or units that are not clearly listed. The same or similar numbers in the text represent constituent elements with the same or similar functions.

[0028] <First embodiment>

[0029] A first embodiment of the present application provides a gas collection control method for collecting gas inside a container using a drone.

[0030] Before explaining the main process of the gas collection and control method, the application scenarios of the gas collection and control method are explained first. Figure 1 FIG2 is a schematic diagram illustrating an embodiment of an application scenario of the gas collection control method. The application scenario of the gas collection control method can also constitute a gas collection system inside a container.

[0031] like Figure 1 As shown, in this embodiment, the gas collection system includes: a security scanning device 1, a camera 2 and a ranging device 3 installed on the security scanning device 1, a base station 4 for docking a drone, a drone 5 equipped with a camera and a gas collection mechanism, and a gas collection control device 6.

[0032] The security scanning device 1 is a device that scans the inspection object while moving and generates a security image. Specifically, it can be a security scanner, a gamma-ray imaging device, or a millimeter-wave / terahertz imaging device, but is not limited to these. The security scanning device 1 is equipped with at least a camera 2 and a rangefinder 3.

[0033] Specifically, the security scanning device 1 is a device used for container security inspections, typically using X-ray technology to scan the interior of the container. The security scanning device 1 can be mounted on a fixed track and can scan the entire container while moving along the track. The security scanning device 1 is equipped with a high-definition camera 2 for capturing images of the container's exterior. The camera 2 can be mounted at an appropriate location on the security scanning device, enabling it to clearly capture the air hood T on top of the container. The security scanning device 1 is also equipped with at least a distance measuring device 3, which is used to measure at least the distance between the security scanning device 1 and the container. These measurements are crucial for accurately locating the position of the air hood T.

[0034] Camera 2 is a device for capturing images. It can also be called a video camera, a camera, etc. Cameras include, but are not limited to, network cameras, area array snapshot cameras, network cameras that can continuously output code streams, etc.

[0035] The distance measuring device 3 is a device for measuring distance, which can be a laser radar, a multi-line laser, a distance sensor, etc., but is not limited thereto. Figure 1 As shown, the distance measuring device 3 can be installed on the security scanning device 1. The distance measuring device 3 is used to measure at least the distance between the security scanning device 1 and the container. Optionally, the distance measuring device 3 can be installed at a height H1 in the vertical direction of the security scanning device 1, and the camera 2 can be installed at a height H2.

[0036] like Figure 1 As shown, a base station 4 for docking drones is installed within the scanning channel. When drones 5 are not performing gas collection tasks, they dock on base station 4, which can charge drones 5. The relative distance between base station 4 and security scanning device 1 is fixed. For example, the relative distance between base station 4 and the starting position of security scanning device 1 is fixed.

[0037] Drone 5 is used to perform gas collection tasks and is equipped with a gas collection mechanism. In this application, drone 5 can automatically fly and collect gas under the control of gas collection control device 6, rather than requiring manual control. Drone 5 is also equipped with a camera that captures images of its surroundings. When drone 5 approaches a container, it can capture images near the vent hood T, enabling precise positioning of the vent hood and determining whether the drone's gas collection mechanism is aligned with the vent hood, thereby aligning the drone's gas collection mechanism with the vent hood. For example, the camera can be mounted on the bottom or side of drone 5, capturing downward images of the upper portion of the container. Drone 5 can also be equipped with a positioning device that determines the relative distance between the drone and the upper surface of the container, enabling the drone to land stably on the upper surface. For example, the positioning device can be mounted on the bottom of drone 5 to facilitate measurement of the relative distance between the bottom of drone 5 and the upper surface of the container. This positioning device can be implemented, for example, by, but not limited to, a laser radar. Drone 5 can also be equipped with a flight control system to achieve precise positioning and stable landing, ensuring accuracy and safety during the gas collection process. The camera and positioning device of the drone 5 can be used in conjunction with each other. According to the position of the breathable cover located by the camera and the relative distance determined by the positioning device, the drone 5 is docked at a position close to the breathable cover T on the upper surface of the container, and then the gas collection mechanism is aligned with the breathable cover, thereby further improving the efficiency and accuracy of gas collection.

[0038] The gas collection control device 6 can control other devices in the system to complete gas collection. The gas collection control device 6 can be integrated with other devices in the gas collection system, or can be installed separately. The gas collection control device 6 can be installed at the security inspection site or at other locations. The gas collection control device can be an electronic device that can communicate with and control each device in the gas collection system. The gas collection control device 6 can be the execution entity of the gas collection control method of the present application.

[0039] Furthermore, a vehicle 7 carrying a container is subject to security scanning and gas detection. A ventilation hood T is installed on the container carried by the vehicle to facilitate air circulation within the container. The ventilation hood T is typically located on the upper portion of the container's sidewall. In this application, it is assumed that one ventilation hood T is installed on one container, but this is not limiting.

[0040] Figure 2 FIG. 1 is a flow chart showing an example of a gas collection control method based on a drone according to the first embodiment. Figure 2 As shown, the gas collection control method involved in this embodiment may include the following steps.

[0041] In step S110, the vehicle has entered the scanning area and is ready. The scanning area refers to the area between the starting position A and the ending position B where the security scanning device 1 can perform mobile scanning.

[0042] In step S120 , the security inspection and scanning device 1 is moved, and the vehicle 7 carrying the container is continuously photographed using the camera 2 installed on the security inspection and scanning device 1 .

[0043] Since the security inspection scanning device 1 usually performs X-ray scanning on the vehicle 7 carrying the container while moving, it can be considered that the camera 2 is continuously shooting during the security inspection scanning process of the security inspection scanning device 1, that is, the movement of the security inspection scanning device 1 triggers the camera's shooting.

[0044] For example, a vehicle 7 carrying a container enters the scanning channel from the entry direction X, parks the vehicle in the scanning area, and the driver leaves the scanning channel. The security scanning device 1 starts to perform a security scan on the container. The movement of the security scanning device 1 triggers the camera 2, causing the camera 2 to take continuous photos.

[0045] In step S130 , an image recognition algorithm is used to perform image recognition on the image taken by the camera 2 to determine whether the breathable cover T is recognized.

[0046] In step S140 , when the breathable cover T is identified, the position coordinates of the breathable cover T are determined.

[0047] For example, Figure 3 As shown, when the image recognition algorithm identifies that the center pixel of the container's vent cover T is half the camera's pixel count, camera 2 mounted on security scanning device 1 is considered aligned with vent cover T, meaning that vent cover T is located exactly in the center of camera 2's field of view. At this point, the first distance measuring device mounted on security scanning device 1 measures the movement distance L1 of security scanning device 1. Based on the distance L0 between camera 2 and the centerline of the security scanning device and this movement distance L1, the distance L between vent cover T and the starting position A of security scanning device 1 is calculated as the horizontal coordinate x1 of vent cover T. The movement distance L1 of security scanning device 1 is also the distance between the centerline of security scanning device 1 and the starting position A of security scanning device 1 at this time. With starting position A as the horizontal origin, the horizontal coordinate x1 of vent cover T can be considered to be x1 = L0 + L1. This calculation method takes into account the offset between the installation position of camera 2 and the centerline of security scanning device 1, ensuring the accuracy of coordinate calculation. Moreover, such an algorithm can be well coordinated with the movement of the security scanning device 1 to accurately obtain the position of the breathable cover T.

[0048] Among them, the first ranging device used to measure the moving distance L1 of the security inspection scanning device 1 can be the same as the ranging device 3 (second ranging device) used to measure the distance from the security inspection scanning device 1 (specifically, the ranging device 3) to the container, or it can be different from the ranging device 3 (second ranging device).

[0049] In other words, the distance measuring device 3 can be used to measure the lateral movement distance L1 of the security scanning device 1 and the distance between the security scanning device 1 (specifically, the distance measuring device 3) and the container, that is, the distance measuring device 3 can be used as both a first distance measuring device and a second distance measuring device.

[0050] For example, when the distance measuring device 3 is a laser rangefinder, a reflector can be placed at the starting position A of the mobile scanning device 1. The distance L1 of the security scanning device 1 can be measured by directing a laser from the distance measuring device 3 toward the reflector and receiving the laser reflected from the reflector. In other words, the distance measuring device 3 installed in the security scanning device can be used as the first distance measuring device, eliminating the need for installing other distance measuring devices.

[0051] The distance measuring device 3 may also only measure the distance between the camera 2 and the container, and another distance measuring device may be independently provided to measure the lateral moving distance L1 of the security scanning device 1 , that is, the first distance measuring device and the second distance measuring device are different.

[0052] For example, an encoder can be installed on the moving mechanism of the security scanning device 1. As the security scanning device 1 moves, the encoder records the distance traveled, thereby obtaining the distance L1 traveled by the security scanning device 1. In other words, an encoder installed on the security scanning device 1, separate from the distance measuring device 3, can be used as the first distance measuring device to measure the distance L1 traveled by the security scanning device 1. This approach is easy to implement and offers high measurement accuracy. The distance measuring device 3 (also referred to as the second distance measuring device) installed on the security scanning device 1 measures the distance W between the distance measuring device 3 and the container as the vertical coordinate y1 of the hood T, thereby determining the horizontal coordinate position (x1, y1) of the hood T. When the camera captures the hood T, the distance measuring device 3 measures the distance W from the distance measuring device 3 to the container. With the longitudinal position of the security scanning device 1 (specifically, the distance measuring device 3) as the origin, this distance value is directly used as the vertical coordinate y1 of the hood T, i.e., y1 = W. The precise position of the hood T on a two-dimensional plane can be determined using the horizontal and vertical coordinates.

[0053] As described above, when performing a container security inspection, the security scanning device 1 scans a vehicle 7 carrying a container parked in the scanning area. During the scanning process, the camera 2 mounted on the security scanning device 1 captures an image of the container. This eliminates the need to allocate separate time for identifying the hood and collecting gas. Instead, the time required for identifying and collecting gas from the hood can be utilized during the security inspection process, thereby reducing overall customs clearance time and improving customs clearance efficiency. Furthermore, the parameters required for calculating the position coordinates of the hood T can also be obtained during the security scanning process of the security scanning device 1, eliminating the need for a separate process for measuring the position of the hood T. This reduces overall customs clearance time and improves customs clearance efficiency.

[0054] In step S150 , the drone 5 is controlled to fly near the ventilation cover T of the vehicle 7 carrying the container based on the coordinate position ( x1 , y1 ) of the ventilation cover T.

[0055] Specifically, the drone is controlled to automatically fly to a position on the upper surface of the container corresponding to the position coordinates (x1, y1) according to the position coordinates.

[0056] In step S160 , the camera installed on the drone 5 is used to capture images of the drone's surroundings, and the position of the breathable cover T is further accurately determined from these images.

[0057] In step S170, it is determined whether the gas collection device on the drone 5 is aligned with the breathable cover T. If it is determined that the gas collection device is aligned with the breathable cover T, the process proceeds to step S180.

[0058] Specifically, the gas collection device may include a collection mechanism for collecting gas and a robotic arm for moving the collection mechanism. Depending on the gas collection method, the collection mechanism may be, but is not limited to, an airtight connection mechanism or a suction mechanism. As the drone 5 moves the robotic arm to bring the collection mechanism near the ventilating cover T, the alignment between the collection mechanism and the ventilating cover T is determined in real time. If the collection mechanism is determined to be aligned with the ventilating cover T, the robotic arm stops moving and the process proceeds to step S180.

[0059] In step S180, the gas inside the container is collected through the vent hood T using a gas collection device.

[0060] As described above, after controlling the drone to automatically fly to a position on the upper surface of the container corresponding to the position coordinates of the breathable cover T according to the position coordinates, it switches to: further judging the position of the breathable cover T based on the image of the camera installed on the drone, and judging whether the gas detection device is aligned with the breathable cover T based on the image of the camera. If not, the drone will adjust its own position until the gas detection device is accurately aligned with the breathable cover T, and then use the gas detection device carried by the drone to collect the gas inside the container through the breathable cover T.

[0061] In this embodiment, the drone does not require manual control, but automatically flies to the vicinity of the breathable hood T according to the position coordinates of the breathable hood T. In addition, combined with the image of the drone's camera, the positional relationship between the breathable hood T and the drone can be more accurately matched and controlled. Therefore, even if there is a certain error in the calculated position coordinates of the breathable hood T, the breathable hood T can be accurately positioned, ensuring that the gas inside the container can be reliably collected.

[0062] Optionally, when determining the position coordinates of the vent hood T, the height coordinates of the vent hood T may also be determined. For example, when the image recognition algorithm identifies that the center pixel of the container's vent hood T is half the camera pixel, the distance z1 between the vent hood T and the container's upper surface may be calculated, thereby determining the position coordinates (x1, y1, z1) of the vent hood T in three-dimensional space.

[0063] Specifically, in addition to the horizontal and vertical coordinates, the system also needs to determine the height of the hood T so that the drone 5 can accurately locate the hood T in three dimensions. Using an image recognition algorithm, the system analyzes the container image and calculates the distance between the hood T and the container's top surface, which serves as the height of the hood T. This height information is transmitted to the drone along with the horizontal and vertical coordinates, enabling the drone 5 to precisely locate the hood T in three dimensions.

[0064] When the drone 5 flies to the upper surface of the container, the drone 5 determines the relative distance between the current position of the drone 5 and the upper surface of the container based on the positioning device installed on the drone, thereby controlling the drone 5 to land stably on the upper surface of the container. After the drone 5 docks on the upper surface of the container, the sampling mechanism is moved to the equivalent position z1, and the movement and rotation of the robotic arm are controlled. The position of the breathable cover T is accurately located through its camera and it is determined whether it is aligned with the breathable cover T. If it is aligned, the sampling mechanism is airtightly connected to the breathable cover. If adjustment is required, it is adjusted according to the coordinates calculated by the algorithm. After the adjustment, the sampling mechanism is airtightly connected to the breathable cover T.

[0065] By determining the distance z1, the drone 5 can locate the height direction of the breathable cover T more quickly, so that the collection mechanism of the drone 5 can be aligned with the breathable cover T more quickly, thereby improving the gas collection efficiency and thus improving the customs clearance efficiency.

[0066] Optionally, when the security scanning device 1 continues to move along the scanning direction (the same as the entry direction X) to a position beyond the ventilation cover T, and the distance between the center line of the security scanning device 1 and the ventilation cover T reaches a predetermined threshold, a sniffing command is issued to the drone 5. Upon receiving the sniffing command, the drone 5 takes off from the base station 4 to perform gas collection.

[0067] For example, Figure 4 As shown, after identifying the position of the vent T, the security scanning device 1 continues to move for subsequent scanning. When the distance S0 between the centerline of the security scanning device 1 and the container's vent T is greater than a predetermined threshold value Smin, i.e., S0 > Smin, a sniff command is sent to the drone 5. S0 can be determined by measuring the difference between the distance L' between the current centerline of the security scanning device 1 and the starting position A of the security scanning device 1 and the aforementioned distance L1 using a first ranging device, i.e., S0 = L' - L1. L1 is the distance the security scanning device 1 moves when the center of the vent T is aligned with the center of the camera 2, and L' is measured by a first ranging device, similar to or different from the ranging device 3, as described above. The predetermined threshold value Smin can be set based on actual conditions, as long as it is a safe distance that ensures the security scanning device 1 does not interfere with the operation of the drone 5.

[0068] The drone 5 that receives the sniffing command flies to the destination according to the relative coordinates between the position coordinates (x1, y1) of the breathable cover T and the position coordinates (x0, y0) of the drone.

[0069] Thus, the drone 5 starts flying only after the security scanning device 1 leaves the periphery of the ventilating cover T, thereby avoiding interference between the movement of the security scanning device 1 and the action of the drone 5, which may cause malfunction or detection error.

[0070] Furthermore, the relative distance between base station 4 and the starting position A of the security scanning device 1 is fixed. Specifically, drone 5 typically rests on a fixed base station 4, awaiting mission instructions. This fixed relative distance between base station 4 and the starting position A of the security scanning device facilitates calculation of drone 5's flight path. Upon receiving a sniffing command, drone 5 can immediately take off from base station 4 and fly along a pre-planned path toward the target container to perform its gas collection mission. This sniffing command-triggered operation ensures drone 5 takes off only when needed, saving energy and extending its operational time.

[0071] Optionally, when multiple vehicles are within the scanning area of ​​the security scanning device 1, the device can identify the ventilators of multiple containers carried by the multiple vehicles during a single security scan of the scanning area, and transmit the location coordinates of the multiple containers to the drone. After the drone completes gas collection for the current container, it determines whether there is a ventilator for the next container. If so, the drone automatically searches for the ventilator for the next container based on the location coordinates of the next ventilator for collection. This allows gas collection to be performed on multiple containers within the scanning area during a single security scan, significantly improving overall customs clearance efficiency when multiple vehicles are present.

[0072] Figure 5 This is a flow chart showing another embodiment of the drone-based gas collection control method according to the first embodiment. This embodiment is applicable to the case where a drone collects gas from one or more breathable hoods. Figure 6 A schematic diagram showing a situation where multiple vehicles are parked in the scanning area of ​​the security inspection scanning device 1 .

[0073] In step S211, the vehicle 7 carrying the container enters the scanning channel and becomes ready.

[0074] In step S212, the security scanning device 1 starts to move.

[0075] In step S213 , the camera 2 installed in the security inspection scanning device 1 continuously takes pictures of the vehicle 7 carrying the container.

[0076] For example, when the security inspection and scanning device 1 starts to perform security inspection and scanning on the container, the movement of the security inspection and scanning device 1 triggers the camera 2 to take pictures continuously.

[0077] In step S214 , an image recognition algorithm is called to analyze the picture taken by camera 2 .

[0078] In step S215, it is determined whether all the breathable covers are recognized in the image taken by camera 2; if all the breathable covers are recognized, the process proceeds to step S216; if not all the breathable covers are recognized, the process returns to step S214 and continues.

[0079] Here, when there are multiple vehicles in the scanning area, the ventilation covers T of multiple containers carried by the multiple vehicles are simultaneously recognized. In this embodiment, it is assumed that there is one ventilation cover T for each container.

[0080] In step S216, L, W, and z for each container are measured and calculated based on the photo information, where L is the distance between the breathable hood T and the starting position (starting line) A of the security inspection scanning device 1. L can be calculated based on the moving distance L1 of the security inspection scanning device 1 and the distance L0 between the camera 2 and the center line of the security inspection scanning device 1, that is, L=L1+L0, W ​​is the distance between the distance measuring device 3 and the container, and z is the distance between the breathable hood T and the upper surface of the container.

[0081] Here, for each breathable cover T, when the camera 2 moves with the movement of the security inspection and scanning device 1, and the center pixel point of the breathable cover T is half of the pixel of the camera 2, it is considered that the camera 2 is aligned with the breathable cover T, that is, the breathable cover T is exactly located in the center of the field of view of the camera 2. At this time, the moving distance L1 of the security inspection and scanning device 1 is measured by the first ranging device, the distance W between the second ranging device and the container, and the distance z between the breathable cover T and the upper surface of the container are measured by the second ranging device.

[0082] As described above, the travel distance L1 of the security scanning device 1 can be measured using a first distance measuring device that is the same as or different from the distance measuring device 3 (second distance measuring device). However, whether a laser distance measuring device 3 or an encoder is used, the travel distance L1 of the security scanning device 1 can be measured when the camera 2 is aligned with each vent T of each container during the movement of the security scanning device 1, thereby calculating the horizontal coordinate of each vent T. Therefore, when gas sampling is performed on multiple containers in multiple vehicles, the positions of multiple vents T can be measured during a single scan by the security scanning device 1.

[0083] In step S217, the position coordinates (x, y, z) of each breathable cover T in three-dimensional space are determined based on L, W, and z.

[0084] While performing the security scan, the security scanning device 1 performs the measurement and calculation of step S216, and uses L as the horizontal coordinate of the breathable hood T, the distance W between the ranging device 3 and the container as the vertical coordinate of the breathable hood T, and the distance between the breathable hood T and the upper surface of the container as the height coordinate of the breathable hood T, thereby determining the position coordinates (x, y, z) of the breathable hood T of each container in three-dimensional space, for example, (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), etc.

[0085] In step S218 , the position coordinates of the plurality of breathable covers T are sent to the drone 5 .

[0086] In step S219 , the relative position between the drone 5 and each breathable cover T is determined on the drone 5 side.

[0087] Here, instead of steps S218 to S219, the relative position between the drone 5 and each breathable hood T may be directly calculated in the gas collection control device 6, and the relative position may be directly sent to the drone 5.

[0088] In step S220 , a sniffing command is issued to the drone 5 .

[0089] The sniffing command may indicate the target breathable cover T to which the drone 5 is to fly.

[0090] In step S220, the distance S0 between the center line of the security scanning device 1 and the air permeable cover T of the container can be determined. When the distance S0 is greater than the predetermined threshold Smin, that is, S0>Smin, a sniffing command is sent to the drone 5.

[0091] In step S221, the drone 5 is made to fly to a breathable cover T and dock near the breathable cover T according to the sniffing command.

[0092] In step S222 , the sampling mechanism of the drone 5 and the breathable cover T are precisely positioned.

[0093] This precise positioning can be performed by a camera carried by the drone 5 as described in the above embodiment.

[0094] In step S223, it is determined whether the sampling mechanism of the drone 5 is aligned with the breathable cover T. If it is determined that the sampling mechanism of the drone 5 is aligned with the breathable cover T, the process proceeds to step S224.

[0095] If the sampling mechanism of the UAV is not aligned with the breathable cover T, the process returns to step S222 to continue moving the position of the sampling mechanism until the sampling mechanism of the UAV is aligned with the breathable cover T.

[0096] Optionally, if the sampling mechanism of the drone cannot be aligned with the breathable cover T for a long time, the process may return to step S221 to move the position of the drone so as to achieve alignment between the sampling mechanism and the breathable cover T.

[0097] In step S224 , the sampling mechanism of the drone 5 is connected to the breathable cover T in an airtight manner.

[0098] Here, the airtight connection means that the sampling mechanism is connected to the air-permeable cover T in an airtight manner. The airtight connection can ensure that the sampling mechanism can reliably collect gas in the container.

[0099] In step S225 , the drone 5 is enabled to perform gas sampling.

[0100] Here, the drone 5 can either perform gas analysis using the analysis device it carries, or it can simply perform sampling and bring the sampled gas back to the base station 4 for analysis.

[0101] When the drone 5 performs gas analysis using the analysis device it carries and transmits the results to the server, there is no need to set up a sealed storage space in the drone 5 for storing multiple gas samples. This can simplify the drone structure and reduce errors caused by leakage of gas samples during transportation, thereby improving the detection accuracy.

[0102] In step S226, it is determined whether there is a next breathable cover. If there is a next breathable cover, the process proceeds to step S221, causing the drone 5 to fly to the next breathable cover and perform subsequent operations; if there is no next breathable cover, the process proceeds to step S227.

[0103] Here, "next hood" indicates that there are hoods T waiting for collection based on their location coordinates. This means that, if there are multiple vehicles, gas collection has not yet been completed for all of the hoods T on the containers of these vehicles. In this case, the drone 5 flies to the hood on the container of the next vehicle and performs subsequent operations until gas collection and testing are complete for all hoods T.

[0104] In step S227, the drone 5 is made to wait for a return instruction.

[0105] Here, when the security scanning device 1 completes the security scanning of all vehicles and stops at point B, a return command can be sent to the drone 5.

[0106] In step S228, the drone 5 receives a return instruction.

[0107] Here, after receiving the return command, the drone 5 can also reconfirm whether the gas collection of all containers is completed. If not, it returns to step S226 or step S221.

[0108] In step S229 , the drone 5 is returned to the base station 4 .

[0109] Steps S227 and S228 may also be omitted, and the process will automatically return after completing the gas collection of all the breathable hoods T.

[0110] As described above, in this embodiment, when multiple vehicles are present in the scanning area, the ventilation covers T of multiple containers carried by the multiple vehicles are simultaneously identified, the position coordinates of each ventilation cover T are calculated, and the position coordinates of the ventilation covers T of the multiple containers are transmitted to the drone 5. In this way, the drone can obtain the position information of all containers that need to be inspected.

[0111] After drone 5 completes gas sampling for the current container, it determines whether there is a next container's vent cover that needs sampling. If so, drone 5 automatically searches for the next container's vent cover T for sampling based on the location coordinates transmitted by security scanning device 1. This automated, continuous sampling method greatly improves work efficiency, reduces the need for manual intervention, and allows gas sampling to be performed on multiple containers within the scanning area during a single security scan, significantly improving customs clearance efficiency.

[0112] <Second embodiment>

[0113] A second embodiment of the present application provides a gas collection control device for collecting gas inside a container using a drone. Figure 7 1 is a functional block diagram showing a gas collection and control device according to a second embodiment.

[0114] like Figure 7 As shown, the gas collection and control device 6 includes a breathable hood positioning module 61 and a drone control module 62.

[0115] When the security scanning device 1 performs a security scan on a vehicle carrying a container parked in a scanning area, the vent hood positioning module 61 identifies the vent hood T of the container based on the image of the camera 2 installed on the security scanning device 1 and determines the position coordinates of the vent hood T.

[0116] Specifically, the hood positioning module 61 is connected to the security scanning device 1 and is capable of receiving images captured by the camera 2 on the security scanning device 1. When the security scanning device 1 performs a security scan on a vehicle 7 carrying a container parked in the scanning area, the hood positioning module 61 analyzes the image captured by the camera 2 using an image recognition algorithm, identifies the hood T on the container, and determines the location coordinates of the hood T.

[0117] After the drone control module 62 controls the drone 5 to automatically fly to a position on the upper surface of the container corresponding to the position coordinates according to the position coordinates, it switches to: further accurately positioning the position of the breathable cover T based on the image of the camera installed on the drone, and judging whether the gas detection device is aligned with the breathable cover T based on the image of the camera, and using the gas detection device carried by the drone to collect the gas inside the container through the breathable cover T.

[0118] Specifically, the drone control module 62 is responsible for receiving the position coordinates sent by the breathable hood positioning module 61, and controlling the flight path and behavior of the drone 5. Based on the received coordinate information, the drone control module 62 guides the drone to automatically fly to the vicinity of the corresponding position on the upper surface of the container. When the drone 5 arrives near the target position, the drone control module 62 switches to a mode that uses the camera carried by the drone itself for more accurate positioning. The drone control module 62 analyzes the image captured by the camera, further determines the exact position of the breathable hood T, and determines whether the gas detection device is correctly aligned with the breathable hood T. If not aligned, the drone control module 62 adjusts the position of the drone (the drone itself or the drone's robotic arm) until the gas collection mechanism is accurately aligned with the breathable hood T. When the alignment is completed, the drone control module 62 controls the gas collection mechanism to collect gas samples inside the container through the breathable hood T.

[0119] When multiple vehicles are within the scanning area, the hood positioning module 61 simultaneously identifies the hoods T of multiple containers carried by these vehicles and transmits the coordinates of each container to the drone 5. Specifically, the hood positioning module 61 is capable of processing multiple targets simultaneously. When multiple vehicles carrying containers are within the scanning area, the hood positioning module 61 can simultaneously identify the hoods T on multiple containers. The hood positioning module 61 calculates the coordinates of each hood T and transmits this coordinate information to the drone control module. This batch processing capability significantly improves work efficiency.

[0120] After the drone 5 completes gas collection of the current container, the drone control module 62 determines whether there is a breathable cover for the next container. If so, the drone 5 automatically searches for the breathable cover T of the next container for collection based on the position coordinates sent by the security scanning device 1.

[0121] Specifically, the drone control module 62 has a task management function. After the drone 5 completes the gas collection task for one container, the drone control module 62 determines whether there are any other container hoods based on the multiple location coordinates determined by the hood positioning module 61. If so, the drone control module 62 controls the drone 5 to automatically fly to the next container based on the previously received coordinate information and repeat the gas collection process.

[0122] This automated continuous collection method greatly improves work efficiency, reduces the need for manual intervention, and can collect gas from multiple containers within the scanning area during a single security scan, thereby significantly improving customs clearance efficiency.

[0123] like Figure 3As shown, when the image recognition algorithm identifies that the center pixel of the container's vent T is half the camera's pixel count, the vent hood positioning module 61 assumes that the camera 2 mounted on the security scanning device 1 is aligned with the vent T, meaning that the vent T is exactly in the center of the camera's field of view. At this point, the first distance measuring device mounted on the security scanning device 1 measures the movement distance L1 of the security scanning device 1. Based on the distance L0 between the camera 2 and the centerline of the security scanning device and the movement distance L1, the distance L between the vent T and the starting position A of the security scanning device 1 is calculated as the horizontal coordinate x1 of the vent T. The movement distance L1 of the security scanning device 1 is also the distance between the centerline of the security scanning device 1 and the starting position A of the security scanning device 1. With the starting position A as the horizontal origin, the horizontal coordinate x1 of the vent T can be considered to be x1 = L0 + L1. This calculation method takes into account the offset between the installation position of camera 2 and the centerline of the security scanning device 1, ensuring the accuracy of the coordinate calculation. Moreover, such an algorithm can be well coordinated with the movement of the security scanning device 1 to accurately obtain the position of the breathable cover T.

[0124] As described in the first embodiment, the first distance-measuring device used to measure the travel distance L1 of the security scanning device 1 can be the same as or different from the distance-measuring device 3 (second distance-measuring device) used to measure the distance between the security scanning device 1 (specifically, the distance-measuring device 3) and the container. The hood positioning module 61 uses the distance-measuring device 3 (also referred to as the second distance-measuring device) mounted on the security scanning device 1 to measure the distance W between the distance-measuring device 3 and the container as the y1 coordinate of the hood T, thereby determining the horizontal coordinate position (x1, y1) of the hood T. When the camera captures the hood T, the distance-measuring device 3 measures the distance W from the distance-measuring device 3 to the container. With the longitudinal position of the security scanning device 1 (specifically, the distance-measuring device 3) as the origin, this distance value is directly used as the y1 coordinate of the hood T, i.e., y1 = W. The precise position of the hood T on a two-dimensional plane can be determined using the abscissa and ordinate coordinates.

[0125] When determining the position coordinates of the vent hood T, the vent hood positioning module 61 may also determine the height coordinates of the vent hood T. For example, when the image recognition algorithm identifies that the center pixel of the container's vent hood T is half the camera pixel, the distance z1 between the vent hood T and the container's top surface may be calculated, thereby determining the position coordinates (x1, y1, z1) of the vent hood T in three-dimensional space.

[0126] Specifically, in addition to the horizontal and vertical coordinates, the system also needs to determine the height of the hood T so that the drone 5 can accurately locate the hood T in three dimensions. Using an image recognition algorithm, the system analyzes the container image and calculates the distance between the hood T and the container's top surface, which serves as the height of the hood T. This height information is transmitted to the drone along with the horizontal and vertical coordinates, enabling the drone 5 to precisely locate the hood T in three dimensions.

[0127] When the drone 5 flies to the upper surface of the container, the drone 5 determines the relative distance between the current position of the drone 5 and the upper surface of the container based on the positioning device installed on the drone, thereby controlling the drone 5 to land stably on the upper surface of the container. After the drone 5 docks on the upper surface of the container, the drone 5 moves the position of the sampling mechanism to the equivalent position z1, controls the movement and rotation of the robotic arm, and accurately locates the position of the breathable cover T through its camera and determines whether it is aligned with the breathable cover T. If aligned, the sampling mechanism is airtightly connected to the breathable cover. If adjustment is required, it is adjusted according to the coordinates calculated by the algorithm. After the adjustment, the sampling mechanism is airtightly connected to the breathable cover T.

[0128] By determining the distance z1, the drone 5 can locate the height direction of the breathable cover T more quickly, so that the collection mechanism of the drone 5 can be aligned with the breathable cover T more quickly, thereby improving the gas collection efficiency and thus improving the customs clearance efficiency.

[0129] like Figure 4 As shown, after the hood positioning module 61 completes identification of the hood T's position, the security scanning device 1 continues moving for subsequent scanning. When the distance S0 between the centerline of the security scanning device 1 and the container's hood T exceeds a predetermined threshold value Smin, i.e., S0 > Smin, the security scanning device 1 sends a sniff command to the drone 5. S0 can be determined by measuring the difference between the distance L' between the current centerline of the security scanning device 1 and its starting position A and the distance L1 described above, i.e., S0 = L' - L1. L1 is the distance the security scanning device 1 moves when the center of the hood T is aligned with the center of the camera 2, and L' is measured, as described above, by a distance measuring device similar to or different from the distance measuring device 3. The predetermined threshold value Smin can be set based on actual circumstances, as long as it is a safe distance that ensures the security scanning device 1 does not interfere with the operation of the drone 5.

[0130] The drone 5 that receives the sniffing command flies to the destination according to the relative coordinates between the position coordinates (x1, y1) of the breathable cover T and the position coordinates (x0, y0) of the drone.

[0131] Thus, the drone 5 starts flying only after the security scanning device 1 leaves the periphery of the ventilating cover T, thereby avoiding interference between the movement of the security scanning device 1 and the action of the drone 5, which may cause malfunction or detection error.

[0132] Furthermore, the relative distance between base station 4 and the starting position A of the security scanning device 1 is fixed. Specifically, drone 5 typically rests on a fixed base station 4, awaiting mission instructions. This fixed relative distance between base station 4 and the starting position A of the security scanning device facilitates calculation of drone 5's flight path. Upon receiving a sniffing command, drone 5 can immediately take off from base station 4 and fly along a pre-planned path toward the target container to perform its gas collection mission. This sniffing command-triggered operation ensures drone 5 takes off only when needed, saving energy and extending its operational time.

[0133] The processing performed by the breathable hood positioning module 61 and the drone control module 62 of the gas collection and control device 6 of this embodiment can refer to the examples and specific steps of the gas collection and control method involved in the first embodiment, and can also achieve the same technical effects, so repeated descriptions are omitted here.

[0134] <Third embodiment>

[0135] The third embodiment of the present application provides a gas collection system inside a container, which includes the above-mentioned drone 5 equipped with a camera, the above-mentioned security scanning equipment 1 and the gas collection control device 6 described in the second embodiment.

[0136] Regarding the specific structure of the gas collection system, the processing performed and its technical effects, please refer to the description in the first and second embodiments mentioned above, and repeated description is omitted here.

[0137] <Fourth embodiment>

[0138] A fourth embodiment of the present application further provides an electronic device.

[0139] Figure 8 1 is a schematic diagram showing the structure of an electronic device involved in this application. Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.

[0140] Specifically, the processor 801 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0141] The memory 802 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 802 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory. In a specific embodiment, the memory 802 includes a read-only memory (ROM). 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 rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0142] The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any one of the gas collection and control methods in the above embodiments.

[0143] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0144] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or devices in the embodiments of the present application.

[0145] Bus 810 comprises hardware, software or both, couples the parts of electronic equipment to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations.In suitable cases, bus 810 can comprise one or more buses.Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0146] The electronic device can execute the gas collection and control method of the present application, thereby realizing the gas collection and control device of the present application.

[0147] In addition, in combination with the above-mentioned gas collection and control method, the present application may also provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by a processor, any one of the gas collection and control methods in the above-mentioned embodiments is implemented.

[0148] In conjunction with the above-mentioned gas collection and control method, the present application may also provide a computer program product for implementation. The computer program product includes a computer program, and when the program instructions are executed by a processor, any one of the gas collection and control methods in the above-mentioned embodiments is implemented.

[0149] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0150] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0151] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or devices based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0152] The above description is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the devices, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0153] It should be understood that the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A gas collection control method for collecting gas inside a container using a drone, the gas collection control method comprising: During a security inspection and scanning process of a vehicle carrying a container parked in a scanning area by a security inspection and scanning device, the breathable cover of the container is identified based on an image from a camera mounted on the security inspection and scanning device, and the position coordinates of the breathable cover are determined; After controlling the drone to automatically fly to a position corresponding to the position coordinates according to the position coordinates, the position of the breathable cover is further accurately located based on the image of the camera installed on the drone, and it is determined whether the gas collection mechanism carried by the drone is aligned with the breathable cover, and then the gas collection mechanism carried by the drone is used to collect the gas inside the container through the breathable cover.

2. The gas collection and control method according to claim 1, wherein: When there are multiple vehicles in the scanning area, during a security scan of the scanning area by the security scanning device, the ventilation covers of the multiple containers carried by the multiple vehicles are identified, and the position coordinates of the multiple containers are sent to the drone; After the drone completes gas collection in the current container, it determines whether there is a breathable cover for the next container. If so, the drone automatically searches for the breathable cover of the next container for gas collection based on the position coordinates of the next breathable cover.

3. The gas collection and control method according to claim 1 or 2, wherein: When the security scanning device starts to perform a security scan on the container, the movement of the security scanning device triggers the camera to take pictures continuously. When the image recognition algorithm recognizes that the center pixel point of the air cover of the container is half of the pixel of the camera, it is considered that the air cover and the camera are aligned, and the position coordinates of the air cover are determined.

4. The gas collection and control method according to claim 3, wherein: Determining the position coordinates of the breathable cover includes: The moving distance (L1) of the security scanning device is measured by a first distance measuring device installed on the security scanning device, and the distance (L) between the breathable cover and the starting position of the security scanning device is calculated based on the distance (L0) between the camera and the center line of the security scanning device and the moving distance (L1) as the horizontal coordinate of the breathable cover; The distance (W) between the camera and the container is measured by a second distance measuring device installed on the security scanning equipment as the vertical coordinate of the breathable cover.

5. The gas collection and control method according to claim 1 or 2, wherein: The distance between the vent cover and the upper surface of the container is calculated as the height of the vent cover by an image recognition algorithm, and the height is sent to the drone. The relative distance between the drone and the upper surface of the container is also determined by a positioning device installed on the drone, so as to control the drone to land stably on the upper surface of the container.

6. The gas collection and control method according to claim 1, wherein: When the security scanning device moves to a position beyond the breathable cover and the distance between the center line of the security scanning device and the breathable cover reaches a predetermined threshold, a sniffing command is issued to the drone. When the drone receives the sniffing command, it takes off from the base station to perform gas collection. The relative distance between the base station and the starting position of the security scanning device is fixed.

7. A gas collection control device for collecting gas inside a container using a drone, the gas collection control device comprising: a vent hood positioning module for identifying the vent hood of a container based on images from a camera mounted on the security scanning device and determining the position coordinates of the vent hood when the security scanning device performs a security scan on a vehicle carrying a container parked in a scanning area; The drone control module controls the drone to automatically fly to a position corresponding to the position coordinates according to the position coordinates, further accurately locates the position of the breathable cover based on the image of the camera installed on the drone, and determines whether the gas collection mechanism carried by the drone is aligned with the breathable cover, and then uses the gas collection mechanism carried by the drone to collect gas inside the container through the breathable cover.

8. The gas collection and control device according to claim 7, wherein: When there are multiple vehicles in the scanning area, the breathable cover positioning module identifies the breathable covers of multiple containers carried by multiple vehicles during a security scan of the scanning area by the security scanning device, and sends the position coordinates of the multiple containers to the drone; After the drone completes gas collection in the current container, the drone control module determines whether there is a breathable cover for the next container. If so, the drone automatically searches for the breathable cover of the next container for collection based on the position coordinates of the next breathable cover.

9. The gas collection and control device according to claim 7 or 8, wherein: When the security scanning device starts to perform a security scan on the container, the movement of the security scanning device triggers the camera to take continuous photos. When the image recognition algorithm recognizes that the center pixel point of the breathable cover of the container is half of the pixel of the camera, it is considered that the breathable cover and the camera are aligned, and the position coordinates of the breathable cover are determined.

10. The gas collection and control device according to claim 9, wherein: The ventilator positioning module measures the moving distance (L1) of the security scanning device by means of a first distance measuring device installed on the security scanning device, and calculates the distance (L) between the ventilator and the starting position of the security scanning device according to the distance (L0) between the camera and the center line of the security scanning device and the moving distance (L1) as the horizontal coordinate of the ventilator; The breathable cover positioning module measures the distance (W) between the camera and the container as the vertical coordinate of the breathable cover through a second distance measuring device installed on the security scanning equipment.

11. The gas collection and control device according to claim 7 or 8, wherein: The vent hood positioning module also calculates the distance between the vent hood and the upper surface of the container as the height of the vent hood through an image recognition algorithm, and sends the height to the drone. The drone control module also determines the relative distance between the drone and the upper surface of the container through a positioning device installed on the drone, so as to control the drone to land stably on the upper surface of the container.

12. The gas collection and control device according to claim 7, wherein: When the security scanning device moves to a position beyond the breathable cover and the distance between the center line of the security scanning device and the breathable cover reaches a predetermined threshold, the drone control module sends a sniffing command to the drone. When the drone receives the sniffing command, it takes off from the base station to perform gas collection. The relative distance between the base station and the starting position of the security scanning device is fixed.

13. A gas collection system inside a container, comprising: drones equipped with cameras; Security inspection and scanning equipment, which performs security inspections on vehicles carrying containers parked in the scanning area and is equipped with a camera; as well as The gas collection and control device according to any one of claims 7 to 12. 14 . A computer program product, comprising a computer program, wherein the program enables a computer to execute the steps of the gas collection and control method according to claim 1 .

Images