CN107564144A - A kind of intelligent robot gate control system and control method - Google Patents
A kind of intelligent robot gate control system and control method Download PDFInfo
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- CN107564144A CN107564144A CN201710715854.1A CN201710715854A CN107564144A CN 107564144 A CN107564144 A CN 107564144A CN 201710715854 A CN201710715854 A CN 201710715854A CN 107564144 A CN107564144 A CN 107564144A
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Abstract
The present invention relates to gate inhibition's technical field, more particularly to a kind of intelligent access control system and its control method with robot characteristic.Intelligent robot gate control system includes door end processing system, door end sensory perceptual system, door end expression system, door opening and closing system, opening and closing lock system, and door end processing system connects an end sensory perceptual system, door end expression system, door opening and closing system, opening and closing lock system and cloud server system, the network terminal respectively by i/o interfaces.Door end processing system is connected with cloud server system, network terminal three by network service；The present invention has Intellisense and expressive function, based on the enabling of hommization, shutdown control model is provided with the basis of Intelligent Recognition, traditional safety anti-theft door is possessed unique intelligence machine humanized, significant increase user experience sense.It is worthy of popularization.
Description
Technical field
The present invention relates to gate inhibition's technical field, more particularly to a kind of intelligent access control system with robot characteristic and its
Control method.
Background technology
At present, it is adapted to the antitheft door of common people house to be improved anti-by installing the control modules such as fingerprint, password in door body
Steal the security of door.But such antitheft door is also merely resting on simple or single antitheft function doorsteps section.Can not camera
Device people is the same to be known with people's intelligent interaction, the bigger bio-identification for expanding gate control system of the present invention, expression recognition, behavior pattern
Not, the function such as safety prompt function alarm.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of intelligent access control system with robot characteristic and its control
Method processed, assign the characteristic of safety door artificial intelligence.
In order to solve the above technical problems, a kind of intelligent robot gate control system of the present invention, including door end processing system, Men Duan
Sensory perceptual system, door end expression system, door opening and closing system, opening and closing lock system and power supply；
Door end processing system, its hardware include processor, memory cell, input-output unit, for data storage,
Data processing, and the input and output of data and instruction；The memory cell is stored with connected user authenticated information；Its software includes
Convolutional neural networks algorithmic system and data model libraries, the convolutional neural networks algorithmic system are used for by analyzing human body behavior
Image, identify the behavior pattern of people；The data model libraries include human body behavior figure picture-behavioral pattern data；
Door end sensory perceptual system, including, located at the first human body sensing unit, the first image acquisition device, people of outer side of door
Body characteristicses collector, the first sound collector, and the second human sensing unit on the inside of door, the second image acquisition device,
Second sound collector；The first human body sensing unit be used to perceive outdoors in the range of certain distance whether someone, described the
Two human sensing units be used to perceive in door in the range of certain distance whether someone；Described first image collector is used to gather door
The 3-D view of stranger, characteristics of human body's collector are used for the characteristics of human body for gathering door opener, and the characteristics of human body includes people
Face, iris, palmmprint, vocal print, palm vein, gait feature, first sound collector is used for the sound for gathering people outdoors
Sound；Second image acquisition device is used for the 3-D view for gathering people in door, and the second sound collector is used to gather in door
The sound of people；
Door end expression system, including the first image display, the first sound follower located at outer side of door, Yi Jishe
The second image display, second sound follower on the inside of door；
The door opening and closing system, for receiving the instruction of door end processing system, driving and control opens the door, holding of closing the door
Row mechanism, performs enabling shutdown action, and to the door end processing system feedback signal；
Lock system is opened and closed, for receiving the instruction of door end processing system, driving and control are unlocked, the execution machine of locking
Structure, performs unlocking, block action, and to the door end processing system feedback signal.
Further, door end sensory perceptual system also includes enabling checking information collecting unit, for gathering checking of opening the door
Information, and transmit this information to door end sensory perceptual system；The electronic identity that the enabling checking information includes door opener is believed
Breath.
The scheme of optimization is that door end sensory perceptual system also includes soft door bell and button system, for being simulated with door end processing system
Realize electronic door bell.
Further, the intelligent robot gate control system also includes frame side photoelectric sensor, the frame side photoelectricity
Sensor is arranged on the doorframe of enabling side, and its signal is sent to an end processing system, for being detected whether under door opening state
There is human body to pass through door.
More excellent, the intelligent robot gate control system also includes handheld terminal, door end processing system, hand-held
Terminal wirelessly communicates connection.
Optimal, the intelligent robot gate control system also includes cloud server system, the network terminal, at the door end
Reason system, cloud server system, network terminal three are connected by network service；
The cloud server system is provided with remote machine study subsystem, information distribution system, Streaming Media processing system；
The remote machine learns subsystem, and the improvement for the convolutional neural networks algorithmic system improves；
Described information dissemination system, for customizing messages to be distributed into the network terminal；
The Streaming Media processing system, for communicating in real time or regularly with door end processing system, obtain the door end
The stream medium data of sensory perceptual system.
Further, the cloud server system is additionally provided with dynamic authentication password system, the dynamic authentication password system
In in the processing system of door end, door end sensory perceptual system is provided with dynamic authentication password entry and receives dress the client deployment of system
Put.
Preferably, described first image display, the second image display are touch screen.
Further optimize, the data model libraries also include facial image-mood mode data；The convolutional Neural net
Network algorithmic system, it is additionally operable to, by analyzing facial image, identify the mood pattern of people.
The present invention proposes the control method of above-mentioned intelligent robot gate control system simultaneously, comprises the following steps：
I, the first human body sensing unit perceives messenger outdoors in the range of certain distance, then is issued to door end processing system
People's signal；
After ii, door end processing system receive messenger's signal, open signal, the first figure are sent to the first image acquisition device
As collector collection messenger's image returns to an end processing system；
Iii, convolutional neural networks algorithmic system analysis messenger's image, by analyzing the motion images of messenger, are identified
The behavior pattern of people；
If iv-1, the behavior pattern of messenger are desirable to open the door, characteristics of human body's collector is opened, the human body for gathering messenger is special
Sign, judges whether messenger is connected user authenticated according to the characteristics of human body, judges that the no standard for connected user authenticated is face, rainbow
Film, palmmprint, vocal print, palm vein, gait feature, at least two characteristics of human body's letters for meeting some connected user authenticated simultaneously
Breath,
If iv-1-1, messenger belong to connected user authenticated, according to the user profile, image of the output corresponding to the user
And voice message, then unlock, open the door；
If iv-1-2, messenger, which belong to, does not verify user, output needs to carry out image and the voice message of authentication；
If iv-2, the behavior pattern of messenger are to pass by, the first image acquisition device is closed, is not unlocked；
If iv-3, the behavior pattern of messenger belong to non-security mode, continue to gather image, do not unlock.
If the messenger, which belongs to, does not verify user, output need carry out authentication image and voice message it
Afterwards, messenger is inputted by human body biological characteristics harvester, and door end processing system verifies the artificial connected user authenticated, then root
According to the user profile, image and voice message of the output corresponding to the user, then unlock, open the door；
Or messenger is inputted by password input system, processing system checking input password in the door end is legal, then exports
Respective image and voice message, then unlock, open the door；
Or messenger by dynamic authentication password authentication by, then export respective image and voice message, then unlock,
Open the door.
If the behavior pattern of messenger belongs to non-security mode, warning information is generated, uploads to cloud server system, institute
State cloud server system and warning information is distributed to the network terminal.
Further, messenger enters behind the door, and door is closed automatically and then locking.
It is further preferred that the connected user authenticated enters behind the door, door end processing system passes through the second image display, the rising tone
Sound follower actively pushes association visitor information to connected user authenticated.Door end processing system Real time identification human body gesture, and according to
Different human body gestures, corresponding feedback is made by door end expression system.
Optimal, convolutional neural networks algorithmic system timing self study, and update the data model library.
The present invention is except with the quick identification of multiple features intelligence, outside automatic door opening, the function of closing the door, also has and enabling people
Intelligent sound video interactive, behavior pattern recognition, the human facial expression recognition function of visitor.There is provided depositing for visitor's data simultaneously
Storage, analysis, statistics, query function.The present invention has Intellisense and expressive function, based on being provided with the basis of Intelligent Recognition
The enabling of hommization, shutdown control model, make traditional safety anti-theft door possess uniqueness intelligence machine it is humanized, greatly carry
User experience sense is risen.It is worthy of popularization.
Brief description of the drawings
Technical scheme is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of basic structure theory diagram of intelligent robot gate control system.
Fig. 2 is the functional block diagram of the door end processing system of intelligent robot gate control system.
Fig. 3 is a kind of functional structure chart of embodiment of door end sensory perceptual system.
Fig. 4 is a kind of functional structure chart of embodiment of door end expression system.
Fig. 5 is a kind of structural principle block diagram of extension of intelligent robot gate control system.
Fig. 6 is the functional structure chart of cloud server system.
Fig. 7 is the specific implementation figure of the network terminal.
Embodiment
A kind of basic structure theory diagram of intelligent robot gate control system as shown in Figure 1, including door end processing system,
Door end sensory perceptual system, door end expression system, door opening and closing system, opening and closing lock system, door end processing system are connected respectively by i/o interfaces
Connect an end sensory perceptual system, door end expression system, door opening and closing system, opening and closing lock system.
The hardware of door end processing system includes general processor CPU and image processor GPU, flash memory SSD, defeated
Enter output unit, for data storage, data processing, and data and the input and output of instruction, memory cell, which is stored with, have been tested
User profile is demonstrate,proved, near OR gate in door main body.As shown in Fig. 2 the software function module of door end processing system includes volume
Product neural network algorithm system and data model libraries.Wherein, convolutional neural networks algorithmic system is used for by analyzing human body behavior
3-D view, identify the behavior pattern of people, and by analyzing facial image, identify the mood pattern of people.The number
According to model library human body behavior figure picture-behavioral pattern data model and facial image-mood schema data model.
Including the first human body sensing unit, the first figure located at outer side of door for outer side of door messenger, door end sensory perceptual system
As collector, characteristics of human body's collector, the first sound collector.For outer side of door messenger, door end sensory perceptual system includes being located at door
The second human sensing unit, the second image acquisition device, the second sound collector of inner side.First human body sensing unit is used to perceive
Outdoors in the range of certain distance whether someone, whether the second human sensing unit be used to perceive in door and have in the range of certain distance
People.First image acquisition device is used for the 3-D view for gathering people outdoors, and characteristics of human body's collector is used for the human body for gathering door opener
Feature, the characteristics of human body include face, iris, palmmprint, vocal print, palm vein, the gait feature of people, the first sound collector
For gathering the sound of people outdoors.Second image acquisition device is used for the 3-D view for gathering people in door, and second sound collector is used
In the sound of people in collection door.
As shown in figure 3, the first human body sensing unit specifically uses outer side of door infrared heat sensor, certain distance outdoors is perceived
In the range of whether someone.It is of course also possible to use the mode of optoelectronic scanning, judge outdoors in the range of certain distance whether someone.
Under a kind of embodiment, the first image acquisition device specifically includes an infrared camera, a high clear colorful camera,
More preferably under mode, the first image acquisition device also includes laser scanner, infrared camera, the style of shooting of high clear colorful shooting head
Including taking pictures at a high speed and two kinds of continuously recording.Infrared camera, high clear colorful camera, laser scanner three are in synchronous work
Make, obtain continuous human body three-dimensional image.Human body three-dimensional image is sent to an end processing system by the first image acquisition device.First
Sound collection implement body uses outer side of door microphone, for gathering the sound of people outdoors.Enabling checking information collecting unit, is used for
Enabling checking information is gathered, and transmits this information to an end sensory perceptual system.Enabling checking information includes the electronics body of door opener
Part information.Electronic identity information includes encrypted message, electronic ID card etc..Enabling checking information collecting unit specifically includes electronics
Identity information acquisition device.Electronic identity information acquisition device includes RFID, IC intelligent card readers, password verifier etc.
Deng.
In preferable scheme, the message in cipher in outer side of door touch screen inputting interface collection enabling checking information collecting unit
Breath collection, door opener is in outer side of door touch screen inputting interface input validation password.
Doorframe sidelight electric transducer is installed on the doorframe of enabling side, its signal is sent to an end processing system, for
Detect whether that human body passes through door under door opening state.
For messenger on the inside of door, door end sensory perceptual system includes the second human sensing unit, the second image on the inside of door
Collector, second sound collector.Second human sensing unit be used to perceive in door in the range of certain distance whether someone.Second
Image acquisition device is used for the image for gathering people in door, and second sound collector is used for the sound for gathering people in door.As shown in figure 3,
Second human sensing unit specifically using infrared heat sensor on the inside of door, perceive outdoors in the range of certain distance whether someone.When
So, can also by the way of optoelectronic scanning, judge outdoors in the range of certain distance whether someone.Second image acquisition device has
Constructed with the first image acquisition device identical, obtain continuous human body three-dimensional image, and human body three-dimensional image is sent to an end
Processing system.Second sound collector is specifically using microphone on the inside of door, for gathering the sound of people in door.Door inner side touch screen
Operation input system of the inputting interface as indoor people, is interacted with door end processing system.
Door end expression system, including the first image display, the first sound follower located at outer side of door, and located at door
The second image display, the second sound follower of inner side.As shown in figure 4, the first image display, the second image display point
Not Cai Yong outer side of door touch screen output interface, touch screen output interface on the inside of door, the first sound follower, second sound follower
Outer side of door loudspeaker, door inner side loudspeaker is respectively adopted.
Door opening and closing system, for receiving the instruction of door end processing system, driving and control are opened the door, the executing agency of shutdown,
Perform enabling shutdown action, and to the door end processing system feedback signal.
Lock system is opened and closed, for receiving the instruction of door end processing system, driving and control are unlocked, the executing agency of locking,
Perform unlocking, block action, and to the door end processing system feedback signal.
Intelligent robot gate control system also includes remote terminal, and door end processing system, remote terminal pass through near radio
Mode, the mode such as infrared communication, near-field communication connect.Remote terminal is provided with some control buttons, corresponds to difference respectively
Control instruction, such as open the door, lock, screen display.After door end processing system receives the instruction of remote terminal, by command content point
Kong Zhi not door end expression system, door opening and closing system, open locking system acting.
The structural principle block diagram of a kind of extension of intelligent robot gate control system as shown in Figure 5, except the group shown in Fig. 1
Into outside unit, in addition to cloud server system, the network terminal, door end processing system, cloud server system, network are whole
End three is connected by network service.
As shown in fig. 6, cloud server system is provided with remote machine learning system, information distribution system, Streaming Media processing
System, dynamic authentication password system.Remote machine learning system, using Bi big data model cloud systems, for convolutional Neural net
The improvement of network algorithmic system improves.Information distribution system, for customizing messages to be distributed into the network terminal.The customizing messages is
Information referring to manager's setting, that network terminal user is interested, such as gate inhibition's security alarm information, doorbell information.Streaming Media
Processing system, for communicating in real time or regularly with door end processing system, obtain the stream medium data of door end sensory perceptual system.It is dynamic
The client deployment of state certification password system is in the processing system of door end.
In preferable scheme, outer side of door touch screen inputting interface is used for application and the inputting interface of dynamic authentication password.
Door opener inputs application dynamic authentication password in outer side of door touch screen inputting interface, and door end processing system please by dynamic authentication password
The cloud server system that is sent to is sought, cloud server system generation dynamic authentication password, is sent on the mobile phone of applicant, Shen
Please person's acquisition dynamic authentication password.The dynamic authentication password that door opener applies in the input of outer side of door touch screen inputting interface, door
Dynamic authentication password data is sent to cloud server system by end processing system, after the checking of cloud server system, Xiang Menduan
Processing system sends the result.If the verification passes, then door end processing system control opening and closing lock system, door opening and closing system are opened
Lock, open the door；Otherwise authentication failed is prompted.
Intelligent robot gate control system is provided with soft door bell and button system, and soft door bell and button system includes soft door bell button and simulation doorbell,
Soft door bell button includes the doorbell subsystem for the bell button and door end processing system being located on outer side of door touch screen, and doorbell is pressed
After button is clicked, doorbell subsystem receives doorbell signal, and loudspeaker sends doorbell sound on the inside of driving gate.Further, door
Doorbell signal and current request door opener's information are sent to cloud server system by end processing system.
As shown in fig. 7, the specific implementation of the network terminal includes PC PCs, the tablet personal computer of access internet,
Mobile phone and embedded device etc..The network terminal can be multiple, including at least the legal use of intelligent robot gate control system
The mobile phone at family, it is located at computer of police office of intelligent robot gate control system region etc..Validated user can pass through network
Terminal, sent to intelligent robot gate control system including opening the door, the instruction of shutdown, the gate control system storage of inquiry intelligent robot
Visitor's record etc..
With reference to the control method of intelligent robot gate control system, the present invention is further described.
I, outer side of door infrared heat sensor perceives messenger outdoors in the range of certain distance, then is sent to door end processing system
Messenger's signal；
After ii, door end processing system receive messenger's signal, open signal is sent to outer side of door high-definition camera, outer side of door is high
Clear camera shooting, collecting messenger's image, return to an end processing system；
Iii, door end processing system convolutional neural networks algorithmic system analysis messenger's image, by the action for analyzing messenger
Image, identify the behavior pattern of messenger；
If iv-1, the behavior pattern of messenger are desirable to open the door, door end processing system opens characteristics of human body's collector, collection
The characteristics of human body of messenger, judge whether messenger is connected user authenticated according to the characteristics of human body, judge no for connected user authenticated
Standard is that at least two meeting some has verified that use simultaneously in face, iris, palmmprint, vocal print, palm vein, gait feature
The characteristics of human body at family.
If iv-1-1, messenger belong to connected user authenticated, according to the user profile, image of the output corresponding to the user
And voice message, then unlock, open the door；
If iv-1-2, messenger, which belong to, does not verify user, output needs to carry out image and the voice message of authentication；
If iv-2, the behavior pattern of messenger are to pass by, the first image acquisition device is closed, is not unlocked；
If iv-3, the behavior pattern of messenger belong to non-security mode, continue to gather image, do not unlock.And generate alarm
Information, uploads to cloud server system, and warning information is distributed to the network terminal by cloud server system.Non-security mode is
Referring to involved party has the behavior pattern of attempt hatched a sinister plot, for example, it is masked, peep, attempt anon-normal hold-open door etc..
If messenger, which belongs to, does not verify user, after output needs image and the voice message of progress authentication, come
People is inputted by human body biological characteristics harvester, and door end processing system verifies the artificial connected user authenticated, then according to the user
Information, image and voice message of the output corresponding to the user, then unlocks, opens the door；
Or messenger is inputted by password input system, processing system checking input password in door end is legal, then output is corresponding
Image and voice message, then unlock, open the door；
Or messenger by dynamic authentication password authentication by, then export respective image and voice message, then unlock,
Open the door.
For old man, child or other inconvenient operators, the setting of soft door bell and button system is necessary.When old man,
When child or other inconvenient operators can not pass through checking, soft door bell can be directly initiated according to voice message, call indoor people
Member is artificial to open the door.In the case where there is the support of cloud server system, soft door bell information can be distributed by cloud server system
Onto the network terminal, network terminal user can open the door in teleinstruction door end processing system.
Under door opening state, frame side photoelectric sensor has detected whether human body by door, if someone passes through door one
Directly it is in open mode.When within a certain period of time, when frame side photoelectric sensor can't detect shelter, just to door end processing system
System sends the information that can close the door, and so prevents door from crushing the human body passed through.
Messenger enters behind the door, and door is closed automatically and then locking.Convolutional neural networks algorithmic system by analyzing facial image,
The mood pattern of people is identified, and is stored into database.
Connected user authenticated enters behind the door, door end processing system by the second image display, second sound follower actively to
Connected user authenticated push association visitor information.Connected user authenticated is interacted with door end processing system, inquired about by touch screen on the inside of door
Visiting person's information of door end processing system storage.Or the connected user authenticated entered behind the door makes operating gesture, the processing of door end to door
System Real time identification human body gesture, and according to different human body gestures, corresponding feedback is made by door end expression system.
Convolutional neural networks algorithmic system timing self study, and update the data model library.
To further understand the present invention, a concrete application scene of the invention is described below：
Scene 1：
Someone stands in the sound that in front of the door, sounds suddenly：" Hello, I am robot door ", then occurs one very
The intelligence extremely dazzled shields (the first audio frequency and video input-output system), shows the expression of robot on screen, and simulate people's sounding.
Scene 2：
House-owner goes home, and goes in front of the door, and the screen of door, which lights, starts expression occur, and in the face of expression branch existing apartment owner
, after the identification less than 1 second, there is the interface to welcome home in the video that portion and iris are scanned.In this identification process,
Very easily the continuous of pleasure is a dialogue to house-owner：" Mr. you so already return today", " yes, on today road not
Traffic congestion, so the morning returned ", " good, to be opened the door for you ".
Scene 3：
After door automatically opens up, house-owner comes into room, and door is shut automatically, and (input of the second audio frequency and video is defeated for the display screen in door
Go out system) light, while door is also talked with house-owner, " sir, there are today 3 people to come, wherein, your mother comes by mistake
Doorbell, I notifies your mobile phone, and whether you see" " thanks, I sees！" house-owner changes footwear beside door, now, door is again
Say that " I sees that your mother seems there is what thought, is not very glad, you see whether to make a phone call to her and greeted" now room
Giant-screen in the interior shop front is showing high-definition monitoring video when mother comes, and Expression analysis index." it is good, it thanks
You are robot door, and I just phones mother ".
Scene 4：
House-owner, slippers are finished changing, take out mobile phone, while calling, while going to by the sofa in parlor, sat down, and mother
Mother talks about phone；At this moment there is the people for sending express delivery, go to and look at this in front of the door and dazzle cruel door, can not find lock and handle, surrounding
Doorbell is can't see, starts to grab head, now screen outdoors lights, and asks words automatically and come, and " may I ask that what's the matter”
Courier is once freezed, and does not speak, and door is added, and " if you have thing, please touch doorbell, I helps you to call master
People ", now the breath light of the touch doorbell on door start to flash, prompt courier touch doorbell.
Scene 5：
After courier touches doorbell, start the high-definition monitoring video for courier occur on the giant-screen in door, and have analysis
The data for going out the complexion sign of the courier appear in screen one and surveyed,
Soft and graceful interesting to listen to doorbell music is commenced play out in room, after now backer hears, hangs up the telephone, is sitting in mother
Situation outdoors is clearly seen that on sofa, and opens APP on mobile phone and clicks on enabling, door automatically opens up, and then commands express delivery
Member is placed on parcel by shoe chest, and courier is simultaneously thanked, and very surprised leaves, and walks out behind the door, and door is closed automatically, is locked, and reports door
Lock.What courier was reluctant to part, it have left in the door that looks at very exciting in front of the door.
Scene 6：
House-owner upstairs handles official business in study, and now, the dotey of family leaves school, and goes in front of the door, stretches out palm, distance
Door 20CM be identified by soon, now door loquitur "！Little-princess, today is as back late ", now house-owner
The mobile phone prompting of people, house-owner pick up mobile phone, and shown above is the video that baby enters, and house-owner is glad to smile.
Scene 7：
Evening one family, after abundant dinner, it is sitting in family and sees TV, suddenly, outside there are 3 masked mans, with complete
The unlocking tool of set, come in front of the door, lockhole is drawn in preparation, it is found that door does not have lockhole, studied around door, now, door is not said
Words, also without expression；Giant-screen in door lights, and shows that picture analysis outdoors goes out, the feature of 3 people and behavior, video recording mark
Note flashes and prompted the people's mobile phone presided over, emergency, if calling police station and security center
Although as dark as a stack of black cats outdoors, house-owner one family is sitting on sofa, it is understood that all that look at outdoors, it is non-
Often fear, lose no time to connect SOS by the APP on mobile phone, now the alarm sound of SOS occurs in room security, and shows number
Code, security personnel are rapid to lead unit, reaches in front of the door, robber is caught.
Scene 8：
Tall elder sister, is gone to, and in front of the door, has drawn a circle in atmosphere, and the screen on door is entered, and visiting record is looked into
Read pattern, in atmosphere, slip gesture, the screen on door starts to have rolled the photo of visiting people elder sister, below photo display come
The number and safe condition of visit, elder sister make the gesture promoted forward in atmosphere, and what system recalled this people carrys out interview in detail
Frequently and the data come are analyzed, the state whether connected comprising visiting number, visiting safety index, calling handset, whether there is
Destroy the data such as door.
Then elder sister leaves door, and has said that " see you tomorrow ", door also answer " see you tomorrow ".
It should be noted last that above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to preferred embodiment, it will be understood by those within the art that, can be right
Technical scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, its is equal
It should cover among scope of the presently claimed invention.
Claims (10)
1. a kind of intelligent robot gate control system, it is characterised in that including door end processing system, door end sensory perceptual system, Men Duanbiao
Up to system, door opening and closing system, opening and closing lock system, door end processing system connects the door end by i/o interfaces and perceived respectively
System, door end expression system, door opening and closing system, opening and closing lock system；
Door end processing system, including processor, memory cell, input-output unit, for data storage, data processing,
And the input and output of data and instruction；The memory cell is stored with connected user authenticated information；Its functional module includes convolution
Neural network algorithm system and data model libraries, the convolutional neural networks algorithmic system are used to, by analyzing human body behavior, know
Do not go out human body behavior pattern；The data model libraries include human body behavior figure picture-behavioral pattern data model；
Door end sensory perceptual system, including, the first human body sensing unit, the first image acquisition device, human body located at outer side of door are special
Levy collector, the first sound collector, and the second human sensing unit on the inside of door, the second image acquisition device, second
Sound collector；The first human body sensing unit be used for perceive outdoors in the range of certain distance whether someone, second people
Body sensing unit be used to perceive in door in the range of certain distance whether someone；Described first image collector is used to gather people outdoors
Image, characteristics of human body's collector is used to gather the characteristics of human body of door opener, and the characteristics of human body includes face, the rainbow of people
Film, palmmprint, vocal print, palm vein, gait feature, first sound collector are used for the sound for gathering people outdoors；Described
Two image acquisition devices are used for the image for gathering people in door, and the second sound collector is used for the sound for gathering people in door；
Door end expression system, including the first image display, the first sound follower located at outer side of door, and located at door
The second image display, the second sound follower of inner side；
The door opening and closing system, for receiving the instruction of door end processing system, the execution machine that driving and control are opened the door, closed the door
Structure, performs enabling shutdown action, and to the door end processing system feedback signal；
Lock system is opened and closed, for receiving the instruction of door end processing system, driving and control are unlocked, the executing agency of locking,
Perform unlocking, block action, and to the door end processing system feedback signal.
2. intelligent robot gate control system according to claim 1, it is characterised in that door end sensory perceptual system also includes opening
Door checking information collecting unit, soft door bell and button system and frame side photoelectric sensor,
The enabling checking information collecting unit, for gathering enabling checking information, and transmit this information to the door end sense
Know system；The enabling checking information includes the electronic identity information of door opener；
The soft door bell and button system, for door end processing system simulated implementation electronic door bell；
The frame side photoelectric sensor is arranged on the doorframe of enabling side, and its signal is sent to an end processing system, for
Detect whether that human body passes through door under door opening state.
3. intelligent robot gate control system according to claim 1, it is characterised in that also including remote terminal, the door end
Processing system is communicated by near radio mode with remote terminal and is connected；
Described first image display, the second image display are touch screen.
4. intelligent robot gate control system according to claim 1, it is characterised in that also including cloud server system, net
Network terminal, door end processing system, cloud server system, network terminal three are connected by network service；
The cloud server system is provided with remote machine learning system, information distribution system, Streaming Media processing system, dynamically recognized
Demonstrate,prove password system；
The remote machine learning system, the improvement for the convolutional neural networks algorithmic system improve；
Described information dissemination system, for customizing messages to be distributed into the network terminal；
The Streaming Media processing system, for communicating in real time or regularly with door end processing system, obtain the door end and perceive
The stream medium data of system
In in the processing system of door end, door end sensory perceptual system is provided with dynamic the client deployment of the dynamic authentication password system
State certification password entry reception device.
5. intelligent robot gate control system according to claim 1, it is characterised in that the data model libraries also include face
Image-mood schema data model；The convolutional neural networks algorithmic system, it is additionally operable to, by analyzing facial image, identify
The mood pattern of people.
6. a kind of control method of intelligent robot gate control system, it is characterised in that comprise the following steps：
I, the first human body sensing unit perceives messenger outdoors in the range of certain distance, then sends messenger's letter to door end processing system
Number；
After ii, door end processing system receive messenger's signal, open signal is sent to the first image acquisition device, the first image is adopted
Storage collection messenger's image returns to an end processing system；
Iii, convolutional neural networks algorithmic system analysis messenger's image, by analyzing the motion images of messenger, identify messenger's
Behavior pattern；
If iv-1, the behavior pattern of messenger are desirable to open the door, characteristics of human body's collector is opened, gathers the characteristics of human body of messenger,
Judge whether messenger is connected user authenticated according to the characteristics of human body；
If iv-1-1, messenger belong to connected user authenticated, according to the user profile, image and language of the output corresponding to the user
Sound is prompted, and is then unlocked, is opened the door；
If iv-1-2, messenger, which belong to, does not verify user, output needs to carry out image and the voice message of authentication；
If iv-2, the behavior pattern of messenger are to pass by, the first image acquisition device is closed, is not unlocked；
If iv-3, the behavior pattern of messenger belong to non-security mode, continue to gather image, do not unlock.
7. the control method of intelligent robot gate control system according to claim 6, it is characterised in that if messenger belongs to
User is not verified, then after output needs image and the voice message of progress authentication, messenger is adopted by human body biological characteristics
Acquisition means input, and door end processing system verifies the artificial connected user authenticated, then according to the user profile, output corresponds to should
The image of user and voice message, then unlock, open the door；
Or messenger is inputted by password input system, processing system checking input password in the door end is legal, then output is corresponding
Image and voice message, then unlock, open the door；
Or messenger by dynamic authentication password authentication by then exporting respective image and voice message, then unlocking, open the door；
Messenger enters behind the door, and door is closed automatically and then locking.
8. the control method of intelligent robot gate control system according to claim 7, it is characterised in that if the behavior of messenger
Pattern belongs to non-security mode, then generates warning information, uploads to cloud server system, and the cloud server system will accuse
Alert information is distributed to the network terminal.
9. the control method of intelligent robot gate control system according to claim 8, it is characterised in that described to have verified that use
Family is entered behind the door, and door end processing system is actively pushed to connected user authenticated and closed by the second image display, second sound follower
Join visitor information；
Door end processing system Real time identification human body gesture, and according to different human body gestures, phase is made by door end expression system
The feedback answered.
10. the control method of intelligent robot gate control system according to claim 9, it is characterised in that the convolution god
Through network algorithm timing self study, and update the data model library.
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