Security inspection method, security inspection robot and security inspection system

Abstract

A security inspection method for a security inspection robot (120). The method comprises: a security inspection robot (120) moving to a specific position near an inspected target (S210); the security inspection robot (120) detecting the inspected target by means of non-contact detection, so as to obtain detection data (S220); on the basis of the detection data, determining whether the inspected target is suspicious or whether the inspected target carries a suspicious article (S230); when it is determined, on the basis of the detection data, that the inspected target is suspicious, the security inspection robot (120) sending a first early warning, wherein the first early warning is used for prompting the use of a substance composition analysis module (123) of the security inspection robot (120) to inspect the suspicious article (S240); and in response to the suspicious article being placed in an analysis area, the security inspection robot (120) obtaining a composition analysis result of the suspicious article by means of the substance composition analysis module (123) (S250). Further provided are a security inspection robot (120) and a security inspection system (100). The present application can enhance the scope and flexibility of security inspection, effectively eliminate the dependence on security inspection staff to reduce the labor cost, and improve the efficiency of security inspection.

Description

Security inspection method, security inspection robot and security inspection system

[0001] The present application claims priority from Chinese Patent Application No. 202410813514.2 filed on June 21, 2024, the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the field of security inspection, and more particularly, to a security inspection method, a security inspection robot and a security inspection system. BACKGROUND

[0003] In places with security inspection needs, fixed security inspection equipment is generally set up at the entrance, and security inspection personnel cooperate with the security inspection equipment to complete the inspection of the inspected target. For example, in places such as airports, stations or squares, passengers or pedestrians often have to be passively waited to enter the security inspection channel of the security inspection equipment. Outside the security inspection channel, some patrol personnel may be arranged to conduct security patrol based on experience. After the security inspection equipment or the patrol personnel check out suspicious items, the items are taken to another material composition analysis mechanism for composition analysis.

[0004] In the process of implementing the present disclosure, the inventors have found that at least the following problems exist in related security inspection solutions:

[0005] The fixed security inspection equipment has limited inspection range and insufficient flexibility. The number and professional level of security inspection personnel and patrol personnel are required to a certain extent. In addition, the way of material composition analysis leads to a relatively cumbersome process and a long time consumption. SUMMARY

[0006] The present disclosure provides a security inspection method, a security inspection robot and a security inspection system.

[0007] According to a first aspect of the present disclosure, a security inspection method for a security inspection robot is provided, comprising: moving the security inspection robot to a specific position near an inspected target; detecting the inspected target by a non-contact detection method to obtain detection data; when it is determined that the inspected target is suspicious based on the detection data, issuing a first warning by the security inspection robot, the first warning being used to prompt a material composition analysis module of the security inspection robot to inspect a suspicious item; and obtaining a composition analysis result of the suspicious item by the material composition analysis module of the security inspection robot in response to the suspicious item being placed in an analysis area.

[0008] According to an embodiment of the present disclosure, the non-contact detection comprises at least one of the following: visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection and electromagnetic pulse detection.

[0009] According to an embodiment of the present disclosure, the security inspection robot detects the inspected target by non-contact detection, and the obtaining of the detection data further comprises: determining, by the security inspection robot, a detection distance of at least one of the visible light imaging, the terahertz scanning imaging, the thermal imaging, the radioactive material detection, and the electromagnetic pulse detection; and moving, by the security inspection robot, relative to the inspected target at least once to adapt to the detection distance of at least one of the visible light imaging, the terahertz scanning imaging, the thermal imaging, the radioactive material detection, and the electromagnetic pulse detection.

[0010] According to an embodiment of the present disclosure, when the security inspection robot determines that the inspected target is suspicious based on the detection data, the method further comprises: continuously capturing, by the security inspection robot, a visible light image of the inspected target; and performing, by the security inspection robot, target tracking on the inspected target based on the visible light image, the target tracking comprising detecting at least one of an action, a real-time position, and a moving speed of the inspected target.

[0011] According to an embodiment of the present disclosure, the issuing of the first early warning comprises: displaying, by the security inspection robot, the first early warning on a screen thereof; and / or playing, by the security inspection robot, the first early warning through audio.

[0012] According to an embodiment of the present disclosure, when the security inspection robot determines that the inspected target is suspicious based on the detection data, the method further comprises: determining a position of the suspicious item, and / or identifying a category of the suspicious item; and wherein the first early warning comprises the position and / or the category of the suspicious item.

[0013] According to an embodiment of the present disclosure, the moving of the security inspection robot to the specific position near the inspected target comprises: moving, by the security inspection robot, according to a pre-planned path or a random path, the specific position being located on the pre-planned path or the random path; and / or moving, by the security inspection robot, to the specific position in response to a remote moving instruction of a server, the remote moving instruction comprising coordinate information of the specific position; and / or moving, by the security inspection robot, to the specific position in response to a remote designated target instruction of a server, the remote designated target instruction comprising information of the inspected target.

[0014] According to an embodiment of the present disclosure, when the security inspection robot determines that the inspected target is suspicious based on the detection data, the method further comprises: sending, by the security inspection robot, a second early warning to the server, the second early warning comprising a warning identifier and the detection data; and / or calling, by the security inspection robot, an artificial agent to remotely communicate with the inspected target by the artificial agent.

[0015] According to an embodiment of the present disclosure, the method further comprises: when the component analysis result indicates that there is a prohibited component, the security robot sends a third warning, the third warning being used to prompt the component analysis result; when the component analysis result indicates that there is no prohibited component, the security robot sends an end signal, the end signal being used to prompt the end of the inspection of the suspicious article.

[0016] Another aspect of the embodiments of the present disclosure provides a security robot for performing the security method according to any one of the above, comprising: a moving module for moving to a specific position near a target to be inspected; a security inspection module for detecting the target to be inspected by a non-contact detection method to obtain detection data; a prompt module for sending a first warning when the security robot determines that the target to be inspected is suspicious based on the detection data, the first warning being used to prompt the inspection of a suspicious article by a substance component analysis module of the security robot; and a substance component analysis module for obtaining a component analysis result of the suspicious article in response to the suspicious article being placed in an analysis area.

[0017] Another aspect of the embodiments of the present disclosure provides a security system, comprising: N cameras installed at N positions in a security site, N being an integer greater than or equal to 1; a server in communication connection with the N cameras, the server being used to receive images of the security site taken by the N cameras and send a security instruction based on the images; and a security robot as described above in communication connection with the server, the security robot being used to perform the security method according to any one of the above in response to the received security instruction. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other objects, features and advantages of the present disclosure will become more apparent from the following description when taken in conjunction with the accompanying drawings, in which:

[0019] FIG. 1 schematically shows an application scenario diagram of a security system according to an embodiment of the present disclosure;

[0020] FIG. 2 schematically shows a flowchart of a security method according to an embodiment of the present disclosure;

[0021] FIG. 3 schematically shows a flowchart of target tracking according to an embodiment of the present disclosure;

[0022] FIG. 4 schematically shows an interaction diagram of a security robot and a server according to an embodiment of the present disclosure;

[0023] FIG. 5 schematically shows an interaction diagram of a security robot and a server according to another embodiment of the present disclosure;

[0024] Fig. 6 schematically shows a flow chart of dynamic movement of the security inspection robot according to an embodiment of the present disclosure;

[0025] Fig. 7 schematically shows a perspective view of the security inspection robot according to an embodiment of the present disclosure;

[0026] Fig. 8 schematically shows a structural block diagram of the security inspection robot according to an embodiment of the present disclosure;

[0027] Fig. 9 schematically shows a schematic diagram of terahertz wave imaging according to an embodiment of the present disclosure;

[0028] Fig. 10 schematically shows an interaction diagram of the security inspection robot, the server, the camera and the tablet in the security inspection system according to an embodiment of the present disclosure; and

[0029] Fig. 11 schematically shows a block diagram of a master control module suitable for implementing data processing in the security inspection method according to an embodiment of the present disclosure.

[0030] It should be noted that, for the sake of clarity, the size of the whole / partial structure or the whole / partial region may be enlarged or reduced in the drawings used for describing the embodiments of the present disclosure, i.e. these drawings are not drawn according to the actual scale. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. However, it will be apparent that one or more embodiments can be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present disclosure.

[0032] In the technical solutions of the present disclosure, the information (including but not limited to personal information, image information, device information, such as location information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) of the person being inspected are all information and data authorized by the person being inspected or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision and application of related data comply with relevant laws, regulations and standards, necessary security measures are taken, do not violate public order and good customs, and appropriate prompts or operation portals are provided for the person being inspected to choose authorization to decide to accept security inspection or refuse security inspection.

[0033] In the related technical solutions, the fixed security inspection equipment has limited inspection range and insufficient flexibility. There are certain requirements for the number and professional level of security inspection personnel and patrol personnel. In addition, the way of material composition analysis leads to a relatively cumbersome process and a long time-consuming.

[0034] Specifically, in the security check process, the roles of the security check personnel and the patrol personnel include guiding and supervising the examinee to cooperate with the relevant security check requirements, such as guiding the examinee to make a turning action, to take out the articles carried by the examinee or the articles stored in the luggage, and the like. Purely providing a mobile security check device to check in the original way of ray scanning still cannot achieve a better security check effect. Because even if the security check device can be moved, the original way requires the cooperation of the examinee in the security check process, the number and professional level of the security check personnel such as the security check personnel and the patrol personnel are not reduced, and material composition analysis needs to be additionally performed.

[0035] Some embodiments of the present disclosure provide an interactive security check scheme based on a security check robot, which enables the security check robot to autonomously complete the functions of moving, detecting, and early warning. After the first early warning is issued, the relevant personnel can be prompted to take out the suspicious articles and place them in an analysis area, so that through the interactive way, the security check robot directly performs material composition analysis by using the material composition analysis module possessed by the security check robot. Therefore, the interference on the examinee target can be reduced through non-contact detection, and composition analysis does not need to be performed in a turnaround, the interactive security check scheme can improve the security check range and flexibility, effectively get rid of the dependence on the security check personnel to reduce the labor cost, and increase the security check efficiency.

[0036] FIG. 1 schematically shows an application scenario diagram of a security check system according to an embodiment of the present disclosure. It should be noted that FIG. 1 only shows an example to which the embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure cannot be applied to other devices, systems, environments, or scenarios.

[0037] As shown in FIG. 1, the security check system 100 includes a security check 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 personnel who freely walk 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 check robot 120, and the server 140. The network 130 can include various connection types, such as wired, wireless communication links, or optical fiber cables, and the like. Among them, the N cameras are installed at N positions in the security check place, for example, the first camera 151 and the second camera 152 can be respectively arranged at different positions in the public place.

[0038] The server 140 is in communication connection with the N cameras. The server is configured to receive images 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 capture videos in the respective areas, for example, when the passengers 111-112 pass through the areas captured by the cameras, the images of the passengers 111-112 can be captured. Then, the first camera 151 and the second camera 152 can interact with the server 140 through the network 130 to send the videos. The first camera 151 and the second camera 152 can be surveillance cameras or various electronic devices with camera functions.

[0039] The server 140 can be a server that provides various services, such as processing videos or images, and performing target tracking, motion state detection, and matching degree acquisition. In some embodiments, a terminal device can be used to interact with the server 140 to send a user request, which can be an instruction issued by the security inspection robot 120. The background management server can analyze the received user request and other data, and feed back the processing result 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 smartphone, a tablet computer, a laptop computer, a desktop computer, and the like.

[0040] The security inspection robot 120 is in communication connection with the server 140 through the network 130. The security inspection robot 120 is configured to perform a security inspection operation in response to the received security inspection instruction. 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 according to a pre-planned path, move to the vicinity of a detected target, and the like. When the security inspection robot 120 moves to the vicinity of the target to be inspected, at least one of the functions of personnel inspection, article detection, and environment detection can be started to realize non-contact detection.

[0041] The security inspection robot 120 can send the detected data or results to the server 140. The security inspection robot 120 can also receive remote control instructions from the server 140 or detection results obtained by the server 140 based on the detection data sent by the security inspection robot 120 through the network 130.

[0042] It should be understood that the number of security inspection robots, personnel, and servers in FIG. 1 is only illustrative.

[0043] The security inspection method and the security inspection robot according to the embodiments of the present disclosure will be described in detail based on the scenario described in FIG. 1 through FIG. 10.

[0044] FIG. 2 schematically shows a flowchart of a security inspection method according to an embodiment of the present disclosure.

[0045] As shown in FIG. 2, the embodiment includes:

[0046] In operation S210, the security robot 120 moves to a specific position near the target to be inspected.

[0047] For example, the target to be inspected can be located in a security place, which can be captured by the robot camera, such as a pedestrian or a luggage, or can not be captured by the robot camera, such as an article hidden in the clothes of a pedestrian or an article contained in a luggage. The target to be inspected can be a pedestrian, an animal or an article, which can be determined by the security robot 120 in advance, can be scanned by the security robot 120 during automatic cruising, or can be issued by the server 140 to the security robot 120. The specific position is a position within a certain range of the target to be inspected. The specific position can be determined according to the range that can be detected by the security robot 120, that is, the security robot 120 autonomously moves to a suitable position for inspection and adjusts the specific position in real time according to the current position of the target to be inspected.

[0048] In operation S220, the security robot 120 detects the target to be inspected by a non-contact detection method to obtain detection data.

[0049] In operation S230, it is determined whether the target to be inspected itself is suspicious or whether the target to be inspected carries suspicious articles according to the detection data.

[0050] The security robot 120 can process the detection data locally to obtain a detection result. The detection result can include a suspicious result or a non-suspicious result. When the result is suspicious, it is determined that the target to be inspected itself or the articles carried by the target to be inspected are suspicious articles. Alternatively, the security robot 120 can send the detection data to the server 140 to process the detection data to obtain a detection result, and receive the detection result, and then can take corresponding actions. For example, when the result is suspicious, the action can be to issue an alarm information or to track the target to be inspected.

[0051] In operation S240, when it is determined that the target to be inspected is suspicious based on the detection data, the security robot 120 issues a first warning, and the first warning is used to prompt the use of the material composition analysis module 123 of the security robot 120 to inspect the suspicious articles.

[0052] The person to be inspected or the security personnel places the suspicious articles in the analysis area according to the prompt of the first warning. The analysis area includes an area in which the material composition analysis module 123 can normally process the suspicious articles. It can be understood that when the person to be inspected can understand the first warning and follow the execution to realize interactive security, the participation of the security personnel is not necessary. When the person to be inspected needs help, the security personnel can complete the interactive security.

[0053] In some embodiments, issuing the first warning includes displaying the first warning on a screen of the security robot 120. And / or, playing the first warning through audio of the security robot 120.

[0054] Through the text or audio, the examinee or the security personnel can be reminded to cooperate with the subsequent inspection, for example, the screen displays or the audio plays “suspicious item detected: liquid bottle, please place it in the analysis area for detection”.

[0055] In some embodiments, when the security robot 120 determines that the inspected target is suspicious based on the detection data, the position of the suspicious item is determined, and / or the type of the suspicious item is identified. The first warning includes the position and / or the type of the suspicious item. The captured image (such as a visible light image or a radiation scan image) can also be displayed on the screen and the position of the suspicious item is marked.

[0056] Exemplarily, after the security robot 120 obtains the detection data of the inspected target, the security robot 120 can locally run an object detection algorithm to process the visible light image in the detection data to achieve target detection, such as one or more of Faster R-CNN, SSD (Single Shot Multibox Detector), and YOLO (You Only Look Once). An image segmentation algorithm such as MaskR-CNN can be further run to perform pixel-level segmentation on the image based on the object detection to determine the position of the suspicious item. One or more algorithms such as SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features) can be used to extract features to identify the type (such as liquid, knife, etc.) of the suspicious item according to the extracted features.

[0057] It can be understood that the security robot 120 performs detection under the premise of ensuring the safety of the examinee. For example, only the luggage is scanned by rays, and the dose of the rays is lower than the dose threshold that causes damage to the human body. The human body can be scanned by terahertz imaging technology.

[0058] According to embodiments of the present disclosure, determining the specific position and type of the suspicious item can help the examinee or the security personnel to quickly locate the suspicious item, reduce unnecessary actions, and improve the overall security efficiency.

[0059] In operation S250, in response to the suspicious item being placed in the analysis area, the security robot 120 obtains the component analysis result of the suspicious item through the material component analysis module 123.

[0060] The security robot 120 can determine whether the suspicious item is placed in the analysis area through image recognition, weight sensing, or monitoring whether a specific button is pressed. The specific button can be a start button of the substance composition analysis module 123 or other buttons of the security robot 120.

[0061] For example, the substance composition analysis module 123 can 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 a substance to produce scattering, and in addition to Rayleigh scattering light of the same frequency as the incident light, there is also Raman scattering light of a different frequency. The difference between the Raman scattering light frequency and the incident light frequency reflects the molecular vibration and rotation energy level, and is independent of the excitation light frequency. Different substances have unique molecular structures under certain conditions or states, and therefore, the Raman spectrum becomes a "fingerprint" spectrum for substance identification and can be used for substance identification and identification. The Raman spectrum technology obtains a characteristic spectrum of a substance molecule by scanning a suspicious item, compares it with a standard substance spectrum in a spectrum library, and obtains a substance identification and identification result. Specifically, the spectrum library stores information such as the name, source, size, and picture of the standard substance.

[0062] In some embodiments, after detecting the suspicious item, the examinee or the security personnel can take out the substance composition analysis module 123 (such as a handheld Raman spectrometer) to perform Raman spectrum scanning. The substance composition analysis module 123 compares the Raman characteristic spectrum of the suspicious item with the information in the spectrum library to obtain a composition analysis result. The substance composition analysis module 123 can also be connected to the main control module of the security robot 120 in a wired or wireless manner to transmit the substance composition analysis result, so as to facilitate the security robot 120 to take corresponding actions, such as issuing a first warning. The substance composition analysis module 123 can be taken out and used, which has greater flexibility. The substance composition analysis module 123 can also be conveniently replaced to improve security efficiency.

[0063] In other embodiments, the substance composition analysis module 123 can be fixedly or detachably installed in the shell 121 of the security robot 120 and connected to other structures or circuits in the shell 121. That is, the substance composition analysis module 123 is fixed and the examinee or the security personnel places the suspicious item in the analysis area of the module.

[0064] In some embodiments, when the composition analysis result indicates the presence of prohibited components, the security robot 120 issues a third warning, and the third warning is used to prompt the composition analysis result. When the composition analysis result indicates the absence of prohibited components, the security robot 120 issues an end signal, and the end signal is used to prompt the end of the examination of the suspicious item.

[0065] For example, there are a large number of passengers in and out of an airport hall. The security robot 120 can move in the airport hall by itself, such as autonomously navigating to an appropriate position near the passenger to perform non-contact detection. The security robot 120 starts the built-in multiple detection instruments to perform multi-directional non-contact detection to determine whether there are prohibited items in the site of the airport hall, and whether the passenger's luggage or clothes contain prohibited items. When suspicious items are found, the examinee or security personnel is prompted through screen display and audio playback. For example, the location and type of suspicious items are indicated by text, and at the same time a voice alarm is issued through the loudspeaker: "Suspicious items detected in the pocket of the upper garment, which may be prohibited items, please perform component analysis." The examinee or security personnel places the suspicious items in the analysis area of the substance component analysis module 123 to obtain the component analysis result. When the component analysis result is that there are prohibited components, an alarm is issued for further processing by the security personnel. If the component analysis result is that there are no prohibited components, the detection of the suspicious items is ended and retrieval is prompted. Subsequently, the detection of the examinee can be ended, or the detection of other items on the examinee can continue.

[0066] FIG. 3 schematically shows a flowchart of target tracking according to an embodiment of the present disclosure.

[0067] When the security robot 120 determines that the inspected target is suspicious based on the detection data, as shown in FIG. 3, the embodiment includes:

[0068] At operation S310, the security robot 120 continuously captures a visible light image of the inspected target.

[0069] At operation S320, the security robot 120 performs target tracking on the inspected target based on the visible light image, and the target tracking includes detecting at least one of the action, real-time position, and moving speed of the inspected target.

[0070] For example, when the inspected target is a person and the suspicious item is an item carried by the person, the security robot 120 continuously captures images or records videos of the inspected target through the robot camera. And uses a target tracking algorithm to analyze the action of the person in the captured image in real time, records the real-time position and moving speed of the person in the security area, and ensures that the person can be continuously monitored even if the person moves.

[0071] In detail, the security robot 120 determines whether the current distance between the target and the security robot 120 exceeds the preset security distance or monitoring range during the security process. If the distance exceeds the preset security distance or monitoring range, the security robot 120 moves to track the target until the distance is appropriate. It can be understood that the target can be tracked in a normal moving state. However, if the target performs a running action, a damage action on the security robot 120, or a shielding action on the camera, and the like, the security robot 120 can not be able to normally detect and track the target. Therefore, through action detection and analysis of real-time position and moving speed, any abnormal behavior or dangerous signal can be found in time, so as to inform the security personnel.

[0072] It should be noted that, in the non-contact detection process, the security robot 120 can detect only the passenger or luggage within the detection range, without tracking, that is, the passenger leaves the detection range and the detection is abandoned. Alternatively, the security robot 120 can always track the target in the detection process, but before determining the suspiciousness, the action detection and moving speed detection can not be performed, so as to reduce the consumption of computing resources.

[0073] FIG. 4 schematically shows an interaction diagram of the security robot 120 and the server 140 according to an embodiment of the present disclosure.

[0074] In some embodiments, referring to FIG. 4, the security robot 120 moves to the specific position near the target includes:

[0075] The security robot 120 moves according to the pre-planned path or the random path, and the specific position is located on the pre-planned path or the random path. And / or,

[0076] The security robot 120 moves to the specific position in response to the remote moving instruction of the server 140, and the remote moving instruction includes coordinate information of the specific position. And / or,

[0077] The security robot 120 moves to the specific position in response to the remote target designation instruction of the server 140, and the remote target designation instruction includes information of the target.

[0078] Exemplarily, the pre-planned path includes a moving route set by the security robot 120 before performing a patrol or inspection task. In the vicinity of the route, people or objects within the detection range of the security robot 120 can be regarded as inspection targets. The random path includes a trajectory of the security robot 120 moving randomly by itself, which can avoid the situation of being evaded by exposure of the pre-planned path. The remote moving instruction refers to an instruction sent from the server 140, which makes the security robot 120 move to a specific position, such as a coordinate in a public place. The remote specified target instruction also refers to an instruction sent from the server 140, which includes a specific target to be inspected by the security robot 120. The specific target can be a category, such as detecting only passengers. The specific target can also be a specific object, such as a body feature of a specific passenger, which is captured by the security robot 120 to determine.

[0079] For example, when the security robot 120 moves according to the pre-planned path or the random path, at least one of the remote moving instruction and the remote specified target instruction sent by the server 140 is received, and the security robot 120 can continue to move to a specific position after re-planning the route. The remote moving instruction and the remote specified target instruction sent by the server 140 can be generated in response to manual operation or by the server 140 itself using a camera to capture and identify images.

[0080] According to embodiments of the present disclosure, the coverage and timeliness of security inspection can be improved. The key areas are inspected in time by the pre-planned path, and the security robot 120 has high flexibility and the ability to respond to emergencies by combining the remote moving instruction and / or the remote specified target instruction, such as quickly locating and detecting potential security threats.

[0081] FIG. 5 schematically shows an interaction diagram of the security robot 120 and the server 140 according to another embodiment of the present disclosure.

[0082] In some embodiments, referring to FIG. 5, when the security robot 120 determines that the inspection target is suspicious based on the detection data, the security robot 120 sends a second warning to the server 140, and the second warning includes a warning identifier and the detection data. And / or, the security robot 120 communicates with the human operator to remotely communicate with the inspection target.

[0083] The second warning is a notification signal sent by the security robot 120 when a suspicious target is detected. For example, when the security robot 120 at the airport detects that a piece of luggage may contain suspicious items, it sends a second warning to the server 140 at the workstation, which includes a warning identifier and image detection data. Its function is to prevent the security robot 120 from losing the suspicious target. If the security robot 120 loses the suspicious target after sending the second warning, the server 140 handles it. The server 140 can also notify the security personnel synchronously.

[0084] Through the video call between the security inspection robot 120 and the human operator, the remote security inspector can guide the examinee to cooperate with the inspection, for example, how to use the substance composition analysis module 123. In addition, the remote video communication between the security inspector and the examinee can further verify the situation, for example, to ask the examinee to show the suspicious object, which can be manually inspected through the video, and the result of the substance composition analysis module 123 can improve the reliability.

[0085] According to the embodiments of the present disclosure, the second warning issued to the server 140 can reduce security inspection vulnerabilities such as loss. And provides a way for robots to work with remote human operators, increasing the interactivity of communication in the interactive security inspection process, thereby improving the accuracy of security inspection.

[0086] FIG. 6 schematically shows a flowchart of the dynamic movement of the security inspection robot 120 according to an embodiment of the present disclosure.

[0087] In some embodiments, the non-contact detection includes at least one of:

[0088] Visible light imaging, terahertz scanning imaging, thermal imaging, radioactive substance detection, and electromagnetic pulse detection.

[0089] As shown in FIG. 6, in this embodiment, the security inspection robot 120 detects the inspected target by the non-contact detection method, and the obtained detection data further includes:

[0090] In operation S610, the security inspection robot 120 determines the detection distance of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive substance detection, and electromagnetic pulse detection.

[0091] In operation S620, the security inspection robot 120 moves relative to the inspected target at least once.

[0092] In operation S630, after each movement, the security inspection robot 120 adjusts the distance between the examinee to the detection distance of at least one of visible light imaging, terahertz scanning imaging, thermal imaging, radioactive substance detection, and electromagnetic pulse detection.

[0093] The above detection technologies are explained as follows. Visible light imaging is a technology that uses the visible light band to image, and is commonly used for regular 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 terahertz waves to detect hidden objects. For example, in airport security, it is used to find dangerous goods hidden under clothes. Thermal imaging can detect the infrared radiation emitted by an object, thereby producing a temperature distribution map of the object, and is used for the detection of low-temperature biological products. Radiation material detection can use gamma-ray or neutron detectors to locate and identify nuclear materials. For example, in port security, it is used to find illegally transported radioactive materials. Electromagnetic pulse detection refers to the technology of detecting electromagnetic pulses, which can be used to find certain types of electronic devices or attack devices. For example, in security, it is used to detect hidden electronic detonation devices, high-energy electromagnetic pulse weapons that cause permanent damage to human tissues, etc.

[0094] In some embodiments, the security robot 120 can first perform object recognition on the target to be inspected, and then determine the detection technology to be activated according to the recognition result. For example, if the recognition result is that the target to be inspected is only a suitcase placed on the empty ground, then terahertz scanning imaging can not be performed in this case. If the recognition result is a passenger and his / her luggage, then visible light imaging, terahertz scanning imaging, thermal imaging, radiation material detection, and electromagnetic pulse detection can be performed in this case.

[0095] It can be understood that the fusion of visible light imaging, terahertz scanning imaging, thermal imaging, radiation material detection, and electromagnetic pulse detection on the security robot 120 realizes the all-around security of people, objects, and the environment. Different detection technologies may

[0096] Therefore, the security robot 120 first determines the optimal detection distance of each detection technology relative to the target to be inspected. Next, the robot performs movement adaptation to ensure that it is in the right position, so that the detection technology can work at the ideal detection distance, thereby improving the accuracy and efficiency of detection.

[0097] For example, in a security check site, the security check robot 120 locks the first passenger 111, and the distance between the security check robot 120 and the first passenger 111 determines the effect of each detection technology. First, visible light imaging is used to confirm that the appearance of the passenger and his luggage is normal, and then terahertz scanning imaging technology is used to check whether the passenger carries hidden suspicious articles. In order to ensure the accuracy of the terahertz scanning, the security check robot 120 calculates and adapts the optimal detection distance. Then, thermal imaging can be used to confirm whether low-temperature biological products are carried, and radioactive material detection and electromagnetic pulse detection are used to check whether dangerous goods are carried. During the whole process, the security check robot 120 determines the position of the first passenger 111 through visible light imaging, and moves according to the optimal detection distance requirement of different detection technologies and the real-time position of the passenger to obtain accurate detection results.

[0098] 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 can be performed simultaneously.

[0099] Further, for example, the detection distance corresponding to the terahertz scanning imaging is 0.5 meters, that is, the distance between the security check robot 120 and the first passenger 111 is 0.5 meters, which can meet the range requirement of the whole body terahertz scanning and obtain a better terahertz imaging effect. 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 check robot 120 and the first passenger 111 can be dynamically adjusted. Further, in order to avoid interference with the first passenger 111, the first passenger 111 can be moving during the detection process of the security check robot 120, so the security check robot 120 can obtain the position of the first passenger 111 in real time through visible light images, and dynamically adjust the distance between the security check robot 120 and the first passenger 111. During this process, the orientation of the security check robot 120 relative to the first passenger 111 can also be dynamically changed. For example, the orientation when checking the human body is different from that when checking the luggage.

[0100] It should be noted that the above 0.5 meters, 0.6 meters, 2 meters, 1 meter and 1.5 meters are only examples for facilitating understanding of the scheme, and the present disclosure is not limited thereto.

[0101] According to an embodiment of the present disclosure, after determining the detection distance, the security check robot 120 moves at least once to adapt to the optimal detection distance of at least one detection technology. In this way, the best imaging effect can be ensured, and the detection accuracy can be improved.

[0102] The security check robot 120 performing the above security check method is further described below.

[0103] FIG. 7 schematically illustrates a perspective view of the security inspection robot 120 according to an embodiment of the present disclosure. FIG. 8 schematically illustrates a structural block diagram of the security inspection robot 120 according to an embodiment of the present disclosure.

[0104] In some embodiments, the security inspection robot 120 includes a housing 121, a moving module 124, a security inspection module 122, a prompting module 126, and a substance composition analysis module 123. The security inspection module 122, the prompting module 126, and the substance composition analysis module 123 are installed in the housing 121, and the moving module 124 is connected with the housing 121. The moving module 124 is used to move to a specific position near a target to be inspected. The security inspection module 122 is used to detect the target to be inspected by a non-contact detection manner to obtain detection data. When the security inspection robot 120 determines that the target to be inspected is suspicious based on the detection data, the prompting module 126 is used to issue a first warning, which is used to prompt the substance composition analysis module 123 of the security inspection robot 120 to inspect the suspicious article. The substance composition analysis module 123 is used to obtain a composition analysis result of the suspicious article in response to the suspicious article being placed in an analysis region.

[0105] For example, the moving 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. A driving device of the chassis is in transmission connection with the moving wheels to drive the wheels to rotate, thereby moving the housing 121, and finally moving the entire security inspection robot 120.

[0106] According to an embodiment of the present disclosure, the security inspection module 122, the substance composition analysis module 123, and the prompting module 126 are installed in the housing 121, and the moving module 124 is integrated in the security inspection robot 120, which can make the security inspection robot 120 move flexibly in a security inspection site, and reduce the interference to the target to be inspected by the non-contact detection. If the security inspection module 122 detects a suspicious article, a warning can be issued, and through interactive security inspection, the person to be inspected or the security inspection personnel can directly perform substance composition analysis on the suspicious article by using the substance composition analysis module 123 of the security inspection robot 120 itself, thereby quickly and accurately determining the nature of the suspicious article, effectively reducing the cost, and increasing the security inspection efficiency.

[0107] In some embodiments, referring to FIG. 7, the housing 121 defines an opening 125, wherein the substance composition analysis module 123 is used to be taken out from the housing 121 via the opening 125 to perform substance composition analysis on the suspicious article. For example, a containing space in communication with the opening 125 is defined in the housing 121, and the substance composition analysis module 123 can be separately placed in the containing space and can be taken out from the containing space.

[0108] FIG. 9 schematically illustrates a schematic diagram of terahertz wave imaging according to an embodiment of the present disclosure.

[0109] In some embodiments, the security inspection module 122 comprises a terahertz detection unit 1221, which comprises a mirror assembly 12212 and a detector array 12213. The mirror assembly 12212 is used to reflect terahertz waves from the target to be inspected. The detector array 12213 is used to receive the terahertz waves and convert them into electrical signals to obtain a terahertz wave image. The mirror assembly 12212 comprises a mirror and a pitch oscillation mechanism for driving the mirror to oscillate in the vertical direction. The detector assembly 12213 can comprise a single row or multiple rows of detector arrays 12213 arranged in an arc or a straight line.

[0110] Referring to FIG. 9, the terahertz waves emitted by the human body pass through the terahertz window 12211, enter the inside of the shell 121, are reflected by the mirror, are focused by the focusing lens 12214, and are irradiated onto the detector assembly 12213, are converted into electrical signals, and are collected by the host module into digital signals, which are transmitted to the server 140 outside the security robot 120 locally or through a network port for data processing and image reconstruction. The mirror can scan the entire human body in the longitudinal direction by reciprocating up and down. Multiple terahertz detectors are arranged in a horizontal direction (only as an example, longitudinal or other arrangements can be selected) to achieve detection of various positions of the human body in the horizontal direction. The shape of the mirror assembly 12212 can be selected as an ellipse, with the short axis matching the size of the focusing lens 12214, for example, 20-50 cm, and the long axis, for example, 30-60 cm. The size of the focusing lens 12214 is determined according to the imaging distance and resolution requirements.

[0111] According to embodiments of the present disclosure, the movable security robot 120 is integrated with the terahertz detection unit 1221 and the substance composition analysis module 123. This allows the security robot 120 to flexibly scan personnel in the inspection area during patrol, and to perform on-site and timely substance composition analysis when suspicious items are scanned.

[0112] In some embodiments, referring to FIGS. 7 and 8, the security inspection module 122 further comprises a low-temperature biological product detection unit 1222, which comprises a thermal imager for thermal imaging of the target to be inspected. The low-temperature biological product can include a living cold-blooded animal or an article made of a cold-blooded animal.

[0113] According to embodiments of the present disclosure, the terahertz imaging technology, thermal imaging technology, and substance composition analysis technology are integrated on the movable security robot 120, which can simultaneously detect people and articles and perform on-site and timely substance composition analysis of suspicious articles, reducing the time and cost wasted by off-site analysis.

[0114] In some embodiments, referring to FIGS. 7 and 8, the security inspection module 122 further comprises a visible light imaging unit 1223, including a robot camera, which is used to capture a visible light image of the target to be inspected entering the inspection area.

[0115] In some embodiments, referring to FIGS. 7 and 9, a side of the housing 121 is provided with a window 12211, wherein the terahertz wave of the target to be inspected is emitted by the mirror assembly 12212 through the window 12211. Among them, the camera, the thermal imager and the window 12211 are located on the same side of the housing 121.

[0116] Referring to FIG. 7, the camera and the thermal imager of the visible light imaging unit 1223 can be arranged below the window 12211 and close to each other, which is conducive to the position positioning of the main control module by means of the visible light image, and is also conducive to the matching of the thermal image, the terahertz image and the visible light image respectively.

[0117] In detail, before starting the terahertz detection unit 1221 to perform terahertz scanning imaging, and before starting the low-temperature biological product detection unit 1222 to perform thermal imaging, the main control module can determine the orientation and distance of the target to be inspected relative to the security robot 120 by using the visible light image. The visible light image generated by the visible light imaging unit 1223 is matched with the terahertz wave image generated within the depth of field range of the terahertz detection unit 1221 after being cropped, and the visible light image is matched with the depth of field range of the thermal image after being cropped.

[0118] For example, the visible light imaging unit 1223 captures the target to be inspected (person) entering the field of view (i.e. the inspection area), and the main control module determines the distance between the target to be inspected and the target to be inspected according to the visible light image, so as to issue an instruction to the robot chassis to move to the optimal distance range (depth of field range) relative to the target to be inspected, so as to achieve a relatively ideal imaging effect, and to align the target to be inspected at a suitable angle to perform terahertz imaging and low-temperature biological product detection. In this detection process, if it is found that the target to be inspected carries suspicious articles, the main control module records the visible light features (such as facial features) of the target to be inspected through the visible light image, binds the terahertz image and the low-temperature detection image of the target to be inspected, and stores them as a basis for subsequent tracing. The target to be inspected can also be locked for tracking under manual intervention for further confirmation.

[0119] For example, the main control module can receive the visible light image, the terahertz image and the thermal image, make a judgment on whether the target to be inspected includes suspicious articles based on the terahertz image and the visible light image, and make a judgment on whether the target to be inspected includes low-temperature products based on the thermal image and the visible light image.

[0120] According to the embodiments of the present disclosure, the visible light imaging unit 1223, the thermal imager and the terahertz detection unit 1221 cooperate to realize acquisition of visible light images, thermal images and terahertz images, and the main control module comprehensively utilizes the visible light images, the thermal images and the terahertz images to realize simultaneous detection of people and objects.

[0121] In some embodiments, the security inspection module 122 further comprises a radioactive substance detection unit 1224 comprising a detector for detecting radioactive substances in the inspection area. The radioactive substance detection unit 1224 can employ one or more of a thermoluminescence detector, a semiconductor detector and a gas ionization detector.

[0122] In some embodiments, the security inspection module 122 further comprises an electromagnetic pulse detection unit 1225 comprising a probe. The probe is used to detect electromagnetic pulses greater than or equal to a certain voltage threshold in the inspection area.

[0123] Exemplarily, the electromagnetic pulse detection unit 1225 can comprise a high-energy transient electromagnetic pulse detector. The detector comprises a probe, a receiving unit and a connecting component connecting the probe and the receiving unit, the connecting component being an optical fiber, the probe comprising an antenna, a cylindrical sealed shield shell, a signal processing unit arranged in the shield shell. The receiving unit comprises 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 being connected with the optical fiber, and the output interface comprising an oscilloscope interface. The electromagnetic pulse detection unit 1225 can detect high-energy, wide-spectrum high-frequency electromagnetic pulses with steep rising front of signal, wide frequency range and high peak field strength.

[0124] In some embodiments, the substance composition analysis module 123, the radioactive substance detection unit 1224 and the electromagnetic pulse detection unit 1225 are located at the top of the shell 121. This facilitates substance composition analysis and has a larger radioactive substance detection range and electromagnetic pulse detection range due to the higher position.

[0125] According to the embodiments of the present disclosure, the integrated terahertz detection unit 1221, the low-temperature biological product detection unit 1222, the radioactive substance detection unit 1224, the electromagnetic pulse detection unit 1225 and the substance composition analysis module 123 are combined to form a wide-spectrum electromagnetic wave comprehensive inspection device, which is placed on a robot chassis with autonomous cruising capability to form the security inspection robot 120. The security inspection robot 120 realizes random walking or queue scanning and exploration of personnel in some specific places (such as airport waiting halls, customs import and export hall, embassy visa hall, etc.), and continuously monitors whether there are dangerous goods or dangerous radiation or emission in the environment where the robot is located. Therefore, personnel, objects and their environment can be realized “one-stop” security inspection, and people, objects and environment are detected simultaneously, and alarm is concentrated, which greatly improves the security inspection efficiency and enhances the security inspection ability and flexibility.

[0126] In some embodiments, referring back to FIG. 6, the master module is configured to issue at least one movement instruction to the movement module 124 to move to a position corresponding 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 substance detection unit 1224, and the electromagnetic pulse detection unit 1225. The distance between the position corresponding to the instruction and the target to be inspected is adapted to the detection distance.

[0127] FIG. 10 schematically shows an interaction diagram of a security inspection robot, a server, a camera, and a terminal device in a security inspection system according to an embodiment of the present disclosure.

[0128] In the related art, only a single terahertz technology cannot effectively detect more dangerous and suspicious articles, such as low-temperature biological products and radioactive substances. Even if it can be detected, for some suspicious articles (such as drugs and dangerous chemicals), it is sometimes impossible to quickly and accurately determine the nature of the articles. If the nature of the articles needs to be determined, the articles need to be sent to a relevant institution for further analysis of the substance composition, which is time-consuming and labor-intensive, significantly increases the cost, and is extremely inefficient.

[0129] To overcome the above-mentioned defects, referring to FIGS. 1-9, a security inspection method, a security inspection robot 120 for executing the method, and a security inspection system are provided. The security inspection robot 120 has a wide-spectrum electromagnetic wave detection device at the upper part and a robot chassis at the lower part. The main body of the wide-spectrum electromagnetic wave detection device is a passive terahertz detection unit 1221, which also integrates a radioactive substance 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 substance composition analysis module 123.

[0130] In detail, the main control module is responsible for the whole robot's walking control, command transmission, data acquisition and processing, image processing, storage and communication. 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 each module on the device body after level conversion. The terahertz detection unit 1221 is used for passive terahertz imaging of the human body to detect prohibited items carried in the clothes of the human body. The visible light imaging unit 1223 uses the visible light image captured by the robot camera to track and identify the object being measured. The substance composition analysis module 123 is used for further substance composition identification of the detected prohibited items carried by the human body. The low-temperature biological product detection unit 1222 is used to detect low-temperature biological products carried by passengers or existing in the environment. The electromagnetic pulse detection unit 1225 is used to detect high-energy transient electromagnetic pulses in the environment. The radioactive substance detection unit 1224 is used to detect radioactive substances in the environment. The communication module is used for wireless communication with the terminal device and / or server 140 to transmit data, commands and images.

[0131] Referring to FIG. 7, 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 below the terahertz window 12211, and the other units are located on the top of the security robot 120 and covered with a cover plate. Except that the substance composition analysis module 123 can be independently taken out for use (only as an example), the other functional modules are integrated with the terahertz detection unit 1221, and are centrally powered, signal interconnected and independently detected, but the detection results are integrated and displayed on the software interface. The main control module can interact with external devices through the network interface and the communication module, such as interacting with the server 140 to exchange data.

[0132] The detection units or modules on the upper part of the security robot 120 are 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 device. All functions of the security robot 120, including the detection and alarm of the above-mentioned functional modules and the control of the robot chassis, can be integrated and unified by the main control module through the host computer software.

[0133] Exemplarily, the security 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 alarm signs and reminders, and the security personnel holding the terminal device can see the detection results and alarm information of the security robot 120 on the object being inspected. The security officer can make further decisions after receiving the alarm information.

[0134] Exemplarily, a larger range of images taken by cameras in the public place can be received by the server 140 in coordination with the images acquired by the security robot 120 itself. The server 140 can perform image recognition at angles beyond the detection range of the security robot 120 and timely feedback the results or issue security instructions to the security robot 120. For example, when the security robot 120 loses the target, the server 140 can be interacted with to track the target by calling the cameras in the public place and issue security instructions to the security robot 120 and the security personnel.

[0135] According to the embodiments of the present disclosure, the terahertz human security inspection is combined with radioactive substance detection, low-temperature biological product detection, high-energy electromagnetic pulse detection, and substance composition analysis, etc. to realize comprehensive inspection under wide-spectrum electromagnetic wave technology. Multiple dangerous and suspicious articles can be found in the same place, avoiding transfer for inspection and detection of multiple dangerous articles one by one, improving the security inspection efficiency and enhancing the security inspection capability.

[0136] Further, the above detection technology is combined with the robot inspection technology to realize autonomous cruise detection in the security inspection site (which can travel according to the specified path or randomly), detect the personnel in the security inspection site, track and confirm the key suspicious objects, and allow remote manual intervention by the security personnel. Therefore, the comprehensive inspection of the on-site personnel, articles and their environment can be realized, and the "one-stop" inspection and centralized alarm can be realized to greatly improve the security inspection efficiency.

[0137] FIG. 11 schematically shows a block diagram of a master control module suitable for realizing data processing in the security inspection method according to the embodiments of the present disclosure.

[0138] As shown in FIG. 11, the master control module according to the embodiments of the present disclosure includes a processor 1101 which can perform various appropriate actions and processes according to the programs stored in a read-only memory (ROM) 1102 or loaded from a storage portion 1108 to a random access memory (RAM) 1103. The processor 1101 can include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a special-purpose microprocessor (such as an application-specific integrated circuit (ASIC)), etc. The processor 1101 can also include an on-board memory for cache use. The processor 1101 can include a single processing unit or multiple processing units for performing different actions of the method processes according to the embodiments of the present disclosure.

[0139] In the RAM 1103, various programs and data required for operation of the host module are stored. The processor 1101, the ROM 1102, and the RAM 1103 are connected to each other via the bus 1104. The processor 1101 performs various operations of the method flow according to the embodiments of the present disclosure by executing the programs in the ROM 1102 and / or the RAM 1103. Note that the programs can also be stored in one or more memories other than the ROM 1102 and the RAM 1103. The processor 1101 can also perform various operations of the method flow according to the embodiments of the present disclosure by executing the programs stored in the one or more memories.

[0140] According to an embodiment of the present disclosure, the host module can further include an input / output (I / O) interface 1105, which is also connected to the bus 1104. The host module can further include one or more of the following components connected to the I / O interface 1105: an input part 1106 including a keyboard, a mouse, and the like. An output part 1107 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like. A storage part 1108 including a hard disk, and the like. And a communication part 1109 including a network interface card such as a LAN card, a modem, and the like. The communication part 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as necessary. A removable recording medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive 1110 as necessary, so that a computer program read therefrom is installed in the storage part 1108 as necessary.

[0141] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiments of the present disclosure can be written in any combination of one or more programming languages, and specifically, these computer programs can be implemented using a high-level procedural and / or object-oriented programming language, and / or an assembly / machine language. The programming language includes, but is not limited to, a programming language such as Java, C++, python, "C" language, or a similar programming language. The program code can be executed entirely on a user computing device, partially on a user device, partially on a remote computing device, or entirely on a remote computing device or server. In the case involving a remote computing device, the remote computing device can be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, connected through the Internet by using an Internet service provider).

[0142] The computer program product of the first aspect can include one or more non-transitory computer-readable media storing instructions that, when executed, cause a processor of a computer-based system to perform any of the methods of the first aspect. The computer program product of the first aspect can include one or more non-transitory computer-readable media storing instructions that, when executed, cause a processor of a computer-based system to perform any of the methods of the first aspect.

[0143] Those skilled in the art will understand that the features recited in the various embodiments and / or claims of the present disclosure can be combined or / and integrated in a variety of ways, even if such combinations or integrations are not expressly disclosed in the present disclosure. In particular, the features recited in the various embodiments and / or claims of the present disclosure can be combined and / or integrated in a variety of ways without departing from the spirit and teachings of the present disclosure. All such combinations and / or integrations are within the scope of the present disclosure.

[0144] The above describes the embodiments of the present disclosure. However, these embodiments are merely for illustrative purposes, and are not intended to limit the scope of the present disclosure. Although the above describes each embodiment separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A security inspection method for a security inspection robot, comprising: moving the security inspection robot to a specific position near a target to be inspected; detecting the target to be inspected by the security inspection robot through non-contact detection to obtain detection data; when it is determined that the target to be inspected is suspicious based on the detection data, the security inspection robot issues a first warning, the first warning prompting a substance composition analysis module of the security inspection robot to inspect suspicious articles; in response to the suspicious articles being placed in an analysis area, the security inspection robot obtains a composition analysis result of the suspicious articles through the substance composition analysis module.

2. The method of claim 1, wherein, The non-contact detection includes at least one of the following: visible light imaging, terahertz scanning imaging, thermal imaging, radioactive material detection, and electromagnetic pulse detection.

3. The method of claim 2, wherein, The security inspection robot detects the target to be inspected through non-contact detection to obtain detection data, including: the security inspection robot determines a detection distance of at least one of the visible light imaging, the terahertz scanning imaging, the thermal imaging, the radioactive material detection, and the electromagnetic pulse detection; the security inspection robot moves relative to the target to be inspected at least once to adapt to the detection distance of at least one of the visible light imaging, the terahertz scanning imaging, the thermal imaging, the radioactive material detection, and the electromagnetic pulse detection.

4. The method according to any one of claims 1 to 3, wherein, When the security inspection robot determines that the target to be inspected is suspicious based on the detection data, the method further comprises: the security inspection robot continuously captures a visible light image of the target to be inspected; the security inspection robot performs target tracking on the target to be inspected based on the visible light image, the target tracking including detecting at least one of the action, real-time position, and moving speed of the target to be inspected.

5. The method according to any one of claims 1 to 3, wherein, The first warning includes: the security inspection robot displays the first warning on a screen thereof; and / or the security inspection robot plays the first warning through audio.

6. The method according to any one of claims 1 to 3, wherein, When the security inspection robot determines that the target to be inspected is suspicious based on the detection data, the method further comprises: determining a position of the suspicious articles and / or identifying a type of the suspicious articles; wherein the first warning includes the position and / or type of the suspicious articles.

7. The method of claim 1, wherein, The security inspection robot moving to a specific position near a target to be inspected includes: the security inspection robot moves along a pre-planned path or a random path, the specific position being located on the pre-planned path or the random path; and / or the security inspection robot moves to the specific position in response to a remote movement instruction of a server, the remote movement instruction including coordinate information of the specific position; and / or the security inspection robot moves to the specific position in response to a remote designated target instruction of a server, the remote designated target instruction including information of the target to be inspected.

8. The method of claim 7, wherein, When the security inspection robot determines that the target to be inspected is suspicious based on the detection data, the method further comprises: the security inspection robot sends a second warning to the server, the second warning including a warning identifier and the detection data; and / or the security inspection robot communicates with an artificial agent to enable the artificial agent to remotely communicate with the target to be inspected.

9. The method of claim 1, further comprising: when the component analysis result indicates the presence of a prohibited component, the security robot issuing a third warning, the third warning being used to prompt the component analysis result; when the component analysis result indicates the absence of a prohibited component, the security robot issuing an end signal, the end signal being used to prompt the end of the inspection of the suspicious item.

10. A security robot for performing the security method of any one of claims 1-9, comprising: a moving module for moving to a specific position near a target to be inspected; a security inspection module for detecting the target to be inspected by non-contact detection to obtain detection data; a prompt module for issuing a first warning when the security robot determines that the target to be inspected is suspicious based on the detection data, the first warning being used to prompt the inspection of a suspicious item using a substance component analysis module of the security robot; a substance component analysis module for obtaining a component analysis result of the suspicious item in response to the suspicious item being placed in an analysis area.

11. A security system, comprising: N cameras installed at N positions in a security site, N being an integer greater than or equal to 1; a server in communication connection with the N cameras, the server being used to receive images of the security site taken by the N cameras and send a security instruction based on the images; the security robot of claim 10 in communication connection with the server, the security robot being used to perform the security method of any one of claims 1-9 in response to the received security instruction.

Images