Adaptive security line control method and device, and electronic equipment

Abstract

Embodiments of the present application provide a self-adaptive security line control method, device and electronic equipment. The method comprises: obtaining security requirements and module state data; inputting a pre-training module reorganization model to generate a splicing and disassembly instruction, including a moving path, a splicing position, a module identifier and disassembly information; generating a splicing instruction to make the modules spliced and establish an electrical data connection after moving the modules to a target position according to the moving path; controlling the modules to be disassembled to unlock and leave according to the disassembly information; and obtaining a security line based on the combination after splicing and disassembly. The method is used to realize automatic splicing and disassembly reorganization of the security line based on requirements, so that the form and function of the security line dynamically match the requirements.

Description

Technical Field

[0001] This application relates to the field of intelligent control, and in particular to an adaptive security inspection line control method, device and electronic equipment. Background Technology

[0002] With the continuous growth of passenger traffic in various regions and the dynamic changes in the security situation, security check scenarios face the need to balance the pass rate and the security level. During peak hours, it is necessary to quickly guide a large number of passengers, while during special periods, it is necessary to strengthen the detection process to deal with potential threats. Security check equipment is gradually developing from fixed deployment to modularization.

[0003] Existing security checkpoints mostly employ a fixed structural design, with functional modules forming an integrated whole through physical connectors or fixed bases. Once the layout is planned in the initial construction phase, their position and combination remain unchanged for a long period. While modular security equipment is used in some scenarios, its assembly and disassembly rely on manual operation. Modules need to be added, removed, or replaced through manual handling, mechanical fastening, or cable plugging. These devices lack autonomous movement capabilities at the bottom, and the interfaces between modules do not achieve automatic electrical and data connectivity. The adjustment process is time-consuming and requires pausing the operation of the corresponding security checkpoint. Furthermore, changes to the form of security checkpoints lack real-time data analysis; the formulation and execution of module combination schemes are all based on the experience and judgment of on-site personnel.

[0004] Existing security checkpoints, due to their fixed or semi-fixed structures, cannot automatically reorganize their functional modules according to real-time changes in pedestrian density and security level requirements. This makes it difficult for the form and functional configuration of security checkpoints to quickly switch between efficient passage modes and enhanced detection modes, affecting the flexibility of security resource utilization and adaptability to dynamic scenarios. Summary of the Invention

[0005] This application provides an adaptive security checkpoint control method, device, and electronic equipment to achieve the effect of automatically assembling and reassembling modules based on real-time needs, so that the form and functional configuration of the security checkpoint can be dynamically matched with changes in needs.

[0006] In a first aspect, embodiments of this application provide an adaptive security checkpoint control method, including:

[0007] Obtain security check requirements and real-time status data of multiple security check modules;

[0008] The security check requirements and the real-time status data are input into the pre-trained module to reconstruct the model and generate module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier and disassembly information.

[0009] The target module is moved according to the movement path information;

[0010] When the target module is detected to have reached the position indicated by the target splicing position information, a splicing control command is generated to splice the target module with the adjacent module and establish electrical and data connections.

[0011] According to the splitting information, the module to be split corresponding to the splitting information is unlocked and leaves the current splicing position;

[0012] Based on the completed splicing or disassembly of the security inspection modules, a security inspection line corresponding to the security inspection requirements is obtained.

[0013] In one possible implementation, before inputting the security check requirements and the real-time status data into the pre-training module to reassemble the model generation module and execute the instructions, the method further includes:

[0014] Obtain preset scenario matching rules and priority classification data of the security inspection module. The preset scenario matching rules include peak passage rules and security inspection level rules.

[0015] The security check requirements, the real-time status data, the preset scenario matching rules, and the priority classification data are input into the pre-trained module to reassemble the model and generate the module assembly and disassembly execution instructions.

[0016] In one possible implementation, controlling the module to be split according to the splitting information to unlock and leave the current splicing position includes:

[0017] Obtain the arrangement order data of the security inspection modules in the current security inspection line;

[0018] Based on the arrangement order data, the splitting execution sequence of each module to be split is determined according to the order from the end module to the middle module;

[0019] According to the split execution timing control, each of the modules to be split will unlock its interface and leave the current splicing position after unlocking.

[0020] In one possible implementation, controlling the movement of the target module based on the movement path information includes:

[0021] Obtain obstacle avoidance sensing data from the target module in real time;

[0022] The obstacle avoidance sensor data is analyzed to obtain obstacle distribution information;

[0023] Obtain the split execution timing and target splicing position information corresponding to the target module;

[0024] Based on the obstacle distribution information, the splitting execution timing, and the target splicing position information, the movement path information is corrected to generate the target movement path.

[0025] In one possible implementation, generating splicing control commands to splice the target module with adjacent modules and establish electrical and data connections includes:

[0026] Obtain the deviation measurement data of the interface position;

[0027] Based on the deviation measurement data, the target module is controlled to adjust its pose until the deviation between the splicing interfaces is less than the preset docking parameter threshold.

[0028] When the deviation between the splicing interfaces is less than the preset docking parameter threshold, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking, and the power line and data line are connected simultaneously.

[0029] In one possible implementation, sending a lock activation signal drives the interface locking mechanism to perform mechanical locking, and simultaneously connects the power line and the data line, including:

[0030] Multiple electromagnetic lock units distributed at the interface are activated and locked sequentially according to a preset timing sequence;

[0031] The power supply and communication contacts close instantly upon completion of the mechanical locking.

[0032] In one possible implementation, after acquiring the real-time status data of the plurality of security inspection modules, the method further includes:

[0033] When it is determined from the real-time status data that a module in the security inspection module has experienced a recoverable failure, a re-splicing command is generated to control the security inspection module to re-execute the splicing.

[0034] When it is determined from the real-time status data that there is a module in the security inspection module that has an unrecoverable failure, a module replacement instruction is generated to control the target faulty module to be split from the current splicing position and moved to the preset maintenance area. At the same time, an idle security inspection module of the same type as the target faulty module is controlled to move to the current splicing position and perform splicing replacement.

[0035] In one possible implementation, after acquiring the security check requirements and real-time status data of multiple security check modules, the method further includes:

[0036] Obtain the interface status data and electrical connectivity data fed back by the security inspection module after the splicing or disassembly is completed;

[0037] The security inspection requirements, the interface status data, and the electrical connectivity data are input into the pre-trained module to reconstruct the model and update the module assembly and disassembly execution instructions.

[0038] Secondly, embodiments of this application provide an adaptive security checkpoint control device, comprising:

[0039] The acquisition module is used to acquire security inspection requirements and real-time status data of multiple security inspection modules;

[0040] The instruction generation module is used to input the security check requirements and the real-time status data into the pre-training module to reconstruct the model and generate module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier and disassembly information.

[0041] The movement control module is used to control the movement of the target module according to the movement path information;

[0042] The splicing control module is used to generate splicing control commands to splice the target module with the adjacent module and establish electrical and data connections when the target module is detected to have reached the position indicated by the target splicing position information.

[0043] The splitting control module is used to control the module to be split according to the splitting information to unlock and leave the current splicing position;

[0044] The combination module is used to combine the security inspection modules after splicing or splitting to obtain a security inspection line corresponding to the security inspection requirements.

[0045] In one possible implementation, the instruction generation module is further configured to:

[0046] Obtain preset scenario matching rules and priority classification data of the security inspection module. The preset scenario matching rules include peak passage rules and security inspection level rules.

[0047] The security check requirements, the real-time status data, the preset scenario matching rules, and the priority classification data are input into the pre-trained module to reassemble the model and generate the module assembly and disassembly execution instructions.

[0048] In one possible implementation, the control module is split up, specifically for:

[0049] Obtain the arrangement order data of the security inspection modules in the current security inspection line;

[0050] Based on the arrangement order data, the splitting execution sequence of each module to be split is determined according to the order from the end module to the middle module;

[0051] According to the split execution timing control, each of the modules to be split will unlock its interface and leave the current splicing position after unlocking.

[0052] In one possible implementation, the motion control module is specifically used for:

[0053] Obtain obstacle avoidance sensing data from the target module in real time;

[0054] The obstacle avoidance sensor data is analyzed to obtain obstacle distribution information;

[0055] Obtain the split execution timing and target splicing position information corresponding to the target module;

[0056] Based on the obstacle distribution information, the splitting execution timing, and the target splicing position information, the movement path information is corrected to generate the target movement path.

[0057] In one possible implementation, the splicing control module is specifically used for:

[0058] Obtain the deviation measurement data of the interface position;

[0059] Based on the deviation measurement data, the target module is controlled to adjust its pose until the deviation between the splicing interfaces is less than the preset docking parameter threshold.

[0060] When the deviation between the splicing interfaces is less than the preset docking parameter threshold, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking, and the power line and data line are connected simultaneously.

[0061] In one possible implementation, the splicing control module is specifically used for:

[0062] Multiple electromagnetic lock units distributed at the interface are activated and locked sequentially according to a preset timing sequence;

[0063] The power supply and communication contacts close instantly upon completion of the mechanical locking.

[0064] In one possible implementation, the acquisition module is further configured to:

[0065] When it is determined from the real-time status data that a module in the security inspection module has experienced a recoverable failure, a re-splicing command is generated to control the security inspection module to re-execute the splicing.

[0066] When it is determined from the real-time status data that there is a module in the security inspection module that has an unrecoverable failure, a module replacement instruction is generated to control the target faulty module to be split from the current splicing position and moved to the preset maintenance area. At the same time, an idle security inspection module of the same type as the target faulty module is controlled to move to the current splicing position and perform splicing replacement.

[0067] In one possible implementation, the acquisition module is further configured to:

[0068] Obtain the interface status data and electrical connectivity data fed back by the security inspection module after the splicing or disassembly is completed;

[0069] The security inspection requirements, the interface status data, and the electrical connectivity data are input into the pre-trained module to reconstruct the model and update the module assembly and disassembly execution instructions.

[0070] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0071] The memory stores computer-executed instructions;

[0072] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0073] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0074] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0075] Sixthly, embodiments of this application provide a modular security inspection device, comprising:

[0076] Multiple autonomously movable security inspection modules, each of the security inspection modules comprising:

[0077] Bottom moving device, used to perform movement according to control commands;

[0078] The splicing interface is used to splice with adjacent modules and establish electrical and data connections;

[0079] An interface locking mechanism is used to perform mechanical locking during splicing and simultaneously connect the power line and data line;

[0080] The security inspection module moves, splices, or splits the module by executing the module assembly and disassembly execution instructions generated by the pre-trained module recombining model, so as to form a security inspection line corresponding to the security inspection requirements.

[0081] The adaptive security inspection line control method, device, and electronic equipment provided in this application acquire security inspection requirements and module status data and input them into a model to generate assembly and disassembly instructions containing movement paths and disassembly information. According to the instructions, the security inspection modules are controlled to move to the target position to complete the assembly and establish electrical data connections. At the same time, the modules to be disassembled are controlled to unlock and leave in sequence. Based on the combination of the assembled and disassembled modules, a security inspection line matching the requirements is formed, achieving the effect that the form and function of the security inspection line automatically complete the physical reorganization as the requirements change. Attached Figure Description

[0082] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0083] Figure 1 A schematic diagram illustrating the application scenario of the adaptive security checkpoint control method provided in this application;

[0084] Figure 2 A flowchart illustrating the adaptive security checkpoint control method provided in this application;

[0085] Figure 3 This is a schematic diagram of the adaptive security checkpoint control device provided in this application;

[0086] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0087] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0088] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0089] The specific application scenarios for this application are airport terminal security checkpoints, train stations, subway stations, and other situations requiring dynamic switching between peak hours and high-security checkpoint periods. Based on these scenarios, it is clear that existing technologies that adjust the security module combination through fixed installation or manual handling suffer from a technical problem: the security check line's shape cannot automatically undergo physical reconfiguration to adapt to real-time changes in demand.

[0090] The adaptive security inspection line control method provided in this application solves the above-mentioned technical problems by acquiring security inspection requirements and module status data and inputting them into a pre-trained module to reassemble the model and generate splicing instructions containing movement paths and splitting information. According to the instructions, the control module autonomously moves to the target position under obstacle avoidance conditions to complete the splicing and establish electrical data connection. At the same time, it sequentially controls the modules to be split to unlock and leave. Based on the combination of spliced ​​and split modules, a security inspection line matching the requirements is formed.

[0091] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0092] Figure 1 This is a schematic diagram illustrating an application scenario for the adaptive security checkpoint control method provided in this application, such as... Figure 1 As shown, it includes: terminal 101, server 102, security inspection module controller 103 and multiple security inspection modules 104.

[0093] The terminal 101 collects security check requirement data and sends it to the server 102. The server 102 receives the security check requirement data and real-time status data from multiple security check modules 104, runs a pre-trained module reassembly model, generates module assembly / disassembly execution instructions, and sends these instructions to the security check module controller 103. The security check module controller 103 receives the module assembly / disassembly execution instructions and controls the corresponding security check modules 104 to move via a bottom-mounted moving device. Each security check module 104 moves collaboratively according to the instructions, aligning and locking during assembly, and separating and moving sequentially during disassembly. The security check modules 104, under the control of the security check module controller 103, complete assembly and disassembly to form a security check line adapted to the security check requirements.

[0094] Figure 2 A flowchart illustrating the adaptive security checkpoint control method provided in this application is shown below. Figure 2 As shown, the adaptive security checkpoint control method includes the following steps:

[0095] Step S201: Obtain security check requirements and real-time status data of multiple security check modules.

[0096] Specifically, security check requirements include crowd density and security check level. Crowd density represents the current or anticipated passenger flow pressure in the area to be checked, while security check level represents the status of routine or enhanced security checks. Multiple security check modules include core basic modules and optional functional modules. Core basic modules include personal security checks, baggage inspection, and identity verification modules. Optional functional modules include one or more of the following: secondary verification module, explosive detection module, trace dangerous goods detection module, enhanced identification verification module, and baggage temporary storage module. All modules use a standardized splicing interface, allowing for flexible and compatible assembly between different modules.

[0097] Security check requirements reflect the comprehensive demands of transportation hubs on both traffic efficiency and security levels. Real-time status data for the security check modules includes information such as the current location, assembly status, and fault status of each module. By acquiring security check requirements and real-time status data from multiple modules, a complete information foundation is provided for subsequent instruction generation. This avoids mismatches between the reassembly results and actual security check requirements or available resources due to missing information. Furthermore, by dynamically sensing changes in the security check area environment and its own resources, the accuracy and timeliness of module assembly and disassembly execution instructions are ensured.

[0098] Step S202: Input the security check requirements and real-time status data into the pre-trained module to reorganize the model and generate module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier and disassembly information.

[0099] Specifically, the pre-trained module reassembly model is used to determine the security inspection module combination scheme based on the input data, and to generate corresponding module assembly and disassembly execution instructions accordingly. The target module identifier is used to indicate the security inspection module that needs to be moved and assembled, the movement path information is used to indicate the movement trajectory of the target module from its current position to the target assembly position, the target assembly position information is used to indicate the coordinates of the assembly position that the target module needs to reach, and the disassembly information is used to indicate the identifier of the module to be disassembled from the current security inspection line and its disassembly execution sequence.

[0100] The pre-trained module reconfiguration model is trained based on historical security inspection data and security module combination schemes. It can match and analyze current security inspection needs with real-time status data, output security module reconfiguration schemes that meet the requirements of preset scenarios, and transform these schemes into executable instruction sequences. By entrusting the complex security module reconfiguration decision-making process to the pre-trained module reconfiguration model, replacing manual judgment, decision-making efficiency and scheme rationality are improved. The module splicing and disassembly execution instructions include multi-dimensional information such as movement path information, target splicing position information, target module identifier, and disassembly information, providing complete information support for subsequent movement control and splicing / disassembly execution.

[0101] Step S203: Control the movement of the target module according to the movement path information.

[0102] Specifically, the target module is equipped with a remotely controllable mobile device at its bottom, driven by a servo motor, enabling omnidirectional movement and precise positioning. During movement, the target module uses installed obstacle avoidance sensors to collect real-time environmental data, detect obstacle distribution, and make local corrections to its movement path when encountering obstacles, thus forming a path after obstacle avoidance.

[0103] The target module can safely move from its current position to the target splicing position through a mobile device and obstacle avoidance function, without the need for manual handling or guidance. This avoids interruptions in movement due to path conflicts or temporary obstacles. The movement process is continuous and requires no manual intervention, which significantly improves the adjustment efficiency of the security inspection module and greatly reduces the downtime of the security inspection channel.

[0104] Step S204: When the target module is detected to have reached the position indicated by the target splicing position information, a splicing control command is generated to splice the target module with the adjacent module and establish electrical and data connections.

[0105] Specifically, both the target module and adjacent modules are equipped with a standardized splicing interface. The splicing interface can use a concave-convex structure for mechanical docking. The splicing control command triggers the interface locking mechanism at the splicing interface to perform mechanical locking. The locking method can be electromagnetic locking, simultaneously closing the power supply and communication contacts to achieve automatic connection between the power and data lines. A deviation detection sensor is installed at the splicing interface. When the deviation of the splicing interface exceeds a preset docking parameter threshold, the target module is controlled to make fine adjustments. Once the deviation meets the conditions, the module is locked.

[0106] The convex-concave interface provides mechanical guidance and initial positioning for splicing, while deviation detection and fine-tuning ensure docking accuracy. The interface locking mechanism uses multi-point electromagnetic units to work together to lock the connection, and simultaneously establishes electrical and communication channels upon completion of mechanical locking. This integrates mechanical splicing, electrical connection, and data communication into a unified automated operation, eliminating manual wiring and tightening operations and improving splicing reliability and efficiency.

[0107] Step S205: According to the splitting information, the module to be split according to the splitting information is unlocked and leaves the current splicing position.

[0108] Specifically, the splitting information includes the identifier of the module to be split and the corresponding splitting execution sequence. The splitting execution sequence is determined based on the arrangement order of each security inspection module in the current security inspection line, and is executed sequentially from the end modules to the middle modules. For the first module to be split in the splitting execution sequence, the interface locking mechanism of the splicing interface releases the electromagnetic locking force after receiving the unlocking signal, the power supply contact and the communication contact are disconnected, the intelligent moving device at the bottom of the module is activated, and the module is moved to a preset idle area before the splitting operation of the next module to be split is started.

[0109] Unlocking of the splicing interface is achieved by reverse power disconnection of the electromagnetic locking unit, and the power supply contact and communication contact automatically separate upon release of the lock. The splitting execution sequence adopts an end-to-middle order, so that each splitting only involves the security module located at the end of the current security line, avoiding the direct removal of the middle module, which would cause adjacent modules to lose support or connection.

[0110] By employing an orderly splitting strategy, the security inspection modules are smoothly separated and moved away in an orderly manner during the reduction of the security checkpoint's form, avoiding collisions and interference between security inspection modules. This ensures the structural stability of the remaining part of the security checkpoint during the splitting phase. The splitting process is smooth and requires no manual intervention. For example, when there is a large flow of people and no special security inspection needs, the security checkpoint can be quickly adjusted to a low-configuration form to meet the priority of passage efficiency.

[0111] Step S206: Based on the completed splicing or disassembly of the security inspection modules, obtain the security inspection line corresponding to the security inspection requirements.

[0112] Specifically, after the splicing or disassembly operation is completed, the security inspection modules maintain a stable mechanical connection through interface locking mechanisms, and the power and data channels are connected, allowing the functions of each security inspection module in the module to operate collaboratively. For example, when the security inspection demand is high-peak traffic, the security inspection line retains only the core basic modules, forming an efficient passage pattern; when the security inspection demand is for an upgraded security level, the security inspection line includes the core basic modules and corresponding optional functional modules, forming a multi-stage inspection pattern.

[0113] After the module assembly / disassembly command is executed, the security checkpoint module configuration adjusts accordingly to changes in security requirements. A correspondence is established between security requirements and the security checkpoint shape through matching in a pre-trained module recombination model, enabling dynamic adaptation of the security checkpoint shape to security needs. By transforming the module assembly / disassembly results into a security checkpoint with actual security functions, the combination of security modules matches the security requirements.

[0114] The adaptive security checkpoint control method provided in this invention acquires security check requirements and real-time status data of security check modules, inputs them into a pre-trained module recombination model to generate module assembly / disassembly execution instructions containing movement path information and splitting information. Based on the module assembly / disassembly execution instructions, the target module is controlled to autonomously move to the target assembly position under obstacle avoidance conditions to complete the assembly and establish an electrical data connection. At the same time, the module to be disassembled is controlled to unlock and leave according to the disassembly execution sequence. Based on the combination of the assembled and disassembled security checkpoint modules, a security checkpoint line corresponding to the security check requirements is formed. This realizes that the form and function of the security checkpoint line automatically complete the physical recombination as the security check requirements change, enabling flexible allocation of security checkpoint resources in multiple scenarios and balancing traffic efficiency and security.

[0115] This embodiment provides a detailed description of the process before the assembly and execution instructions are generated by inputting security inspection requirements and real-time status data into the pre-training module to reassemble the model generation module. The specific implementation of this process also includes the following steps:

[0116] Step a1: Obtain the preset scenario matching rules and the priority classification data of the security inspection module. The preset scenario matching rules include peak passage rules and security inspection level rules.

[0117] Specifically, preset scenario matching rules define standard configuration schemes for security check module combinations under different scenarios. Peak traffic rules correspond to module configuration requirements when passenger flow pressure exceeds preset levels; under this rule, security checkpoints need to streamline optional functional modules and prioritize passage efficiency. Security level rules correspond to module configuration requirements when security control needs increase; under this rule, security checkpoints need to add optional functional modules to strengthen the detection process. Priority grading data identifies the calling order of each security check module during the reorganization process; basic modules have higher priority than optional functional modules, and different priority levels can be set for optional functional modules according to security check requirements.

[0118] Pre-defined scenario matching rules establish a correspondence between security check requirement types and security check module combination schemes, enabling changes in security check requirement parameters to directly map to adjustments in security check module configurations. Priority-based data provides a sequential basis for concurrent calls to multiple security check modules, ensuring that the movement and assembly needs of critical modules are prioritized when resources are limited.

[0119] By combining preset scene matching rules with priority-level data, the pre-trained module reassembles the model to obtain prior information on both scene guidance and resource constraints before generating instructions, making the generation of module assembly and execution instructions more in line with actual scene requirements and resource configuration conditions.

[0120] Step a2: Input the security check requirements, real-time status data, preset scenario matching rules and priority classification data into the pre-training module, reorganize the model generation module and execute the assembly and disassembly instructions.

[0121] Specifically, the pre-trained module recombination model receives four types of inputs: security check requirements, real-time status data, preset scenario matching rules, and priority classification data. Based on the security check requirements, it matches the corresponding preset scenario matching rules to determine the target configuration scheme for the combination of security check modules. It also combines real-time status data to determine the difference between the current security check line module composition and the target configuration scheme. Based on the priority classification data, it determines the calling order of each security check module and generates module assembly and disassembly execution instructions containing target module identifiers, movement path information, target splicing position information, and splitting information.

[0122] The pre-trained module recombination model learns module combination patterns in a large number of security inspection scenarios during the training phase. During the processing phase, it uses preset scenario matching rules as constraints, security inspection requirements and real-time status data as matching variables, and priority classification data as sorting criteria. Through multi-input collaborative processing, it outputs module assembly and disassembly execution instructions that meet multiple constraints.

[0123] The module assembly and disassembly execution instructions reflect the target requirements of security inspection needs for the form of the security inspection line. At the same time, they take into account the actual distribution status and calling priority of the current security inspection modules, so that subsequent movement and assembly operations have a clear and reasonable execution basis.

[0124] This invention, through obtaining preset scene matching rules and security inspection module priority classification data, inputs these, along with security inspection requirements and real-time status data, into a pre-trained module to reassemble the model and generate module assembly and disassembly execution instructions. This integrates scene-oriented information and resource priority constraints into the instruction generation process, improving the matching accuracy between module assembly and disassembly execution instructions and security inspection requirements. This ensures that the security inspection module reassembly scheme meets scene requirements while also taking into account the rationality of resource allocation.

[0125] This embodiment provides a detailed description of the process in the above embodiment where the module to be split, corresponding to the splitting information, is unlocked and leaves the current splicing position. The specific implementation of this process includes the following steps:

[0126] Step b1: Obtain the arrangement order data of the security inspection modules in the current security inspection line.

[0127] Specifically, the security checkpoint line is formed by connecting multiple security modules segment by segment through splicing interfaces to create a linear arrangement. During the splicing process, each security module establishes a connection with its adjacent modules. By traversing these connections, the entire security checkpoint line's layout order can be reconstructed. The layout order data records the spatial arrangement of each security module from one end to the other within the current security checkpoint line. This layout order data is obtained by using the splicing interface status and position data of each security module, determining the module sequence according to their adjacent relationships, and forming queue information reflecting the physical arrangement of the security checkpoint line.

[0128] After obtaining the arrangement sequence data, the positional relationship of each security inspection module in the security inspection line is presented in the form of structured data, providing an accurate basis for the calculation and verification of the split timing.

[0129] Step b2: Based on the arrangement order data, determine the splitting execution sequence of each module to be split according to the order from the end module to the middle module.

[0130] Specifically, the modules to be split, as indicated by the splitting information, are marked in the arrangement sequence data. Modules at both ends of the security checkpoint are designated as end modules. Starting from the end module furthest from the middle of the current security checkpoint, the splitting execution sequence of each module to be split is sequentially arranged towards the middle module. Each module to be split is assigned an execution sequence number in the sequence, with modules having smaller execution sequence numbers being split first.

[0131] The splitting execution sequence employs a push-from-the-end-to-the-middle arrangement, ensuring that each splitting operation only affects the outermost security module in terms of spatial location. This module is connected to only one adjacent module, eliminating the need to simultaneously disconnect multiple interfaces during dismantling and reducing the impact of the splitting operation on the remaining security line structure. By assigning a clear execution sequence to each module to be split, subsequent splitting operations are performed sequentially according to a preset order, avoiding path conflicts or connection interference caused by multiple modules operating simultaneously.

[0132] Step b3: According to the split execution sequence, each module to be split unlocks its interface and leaves the current splicing position after unlocking.

[0133] Specifically, following the splitting execution sequence, starting with the module with the smallest execution sequence number, an unlocking signal is sent to the splicing interface of the module to be split. The electromagnetic locking unit within the splicing interface is de-energized, releasing the locking force, and the power supply contacts and communication contacts separate synchronously. After the interface is unlocked, the moving device at the bottom of the module to be split is activated, moving the module to a preset idle area. After the current module to be split has completed its movement, the next module to be split is started to perform the same operation, until all modules in the sequence have been split and removed.

[0134] Interface unlocking achieves mechanical separation via reverse power disconnection of the electromagnetic locking unit, with the power supply and communication links simultaneously disconnected at the moment of mechanical separation. Each module to be disassembled is executed sequentially, allowing the security check line to gradually reduce the number of modules, avoiding the impact of concentrated disassembly on the structural stability of the security check line. The disassembly execution sequence is transformed into a sequence of control commands for each module to be disassembled, achieving automated and orderly execution of the disassembly process without manual intervention, and the remaining part of the security check line remains continuously available.

[0135] This invention achieves a smooth and orderly execution of security line module disassembly by acquiring the arrangement order data of security inspection modules in the security inspection line and determining the disassembly execution sequence according to the order from the end to the middle. In accordance with the disassembly execution sequence, the interface unlocking and moving away operations are performed on each module to be disassembled one by one, thus ensuring the structural integrity and operational continuity of the remaining part of the security inspection line during the disassembly process.

[0136] This embodiment provides a detailed description of the process of controlling the movement of the target module based on the movement path information in the above embodiments. The specific implementation of this process includes the following steps:

[0137] Step c1: Acquire obstacle avoidance sensor data of the target module in real time.

[0138] Specifically, obstacle avoidance sensors can be installed on the bottom moving device of the target module as needed. During the target module's movement, the sensors continuously emit detection signals and receive echoes, collecting environmental data in real time along the direction of travel. The detection range covers the area in front of and to the sides of the target module's direction of travel, and the data acquisition frequency meets the real-time requirements of dynamic obstacle avoidance.

[0139] Obstacle avoidance sensors perceive the surrounding physical environment through active detection. They convert the reflected signals generated when the detection signals encounter obstacles into distance and orientation data, forming a digital representation of the surrounding environment. By acquiring obstacle avoidance sensing data in real time, the target module is provided with environmental perception capabilities during its movement, enabling it to promptly detect obstacles on its path and providing a data foundation for subsequent obstacle identification and path adjustment.

[0140] Step c2 involves analyzing the obstacle avoidance sensor data to obtain obstacle distribution information.

[0141] Specifically, by filtering the obstacle avoidance sensing data to remove noise signals, the effective echo features that characterize the presence of obstacles are extracted. Based on the effective echo features, the position coordinates and contour range of the obstacle relative to the target module are calculated. By combining the analysis results of multiple detection cycles, the obstacle distribution information in the moving area can be obtained.

[0142] Obstacle avoidance sensing data includes all reflected signals within the detection range. Signal filtering and feature extraction distinguish effective obstacles from background noise. Then, based on echo delay and angle, the spatial location and scale of obstacles are calculated. The position and scale data of multiple obstacles collectively constitute obstacle distribution information. Transforming raw obstacle avoidance sensing data into structured obstacle distribution information provides clear spatial location references for obstacle avoidance during path correction, facilitating quantitative collision avoidance calculations.

[0143] Step c3: Obtain the split execution sequence and target splicing position information corresponding to the target module.

[0144] Specifically, the split execution sequence and target splicing position information corresponding to the target module are extracted from the module splicing execution instructions. The split execution sequence is used to indicate the execution sequence number of the target module in the current security checkpoint module reassembly task, and the target splicing position information is used to indicate the splicing position coordinates that the target module needs to reach.

[0145] The split execution sequence reflects the order of the target modules in the overall reorganization task, and the target splicing position information provides the coordinates of the target module's endpoint, thus obtaining the time and space constraints of the target module's movement task. Obtaining the split execution sequence and target splicing position information allows the target module's movement path correction to no longer be limited to local obstacle avoidance, but rather to be performed under the constraints of the overall task sequence and target position, ensuring that the path correction result remains coordinated with the global reorganization plan.

[0146] Step c4: Based on obstacle distribution information, split execution sequence and target splicing position information, the movement path information is corrected to generate the target movement path.

[0147] Specifically, the original path corresponding to the movement path information is overlaid and compared with the obstacle distribution information to identify segments on the original path that overlap with the obstacle locations. Local path replanning is then performed on these segments to generate detour paths. During path replanning, the execution sequence of the splitting process and the target splicing position information are considered comprehensively. When the corrected paths of multiple target modules may intersect, the movement priority of each target module is adjusted according to the execution sequence of the splitting process, with the target module having the highest execution number passing through the potential conflict area first. The corrected path becomes the target movement path, replacing the corresponding segment in the movement path information. The target module continues to move to the target splicing position according to the target movement path.

[0148] The path correction process uses the original movement path as a baseline and performs local path offset calculations at obstacle locations. The offset amount can be determined by the obstacle's outline range and the safety distance. Multi-module path conflicts are resolved using a priority avoidance strategy based on split execution timing. Lower-priority modules slow down and wait or adjust their speed before path intersections, continuing their journey only after higher-priority modules have passed.

[0149] Local obstacle avoidance and detour are achieved by using obstacle distribution information, and the orderly resolution of multi-module path conflicts is achieved by splitting the execution sequence. The endpoint direction of the corrected path is kept unchanged by using target splicing position information. The movement path correction maintains the overall movement direction pointing to the target splicing position while avoiding obstacles. When multiple target modules move in parallel, the path is clear and they do not interfere with each other. The target module movement process is safe and efficient.

[0150] This invention achieves autonomous obstacle avoidance by acquiring obstacle avoidance sensor data of the target module in real time and analyzing obstacle distribution information. It also combines the split execution sequence and target splicing position information to locally correct the movement path information and generate the target movement path. This enables the target module to autonomously avoid obstacles and move in an orderly and coordinated manner with multiple modules in complex environments, ensuring the safety of the movement process and the coordination of the global reorganization task.

[0151] This embodiment provides a detailed description of the process in the above embodiments of generating splicing control commands to splice the target module with adjacent modules and establish electrical and data connections. The specific implementation of this process includes the following steps:

[0152] Step d1: Obtain the deviation measurement data of the interface position.

[0153] Specifically, sensors, such as vision sensors, are installed at the splicing interfaces between the target module and adjacent modules. The sensors are activated after the target module reaches the target splicing position, and collect image data or point cloud data of the splicing interface area. By performing feature extraction and pose calculation on the collected data, the relative positional deviation and angular deviation between the splicing interfaces of the target module and adjacent modules are obtained, forming deviation measurement data.

[0154] Visual sensors can acquire spatial information of the splicing interface area through optical imaging or laser scanning. Based on preset markers or geometric features on the interface, they perform image recognition and spatial coordinate conversion to calculate the deviation between the two splicing interfaces in each degree of freedom. The deviation measurement data provides precise error input for the pose adjustment process, enabling subsequent pose fine-tuning to be accurately compensated based on quantitative deviations.

[0155] Step d2: Based on the deviation measurement data, control the target module to adjust its pose until the deviation between the splicing interfaces is less than the preset docking parameter threshold.

[0156] Specifically, the deviation measurement data is input into the pose adjustment control loop. The control loop calculates the compensated displacement and compensated angle of the target module in each degree of freedom direction based on the deviation, and sends fine-tuning commands to the moving device at the bottom of the target module to drive the target module to translate or rotate. After each fine-tuning, the deviation measurement data is reacquired and compared with the preset docking parameter threshold. If the deviation is still greater than the preset docking parameter threshold, fine-tuning continues until the deviation is less than the preset docking parameter threshold, at which point the adjustment stops.

[0157] The pose adjustment is achieved through a closed-loop feedback control method, using deviation measurement data as feedback and preset docking parameter thresholds as control targets. Through multiple iterative fine-tuning steps, the pose deviation between interfaces is gradually reduced, ultimately achieving the required docking accuracy. The target module's docking interface and the docking interfaces of adjacent modules are aligned with high precision before docking, providing accurate initial docking conditions for the subsequent mechanical locking mechanism.

[0158] Step d3: When the deviation between the splicing interfaces is less than the preset docking parameter threshold, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking, and the power line and data line are connected simultaneously.

[0159] Specifically, once the deviation meets the conditions, the control device sends a locking activation signal to the interface locking mechanism. Multiple electromagnetic lock units distributed at the interface are then energized sequentially according to a preset timing sequence, generating electromagnetic locking force to pull and lock the splicing interface of the target module to the splicing interface of the adjacent module. At the instant the mechanical locking action is completed, the power supply contacts and communication contacts at the interface close synchronously, achieving automatic connection between the power supply line and the data line.

[0160] The electromagnetic lock unit generates electromagnetic attraction force when energized, tightly pressing the two splicing interfaces together along the concave-convex guide structure. The locking force is evenly distributed across the interface contact surface through a multi-point sequential energization locking method. Power supply and communication contacts are located within the interface contact surface and make contact and conduction during the mechanical closing of the interface, thus automatically completing the electrical and data connections simultaneously with mechanical locking.

[0161] By integrating mechanical locking and electrical data connection into a synchronous trigger, the target module immediately possesses the power supply and data interaction capabilities upon completion of splicing. The splicing locking and electrical data connection between the target module and adjacent modules are completed synchronously. The splicing process, from deviation detection to locking and conduction, is fully automated, and the security inspection module immediately enters a usable state after splicing.

[0162] This invention achieves high-precision automatic splicing and integrated electrical and data connection between the target module and adjacent modules by acquiring deviation measurement data of the interface position and adjusting the position and orientation accordingly until the deviation is less than the preset docking parameter threshold. After the deviation meets the condition, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking and simultaneously connect the power supply and data lines.

[0163] This embodiment provides a detailed description of the process described in the above embodiment, whereby sending a lock activation signal drives the interface locking mechanism to perform mechanical locking and simultaneously connects the power line and the data line. The specific implementation of this process includes the following steps:

[0164] Step e1: Activate multiple electromagnetic lock units distributed at the interface and lock them sequentially according to a preset timing sequence.

[0165] Specifically, the interface locking mechanism comprises multiple electromagnetic locking units, which are distributed along the contact surface of the splicing interface. Upon arrival of the locking activation signal, the interface locking mechanism sequentially applies driving current to each electromagnetic locking unit according to a preset timing sequence. The energized electromagnetic locking units generate electromagnetic force, pulling and pressing the target module splicing interface and the adjacent module splicing interface together along the concave-convex guide structure. The preset timing sequence refers to the energizing order and time interval of the multiple electromagnetic locking units; each unit is energized sequentially rather than simultaneously, allowing the locking force to gradually build up along the interface contact surface.

[0166] The electromagnetic lock unit uses an energized coil to generate electromagnetic attraction, tightly fitting the two sides of the splicing interface along the guide structure. Multiple electromagnetic lock units are energized sequentially, allowing the locking force to gradually diffuse from a localized area of ​​the interface to the entire structure, avoiding excessive instantaneous inrush current and uneven locking force distribution caused by simultaneous energization of multiple units.

[0167] By sequentially energizing and locking, the splicing interface experiences a uniform and gradual increase in force during the locking process, ensuring that both sides of the interface smoothly conform to the final locking position along the guide structure. Multiple electromagnetic lock units complete the locking action according to a preset timing sequence, resulting in uniform force on the splicing interface contact surface. The mechanical locking process is stable and controllable, ensuring a secure and reliable interface connection.

[0168] Step e2: Close the power supply contact and the communication contact the instant the mechanical locking is completed.

[0169] Specifically, the power supply contacts and communication contacts are embedded in the contact surfaces of the splicing interface, with the power supply contacts corresponding to the power lines and the communication contacts corresponding to the data lines. During the energization and engagement of the electromagnetic lock unit, the contact surfaces on both sides of the splicing interface gradually approach each other. When the mechanical locking action is completed, the contact surfaces are fully engaged, and the power supply contacts and communication contacts simultaneously achieve physical contact and conduction during the engagement process.

[0170] The physical positions of the power supply contacts and communication contacts are pre-designed so that they can be docked precisely when the splicing interface reaches the locking position. The contact timing coincides with the end point of the mechanical locking stroke, so that the electrical connection and data connection are established the instant the mechanical locking action is completed. The contact closure and mechanical locking are synchronized in terms of physical stroke, and no additional electrical connection operation is required after the mechanical locking is completed.

[0171] This invention achieves smooth locking of the splicing interface and synchronous connection of the electrical data channel by activating multiple electromagnetic lock units distributed at the interface in a preset sequence, and closing the power supply contact and communication contact at the instant the mechanical locking is completed. This ensures both the mechanical connection strength and the electrical connection reliability of the module splicing process.

[0172] This embodiment provides a detailed description of the process after acquiring real-time status data from multiple security inspection modules in the above embodiments. The specific implementation of this process also includes the following steps:

[0173] Step m1: When it is determined from the real-time status data that there is a module in the security inspection module that has experienced a recoverable failure, a re-splicing command is generated to control the security inspection module to re-execute the splicing.

[0174] Specifically, the real-time status data includes the interface connection status parameters and operational status parameters of each security inspection module. When the interface connection status parameters experience momentary abnormal fluctuations or the operational status parameters briefly deviate from the normal range, the security inspection module is determined to have experienced a recoverable fault. Recoverable fault types include poor contact at the splicing interface due to momentary vibration, brief interruptions in the communication link due to signal interference, and voltage fluctuations caused by slight displacement of power supply contacts. For security inspection modules experiencing recoverable faults, a re-splicing command is generated. This command controls the module to first unlock the interface to disconnect the current connection, and then re-execute the pose adjustment and interface locking process to complete the secondary splicing.

[0175] Recoverable faults are typically not irreversible hardware damage; normal mechanical contact and electrical connectivity can be restored by unlocking and reassembling. The reassembly command triggers the faulty module to execute a complete unlock-docking-locking cycle, using the re-docking process to eliminate contact abnormalities caused by momentary misalignment or loosening. This provides an automated, immediate repair mechanism for recoverable faults, allowing the faulty module to attempt to return to normal operation without being removed from the security checkpoint, avoiding the need for complete module replacement due to minor faults, and resulting in short fault repair times.

[0176] Step m2: When it is determined from the real-time status data that there is a module in the security inspection module that has an unrecoverable fault, a module replacement instruction is generated to control the target faulty module to be split from the current splicing position and moved to the preset maintenance area. At the same time, the idle security inspection module of the same type as the target faulty module is controlled to move to the current splicing position and perform splicing replacement.

[0177] Specifically, when real-time status data shows that the core functional parameters of the security inspection module are continuously abnormal, the interface connection status cannot be restored through reassembly, or the internal detection unit of the module reports hardware failure, it is determined that the security inspection module has experienced an unrecoverable fault. Unrecoverable fault types include servo motor drive failure, detection unit hardware damage, interface locking mechanism jamming, power line short circuit, etc. For the target fault module with an unrecoverable fault, a module replacement instruction is generated. The module replacement instruction includes two parts: the first operation is to control the target fault module to perform interface unlocking, disassemble the target fault module from the current splicing position, and move it to the preset maintenance area via the bottom intelligent moving device; the second operation is to select an idle security inspection module of the same type as the target fault module from the preset idle area at the same time or after the target fault module begins to move, control the idle security inspection module to move to the current splicing position according to the movement path information, perform splicing and locking operations with the adjacent module, and complete the assembly replacement.

[0178] An unrecoverable failure indicates that the security module's hardware has suffered physical damage and cannot be restored through self-repair in a short period of time. It must be removed from the security line and replaced with a usable module of the same type. The module replacement command, by coordinating the timing of the faulty module's removal and the replacement by a backup module at the command level, ensures that the replacement operation is completed within the shortest possible time window, minimizing the functional gap in the security line.

[0179] For unrecoverable faults, module replacement is provided. While the target faulty module is automatically disassembled and removed, the corresponding type of idle security inspection module is automatically moved to fill the gap and complete the assembly. The functional gap of the security inspection line is quickly filled, and the security inspection line can still maintain basic security inspection capabilities in the fault state.

[0180] In one optional implementation, the pre-trained module reassembly model pre-deploys modules by incorporating historical security check demand data when generating module assembly and disassembly execution instructions. For example, in high-probability demand scenarios during airport peak periods (such as holidays), frequently used modules such as trace detection modules and baggage X-ray detection modules are prioritized and pre-deployed in buffer zones near the target security checkpoints, rather than in uniform idle areas. Based on real-time demand data, pre-deployed modules are prioritized for invocation, shortening module movement distances and improving response efficiency. By analyzing historical data (such as holiday passenger flow and security check demands during special events), module demand is predicted, and pre-deployment locations are dynamically adjusted to ensure reasonable resource allocation.

[0181] This invention distinguishes between recoverable and unrecoverable faults by using real-time status data. For recoverable faults, it generates reassembly instructions to achieve on-site repair, and for unrecoverable faults, it generates module replacement instructions to achieve coordinated execution of faulty module removal and backup module replacement. This enables the security inspection line to autonomously perform graded handling and rapid recovery when a module fails, ensuring the continuity and availability of the security inspection line.

[0182] This embodiment provides a detailed description of the process after obtaining security check requirements and real-time status data of multiple security check modules in the above embodiments. The specific implementation of this process also includes the following steps:

[0183] Step n1: Obtain the interface status data and electrical connectivity data fed back by the security inspection module after the splicing or disassembly is completed.

[0184] Specifically, after the splicing or disassembly operation is completed, each security inspection module collects interface status data and electrical connectivity data through the status detection loop within the splicing interface. The interface status data characterizes the mechanical locking state of the splicing interface, including the energization status and locking force maintenance status of each electromagnetic lock unit. The electrical connectivity data characterizes the conduction status of the power supply line and the communication link status of the data line. This data is fed back to the control device by each security inspection module through the data channel.

[0185] After the splicing interface performs mechanical locking, there is a corresponding relationship between the current value of the electromagnetic lock unit and the locking force. The locking status can be indirectly determined by monitoring the current value. The continuity between the power supply contacts and the communication contacts is detected in real time through an electrical continuity detection circuit, and the link status can be confirmed by the transmission and reception of communication handshake signals.

[0186] Immediately after the splicing or disassembly operation is completed, interface status data and electrical connectivity data are acquired, enabling the system to instantly verify the operation results and confirm whether each security inspection module has correctly completed mechanical and electrical data connections. Real-time feedback of interface status data and electrical connectivity data provides accurate information on the completion status of subsequent command updates.

[0187] Step n2 involves inputting security inspection requirements, interface status data, and electrical connectivity data into the pre-trained module to reassemble the model and update the module assembly and disassembly execution instructions.

[0188] Specifically, the current security check requirements, the interface status data obtained in step n1, and the electrical connectivity data are input into the pre-trained module reassembly model. The pre-trained module reassembly model analyzes the interface status data and electrical connectivity data to determine whether the splicing of each security check module in the current security check line meets the expected state. When the analysis results show that the current security check line shape corresponds to the security check requirements, the current module splicing and disassembly execution instructions remain unchanged; when the analysis results show that there is a splicing anomaly or the security check requirements have changed, the pre-trained module reassembly model generates updated module splicing and disassembly execution instructions, triggering a new round of movement and splicing operations to re-match the security check line shape with the security check requirements.

[0189] The pre-trained module reorganizes the model, using interface status data and electrical connectivity data as feedback inputs for the operation results. These, along with security inspection requirements, form the input variables for a new round of matching analysis. By comparing the current actual splicing status of the security checkpoint with the target configuration corresponding to the security inspection requirements, the model determines whether supplementary adjustments need to be initiated, forming a closed loop of requirement acquisition, instruction generation, operation execution, result feedback, and instruction update.

[0190] By feeding back the assembly and disassembly operation results to the pre-trained module to reorganize the model, the generation of subsequent instructions is based on the current real state of the security checkpoint and the latest security check requirements, thereby realizing the continuous updating of the module assembly and disassembly execution instructions and the dynamic following of the security checkpoint shape.

[0191] This invention achieves continuous dynamic tracking of the security inspection line's form to changes in security inspection requirements and operation execution results, ensuring the security inspection line's adaptability during multi-scenario switching. By acquiring the interface status data and electrical connectivity data fed back by the security inspection module after splicing or disassembly, and inputting the security inspection requirements, interface status data, and electrical connectivity data into the pre-trained module to reorganize the model and update the module splicing and disassembly execution instructions, this invention ensures the security inspection line's adaptability to changes in security inspection requirements and operation execution results.

[0192] Figure 3 This is a schematic diagram of the adaptive security checkpoint control device provided in this application. Figure 3 As shown, the adaptive security checkpoint control device 30 includes:

[0193] The acquisition module 301 is used to acquire security inspection requirements and real-time status data of multiple security inspection modules;

[0194] The instruction generation module 302 is used to input security inspection requirements and real-time status data into the pre-trained module to reorganize the model and generate module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier and disassembly information.

[0195] The movement control module 303 is used to control the movement of the target module according to the movement path information;

[0196] The splicing control module 304 is used to generate splicing control commands to splice the target module with the adjacent module and establish electrical and data connections when the target module is detected to have reached the position indicated by the target splicing position information.

[0197] The split control module 305 is used to control the module to be split according to the split information to unlock and leave the current splicing position;

[0198] The combination module 306 is used to obtain a security inspection line corresponding to the security inspection requirements based on the combination of the completed splicing or disassembly security inspection modules.

[0199] In one possible implementation, the instruction generation module 302 is further configured to:

[0200] Obtain preset scenario matching rules and priority classification data of security inspection modules. The preset scenario matching rules include peak passage rules and security inspection level rules.

[0201] The security check requirements, real-time status data, preset scenario matching rules, and priority classification data are input into the pre-training module to reorganize the model and generate the assembly and disassembly execution instructions.

[0202] In one possible implementation, the split control module 305 is specifically used for:

[0203] Obtain the arrangement order data of the security inspection modules in the current security inspection line;

[0204] Based on the arrangement order data, the splitting execution sequence of each module to be split is determined according to the order from the end module to the middle module;

[0205] According to the split execution sequence, each module to be split unlocks its interface and leaves the current splicing position after unlocking.

[0206] In one possible implementation, the motion control module 303 is specifically used for:

[0207] Real-time acquisition of obstacle avoidance sensor data from the target module;

[0208] Obstacle distribution information is obtained by analyzing obstacle avoidance sensor data;

[0209] Obtain the split execution sequence and target concatenation position information corresponding to the target module;

[0210] Based on obstacle distribution information, split execution timing, and target splicing position information, the movement path information is corrected to generate the target movement path.

[0211] In one possible implementation, the splicing control module 304 is specifically used for:

[0212] Obtain the deviation measurement data of the interface position;

[0213] Based on the deviation measurement data, the target module is controlled to adjust its pose until the deviation between the splicing interfaces is less than the preset docking parameter threshold.

[0214] When the deviation between the splicing interfaces is less than the preset docking parameter threshold, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking, and the power line and data line are connected simultaneously.

[0215] In one possible implementation, the splicing control module 304 is specifically used for:

[0216] Multiple electromagnetic lock units distributed at the interface are activated and locked sequentially according to a preset timing sequence;

[0217] The power supply and communication contacts close instantly upon completion of the mechanical locking.

[0218] In one possible implementation, the acquisition module 301 is further configured to:

[0219] When it is determined from real-time status data that a module in the security inspection module has experienced a recoverable failure, a re-splicing command is generated to control the security inspection module to re-execute the splicing.

[0220] When it is determined from real-time status data that there is an unrecoverable fault in the security inspection module, a module replacement command is generated to control the target faulty module to be separated from the current splicing position and moved to the preset maintenance area. At the same time, an idle security inspection module of the same type as the target faulty module is moved to the current splicing position and spliced ​​to fill the gap.

[0221] In one possible implementation, the acquisition module 301 is further configured to:

[0222] Obtain the interface status data and electrical connectivity data fed back by the security inspection module after the splicing or disassembly is completed;

[0223] The security inspection requirements, interface status data, and electrical connectivity data are input into the pre-trained module to reorganize the model and update the module assembly and disassembly execution instructions.

[0224] The adaptive security check line control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0225] This application also provides a modular security inspection device, including multiple autonomously movable security inspection modules, each security inspection module including:

[0226] Bottom moving device, used to perform movement according to control commands;

[0227] The splicing interface is used to splice with adjacent modules and establish electrical and data connections;

[0228] An interface locking mechanism is used to perform mechanical locking during splicing and simultaneously connect the power line and data line;

[0229] The security inspection module uses pre-trained modules to reassemble and execute module assembly and disassembly instructions to move, assemble, or split the modules to form a security inspection line that corresponds to the security inspection requirements.

[0230] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4As shown, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the electronic device 40 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0231] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0232] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0233] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0234] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0235] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0236] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0237] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0238] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0239] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0240] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0241] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0242] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0243] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0244] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0245] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An adaptive security checkpoint control method, characterized in that, include: Obtain security check requirements and real-time status data of multiple security check modules; Obtain preset scenario matching rules and priority classification data of the security inspection module. The preset scenario matching rules include peak passage rules and security inspection level rules. The security check requirements, the real-time status data, the preset scenario matching rules, and the priority classification data are input into the pre-trained module to reorganize the model and generate the module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier, and disassembly information. The target module is moved according to the movement path information; When the target module is detected to have reached the position indicated by the target splicing position information, a splicing control command is generated to splice the target module with the adjacent module and establish electrical and data connections. According to the splitting information, the module to be split corresponding to the splitting information is unlocked and leaves the current splicing position; Based on the completed splicing or disassembly of the security inspection modules, a security inspection line corresponding to the security inspection requirements is obtained.

2. The method according to claim 1, characterized in that, According to the splitting information, the module to be split according to the splitting information is unlocked and leaves the current splicing position, including: Obtain the arrangement order data of the security inspection modules in the current security inspection line; Based on the arrangement order data, the splitting execution sequence of each module to be split is determined according to the order from the end module to the middle module; According to the split execution timing control, each of the modules to be split will unlock its interface and leave the current splicing position after unlocking.

3. The method according to claim 2, characterized in that, Controlling the movement of the target module based on the movement path information includes: Obtain obstacle avoidance sensing data from the target module in real time; The obstacle avoidance sensor data is analyzed to obtain obstacle distribution information; Obtain the split execution timing and target splicing position information corresponding to the target module; Based on the obstacle distribution information, the splitting execution timing, and the target splicing position information The information is used to correct the movement path information and generate the target movement path.

4. The method according to claim 1, characterized in that, Generating splicing control commands to splice the target module with adjacent modules and establish electrical and data connections includes: Obtain the deviation measurement data of the interface position; Based on the deviation measurement data, the target module is controlled to adjust its pose until the deviation between the splicing interfaces is less than the preset docking parameter threshold. When the deviation between the splicing interfaces is less than the preset docking parameter threshold, a locking activation signal is sent to drive the interface locking mechanism to perform mechanical locking, and the power line and data line are connected simultaneously.

5. The method according to claim 4, characterized in that, Sending a lock activation signal drives the interface locking mechanism to perform mechanical locking, and simultaneously connects the power line and data line, including: Multiple electromagnetic lock units distributed at the interface are activated and locked sequentially according to a preset timing sequence; The power supply and communication contacts close instantly upon completion of the mechanical locking.

6. The method according to claim 5, characterized in that, After acquiring the real-time status data of the multiple security inspection modules, the method further includes: When it is determined from the real-time status data that a module in the security inspection module has experienced a recoverable failure, a re-splicing command is generated to control the security inspection module to re-execute the splicing. When it is determined from the real-time status data that there is a module in the security inspection module that has an unrecoverable fault, a module replacement instruction is generated to control the target faulty module to be split from the current splicing position and moved to the preset maintenance area. At the same time, an idle security inspection module of the same type as the target faulty module is controlled to move to the current splicing position and perform splicing replacement.

7. The method according to any one of claims 1 to 6, characterized in that, After obtaining security check requirements and real-time status data from multiple security check modules, it also includes: Obtain the interface status data and electrical connectivity data fed back by the security inspection module after the splicing or disassembly is completed; The security inspection requirements, the interface status data, and the electrical connectivity data are input into the pre-trained module to reconstruct the model and update the module assembly and disassembly execution instructions.

8. An adaptive security checkpoint control device, characterized in that, include: The acquisition module is used to acquire security inspection requirements and real-time status data of multiple security inspection modules; The instruction generation module is used to obtain preset scenario matching rules and priority classification data of the security inspection module. The preset scenario matching rules include peak passage rules and security inspection level rules. The security check requirements, the real-time status data, the preset scenario matching rules, and the priority classification data are input into the pre-trained module to reorganize the model and generate the module assembly and disassembly execution instructions. The module assembly and disassembly execution instructions include movement path information, target assembly position information, target module identifier, and disassembly information. The movement control module is used to control the movement of the target module according to the movement path information; The splicing control module is used to generate splicing control commands to splice the target module with the adjacent module and establish electrical and data connections when the target module is detected to have reached the position indicated by the target splicing position information. The splitting control module is used to control the module to be split according to the splitting information to unlock and leave the current splicing position; The combination module is used to combine the security inspection modules after splicing or splitting to obtain a security inspection line corresponding to the security inspection requirements.

9. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

Images