CN110689725A - Security robot system for crossing comprehensive inspection and processing method thereof - Google Patents

Abstract

The present application discloses a security robot system for comprehensive inspection of crossings and a processing method thereof. The system includes personnel verification equipment, which is used to verify whether the current identity of the passenger is in the pre-stored identity blacklist, and whether the passenger is consistent with the ID card; vehicle identification and verification equipment, which is used to verify whether the vehicle is a fake vehicle , whether the license plate is in the license plate blacklist; the vehicle identification and verification equipment is also used to identify whether there are dangerous goods at the bottom of the vehicle and whether there are dangerous explosives; if the verification equipment passes the verification, the barrier lifts the lever. The present application solves the technical problem of low efficiency and high labor cost in comprehensive inspection of crossings. The application realizes dynamic monitoring and active prevention and control in key areas such as key checkpoints and crossings.

Description

Security robot system for comprehensive inspection of crossing and its processing method

technical field

The present application relates to the application fields of unmanned automatic security inspection and robot technology, and in particular, to a security robot system for comprehensive inspection of crossings and a system working method.

Background technique

Comprehensive inspection of crossings refers to the inspection of the identity of vehicles or passengers and whether they are carrying dangerous goods.

The inventor found that the comprehensive inspection of crossings mostly relies on manpower with cameras, which is inefficient and slow in inspection and release. Further, effective dynamic monitoring and active prevention and control cannot be carried out in key areas such as key checkpoints and crossings.

Aiming at the problem of low efficiency and high labor cost in comprehensive inspection of crossings in related technologies, no effective solution has been proposed so far.

SUMMARY OF THE INVENTION

The main purpose of this application is to provide a security robot system for comprehensive crossing inspection and a processing method thereof, so as to solve the problem of low efficiency and high labor cost in comprehensive crossing inspection.

In order to achieve the above object, according to an aspect of the present application, a security robot system for comprehensive inspection of a crossing is provided.

According to the present application, a security robot system for comprehensive inspection of crossings is provided, including: personnel verification equipment, which is used to verify whether the current identity of the passenger is in a pre-stored identity blacklist, and whether the passenger is consistent with the ID card ;Vehicle identification and verification equipment, which is used to verify whether the vehicle is a duplicated vehicle and whether the license plate is in the license plate blacklist; the vehicle identification and verification equipment is also used to identify whether the vehicle has dangerous goods and whether there are dangerous explosives; If all the verification equipments pass the verification, the gate will be lifted.

Further, the personnel verification equipment is also used for

Compare the passenger's face information with the ID card, and if it does not match, the verification device will fail the verification;

Comparing the passenger's face information in the identity blacklist, if it corresponds to the blacklist, the verification device fails the verification.

Further, the vehicle identification and verification equipment includes:

The under-vehicle scanning device is used to identify whether there are dangerous goods under the vehicle or to detect whether there are dangerous explosives under the vehicle; if the under-vehicle scanning device has identified it, the identification device will fail the inspection.

Further, the vehicle identification and verification equipment includes:

The vehicle license plate checking device is used to identify whether the license plate of the vehicle belongs to the license plate, and if it does, the identification device fails to pass the check.

Further, it also includes: a flexible robotic arm, used for carrying the personnel verification device to move according to the real-time planned trajectory, and position it to the position of the car window.

Further, a safety collision avoidance mechanism is also included to ensure that the flexible robotic arm is kept at a safe distance from the vehicle and passengers.

In order to achieve the above object, according to an aspect of the present application, a processing method for comprehensive inspection of a crossing is provided.

According to the present application, a processing method for comprehensive inspection of a crossing is provided, including: when a vehicle enters a detection area, detecting the vehicle and identifying vehicle information and the identity of the occupant in the vehicle; wherein the detecting vehicle refers to identifying whether the vehicle is There are dangerous goods and whether there are dangerous explosives; wherein the identifying vehicle information refers to checking whether the vehicle is a duplicated vehicle and whether the license plate is in the license plate blacklist; wherein identifying the identity of the occupant in the vehicle refers to checking whether the vehicle is Check whether the current identity of the passenger is in the pre-stored identity blacklist, check whether the passenger is consistent with the ID card; judge whether to lift the barrier according to the identification result.

Further, judging whether to lift the gate according to the identification result includes:

If any one of the vehicle entering the detection area, detecting the vehicle and identifying the vehicle information and the identity of the occupant in the vehicle does not meet the preset conditions, the barrier will not be lifted and will be jointly controlled with the public security system;

If the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle meet the preset conditions, the barrier will be lifted.

Further, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are identified, and the step of positioning to the position of the window according to the real-time planned trajectory movement,

The step of positioning to the window position according to the real-time planned trajectory movement includes:

Identify the window target by building a machine vision algorithm based on a deep convolutional neural network, and obtain the coordinates of the window relative to the depth camera;

According to the coordinates of the window relative to the depth camera and the coordinates of the depth camera relative to the base of the robot arm, the coordinates of the window relative to the base of the robot arm are established, and then the trajectory planning and tracking of the movement of the end of the robot arm to the position of the window are carried out.

Further, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are identified, including:

Make sure that the flexible robotic arm is kept at a safe distance from the vehicle and occupants.

Description of drawings

The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the application and make other features, objects and advantages of the application more apparent. The accompanying drawings and descriptions of the exemplary embodiments of the present application are used to explain the present application, and do not constitute an improper limitation of the present application. In the attached image:

1 is a schematic structural diagram of a security robot system for comprehensive inspection of crossings according to an embodiment of the present application;

2 is a schematic structural diagram of a security robot system for comprehensive inspection of crossings according to a preferred embodiment of the present application;

3 is a schematic diagram of a processing method for comprehensive inspection of crossings according to an embodiment of the present application;

4 is a schematic diagram of an implementation manner of a security robot system for comprehensive inspection of crossings according to an embodiment of the present application;

FIG. 5 is a schematic diagram of the implementation principle of a security robot system for comprehensive inspection of crossings according to an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", The orientation or positional relationship indicated by "vertical", "horizontal", "horizontal", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are primarily used to better describe the present application and its embodiments, and are not intended to limit the fact that the indicated device, element, or component must have a particular orientation, or be constructed and operated in a particular orientation.

In addition, some of the above-mentioned terms may be used to express other meanings besides orientation or positional relationship. For example, the term "on" may also be used to express a certain attachment or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific situations.

Furthermore, the terms "installed", "set up", "provided with", "connected", "connected", "socketed" should be construed broadly. For example, it may be a fixed connection, a detachable connection, or a unitary structure; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediary, or between two devices, elements, or components. internal communication. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

As shown in FIG. 1 , the security robot system for comprehensive inspection of crossings in the embodiment of the present application includes: a personnel verification device 100, which is used to verify whether the current identity of the passenger is in a pre-stored identity blacklist, and to verify whether the passenger is on the vehicle. Whether the person and the ID card are consistent; the vehicle identification and verification device 200 is used to verify whether the vehicle is a duplicated vehicle and whether the license plate is in the license plate blacklist; the vehicle identification and verification device 200 is also used to identify whether the vehicle has dangerous goods , Whether there are dangerous explosives; if the verification equipment passes the verification and the identification equipment passes the identification, the gate lifts the lever. The checking device 100 checks whether the passenger is consistent with the ID card, that is, whether the ID information of the passenger is consistent with the real-time acquired identification information of the passenger. The verification device 100 also needs to verify whether the current identity of the current passenger is in the identity blacklist. The identity blacklist mainly refers to the identity blacklist information associated with the credit system and whether there is a criminal record. The vehicle identification and verification device 200 checks whether the vehicle is a dummy vehicle and whether the license plate is in the license plate blacklist. The vehicle identification and verification device 200 also identifies whether the real-time acquired license plate is in the license plate blacklist. It can be understood that the license plate blacklist It can be a license plate blacklist of vehicle violation information, vehicle violation information, etc. In addition, the vehicle identification and verification device 200 is also used to identify whether there are dangerous goods in the vehicle, that is, whether there are relevant dangerous goods stipulated by the state, and whether there are dangerous explosives, that is, whether there are special gases or radiation sources.

Through the security robot system for comprehensive inspection of crossings in the embodiment of the present application, dynamic and rapid identification and acquisition of characteristics of people, vehicles and objects, license inspection, blacklist inspection, and deck inspection can be realized without staff. , dangerous and explosive detection, risk assessment, human-machine safety interaction, joint prevention and control and other functions, can be dynamically monitored and actively controlled in key areas such as key checkpoints and crossings.

From the above description, it can be seen that the application has achieved the following technical effects:

In the embodiment of the present application, the security robot system and processing method for comprehensive inspection of crossings use personnel verification equipment to verify whether the current identity of the passenger is in the pre-stored identity blacklist, and whether the passenger and the ID card are not. Consistent; vehicle identification and verification equipment is used to verify whether the vehicle is a duplicated vehicle and whether the license plate is in the license plate blacklist; the vehicle identification and verification equipment is also used to identify whether the vehicle has dangerous goods and whether there are dangerous explosives; If all the verification equipments pass the verification, the way of lifting the pole of the barrier gate realizes the dynamic and rapid identification and acquisition of the characteristics of people and vehicles without staff, so as to achieve license inspection, blacklist inspection, and deck inspection. , dangerous explosives detection, risk assessment, human-machine safety interaction, joint prevention and control and other functions, so as to achieve the technical effect of dynamic monitoring and active prevention and control in key areas such as key checkpoints and crossings, and then solve the problem of comprehensive crossings. Check for technical issues that are inefficient and labor-intensive.

According to the embodiment of the present application, as a preference in this embodiment, the verification device 100 is also used to compare the face information of the passenger with the ID card, and if it does not match, the verification device fails the verification; The passenger's face information is compared in the identity blacklist, and if it does not match, the verification device fails the verification.

Specifically, in the verification device 100, through personnel information collection, face and ID card photo comparison, and face and blacklist photos comparison, if it does not match, the verification device fails the verification.

According to the embodiment of the present application, as a preference in this embodiment, as shown in FIG. 2 , the identification device includes: a vehicle bottom scanning device 2001, which is used to identify whether there is dangerous goods under the vehicle or detect whether there is a dangerous explosion under the vehicle object; if the vehicle bottom scanning device has identified it, the inspection by the identification device will fail.

Specifically, the under-vehicle scanning device 2001 identifies dangerous objects under the vehicle, detects dangerous explosives under the vehicle, comprehensively assesses hazards, and performs joint prevention and control. pass.

According to the embodiment of the present application, as a preference in this embodiment, as shown in FIG. 2 , the identification device includes: a vehicle license plate checking device 2002, which is used to identify whether the license plate of the vehicle belongs to the The identification device check failed.

Specifically, through the vehicle license plate inspection device 2002, the license plate is compared with the license plate number blacklist, and the license plate inspection is performed. If it belongs, the identification device fails to pass the inspection.

According to the embodiment of the present application, as a preference in this embodiment, as shown in FIG. 2 , the system further includes: a flexible robotic arm 300 for carrying the personnel verification device to move according to the real-time planned trajectory and locate it to the window position.

Specifically, the flexible robotic arm 300 is based on vision-based robot online navigation and human-machine safe interaction. It avoids the problems of inefficiency, time-consuming and manual operation in offline planning.

According to the embodiment of the present application, as a preference in this embodiment, as shown in FIG. 2 , the system further includes a safety collision avoidance mechanism to ensure that the flexible robotic arm 300 is kept at a safe distance from the vehicle and passengers.

Specifically, human-machine safety interaction is established, and an octree is used to construct a collision avoidance mechanism based on depth visual information to ensure that the flexible robotic arm 300 is always kept at a safe distance from the vehicle or passenger, and maximize the safety of life and property.

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.

According to the embodiment of the present application, a processing method for comprehensive inspection of crossings implemented in the above-mentioned system is also provided. As shown in FIG. 3 , the method includes:

Step S100, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the passenger in the vehicle are identified;

The detection of the vehicle refers to identifying whether the vehicle has dangerous goods and whether there are dangerous explosives.

The identifying vehicle information refers to checking whether the vehicle is a vehicle with a license plate and whether the license plate is in the license plate blacklist.

The identifying the identity of the occupant in the vehicle refers to checking whether the current identity of the occupant is in the pre-stored identity blacklist, and checking whether the occupant is consistent with the ID card.

Step S101, according to the identification result, determine whether to lift the gate.

Through the above method, unmanned and automated inspection is adopted, so that the entire inspection process does not require manual intervention and saves human resources. Through the comprehensive integration of various technical means and the in-depth integration of multi-feature information, the accuracy and speed of automatic identification and risk assessment of people, vehicles and objects by security robots are greatly improved. In addition, the online navigation of the robot avoids the problems of inefficiency, time-consuming, and manual operation in offline planning. It can realize the dynamic and rapid identification and acquisition of the characteristics of people/vehicles/objects, license inspection, blacklist inspection, deck inspection, hazardous and explosive detection, risk assessment, human-machine safety interaction, and joint prevention and control without staff. It can carry out dynamic monitoring and active prevention and control in key areas such as key checkpoints and crossings.

According to the embodiment of the present application, as a preference in this embodiment, determining whether to lift the barrier according to the identification result includes: if the vehicle enters the detection area, detecting the vehicle and identifying any one of the vehicle information and the identity of the occupant in the vehicle If one item does not meet the preset conditions, the gate will not be lifted, and will be jointly controlled with the public security system; if the vehicle enters the detection area, the vehicle will be detected and the vehicle information and the identity of the passengers in the vehicle will meet the preset requirements. condition, lift the gate.

Specifically, a risk inspection and judgment mechanism integrating multiple information is established. If the vehicle enters the detection area, the vehicle is detected and any one of the vehicle information and the identity of the occupant in the vehicle does not meet the preset conditions, the road will not be detected. The gate was lifted, and the joint prevention and control with the public security system was carried out. That is, all conditions need to be met before the gate can be lifted and released.

According to the embodiment of the present application, as a preference in this embodiment, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are detected, and further includes: moving according to the real-time planned trajectory, positioning to the window position The step of locating to the position of the car window according to the real-time planned trajectory movement includes: identifying the car window target by constructing a machine vision algorithm based on a deep convolutional neural network, and obtaining the coordinates of the car window relative to the depth camera; The coordinates of the window relative to the depth camera and the coordinates of the depth camera relative to the base of the manipulator establish the coordinates of the window relative to the base of the manipulator, and then carry out trajectory planning and trajectory follow-up of the movement of the end of the manipulator to the position of the window.

Specifically, based on the trained YOLO-v3 vehicle window detection model, a fixed-position depth camera is used to identify the vehicle window target in the field of view, and the coordinates of the vehicle window relative to the depth camera are obtained. On the basis of calibrating the position of the depth camera and the base of the robot arm, the relative position of the window relative to the base of the robot arm is calculated according to the obtained coordinate position of the window, and the movement of the end of the robot arm to the position of the window is performed based on the coordinate relationship of the real-time scene. Planning and trajectory following, so as to realize the online navigation of the robot arm.

According to the embodiment of the present application, as a preference in this embodiment, when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle are detected, and further includes: ensuring that the flexible robotic arm 300 is kept in a position opposite to the vehicle and the occupant. The safe distance for people.

Specifically, human-machine safety interaction is established, and an octree is used to construct a collision avoidance mechanism based on depth visual information to ensure that the flexible robotic arm 300 is always kept at a safe distance from the vehicle or passenger, and maximize the safety of life and property.

FIG. 4 is a schematic diagram of the implementation scenario of the present application, wherein the inspection prompt board 10, the personnel identification 20, the flexible mechanical arm mechanism 30, the system control cabinet 40, the vehicle feature identification device 50, the depth camera 51, the road gate 60, the inspection Position 70, vehicle bottom identification device 80, hazardous explosive detection 90. The vehicle feature identification device 50 is used to identify vehicle features, including license plate, model, and body color. The vehicle bottom identification device 80 is used to identify the dangerous goods under the vehicle, and the dangerous explosive detection 90 is used to perform special gas and radiation detection.

The functions in the realization of the scene include: online navigation of the robot arm based on machine vision, human-computer security interaction, multi-information collection of people, vehicles, and objects, face and ID photo comparison, face and blacklist photo comparison, license plate and License plate number blacklist comparison, license plate inspection, identification of dangerous goods under the vehicle, detection of dangerous explosives under the vehicle, comprehensive risk assessment, and joint prevention and control.

As shown in Figure 5, it is a schematic diagram of the implementation principle of the present application. The entire inspection work is an unmanned and automated process, that is, the under-vehicle inspection system automatically scans and discriminates dangerous goods, and the vehicle feature identification device automatically identifies and compares vehicle characteristics, The robotic arm autonomously finds and navigates to the position of the car window, the personal identification verification equipment automatically identifies and compares personnel information, the general control system automatically conducts comprehensive risk assessment, and the barrier is automatically lifted or joint prevention and control.

When the process starts, start the security inspection system and the robot system (mainly the flexible robotic arm), when the vehicle enters the detection area, start the vehicle bottom scanning, vehicle feature identification, and passenger identification, and transmit the identified information to the general manager. The control system is the upper computer. Through the host computer to call the personnel blacklist database, license plate blacklist database and vehicle information database to query the corresponding blacklist information. The following processing is performed by the host computer:

(1) Identification of dangerous goods under the vehicle

(2) Detection of dangerous explosives under the vehicle

(3) Comparison of face and ID photo

(4) Comparison of face and blacklist photos

(5) Comparison of license plate and license plate blacklist

(6) Deck investigation

If the above (1)-(6) are all qualified, the gate will lift the vehicle to release. If it is not qualified, the gate will not be lifted and an alarm will be triggered, and joint prevention and control will be triggered.

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be implemented by a general-purpose computing device, and they can be centralized on a single computing device, or distributed in a network composed of multiple computing devices Alternatively, they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or they can be integrated into The multiple modules or steps are fabricated into a single integrated circuit module. As such, the present application is not limited to any particular combination of hardware and software.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. a security robot system for comprehensive inspection of crossings, is characterized in that, comprises: Personnel verification equipment, used to verify whether the current identity of the passenger is in the pre-stored identity blacklist, and whether the passenger is consistent with the ID card; Vehicle identification and verification equipment, which is used to verify whether the vehicle is a duplicate license plate and whether the license plate is in the license plate blacklist; The vehicle identification and verification device is also used to identify whether the vehicle has dangerous goods and whether there are dangerous explosives; If all the verification devices pass the verification, the gate lifts the lever. 2. The security robot system for comprehensive inspection of crossings according to claim 1, wherein the personnel inspection equipment is also used for Compare the passenger's face information with the ID card, and if it does not match, the verification device will fail the verification; Comparing the passenger's face information in the identity blacklist, if it corresponds to the blacklist, the verification device fails the verification. 3. The security robot system for comprehensive inspection of crossings according to claim 1, wherein the vehicle identification and verification equipment comprises: The under-vehicle scanning device is used to identify whether there are dangerous goods under the vehicle or to detect whether there are dangerous explosives under the vehicle; if the under-vehicle scanning device has identified it, the identification device will fail the inspection. 4. The security robot system for comprehensive crossing inspection according to claim 1, wherein the vehicle identification and verification equipment comprises: The vehicle license plate checking device is used to identify whether the license plate of the vehicle belongs to the license plate, and if it does, the identification device fails to pass the check. 5 . The security robot system for comprehensive inspection of crossings according to claim 1 , further comprising: a flexible manipulator for carrying the personnel inspection equipment to move according to a real-time planned trajectory and position it to the position of the car window. 6 . . 6 . The security robot system for comprehensive crossing inspection according to claim 1 , further comprising a safety collision avoidance mechanism to ensure that the flexible robotic arm is kept within a safe distance range relative to the vehicle and passengers. 7 . 7. The processing method for comprehensive inspection of crossing, is characterized in that, comprises: When the vehicle enters the detection area, detect the vehicle and identify the vehicle information and the identity of the occupants in the vehicle; Wherein, the detection vehicle refers to identifying whether the vehicle has dangerous goods and whether there is dangerous explosive; The identifying vehicle information refers to checking whether the vehicle is a duplicated vehicle and whether the license plate is in the license plate blacklist; The identifying the identity of the occupant in the vehicle refers to checking whether the current identity of the occupant is in the pre-stored identity blacklist, and checking whether the occupant is consistent with the ID card; Determine whether to lift the barrier according to the recognition result. 8. The processing method for comprehensive inspection of a crossing according to claim 7, wherein judging whether the road gate is lifted according to the identification result comprises: If any one of the vehicle entering the detection area, detecting the vehicle and identifying the vehicle information and the identity of the occupant in the vehicle does not meet the preset conditions, the barrier will not be lifted and will be jointly controlled with the public security system; If the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the occupant in the vehicle meet the preset conditions, the barrier will be lifted. 9. The processing method for comprehensive inspection of a crossing according to claim 7, wherein when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the passenger in the vehicle are identified, further comprising: according to the real-time planning Trajectory movement, steps to locate the window position, The step of positioning to the window position according to the real-time planned trajectory movement includes: Identify the window target by building a machine vision algorithm based on a deep convolutional neural network, and obtain the coordinates of the window relative to the depth camera; According to the coordinates of the window relative to the depth camera and the coordinates of the depth camera relative to the base of the robot arm, the coordinates of the window relative to the base of the robot arm are established, and then the trajectory planning and tracking of the movement of the end of the robot arm to the position of the window are carried out. 10. The processing method for comprehensive inspection of a crossing according to claim 7, wherein when the vehicle enters the detection area, the vehicle is detected and the vehicle information and the identity of the passenger in the vehicle are identified, further comprising: Make sure that the flexible robotic arm is kept at a safe distance from the vehicle and occupants.

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