Security inspection robot and security inspection system

Abstract

The utility model provides a security check robot. The security check robot comprises a shell; the safety checking module is arranged on the shell and is used for carrying out non-contact detection on a checked target in a checking area; the material component analysis module is mounted on the shell and used for performing material component analysis on the suspicious articles detected by the safety checking module; and the moving module is connected with the shell and is used for driving the shell to move. The utility model also provides a security check system comprising the security check robot.

Description

Technical Field

[0001] The utility model relates to the field of security inspection, and more specifically, to a security inspection robot and a security inspection system. Background Art

[0002] There is a need for security inspection in places with high density of people or high security requirements, such as airports, railway stations, hotel front desks, campus gates, banks, etc. Currently, manual inspections and fixed security inspection equipment are usually used to conduct security inspections in these places.

[0003] For example, the patent application number CN202310141871.4, entitled A Channel-Type Terahertz Active Imaging Human Body Security Scanner, discloses a solution for the fixed installation and use of terahertz equipment on site, which conducts security checks on pedestrians within a fixed field of view, and passengers need to walk on the planned route to cooperate with the security check. After a suspicious item is detected, it is manually inspected, or further taken to another material composition analysis agency for component analysis.

[0004] In the process of realizing the utility model, the inventor found that the fixed security inspection equipment passively waits for the inspected object to pass through. For places where passengers are free to disperse and walk randomly (such as airport halls), the objects that can be inspected by fixed technology are very limited, and it is impossible to track and confirm the detected suspects, and the security inspection scope and flexibility are insufficient. In addition, the method of conducting material composition analysis makes the process more cumbersome and time-consuming. Utility Model Content

[0005] In view of the above problems, the utility model provides a security inspection robot and a security inspection system.

[0006] According to the first aspect of the utility model, a security inspection robot is provided, comprising: a shell; a security inspection module, installed on the shell, and used for performing non-contact detection of inspected targets in an inspection area; a material composition analysis module, installed on the shell, and used for performing material composition analysis on suspicious items detected by the security inspection module; and a moving module, connected to the shell, and used for driving the shell to move.

[0007] According to an embodiment of the utility model, the shell defines an opening, and the opening provides a path for removing the material composition analysis module from the shell. The material composition analysis module is configured to perform a material composition analysis on the suspicious object after being removed from the shell.

[0008] According to an embodiment of the utility model, the security inspection module includes: a terahertz detection unit, including a reflector assembly and a detector array; the reflector assembly is used to reflect the terahertz wave from the inspected target; the detector array is used to receive the terahertz wave and convert it into an electrical signal to obtain a terahertz wave image.

[0009] According to an embodiment of the utility model, the safety inspection module further includes: a low-temperature biological product detection unit, including a thermal imager, and the thermal imager is used to perform thermal imaging of the inspected target.

[0010] According to an embodiment of the utility model, the security inspection module further includes: a visible light imaging unit, including a camera, and the camera is used to capture a visible light image of an inspected target entering the inspection area.

[0011] According to an embodiment of the utility model, a window is provided on one side of the shell, wherein the terahertz wave of the inspected target passes through the window and is reflected by the reflector assembly; wherein the camera, the thermal imager and the window are located on the same side of the shell.

[0012] According to an embodiment of the present utility model, the safety inspection module further includes: a radioactive material detection unit, including a detector, and the detector is used to detect radioactive materials in the inspection area.

[0013] According to an embodiment of the utility model, the safety inspection module further includes: an electromagnetic pulse detection unit, including a probe; the probe is used to detect electromagnetic pulses greater than or equal to a specific energy threshold in the inspection area.

[0014] According to an embodiment of the utility model, the material composition analysis module, the radioactive material detection unit and the electromagnetic pulse detection unit are located on the top of the shell.

[0015] According to an embodiment of the utility model, the robot also includes: a main control module, which is communicatively connected with the security inspection module and the mobile module, and the main control module is used to issue at least one movement instruction to move the mobile module to an instruction corresponding position near the inspected target based on the detection distance of at least one of the terahertz detection unit, the low-temperature biological product detection unit, the visible light imaging unit, the radioactive material detection unit, and the electromagnetic pulse detection unit; wherein the distance between the instruction corresponding position and the inspected target is adapted to the detection distance.

[0016] Another aspect of an embodiment of the utility model provides a security inspection system, characterized in that it includes: N cameras, installed at N positions in a security inspection site, N being an integer greater than or equal to 1; a server, communicatively connected to the N cameras, the server being used to receive images of the security inspection site taken by the N cameras, and to send security inspection instructions based on the images; and a security inspection robot as described above, communicatively connected to the server, the security inspection robot being used to perform security inspections in response to the received security inspection instructions.

[0017] One or more of the above embodiments have the following beneficial effects: the security inspection module and the material composition analysis module are installed in the housing, and the mobile module is integrated in the security inspection robot, so that the security inspection robot can move flexibly in the security inspection site, and reduce interference with the inspected object through non-contact detection. If the security inspection module detects a suspicious item, the material composition analysis module of the security inspection robot itself can be used to directly analyze the material composition, so as to quickly and accurately determine the quality, effectively reduce costs, and increase security inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above contents and other purposes, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0019] Figure 1 The application scenario diagram of the security inspection system according to the embodiment of the utility model is schematically shown;

[0020] Figure 2 A schematic perspective view of a security inspection robot according to an embodiment of the present utility model is shown;

[0021] Figure 3 The structural block diagram of the security inspection robot according to the embodiment of the utility model is schematically shown;

[0022] Figure 4 The principle diagram of terahertz wave imaging according to an embodiment of the utility model is schematically shown;

[0023] Figure 5 The schematic diagram shows the interaction between the security inspection robot, the server, the camera and the terminal device in the security inspection system according to the embodiment of the utility model.

[0024] It should be noted that, for the sake of clarity, in the drawings used to describe the embodiments of the present invention, the sizes of the overall / local structures or the overall / local areas may be enlarged or reduced, that is, these drawings are not drawn according to the actual scale. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are described to provide a comprehensive understanding of the embodiments of the present invention. However, it is obvious that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0026] In the technical solution of the present utility model, the information (including but not limited to personal information, image information, equipment information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) of the inspected persons involved are all information and data authorized by the inspected persons or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding prompts or operation entrances for the inspected persons to choose to authorize or refuse.

[0027] Figure 1 The following schematically shows an application scenario of the security inspection system according to an embodiment of the present utility model. It should be noted that: Figure 1 What is shown are merely examples to which the embodiments of the present invention may be applied, to help those skilled in the art understand the technical content of the present invention, but it does not mean that the embodiments of the present invention may not be used in other devices, systems, environments or scenarios.

[0028] like Figure 1 As shown, the security inspection system 100 includes a security inspection robot 120, a network 130, a server 140 and N cameras (such as a first camera 151 and a second camera 152, N is an integer greater than or equal to 1). Among them, the first passenger 111 and the second passenger 112 are people who walk freely in a public place. The network 130 is a medium for providing a communication link between the first camera 151, the second camera 152, the security inspection robot 120 and the server 140. The network 130 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc. Among them, the N cameras are installed at N locations in the security inspection place, for example, the first camera 151 and the second camera 152 can be respectively set at different locations in the public place.

[0029] The server 140 is connected to the N cameras for communication. The server is used to receive images of the security inspection site captured by the N cameras, and send security inspection instructions based on the images. Specifically, the first camera 151 and the second camera 152 can respectively capture videos in the corresponding areas. For example, when passengers 111~112 pass through the shooting area of ​​any camera, their images can be collected. Then, the first camera 151 and the second camera 152 can interact with the server 140 through the network 130 to send videos. The first camera 151 and the second camera 152 can be surveillance cameras, or various electronic devices with camera functions.

[0030] The server 140 may be a server that provides various services, such as processing videos or images, identifying suspicious objects and giving alarms, tracking targets, detecting motion states, and obtaining matching degrees. In some embodiments, a terminal device may be used to interact with the server 140 to send a user request, which may be a security inspection instruction to the security inspection robot 120. The background management server may analyze and process the received user request and other data, and feed back the processing results to the terminal device, or issue a security inspection instruction to the security inspection robot 120. The terminal device includes, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, and the like.

[0031] The security inspection robot 120 is connected to the server 140 through the network 130. The security inspection robot 120 is used to perform security inspection operations in response to the received security inspection instructions. For example, one or more security inspection robots 120 can be placed in the security inspection site. Each security inspection robot 120 can move in the security inspection site, for example, move along a pre-planned path, move to the vicinity of a target detected in real time, etc. When the security inspection robot 120 moves to the vicinity of the inspected target, at least one function of personnel inspection, object detection, and environment detection can be activated to achieve non-contact detection.

[0032] The security inspection robot 120 may send the detected data or results to the server 140. The security inspection robot 120 may also receive remote control instructions or detection results from the server 140 through the network 130, where the detection results are obtained by the server 140 according to the detection data sent by the security inspection robot 120.

[0033] It should be understood that Figure 1 The numbers of security robots, personnel and servers are only indicative.

[0034] The following will be based on Figure 1 The scene described by Figure 2~Figure 5 The security inspection robot according to the embodiment of the utility model is described in detail.

[0035] Figure 2A three-dimensional diagram of a security inspection robot according to an embodiment of the utility model is schematically shown. Figure 3 The structural block diagram of the security inspection robot according to the embodiment of the utility model is schematically shown.

[0036] like Figure 2 and Figure 3 As shown, the security inspection robot 120 includes a housing 121, a security inspection module 122 and a material composition analysis module 123. The security inspection module 122 is installed on the housing 121 and is used to perform non-contact detection of the inspected target in the inspection area. The material composition analysis module 123 is installed on the housing 121, and the material composition analysis module 123 is used to perform material composition analysis on the suspicious items detected by the security inspection module 122. The moving module 124 is connected to the housing 121 and is used to drive the housing 121 to move, for example, to a specific position near the inspected target.

[0037] For example, the inspected target may be located in the security inspection site, which may be captured by the robot camera, such as a pedestrian or a suitcase, or may not be captured by the robot camera, such as something hidden in the pedestrian's clothes or items stored in a suitcase. The inspected target may be a pedestrian, an animal, or an item, which may be pre-determined by the security inspection robot 120, or may be scanned by the security inspection robot 120 during the automatic cruising process, or may be sent to the security inspection robot 120 by the server 140. The specific position is a position within a certain range from the inspected target. The specific position may be determined based on the range that the security inspection robot 120 can detect, that is, the security inspection robot 120 autonomously moves to a suitable position for inspection, and adjusts the specific position in real time based on the current position of the inspected target.

[0038] The security inspection robot 120 can process the detection data locally to obtain the detection result. The detection result can include a suspicious result or a non-suspicious result. In the case of a suspicious result, the inspected object itself or the items carried by the inspected object are judged to be suspicious items. Alternatively, the security inspection robot 120 can send the detection data to the server 140, so that the server 140 processes the detection data to obtain the detection result, and receives the detection result, and then can take corresponding actions. For example, in the case of a suspicious result, the action can be to issue an alarm message or track the inspected object.

[0039] For example, the material composition analysis module 123 may include one or more instruments such as a Raman spectrometer, a chemical reagent analyzer, a mass spectrometer or an infrared spectrometer. Taking the Raman spectrometer as an example, light of a certain frequency interacts with matter and scatters. In addition to the Rayleigh scattered light with the same frequency as the original frequency, there is also Raman scattered light with a different frequency in the scattered light. The difference between the frequency of Raman scattered light and the frequency of incident light reflects the vibration and rotation energy levels of the molecule, and is unrelated to the frequency of the excitation light. Different material molecules under certain conditions or states have unique molecular structures. Therefore, Raman spectra become the "fingerprint" spectrum for material identification and can be used for the identification and identification of materials. Raman spectroscopy technology obtains the characteristic spectrum of material molecules by scanning suspicious items, and compares it with the spectrum of standard substances in the spectrum library to obtain the results of material identification and identification. Specifically, the spectrum library stores information such as the name, source, specification size, and pictures of standard substances.

[0040] For example, the mobile module 124 includes a robot chassis with autonomous cruising capability. For example, a plurality of omnidirectional moving wheels are installed at the bottom of the chassis. The driving device of the chassis is connected to the moving wheels to drive the wheels to rotate, thereby driving the housing 121 to move, and finally moving the entire security inspection robot 120.

[0041] According to the embodiment of the utility model, the security inspection module 122 and the material composition analysis module 123 are installed in the housing 121, and the mobile module 124 is integrated in the security inspection robot 120, so that the security inspection robot 120 can move flexibly in the security inspection site, and reduce interference with the inspected object through non-contact detection. If the security inspection module 122 detects suspicious items, the material composition analysis module 123 of the security inspection robot 120 itself can be used to directly analyze the material composition, so as to quickly and accurately determine the quality, effectively reduce costs, and increase security inspection efficiency.

[0042] In some embodiments, the security inspection robot may further include a prompt module 126 installed in the housing 121. When the security inspection robot 120 determines that the inspected object is suspicious based on the detection data, the prompt module 126 is used to issue a first warning, and the first warning is used to prompt the material composition analysis module 123 of the security inspection robot 120 to inspect the suspicious object. The material composition analysis module 123 is used to obtain a component analysis result of the suspicious object in response to the suspicious object being placed in the analysis area.

[0043] The security inspection robot 120 can determine whether a suspicious object is placed in the analysis area by image recognition, weight sensing or monitoring the pressing of a specific button. The specific button can be a start button of the material composition analysis module 123, or other buttons of the security inspection robot 120.

[0044] If the security inspection module 122 detects suspicious items, an early warning can be issued. Through interactive security inspection, the inspected person or security inspector can use the material composition analysis module 123 of the security inspection robot 120 to directly perform material composition analysis on site, so as to quickly and accurately characterize the items, effectively reduce costs and increase security inspection efficiency.

[0045] For example, the inspected person or the security inspector places the suspicious item in the analysis area according to the prompt of the first warning. The analysis area includes the area where the material composition analysis module 123 can normally handle the suspicious item. It can be understood that when the inspected person can understand the first warning and follow the execution to achieve interactive security inspection, the participation of the security inspector is not necessary. When the inspected person needs help, the security inspector can complete the interactive security inspection.

[0046] In some embodiments, issuing the first warning includes: the security inspection robot 120 displays the first warning through its screen, and / or the security inspection robot 120 plays the first warning through audio.

[0047] Through text or audio, the inspected person or security inspector can be reminded to cooperate with subsequent inspections. For example, the screen displays or audio plays "Suspicious item detected: liquid bottle, please place it in the analysis area for testing."

[0048] In some embodiments, when the security inspection robot 120 determines that the inspected object is suspicious based on the detection data, the location of the suspicious object is determined, and / or the type of the suspicious object is identified. The first warning includes the location and / or type of the suspicious object. The captured image (such as a visible light image or a radiation scanning image) can also be displayed on the screen, and the location of the suspicious object is marked.

[0049] Exemplarily, after the security inspection robot 120 detects the detection data of the inspected target, it can run the object detection algorithm locally to process the visible light image in the detection data to achieve target detection, such as one or more object detection algorithms such as Faster R-CNN, SSD (Single Shot Multibox Detector) and YOLO (You Only Look Once). It can further run image segmentation algorithms, such as Mask R-CNN, etc., to perform pixel-level segmentation on the image based on object detection to determine the location of suspicious objects. And use one or more algorithms such as SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features) to extract features to identify the type of suspicious objects (such as liquids, knives, etc.) based on the extracted features.

[0050] It is understandable that the security inspection robot 120 performs detection under the premise of ensuring the safety of the inspected object. For example, only the luggage is scanned with radiation, and the radiation dose is lower than the dose threshold that causes damage to the human body. Terahertz imaging technology can be used for the human body.

[0051] According to the embodiments of the present utility model, determining the specific location and type of the suspicious object can help the inspected person or the security inspector to quickly locate the suspicious object, reduce unnecessary actions, and improve the overall security inspection efficiency.

[0052] According to the embodiment of the utility model, the security inspection module 122, the material composition analysis module 123 and the prompt module 126 are installed in the housing 121, and the mobile module 124 is integrated in the security inspection robot 120. If the security inspection module 122 detects suspicious items, an early warning can be issued. Through interactive security inspection, the inspected person or the security inspector can directly perform material composition analysis on site using the material composition analysis module 123 of the security inspection robot 120 itself, so as to quickly and accurately determine the quality of the items, effectively reduce costs, and increase security inspection efficiency.

[0053] In some embodiments, reference Figure 2 The shell 121 defines an opening 125 , wherein the opening 125 provides a path for removing the material composition analysis module 123 from the shell 121 , and the material composition analysis module 123 is configured to perform a material composition analysis on the suspicious item after being removed from the shell 121 .

[0054] Exemplarily, a receiving space communicating with the opening 125 is defined in the housing 121 , and the material composition analysis module 123 can be placed in the receiving space separately and can be taken out of the receiving space.

[0055] In some embodiments, after detecting a suspicious item, the inspected person or security inspector can take out the material composition analysis module 123 (such as a handheld Raman spectrometer) separately through the opening 125 to perform a Raman spectrum scan. The material composition analysis module 123 compares the Raman characteristic spectrum of the suspicious item with the information in the spectrum library to obtain a component analysis result. The material composition analysis module 123 can also be connected to the main control module of the security inspection robot 120 by wire or wireless to transmit the material composition analysis result, so that the security inspection robot 120 can take out and use it, which has greater flexibility. The material composition analysis module 123 can also be easily replaced to improve security inspection efficiency.

[0056] According to the embodiment of the utility model, the material composition analysis module 123 can be taken out from the housing 121 and is no longer limited to use in the housing 121, which has greater flexibility. The material composition analysis module 123 can also be easily replaced to improve security inspection efficiency.

[0057] In other embodiments, the material composition analysis module 123 can be fixedly or detachably installed in the housing 121 of the security inspection robot 120, and connected to other structures or circuits in the housing 121. That is, the material composition analysis module 123 is fixed, and the inspected person or security inspector places the suspicious items in the analysis area of ​​the module.

[0058] Figure 4 The principle diagram of terahertz wave imaging according to an embodiment of the utility model is schematically shown.

[0059] In other embodiments, the security inspection module 122 includes a terahertz detection unit 1221, and the terahertz detection unit 1221 includes a reflector assembly 12212 and a detector array 12213. The reflector assembly 12212 is used to reflect the terahertz wave from the inspected target. The detector array 12213 is used to receive the terahertz wave and convert it into an electrical signal to obtain a terahertz wave image. The reflector assembly 12212 includes a reflector and a pitch swing mechanism, and the pitch swing mechanism is used to drive the reflector to pitch and swing in the vertical direction. The detector assembly 12213 may include a detector array 12213 arranged in a single row or multiple rows of arcs or straight lines.

[0060] Reference Figure 4 , the terahertz wave emitted by the human body passes through the terahertz window 12211, enters the interior of the housing 121, is reflected by the reflector, and is focused by the focusing lens 12214 and irradiated onto the detector assembly 12213, converted into an electrical signal, and collected by the main control module into a digital signal, and then transmitted to the server 140 outside the security inspection robot 120 through the network port for data processing and image reconstruction. The reflector can scan the entire body of the human body in the longitudinal direction by reciprocating up and down. Multiple terahertz detectors are arranged horizontally (for example) to achieve detection of various positions of the human body in the horizontal direction. Among them, the shape of the reflector assembly 12212 can be selected as an ellipse, and its short axis matches the size of the focusing lens 12214, for example, it can be 20cm-50cm, and the long axis can be 30cm-60cm, for example. The size of the focusing lens 12214 is determined according to the imaging distance and resolution requirements.

[0061] According to the embodiment of the utility model, the mobile security inspection robot 120 is integrated with a terahertz detection unit 1221 and a material composition analysis module 123. The security inspection robot 120 can flexibly scan people in the inspection area during patrol, and can perform material composition analysis in a timely manner when scanning suspicious items.

[0062] In some embodiments, reference Figure 2 and Figure 3The security inspection module 122 also includes a low-temperature biological product detection unit 1222, including a thermal imager, which is used to perform thermal imaging of the inspected object. The low-temperature biological product may include a living cold-blooded animal, or an item made from a cold-blooded animal.

[0063] According to the embodiment of the utility model, terahertz imaging technology, thermal imaging technology and material composition analysis technology are integrated on the movable security inspection robot 120, so that people and objects can be detected at the same time, and the material composition analysis of suspicious objects can be performed in time, reducing the time and cost wasted in transfer analysis.

[0064] In some embodiments, reference Figure 2 and Figure 3 The security inspection module 122 also includes a visible light imaging unit 1223, including a robot camera, which is used to capture visible light images of the inspected target entering the inspection area.

[0065] In some embodiments, reference Figure 2 and Figure 4 A window 12211 is provided on one side of the housing 121, wherein the terahertz wave of the inspected object is emitted by the reflector assembly 12212 through the window 12211. The camera, the thermal imager and the window 12211 are located on the same side of the housing 121.

[0066] Reference Figure 2 The camera and thermal imager of the visible light imaging unit 1223 can be set under the window 12211, and the two can be close to each other, which is beneficial for the main control module to locate the position with the help of visible light images, and is also beneficial for matching thermal imaging and terahertz images with visible light images.

[0067] In detail, the main control module can use the visible light image to determine the position and distance of the inspected object from the security inspection robot 120 before starting the terahertz detection unit 1221 for terahertz scanning imaging and before starting the low-temperature biological product detection unit 1222 for thermal imaging. The visible light image generated by the visible light imaging unit 1223 matches the generated terahertz wave image within the depth of field of the terahertz detection unit 1221 after cropping, and the visible light image matches the depth of field of the thermal imaging after cropping.

[0068] The visible light imaging unit 1223 captures the inspected target (person) that enters the field of view (i.e., the inspection area). The main control module determines the distance between the inspected target and the inspected target based on the visible light image, and then sends a command to the robot chassis to move the chassis to the optimal distance range (depth of field range) from the inspected target to achieve a relatively ideal imaging effect, and align the inspected target at a suitable angle to perform terahertz imaging and detection of low-temperature biological products. During this detection process, if a suspect is found to be carried by the inspected target, the main control module records the visible light features (especially facial features) of the inspected target through a visible light image, binds it to the terahertz image and low-temperature detection image of the inspected target, and stores it together for filing as a basis for subsequent tracing. The inspected target can also be locked and tracked under human intervention for further confirmation.

[0069] For example, the main control module can receive visible light images, terahertz images, and thermal images, and can judge whether the inspected object includes suspicious items based on the terahertz images and visible light images, and can judge whether the inspected object includes cryogenic products based on the thermal images and visible light images.

[0070] According to the embodiment of the utility model, the visible light imaging unit 1223, the thermal imager and the terahertz detection unit 1221 cooperate with each other to achieve the acquisition of visible light images, thermal images and terahertz images, and the main control module comprehensively utilizes visible light images, thermal images and terahertz images to achieve simultaneous detection of people and objects.

[0071] In some embodiments, the safety inspection module 122 further includes a radioactive material detection unit 1224, including a detector for detecting radioactive materials in the inspection area. The radioactive material detection unit 1224 may be one or more of a thermoluminescence detector, a semiconductor detector, and a gas ionization detector.

[0072] In some embodiments, the security inspection module 122 further includes an electromagnetic pulse detection unit 1225, including a probe, which is used to detect electromagnetic pulses greater than or equal to a specific energy threshold in the inspection area.

[0073] Exemplarily, the electromagnetic pulse detection unit 1225 may include a high-energy transient electromagnetic pulse detector, including a probe, a receiving unit, and a connecting component connecting the probe and the receiving unit, the connecting component is an optical fiber, and the probe includes an antenna, a cylindrical sealed shielding shell, and a signal processing unit disposed in the shielding shell. The receiving unit includes a receiving unit power supply circuit and an optical fiber receiver, a receiving unit amplification circuit, and an output interface connected in sequence, the optical fiber receiver is connected to the optical fiber, and the output interface includes an oscilloscope interface. The electromagnetic pulse detection unit 1225 can detect high-energy, wide-spectrum, high-frequency, strong electromagnetic pulses with steep signal rising fronts, wide frequency ranges, and high peak field strengths.

[0074] In some embodiments, the material composition analysis module 123, the radioactive material detection unit 1224 and the electromagnetic pulse detection unit 1225 are located at the top of the housing 121. This facilitates material composition analysis and has a larger radioactive material detection range and electromagnetic pulse detection range due to the higher position.

[0075] According to the embodiment of the utility model, the terahertz detection unit 1221, the low-temperature biological product detection unit 1222, the radioactive material detection unit 1224, the electromagnetic pulse detection unit 1225 and the material composition analysis module 123 are integrated to synthesize a wide-spectrum electromagnetic wave comprehensive inspection device, and it is placed on a robot chassis with autonomous cruising capability to form a security inspection robot 120, which can realize patrol security scanning and detection of people in random walking or queues in some specific places (such as airport waiting halls, customs import and export port halls, embassy visa halls, etc.), and continuously monitor whether there are dangerous goods or dangerous radiation or emission in the environment where the robot is located. Therefore, "one-stop" security inspection can be achieved for people, objects and their environment, and people, objects and the environment can be detected at the same time, and centralized alarms can be issued, which greatly improves security inspection efficiency and enhances security inspection capabilities and flexibility.

[0076] In some embodiments, the main control module is in communication with the security inspection module 122 and the mobile module 124, and is used to issue at least one movement instruction to move the mobile module 124 to the instruction corresponding position near the inspected target according to the detection distance of at least one of the terahertz detection unit 1221, the low-temperature biological product detection unit 1222, the visible light imaging unit 1223, the radioactive material detection unit 1224, and the electromagnetic pulse detection unit 1225. The distance between the instruction corresponding position and the inspected target is adapted to the detection distance.

[0077] The above detection technologies are explained as follows. Visible light imaging is a technology that uses visible light bands for imaging, which is commonly used in conventional photography and video shooting. For example, the camera of the security robot 120 uses visible light imaging technology to capture images. Terahertz scanning imaging can use the terahertz waves of the human body to detect hidden objects. For example, in airport security checks, it is used to find dangerous goods hidden under clothing. Thermal imaging can detect infrared radiation emitted by objects, thereby generating a temperature distribution map of the object, which is used to detect low-temperature biological products. Radioactive material detection can use gamma ray or neutron detectors to locate and identify nuclear materials. For example, in port security checks, it is used to detect illegally transported radioactive materials. Electromagnetic pulse detection refers to the technology of detecting electromagnetic pulses, which can be used to detect certain types of electronic devices or attack devices. For example, it is used in security checks to detect hidden electronic detonators, high-energy electromagnetic pulse weapons that can cause permanent damage to human tissue, etc.

[0078] In some embodiments, the security inspection robot 120 may first perform object recognition on the inspected object, and then determine the detection technology to be activated according to the recognition result. For example, if the recognition result is that the inspected object is only a suitcase placed on an open space, then terahertz scanning imaging may not be performed in this case. If the recognition result is a passenger and the suitcase he is pulling, then visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection may be performed in this case.

[0079] It can be understood that the security inspection robot 120 integrates visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection and electromagnetic pulse detection to achieve all-round security inspection of people, objects and the environment. Different detection technologies may require different detection distances.

[0080] Therefore, the security inspection robot 120 first determines the optimal detection distance of each detection technology relative to the inspected object. Next, the robot moves and adapts to ensure that it is in a suitable position so that the detection technology can work at the ideal detection distance, thereby improving the accuracy and efficiency of the detection.

[0081] For example, in the security inspection site, the security inspection robot 120 locks on the first passenger 111, and the distance between the security inspection robot 120 itself and the first passenger 111 determines the effect of each detection technology. First, after using visible light imaging to confirm that there is no abnormality in the appearance of the passenger and his luggage, terahertz scanning imaging technology is then used to check whether the passenger is carrying any hidden suspicious items. In order to ensure the accuracy of terahertz scanning, the security inspection robot 120 will calculate and adapt the optimal detection distance. Thermal imaging may then be used to confirm whether low-temperature biological products are carried, and radioactive material detection and electromagnetic pulse detection may be used to check whether there are any dangerous goods. Throughout the process, the security inspection robot 120 determines the position of the first passenger 111 through visible light imaging, and moves according to the optimal detection distance requirements of different detection technologies and the real-time position of the passenger to obtain accurate detection results.

[0082] It should be noted that the above detection sequence is only an example, and the present disclosure is not limited thereto. For example, terahertz scanning, thermal imaging, radioactive material detection, and electromagnetic pulse detection may be performed simultaneously. In addition, the above detection is not necessarily targeted at people, but may also be directly targeted at the environment, such as radioactive material detection and electromagnetic pulse detection.

[0083] For example, when the detection distance corresponding to terahertz scanning imaging is 0.5 meters, that is, when the distance between the security inspection robot 120 and the first passenger 111 is 0.5 meters, the range requirement of terahertz scanning of the whole body can be met, and a good terahertz imaging effect can be obtained. The detection distances of thermal imaging, visible light imaging, radioactive material detection, and electromagnetic pulse detection are 0.6 meters, 2 meters, 1 meter, and 1.5 meters, respectively, so the distance between the security inspection robot 120 and the first passenger 111 can be adjusted by dynamic movement. Further, in order to avoid interference with the first passenger 111, during the detection process of the security inspection robot 120, the first passenger 111 may be moving all the time, so the security inspection robot 120 can obtain the position of the first passenger 111 in real time through the visible light image, and at the same time dynamically move to adjust the distance between the security inspection robot 120 and the first passenger 111. In this process, the position of the security inspection robot 120 relative to the first passenger 111 may also change dynamically. For example, it has different positions when inspecting the human body and when inspecting the luggage.

[0084] It should be noted that the above-mentioned 0.5 meters, 0.6 meters, 2 meters, 1 meter and 1.5 meters are only examples for the purpose of facilitating understanding of the scheme, and the present invention is not limited thereto.

[0085] According to the embodiment of the utility model, after determining the detection distance, the security inspection robot 120 moves at least once to adapt to the optimal detection distance of at least one detection technology, so as to ensure the best imaging effect and improve the detection accuracy.

[0086] In some embodiments, when the security inspection robot 120 determines that the inspected target is suspicious based on the detection data, the security inspection robot 120 continuously captures visible light images of the inspected target and tracks the inspected target based on the visible light images. The target tracking includes detecting at least one of the motion, real-time position and movement speed of the inspected target.

[0087] For example, when the inspected object is a person and the suspicious item is an item carried by the person, the security inspection robot 120 continuously captures images of the inspected object or records videos through the robot camera. The target tracking algorithm is used to analyze the movements of the person in the captured image in real time, and the person's real-time position and moving speed in the security inspection area are recorded to ensure continuous monitoring even if the person moves.

[0088] To elaborate, during the security inspection process, the security inspection robot 120 determines whether the current distance between the inspected target and the security inspection robot 120 exceeds the preset security inspection distance or monitoring range. If it has exceeded, the security inspection robot 120 moves to track the person until it reaches a suitable distance. It can be understood that the inspection target can be tracked when it moves normally. However, if the movements of the inspected target include running, damaging movements to the security inspection robot 120, or blocking movements to the camera, the security inspection robot 120 may be difficult to detect and track normally. Therefore, through motion detection, real-time position and movement speed analysis, any abnormal behavior or danger signal can be discovered in time, thereby notifying the security inspector.

[0089] It should be noted that during the non-contact detection process, the security inspection robot 120 can only detect passengers or luggage within the detection range without tracking, that is, the detection is abandoned when the passenger leaves its detection range. Alternatively, the security inspection robot 120 can always track the target in the detection process, but before determining that it is suspicious, it can not perform motion detection and movement speed detection to reduce the consumption of computing resources.

[0090] In some embodiments, the security inspection robot 120 moves to a specific position near the inspected object including:

[0091] The security inspection robot 120 moves along a pre-planned path or a random path, and the specific position is located on the path. And / or,

[0092] The security inspection robot 120 moves to a specific location in response to a remote movement instruction from the server 140, where the remote movement instruction includes coordinate information of the specific location. And / or,

[0093] The security inspection robot 120 moves to a specific location in response to a remote target designation instruction from the server 140 , where the remote target designation instruction includes information of the inspected target.

[0094] Exemplarily, the pre-planned path includes the moving route that the security robot 120 has set before performing patrol or inspection tasks. Near the route, people or objects within the detection range of the security robot 120 can be used as targets to be inspected. The random path includes the trajectory of the security robot 120's random movement path, which can avoid the situation where the pre-planned path is exposed and security inspection is evaded. Remote movement instructions refer to instructions issued from the server 140 to move the security robot 120 to a specific location, such as coordinates in a public place. Remote designated target instructions also refer to instructions issued from the server 140, including specifying a specific target for the security robot 120 to inspect. The specific target can be a category, such as only detecting passengers. The specific target can also be a specific object, such as specifying the physical characteristics of a certain passenger, which is captured and determined by the security robot 120 itself.

[0095] For example, when the security inspection robot 120 moves along a pre-planned path or a random path, it receives at least one of a remote movement instruction and a remote target designation instruction sent by the server 140, and can re-plan the route and continue to move to a specific location. The remote movement instruction and remote target designation instruction sent by the server 140 can be generated in response to manual operation or by self-recognition of images taken by a camera.

[0096] According to the embodiments of the utility model, the coverage and timeliness of security inspections can be improved. By pre-planning the path, key areas can be inspected in a timely manner. In combination with remote movement instructions and / or remote target designation instructions, the security inspection robot 120 has high flexibility and the ability to respond to emergencies, for example, it can quickly locate and detect potential security threats.

[0097] In some embodiments, when the security inspection robot 120 determines that the inspected object is suspicious based on the detection data, the security inspection robot 120 sends a second warning to the server 140, and the second warning includes a warning mark and the detection data. And / or, the security inspection robot 120 communicates with the human agent so that the human agent can communicate with the inspected object remotely.

[0098] The second warning is a notification signal sent to the server 140 when the security robot 120 detects a suspicious object. For example, when the security robot 120 at the airport detects that a piece of luggage may contain suspicious items, it will send a second warning to the server 140 at the workstation, which contains detection data such as warning signs and images. Its function is to prevent the security robot 120 from losing track of the suspicious object. If the loss occurs after the second warning is sent, it will be handled by the server 140. The server 140 can simultaneously notify the security personnel.

[0099] Through the video call between the security inspection robot 120 and the human seat, the remote security inspector is allowed to guide the inspected person to cooperate in the inspection, such as how to use the material composition analysis module 123. In addition, the security inspector can communicate with the inspected person through remote video to further verify the situation, such as asking the inspected person to show suspicious items, which can be manually inspected through video, and the reliability can be improved by cooperating with the results of the material composition analysis module 123.

[0100] According to the embodiment of the utility model, the method of sending the second warning to the server 140 can reduce security loopholes such as lost tracking, and provide a method for the robot to work with the remote human agent, increase the interactivity of the communication during the interactive security inspection process, and thus improve the accuracy of the security inspection.

[0101] In some embodiments, when the component analysis result indicates the presence of prohibited components, the security inspection robot 120 issues a third warning, which is used to indicate the component analysis result. When the component analysis result indicates the absence of prohibited components, the security inspection robot 120 issues an end signal, which is used to indicate the end of the inspection of suspicious items.

[0102] For example, a large number of passengers enter and exit an airport hall. The security robot 120 can move autonomously in the airport hall, such as autonomously navigating to an appropriate location near the passenger to perform non-contact detection. The security robot 120 activates a variety of built-in detection instruments to perform multi-directional non-contact detection to determine whether there are prohibited items in the airport hall and whether the passenger's luggage or clothing contains prohibited items. When a suspicious item is found, the screen display and audio playback are immediately used to prompt the inspected person or security inspector. For example, the location and type of the suspicious item are indicated by text, and a voice alarm is issued through a loudspeaker at the same time: "A suspicious item is detected in the jacket pocket, which may be a prohibited item. Please perform a component analysis." The inspected person or security inspector places the suspicious item in the analysis area of ​​the material composition analysis module 123 to obtain the component analysis result. When the component analysis result shows that there are prohibited components, an alarm is issued and further processed by the security inspector. If the component analysis result shows that there are no prohibited components, the detection of the suspicious item is terminated and a prompt is given to retrieve it. The detection of the inspected person can be terminated later, or other items on the person can be continued to be detected.

[0103] Figure 5 The schematic diagram shows the interaction between the security inspection robot, the server, the camera and the terminal device in the security inspection system according to the embodiment of the utility model.

[0104] Among the related technologies, the single terahertz technology alone cannot effectively detect more dangerous and suspicious items, such as low-temperature biological products, radioactive substances, etc. Even if they can be detected, for some suspicious items (such as drugs, dangerous chemicals, etc.), sometimes it is impossible to quickly and accurately identify them. If identification is required, they need to be sent to relevant institutions for further material composition analysis, which is time-consuming and labor-intensive, greatly increases costs, and is extremely inefficient.

[0105] For the above defects, refer to Figure 1~Figure 4 The upper part of the security inspection robot 120 is a fused wide-spectrum electromagnetic wave detection device, and the lower part is the robot chassis. The main body of the wide-spectrum electromagnetic wave detection device is a passive terahertz detection unit 1221, which also integrates a radioactive material detection unit 1224, a visible light imaging unit 1223, a low-temperature biological product detection unit 1222, an electromagnetic pulse detection unit 1225 and a material composition analysis module 123.

[0106] To expand, the main control module includes a processor, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM). The main control module is responsible for the walking control, command transmission, data acquisition and processing, image processing, storage and communication of the entire robot. It is mainly composed of a low-power industrial control computer and related peripheral circuits. The power supply module takes power from the robot chassis and supplies it to each module on the device body after level conversion. The terahertz detection unit 1221 is used to perform passive terahertz imaging of the human body and detect prohibited items carried in human clothing. The visible light imaging unit 1223 uses the visible light image captured by the robot camera to track and identify the object being tested. The material composition analysis module 123 is used to further identify the material composition of the prohibited items carried by the detected person. The low-temperature biological product detection unit 1222 is used to detect low-temperature biological products carried by passengers or in the environment. The electromagnetic pulse detection unit 1225 is used to detect high-energy transient electromagnetic pulses in the environment. The radioactive material detection unit 1224 is used to detect radioactive materials in the environment. The communication module is used to wirelessly communicate with the terminal device and / or the server 140 to transmit data, commands and images.

[0107] Among them, refer to Figure 2 , the terahertz detection part is located in the middle and lower part of the robot body, the visible light imaging unit 1223 and the low-temperature biological product detection unit 1222 are located in the lower part of the terahertz window 12211, and the other units are located on the top of the security inspection robot 120 and covered with a cover. Except for the material composition analysis module 123 that can be taken out and used independently (only for example), other functional modules are integrated with the terahertz detection unit 1221, and are centrally powered by the power supply module. The signals are interconnected, and each can be detected independently, but the detection results are integrated and displayed in the software interface. The main control module can interact with external devices through the network interface and the communication module, such as exchanging data with the server 140.

[0108] The detection unit or detection module on the upper part of the security inspection robot 120 is responsible for the realization of the detection function, and the robot chassis on the lower part is responsible for the cruising and target tracking of the equipment. All functions of the security inspection robot 120, including the detection alarm of the aforementioned functional modules and the control of the robot chassis, can be integrated and unified in the main control module through the upper computer software.

[0109] For example, the security inspection robot 120 communicates with the server 140 and the terminal device through wireless signals. The server 140 processes and judges the received information and gives necessary warning signs and reminders. The security inspector can see the detection results and alarm information of the inspected object by the security inspection robot 120 by holding the terminal device. The security inspector can make further decisions after receiving the alarm information.

[0110] For example, the server 140 can be used to receive images of a larger range captured by cameras in public places, and coordinate with the images captured by the security inspection robot 120 itself. The server 140 can perform image recognition at angles beyond the detection range of the security inspection robot 120, and promptly feedback the results or issue security inspection instructions to the security inspection robot 120. For example, when the security inspection robot 120 loses the target, it can interact with the server 140, use the server 140 to call the camera in the public place to track the target, and issue security inspection instructions to the security inspection robot 120 and security inspection personnel.

[0111] According to the embodiments of the utility model, terahertz human body security inspection is integrated with radioactive material detection, low-temperature biological product detection, high-energy electromagnetic pulse detection, and material composition analysis to achieve comprehensive inspection under wide-spectrum electromagnetic wave technology. Multiple dangerous goods and suspicious items can be detected in the same place, avoiding the need to transfer them for inspection and avoid the need to inspect multiple dangerous goods one by one in sequence, thereby improving the efficiency of security inspection and enhancing the security inspection capability.

[0112] Furthermore, the above detection technology is integrated with robot patrol technology to realize autonomous patrol detection in the security inspection site (it can move along a specified path or walk randomly), detect people in the security inspection site, track and confirm key suspects, and allow security personnel to intervene remotely. Therefore, it is possible to realize comprehensive inspection of on-site personnel, objects and their environment, "one-stop" inspection, centralized alarm, and greatly improve security inspection efficiency.

[0113] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All of these combinations and / or combinations fall within the scope of the present invention.

[0114] The embodiments of the present invention are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, a person skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A security inspection robot, characterized in that: include: case; A safety inspection module, installed in the housing, for performing non-contact detection of an inspected object in an inspection area; A material composition analysis module, installed in the housing, for performing material composition analysis on suspicious items detected by the security inspection module; The moving module is connected to the shell and is used to drive the shell to move.

2. The robot according to claim 1, characterized in that: The housing defines an opening, and the opening provides a path for taking the material composition analysis module out of the housing, and the material composition analysis module is configured as: The suspicious object is analyzed for its material composition after being taken out from the housing.

3. The robot according to claim 1, characterized in that: The security verification module includes: A terahertz detection unit, including a reflector assembly and a detector array; The reflector assembly is used to reflect the terahertz wave from the inspected object; The detector array is used to receive the terahertz wave and convert it into an electrical signal to obtain a terahertz wave image.

4. The robot according to claim 3, characterized in that: The security verification module also includes: The low-temperature biological product detection unit comprises a thermal imager, and the thermal imager is used for performing thermal imaging on the inspected object.

5. The robot according to claim 4, characterized in that: The security verification module also includes: The visible light imaging unit comprises a camera, wherein the camera is used to capture a visible light image of an inspected object entering the inspection area.

6. The robot according to claim 5, characterized in that: A window is provided on one side of the housing. Wherein, the terahertz wave of the inspected object is reflected by the reflector assembly through the window; Wherein, the camera, the thermal imager and the window are located on the same side of the shell.

7. The robot according to claim 6, characterized in that: The security verification module also includes: The radioactive material detection unit comprises a detector, and the detector is used to detect the radioactive material in the inspection area.

8. The robot according to claim 7, characterized in that: The security verification module also includes: An electromagnetic pulse detection unit, including a probe; The probe is used to detect electromagnetic pulses greater than or equal to a specific energy threshold in the inspection area.

9. The robot according to claim 8, characterized in that: The material composition analysis module, the radioactive material detection unit and the electromagnetic pulse detection unit are located on the top of the shell.

10. The robot according to claim 8, characterized in that: The robot also includes: A main control module, which is in communication with the security inspection module and the mobile module, and is used to issue at least one movement instruction to move the mobile module to a position corresponding to the instruction near the inspected object according to the detection distance of at least one of the terahertz detection unit, the low-temperature biological product detection unit, the visible light imaging unit, the radioactive material detection unit, and the electromagnetic pulse detection unit; Wherein, the distance between the position corresponding to the instruction and the inspected object is adapted to the detection distance.

11. A security inspection system, characterized in that: include: N cameras are installed at N locations in the security inspection area, where N is an integer greater than or equal to 1; A server is connected to the N cameras for communication, and the server is used to receive images of the security inspection site taken by the N cameras and send security inspection instructions based on the images; The security inspection robot according to any one of claims 1 to 10 is communicatively connected to the server, and the security inspection robot is used to perform security inspection in response to the received security inspection instruction.

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