CN110969718A - Control method and system of intelligent patrol robot - Google Patents
Control method and system of intelligent patrol robot Download PDFInfo
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- CN110969718A CN110969718A CN201911067525.6A CN201911067525A CN110969718A CN 110969718 A CN110969718 A CN 110969718A CN 201911067525 A CN201911067525 A CN 201911067525A CN 110969718 A CN110969718 A CN 110969718A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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Abstract
The invention discloses a control method of an intelligent patrol robot, which comprises the following steps: s100: making a patrol plan; s200: sending the patrol plan to the corresponding patrol robot; s300: the patrol robot patrols according to the set route and time; s400: the patrol robot acquires surrounding image information; s500: the patrol robot acquires image information of surrounding human bodies; s600: is it judged whether the image is abnormal If yes, go to step S800; if not, go to step S700; s700: continuing patrol according to the patrol plan; s800: an alarm is issued and an emergency state is entered. The invention also discloses a control system of the intelligent patrol robot. The control method and the system for the intelligent patrol robot can relieve the security pressure of public places with large pedestrian flow and improve patrol efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control method and a control system of an intelligent patrol robot.
Background
The flow of people in public places is huge, and the pressure of security is also large. In order to ensure the safety of patrol personnel and improve patrol efficiency, patrol robots are equipped in public places with huge pedestrian flow.
In view of the above, it is necessary to provide a control method and system for an intelligent patrol robot, so as to relieve security pressure in public places with large pedestrian flow and improve patrol efficiency.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a control method and a control system for an intelligent patrol robot, which improve patrol efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme.
A method of controlling an intelligent patrol robot, the method comprising:
s100: making a patrol plan;
s200: sending the patrol plan to the corresponding patrol robot;
s300: the patrol robot patrols according to the set route and time;
s400: the patrol robot acquires surrounding image information;
s500: the patrol robot acquires image information of surrounding human bodies;
s600: is it judged whether the image is abnormal? If yes, go to step S800; if not, go to step S700;
s700: continuing patrol according to the patrol plan;
s800: an alarm is issued and an emergency state is entered.
Wherein the step S100: making a patrol plan, wherein the step of making the patrol plan comprises the following steps: setting a patrol route, setting patrol time, setting images of suspicious scenes and setting images of suspicious people.
The patrol time setting method comprises the steps of setting patrol starting time and patrol finishing time.
Wherein, the step S600: judging whether the image is abnormal or not, comprising the following steps:
s610: acquiring a pre-stored suspicious scene image;
s620: acquiring a pre-stored suspicious figure image;
s630: and comparing the surrounding image information acquired by the patrol robot with the pre-stored suspicious scene and suspicious figure images.
A control system of intelligent patrol robot, including intelligent patrol robot body, the system includes: the system comprises a main control module, an instruction receiving module, an instruction sending module, a communication module, a map module, a navigation module, a voice module, an alarm module, an image acquisition module, an image recognition module, a charging module and a storage module;
the main control module is respectively and electrically connected with the instruction receiving module, the instruction sending module, the communication module, the map module, the navigation module, the voice module, the alarm module, the image acquisition module, the image recognition module, the charging module and the storage module;
the instruction receiving module is used for the system to receive an instruction sent by a user;
the instruction sending module is used for sending a control instruction to the intelligent patrol robot by the system;
the communication module is used for the system to communicate with external equipment;
the map module is used for setting a patrol map and importing the map of a patrol area;
the navigation module is used for providing navigation for the intelligent patrol robot;
the voice module is used for sending out voice prompt;
the alarm module is used for giving an alarm when the surrounding is judged to be abnormal;
the image acquisition module is used for acquiring surrounding image information;
the image identification module is used for identifying the acquired image;
the charging module is used for charging the intelligent patrol robot;
the storage module is used for storing the control program and the acquired image information.
Wherein the image recognition module comprises: the image feature extraction module and the comparison module are used for comparing the image features;
the image feature extraction module is used for extracting the acquired image feature information;
the comparison module is used for comparing the acquired surrounding image information with the pre-stored suspicious scene and suspicious image characteristics.
The alarm module is used for giving an alarm in a sound-light alarm mode.
Compared with the prior art, the invention has the following beneficial effects:
the control method and the system for the intelligent patrol robot provided by the invention can relieve the security pressure of public places with large pedestrian flow and improve the patrol efficiency.
Drawings
Fig. 1 is a schematic flow chart of a control method of an intelligent patrol robot according to an embodiment of the present invention;
fig. 2 is an exploded view illustrating a step S600 in a control method of an intelligent patrol robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the components of a control system of an intelligent patrol robot according to an embodiment of the invention;
fig. 4 is a schematic diagram illustrating the components of an image recognition module in the control system of the intelligent patrol robot according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail in the foregoing specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
As shown in fig. 1, fig. 1 is a schematic flow chart of a control method of an intelligent patrol robot according to an embodiment of the present invention. The invention discloses a control method of an intelligent patrol robot, which comprises the following steps:
step S100: and (5) making a patrol plan. And the user makes a patrol plan aiming at the person to be patrolled. The patrol plan comprises the following steps: setting a patrol route, setting patrol time, setting images of suspicious scenes, setting images of suspicious people, and the like. The patrol time comprises patrol starting time and patrol finishing time. The images of suspicious scenes are images of scenes which threaten public safety, such as images of violent scenes, and the like, and the images of scenes can be imported by the user according to patrol requirements for system comparison to assist in judging whether violent scenes exist in the patrol process. And setting the suspicious figure image as an image of a suspect, comparing the suspicious figure image with the figure image obtained in the patrol process by the system, and judging whether the suspect exists in the patrol process.
Step S200: and sending the patrol plan to the corresponding patrol robot. And after a patrol plan is formulated, sending the patrol plan to the patrol robot which correspondingly executes the patrol plan.
Step S300: and the patrol robot patrols according to the set route and time. And the patrol robot patrols according to the set patrol route and patrol time. The patrol time comprises patrol starting time and patrol finishing time.
Step S400: the patrol robot acquires surrounding image information. The patrol robot acquires surrounding image information through the image acquisition module in the patrol process, and identifies and stores the acquired surrounding image information.
Step S500: the patrol robot acquires image information of surrounding human bodies. In the patrol robot patrol process, the image acquisition module acquires image information of people around the patrol robot, and identifies and stores the acquired image information of the people around the patrol robot.
Step S600: is it judged whether the image is abnormal? If yes, go to step S800; if not, the process proceeds to step S700. After the image information around the patrol robot and the image information of people around the patrol robot are obtained, the image information is respectively compared with the suspicious scene image information and the suspicious person image information set in the patrol plan to judge whether the abnormity exists. If the abnormality exists, the step S800 is entered; if there is no abnormality, the process proceeds to step S700.
Step S700: and continuing patrol according to the patrol plan. And if the obtained image information is compared with the set suspicious scene image information and the set suspicious character image information, judging that no abnormity exists, and continuing patrolling according to a patrolling plan.
Step S800: an alarm is issued and an emergency state is entered. If the image information acquired by the patrol robot is compared with the set suspicious scene and the set suspicious figure image information, and the abnormity is judged to exist, an alarm is sent out, and the patrol robot enters an emergency state.
As shown in fig. 2, fig. 2 is an exploded schematic view of step S600 in the control method of the intelligent patrol robot according to an embodiment of the present invention. In the present invention, the step S600: judging whether the image is abnormal or not, comprising the following steps:
step S610: and acquiring a pre-stored suspicious scene image. When a patrol plan is made, a suspicious scene image, such as a violent scene image, which is prestored when the suspicious scene image is set, is acquired. It should be noted that the number of the pre-stored suspicious scene images may be multiple, and the number of the pre-stored suspicious scene images is used as a comparison sample.
Step S620: and acquiring a pre-stored suspicious figure image. When a patrol plan is made, a suspicious person image, such as a suspect image, pre-stored when the suspicious person image is set, is acquired. It should be noted that, if there are multiple suspects, images of multiple suspects may be prestored in a suspicious manner or multiple images may be prestored in each suspects.
Step S630: and comparing the surrounding image information acquired by the patrol robot with the pre-stored suspicious scene and suspicious figure images. And comparing the surrounding image information acquired by the patrol robot with the prestored suspicious scene image and suspicious figure image, and judging whether the suspicious scene or the suspicious figure exists in the image acquired by the patrol robot.
The invention also provides a control system of the patrol robot, and the control system of the patrol robot provided by the invention is further explained with reference to the drawings and the embodiment.
As shown in fig. 3, fig. 3 is a schematic diagram of a control system of an intelligent patrol robot according to an embodiment of the present invention. A control system of intelligent patrol robot, including intelligent patrol robot body, the system includes: the system comprises a main control module 101, an instruction receiving module 102, an instruction sending module 103, a communication module 104, a map module 105, a navigation module 106, a voice module 107, an alarm module 108, an image acquisition module 109, an image recognition module 110, a charging module 111 and a storage module 112.
The main control module 101 is electrically connected to the instruction receiving module 102, the instruction sending module 103, the communication module 104, the map module 105, the navigation module 106, the voice module 107, the alarm module 108, the image obtaining module 109, the image recognition module 110, the charging module 111, and the storage module 112, respectively.
The instruction receiving module 102 is used for the system to receive an instruction sent by a user. The control instruction sent by the user to the system is received by the instruction receiving module 102, including patrol instruction, operation instruction, and the like, after the instruction receiving module 102 receives the instruction, the instruction is transmitted to the main control module 101, and the main control module 101 analyzes the instruction to obtain the content of the instruction.
The instruction sending module 103 is used for sending a control instruction to the intelligent patrol robot by the system. The system sends control instructions including patrol instructions, operation instructions and the like to the patrol robot through the instruction sending module 103. Before the patrol robot patrols, the system can send a patrol instruction to the patrol robot through the instruction sending module 103, and in the patrol robot patrol process, the system can send an operation instruction and the like to the patrol robot through the instruction sending module 103.
The communication module 104 is used for the system to communicate with external devices. Through the communication module 104, the system communicates with external devices, e.g., user terminals, servers, etc. The communication mode of the communication module 104 is at least one of WiFi and data network.
The map module 105 is used to set a patrol map and import a map of a patrol area. The map module 105 is used for importing a map of a patrol area, and for setting a patrol map and recommending a patrol route. After the user sets the patrol starting point and the patrol ending point, the map module 105 recommends all routes from the patrol starting point to the patrol ending point for the user.
The navigation module 106 is used for providing navigation for the intelligent patrol robot. In the patrol process of the intelligent patrol robot, the navigation module 106 acquires the current position in real time and provides navigation for the intelligent patrol robot.
The voice module 107 is configured to issue a voice prompt. The voice module 107 is used for sending out voice alarm of the voice reminder.
The alarm module 108 is configured to issue an alarm when it is determined that there is an abnormality around the vehicle. The alarm module 108 is configured to send an alarm when an abnormal scene or an abnormal person is found in the patrol process. The alarm mode of the alarm module 108 is an audible and visual alarm.
The image obtaining module 109 is configured to obtain surrounding image information. The image obtaining module 109 includes a camera for obtaining image information of the surroundings of the patrol robot, including surrounding scene image information and surrounding person image information.
The image recognition module 110 is configured to recognize the acquired image. The image recognition module 110 is configured to recognize and compare the image acquired by the image acquisition module 109, and determine whether a suspicious scene or a suspicious person exists in the image acquired by the patrol robot.
The charging module 111 is used for charging the intelligent patrol robot.
The storage module 112 is used for storing the control program and the acquired image information. The storage module 112 stores a control program and image information acquired by the intelligent patrol robot during patrol.
As shown in fig. 4, fig. 4 is a schematic diagram illustrating an image recognition module in a control system of an intelligent patrol robot according to an embodiment of the present invention. In the present invention, the image recognition module 110 includes: an image feature extraction module 1101 and an alignment module 1102.
The image feature extraction module 1101 is configured to extract the acquired image feature information. The image feature extraction module 1101 is configured to extract feature information of an image from the image acquired by the image acquisition module 109.
The comparison module 1102 is configured to compare the acquired surrounding image information with a pre-stored suspicious scene and suspicious image features. The comparison module 1102 is configured to compare the image feature information extracted by the image feature extraction module 1101 with pre-stored image features of suspicious scenes and suspicious people. And judging whether suspicious scenes or possible characters exist in the patrol process.
In conclusion, the control method and the control system for the intelligent patrol robot provided by the invention can relieve the security pressure of public places with large pedestrian flow and improve the patrol efficiency.
While the present invention has been described with reference to exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (7)
1. A control method of an intelligent patrol robot is characterized by comprising the following steps:
s100: making a patrol plan;
s200: sending the patrol plan to the corresponding patrol robot;
s300: the patrol robot patrols according to the set route and time;
s400: the patrol robot acquires surrounding image information;
s500: the patrol robot acquires image information of surrounding human bodies;
s600: is it judged whether the image is abnormal? If yes, go to step S800; if not, go to step S700;
s700: continuing patrol according to the patrol plan;
s800: an alarm is issued and an emergency state is entered.
2. The control method of the intelligent patrol robot according to claim 1, wherein the step S100: making a patrol plan, wherein the step of making the patrol plan comprises the following steps: setting a patrol route, setting patrol time, setting images of suspicious scenes and setting images of suspicious people.
3. The method as claimed in claim 2, wherein the setting of the patrol time includes setting a patrol start time and a patrol end time.
4. The control method of the intelligent patrol robot of claim 1, wherein the step S600: judging whether the image is abnormal or not, comprising the following steps:
s610: acquiring a pre-stored suspicious scene image;
s620: acquiring a pre-stored suspicious figure image;
s630: and comparing the surrounding image information acquired by the patrol robot with the pre-stored suspicious scene and suspicious figure images.
5. The utility model provides a control system of intelligence patrol robot, includes the intelligence patrol robot body, its characterized in that, the system includes: the system comprises a main control module, an instruction receiving module, an instruction sending module, a communication module, a map module, a navigation module, a voice module, an alarm module, an image acquisition module, an image recognition module, a charging module and a storage module;
the main control module is respectively and electrically connected with the instruction receiving module, the instruction sending module, the communication module, the map module, the navigation module, the voice module, the alarm module, the image acquisition module, the image recognition module, the charging module and the storage module;
the instruction receiving module is used for the system to receive an instruction sent by a user;
the instruction sending module is used for sending a control instruction to the intelligent patrol robot by the system;
the communication module is used for the system to communicate with external equipment;
the map module is used for setting a patrol map and importing the map of a patrol area;
the navigation module is used for providing navigation for the intelligent patrol robot;
the voice module is used for sending out voice prompt;
the alarm module is used for giving an alarm when the surrounding is judged to be abnormal;
the image acquisition module is used for acquiring surrounding image information;
the image identification module is used for identifying the acquired image;
the charging module is used for charging the intelligent patrol robot;
the storage module is used for storing the control program and the acquired image information.
6. The control system of the intelligent patrol robot of claim 5, wherein the image recognition module comprises: the image feature extraction module and the comparison module are used for comparing the image features;
the image feature extraction module is used for extracting the acquired image feature information;
the comparison module is used for comparing the acquired surrounding image information with the pre-stored suspicious scene and suspicious image characteristics.
7. The control system of an intelligent patrol robot as claimed in claim 5, wherein the alarm mode of the alarm module is an audible and visual alarm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911067525.6A CN110969718A (en) | 2019-11-04 | 2019-11-04 | Control method and system of intelligent patrol robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911067525.6A CN110969718A (en) | 2019-11-04 | 2019-11-04 | Control method and system of intelligent patrol robot |
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| CN110969718A true CN110969718A (en) | 2020-04-07 |
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| CN201911067525.6A Pending CN110969718A (en) | 2019-11-04 | 2019-11-04 | Control method and system of intelligent patrol robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273459A (en) * | 2022-06-25 | 2022-11-01 | 河南机电职业学院 | Unmanned safety cruiser |
| CN116755452A (en) * | 2023-08-17 | 2023-09-15 | 深圳安培时代数字能源科技有限公司 | Mobile power supply autonomous patrol method and device based on battery protection box |
-
2019
- 2019-11-04 CN CN201911067525.6A patent/CN110969718A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273459A (en) * | 2022-06-25 | 2022-11-01 | 河南机电职业学院 | Unmanned safety cruiser |
| CN116755452A (en) * | 2023-08-17 | 2023-09-15 | 深圳安培时代数字能源科技有限公司 | Mobile power supply autonomous patrol method and device based on battery protection box |
| CN116755452B (en) * | 2023-08-17 | 2023-11-03 | 深圳安培时代数字能源科技有限公司 | Mobile power supply autonomous patrol method and device based on battery protection box |
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