CN108765921A - View-based access control model lexical analysis is applied to the intelligent patrol method of patrol robot - Google Patents
View-based access control model lexical analysis is applied to the intelligent patrol method of patrol robot Download PDFInfo
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- CN108765921A CN108765921A CN201810299073.3A CN201810299073A CN108765921A CN 108765921 A CN108765921 A CN 108765921A CN 201810299073 A CN201810299073 A CN 201810299073A CN 108765921 A CN108765921 A CN 108765921A
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- patrol
- processing unit
- patrol robot
- data processing
- access control
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Computer Security & Cryptography (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of intelligent patrol method that view-based access control model lexical analysis is applied to patrol robot, including patrol robot and data processing unit, patrol robot includes visual unit；Patrol robot carries out independent navigation patrol in beat, visual unit acquires external image information, the data processing unit carries out feature extraction to the image information that visual unit obtains, identify the object in image, and real-time selection judge whether to meet a certain preset trigger condition in conjunction with specific additional conditions, when meeting a certain preset trigger condition, the task corresponding to the trigger condition is executed；The intelligent patrol method that the view-based access control model lexical analysis of the present invention is applied to patrol robot has higher intelligent level, can play prevents strange personnel or vehicle from entering beat, some courtesy notifications is exchanged and provided with people and timely the effects that finding fire, and facility is provided for the security protection and life of use occasion.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of intelligent patrol method of patrol robot.
Background technology
With the development of the social economy, the flow of the people in places such as cell, market, conference centre, station, airports increasingly increases
It is more, this kind of occasion completely deploy to ensure effective monitoring and control of illegal activities and be particularly important, using traditional fixing camera deploy to ensure effective monitoring and control of illegal activities cannot be complete
Region of deploying to ensure effective monitoring and control of illegal activities is covered, there are many monitoring dead angles, and cost of deploying to ensure effective monitoring and control of illegal activities is also higher, and very high density of deploying to ensure effective monitoring and control of illegal activities is needed to can be only achieved preferably
Monitoring effect, therefore, the patrol robot of packaged type comes into being, and patrol robot, can due to its moveable characteristic
To carry out mobile patrol in beat, the monitoring dead angle of fixing camera is supplemented.At present for the application of patrol robot
Thinking is still identical with using the application thinking of fixing camera, i.e., the camera on patrol robot only serves video record
Effect, cannot react, intelligence degree is low in conjunction with image.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, a kind of intelligence degree of present invention offer is higher, patrols
Robot is patrolled to patrol applied to the intelligence of patrol robot in combination with the view-based access control model lexical analysis of image information execution certain task
Patrol method.
Technical solution：To achieve the above object, view-based access control model lexical analysis of the invention is applied to the intelligence of patrol robot
Method, including patrol robot and data processing unit can be gone on patrol, patrol robot includes visual unit；
Patrol robot carries out independent navigation patrol in beat, and visual unit acquires external image information, described
Data processing unit carries out feature extraction to the image information that visual unit obtains, and identifies the object in image, and real-time selection
Property judge whether to meet a certain preset trigger condition in conjunction with specific additional conditions, when meeting a certain preset trigger condition,
Execute the task corresponding to the trigger condition；The object includes people, vehicle, animal, flame, dense smoke, the additional conditions packet
Containing weather, environment, position, the trigger condition includes individual object, the combination of different objects or object and additional conditions
Combination.
Further, further include database that is built-in or being attached to the patrol robot, include that can patrol in database
The face data of personnel current in region is patrolled, the data processing unit can carry out face recognition by this class object to people, sentence
Its face data break whether in database, if not in database, constitutes trigger condition and executes corresponding task.
Further, the data processing unit can further to people, this class object carries out gender and/or Age Estimation,
And the gender inferred and/or age is combined to carry out voice reminder to corresponding people with additional conditions.
Further, further include database that is built-in or being attached to the patrol robot, include that can patrol in database
The license board information of vehicle current in region is patrolled, the data processing unit can carry out Car license recognition by this class object to vehicle,
Judge whether the license board information for being identified vehicle is included in database, if not in database, constitutes trigger condition execution
Corresponding task.
Further, this class object of data processing unit combination vehicle and its this additional conditions of present position judge vehicle
Location whether in place, when its present position not in place when, constitute trigger condition and simultaneously execute
Corresponding task.
Further, data processing unit first determines whether vehicle present position is parking stall, constitutes trigger condition if not,
If then the license board information of vehicle and the parking space information residing for vehicle is combined to judge whether vehicle is parked in correct parking stall, if not structure
At trigger condition.
Further, data processing unit can carry out the combination of people and animal this two class object voice reminder, in prompting
Hold and hurts sb.'s feelings comprising attention, pay attention to excretion, remind injection inoculation in time.
Further, data processing unit can be directed to the objects such as flame, smog and send out alarm in time or remind backstage personnel
Pay attention to.
Further, the data processing unit can connect outside network resource, for object or object and additional conditions
Combination excavate associated data, and execute corresponding task.
Further, the data of database can be uploaded, be distributed to the outer of supervision permission by the data processing unit
Portion's platform, external platform can be directed to the data that data processing unit uploads and carry out autonomous data analysis, and external platform includes fire alarm
Platform, emergency medical aid platform, public security platform.
Advantageous effect：The present invention view-based access control model lexical analysis be applied to patrol robot intelligent patrol method have compared with
The data processing unit of high intelligent level, patrol robot can make the combination of different object and additional conditions
Corresponding reaction, can play prevents strange personnel or vehicle from entering beat, is exchanged with people and provide some friendship
The effects that reminding and finding fire in time, facility is provided for the security protection and life of use occasion.
Description of the drawings
Attached drawing 1 is the composition figure comprising the patrol system including patrol robot.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Fig. 1, patrol robot system includes patrol robot 100, data processing unit 200 and database
300, patrol robot 100 includes visual unit 110；Data processing unit 200 and database 300 can be built in patrol plane
Exist in device people 100 or independently of patrol robot 100, visual unit 110 is all connected with data processing unit with database 300
200.In addition patrol robot 100 further includes the man-machine interaction unit 120 and environment detection sensor 130 for human-computer interaction,
Man-machine interaction unit 120 is mainly comprising the microphone for acquiring sound, the display screen for exporting image and for exporting
The loud speaker of voice can also include flicker alarm lamp, buzzer etc..Environment detection sensor 130 is for detecting patrol machine
Barrier around people 100 assists it to get around pedestrian, vehicle or other barriers during patrol robot 100 advances.
Patrol robot 100 carries out independent navigation patrol in beat, and visual unit 110 acquires external image letter
Breath, the data processing unit 200 carry out feature extraction to the image information that visual unit 110 obtains, identify pair in image
As, and real-time selection judge whether to meet a certain preset trigger condition in conjunction with specific additional conditions, it is a certain pre- when meeting
If when trigger condition, executing the task corresponding to the trigger condition；The object includes people, vehicle, animal, flame, dense smoke etc.,
The additional conditions include weather, environment, position etc., and the trigger condition includes following several situations：
(A) individual object；Mainly individual people, individual vehicle, individual animal etc.；100 needle of patrol robot
Individual people or vehicle can be greeted, some prompts are provided, its identity is verified etc., for individual animal,
The image information of position and animal can be pushed to backstage and reminded by patrol robot 100 wild animal appearance；
(B) combination of different objects；The combination of such as people and animal, the combining of people and vehicle, the crowd of more people composition；It is right
In the combination of people and animal, patrol robot 100 can carry out people voice reminder, and reminded contents include but not limited to pay attention to wound
People pays attention to excretion, reminds and inject inoculation etc. in time；The combination of corresponding people and vehicle, patrol robot 100 can be provided and " be asked
Vehicle is stopped to parking stall ", the prompts such as " forbidding random parking "；For the crowd to get together, patrol robot 100 can be by scene photo
It is whether abnormal by backstage personnel's estimate of situation as being sent to backstage with location information, if backstage personnel judge that situation more extremely may be used
The personnel of arranging work come to handle, or so that patrol robot 100 is sent out sound and optic signal to the instruction of patrol robot 100 and disperse people
Group.
(C) combination of object and additional conditions；If patrol robot 100 encounters pedestrian, in conjunction with short-range forecast will under
The additional conditions of rain can notice that the prompt with umbrella, or the combination position, can nearby in the additional conditions of construction to pedestrian
Pay attention to the prompt detoured to provide pedestrian.
It describes in detail to the patrol method of patrol robot 100 with reference to some scenes：
One, in conjunction with the passage personnel in face recognition function management beat
Include the face data for the personnel that can be passed through in beat, the data processing list in the database 300
Member 200 can carry out face recognition by this class object to people, judge whether its face data is included in database 300, if not existing
In database 300, then constitutes trigger condition and execute corresponding task, the task of execution can be that voice prompt stranger leaves, reports
Backstage manager is accused to pay attention to the behavior of stranger or preserve the face data of stranger to database 300 to consult to facilitate
Deng.
In addition, the data processing unit 200 can further to people, this class object carries out gender and/or Age Estimation,
And the gender inferred and/or age is combined to carry out voice reminder to corresponding people with additional conditions.Old man, child are such as encountered,
Patrol robot 100 can remind its Changes in weather to notice that warming, neighbouring vehicle is taken care more.
Two, in conjunction with the vehicle in Car license recognition function management beat
Include the license board information for the vehicle that can be passed through in beat, the data processing list in the database 300
Member 200 can carry out Car license recognition by this class object to vehicle, judge whether the license board information for being identified vehicle is included in database
In 300, if not in database 300, constitutes trigger condition and execute corresponding task, the task of execution can be the strange vehicle of prompt
It leaves, report that backstage manager follows up and processing and look into the license board information input database 300 of strange vehicle to facilitate
It reads.
Data processing unit 200 combines this class object of vehicle and its this additional conditions of present position to judge residing for vehicle
Position whether in place, when its present position not in place (such as parking offense, occupy passageway for fire apparatus)
When, it constitutes trigger condition and executes corresponding task (prompting moves vehicle, notice backstage, places on record).Specifically, data processing list
Member 200 first determines whether vehicle present position is parking stall, constitutes trigger condition if not, if then combining the license board information of vehicle
Judge whether vehicle is parked in correct parking stall with the parking space information residing for vehicle, constitutes trigger condition if not, prevent vehicle from occupying
The Reserved Parking of other vehicles is beneficial to the management of parking stall and reduces dispute.
Three, fire disasters protection, abnormal conditions identification
Data processing unit 200 can recognize that the objects such as flame, smog and send out alarm in time or backstage personnel be reminded to pay attention to
And confirm, while the disasters such as fire can be directed on patrol robot 100, special detection sensor is installed, detection sensor includes
Smoke detector, air humidity sensor etc., patrol robot 100 is close to the scene of doubtful conflagration area, detection thereon
Sensor is by detecting smokescope, air Drought-wet change and combining the image information of the acquisition of visual unit 110 that can integrate voluntarily
Judge whether that fire occurs, and remind related personnel or directly report a fire, fire occurs when late into the night etc. being prevented to be neglectful in taking precautions.
In addition data processing unit 200 can also identify the abnormality of object, for example, data processing unit 200 can be known
The state that others falls down, and backstage is reminded to provide treatment measures in time, in addition to this it is possible to identify the shape for example set and blown down
State, public safety facilities (guardrail, well lid etc.) damage or loss that state, article are toppled over etc., and background process is notified in time.
Four, the depth of data is excavated and is shared
In order to improve the intelligent level of patrol robot 100, the data processing unit 200 can connect external network money
Source 400, associated data is excavated in the combination for object or object and additional conditions, and executes corresponding task.Such as：It is relatively conventional
Ground, data processing unit 200 can obtain the data of weather and air quality and the prompting that is used from outside network resource 400
The anti-haze of user's rain-proof；Data processing unit 200 can also be directed to the data that different use occasions obtains different field, such as go on patrol
Robot 100 using AT STATION, the occasions such as airport, order for arrest, the search notice of the publication of outside network resource 400 can be obtained
Etc. information, and help to compare and find related personnel.Meanwhile data processing unit 200 can by the data of database 300 upload,
It is distributed to the external platform of supervision permission, such as fire alarm platform, emergency medical aid platform, public security platform, external platform can be directed to
The data that data processing unit 200 uploads carry out the operations such as autonomous data analysis, screening useful information.
The intelligent patrol method that the view-based access control model lexical analysis of the present invention is applied to patrol robot 100 has higher intelligence
Energyization is horizontal, and the data processing unit 200 of patrol robot 100 can make the combination of different object and additional conditions
Corresponding reaction, can play prevents strange personnel or vehicle from entering beat, is exchanged with people and provide some friendship
The effects that reminding and finding fire in time, facility is provided for the security protection and life of use occasion.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. view-based access control model lexical analysis is applied to the intelligent patrol method of patrol robot, it is characterised in that：Including patrol machine
People and data processing unit, patrol robot include visual unit；
Patrol robot carries out independent navigation patrol in beat, and visual unit acquires external image information, the data
The image information that processing unit obtains visual unit carries out feature extraction, identifies the object in image, and real-time selection
Judge whether to meet a certain preset trigger condition in conjunction with specific additional conditions, when meeting a certain preset trigger condition, execute
Task corresponding to the trigger condition；The object includes people, vehicle, animal, flame, dense smoke, and the additional conditions include day
Gas, environment, position, the trigger condition include individual object, the different combinations of object or the combination of object and additional conditions.
2. view-based access control model lexical analysis according to claim 1 is applied to the intelligent patrol method of patrol robot, special
Sign is：Further include database that is built-in or being attached to the patrol robot, includes that can lead in beat in database
The face data of capable personnel, the data processing unit can carry out face recognition by this class object to people, judge its facial number
According to whether being included in database, if not in database, constitutes trigger condition and execute corresponding task.
3. view-based access control model lexical analysis according to claim 2 is applied to the intelligent patrol method of patrol robot, special
Sign is：The data processing unit can further to people, this class object carries out gender and/or Age Estimation, and combines and infer
Gender and/or age and additional conditions voice reminder is carried out to corresponding people.
4. view-based access control model lexical analysis according to claim 1 is applied to the intelligent patrol method of patrol robot, special
Sign is：Further include database that is built-in or being attached to the patrol robot, includes that can lead in beat in database
The license board information of capable vehicle, the data processing unit can carry out Car license recognition by this class object to vehicle, judge identified
Whether the license board information of vehicle is included in database, if not in database, constitutes trigger condition and executes corresponding task.
5. view-based access control model lexical analysis according to claim 4 is applied to the intelligent patrol method of patrol robot, special
Sign is：This class object of data processing unit combination vehicle and its this additional conditions of present position judge the position residing for vehicle
Set whether in place, when its present position not in place when, constitute trigger condition simultaneously execute corresponding task.
6. view-based access control model lexical analysis according to claim 5 is applied to the intelligent patrol method of patrol robot, special
Sign is：Data processing unit first determines whether vehicle present position is parking stall, constitutes trigger condition if not, if then combining
The license board information and the parking space information residing for vehicle of vehicle judge whether vehicle is parked in correct parking stall, constitute triggering item if not
Part.
7. view-based access control model lexical analysis according to claim 1 is applied to the intelligent patrol method of patrol robot, special
Sign is：Data processing unit can be to the combination progress voice reminder of this two class object of people and animal, and reminded contents include to pay attention to
It hurts sb.'s feelings, pays attention to excretion, reminds injection inoculation in time.
8. view-based access control model lexical analysis according to claim 1 is applied to the intelligent patrol method of patrol robot, special
Sign is：Data processing unit can be directed to the objects such as flame, smog and send out alarm in time or backstage personnel be reminded to pay attention to.
9. being applied to the intelligent patrol side of patrol robot according to claim 1-8 any one of them view-based access control model lexical analysis
Method, it is characterised in that：The data processing unit can connect outside network resource, for the group of object or object and additional conditions
It closes and excavates associated data, and execute corresponding task.
10. being applied to the intelligent patrol of patrol robot according to claim 1-8 any one of them view-based access control model lexical analysis
Method, it is characterised in that：The data of database can be uploaded, be distributed to the outside of supervision permission by the data processing unit
Platform, external platform can be directed to the data that data processing unit uploads and carry out autonomous data analysis, and external platform is flat comprising fire alarm
Platform, emergency medical aid platform, public security platform.
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| CN109672792A (en) * | 2018-12-17 | 2019-04-23 | 深圳如果技术有限公司 | A kind of intelligence moves vehicle method, apparatus and system |
| CN109671236A (en) * | 2018-12-28 | 2019-04-23 | 广东美电贝尔科技集团股份有限公司 | The detection method and its system of circumference target object |
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