CN108297058B - Intelligent security robot and automatic inspection method thereof - Google Patents
Intelligent security robot and automatic inspection method thereof Download PDFInfo
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- CN108297058B CN108297058B CN201711200383.7A CN201711200383A CN108297058B CN 108297058 B CN108297058 B CN 108297058B CN 201711200383 A CN201711200383 A CN 201711200383A CN 108297058 B CN108297058 B CN 108297058B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to an intelligent security robot, which solves the problems of the prior art and has the technical scheme key points that: the safety prevention patrol robot is in communication connection with the client, the client is connected with the safety prevention patrol robot server through a network, the working place of the safety prevention patrol robot is provided with a buried charging point, and the charging point is matched with an automatic charging interface, and the safety prevention patrol robot is characterized in that: including moving platform, automobile body and cloud platform, moving platform includes the frame, turns to module, drive wheel, differential mechanism, the automatic interface and the socket that charges, dispose automatically controlled processing module and battery in the automobile body, it is in to turn to the module configuration the front portion of frame, drive module fixes on the frame, differential mechanism fixes the rear portion at the frame, drive module passes through differential mechanism and is connected with the drive wheel.
Description
Technical Field
The invention belongs to an intelligent inspection robot, and particularly relates to an intelligent security robot and an automatic inspection method thereof.
Background
In a traditional security system, people's air defense and object defense are main protection means (mostly realized in a mode of fixing a camera and manually patrolling on duty), although the technology is easy to realize, the traditional security system is difficult to realize the modern security requirements along with the problems of increased aging population, sudden rise of labor cost, high loss rate of security personnel and the like. Under the promotion of a new concept of 'robot + security protection', the security protection industry is in a new development opportunity, and new blood is given to intelligent security protection.
Disclosure of Invention
The invention solves the problems of increased population aging, sudden labor cost increase, high loss rate of security personnel and the like, and provides an intelligent security robot and an automatic inspection method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows: the intelligent security robot comprises a mobile platform, a vehicle body and a holder, wherein the mobile platform comprises a vehicle frame, a steering module, a driving wheel, a differential mechanism, an automatic charging interface and a charging socket, an electronic control processing module and a battery are configured in the vehicle body, the steering module is configured at the front part of the vehicle frame, the driving module is fixed on the vehicle frame, the differential mechanism is fixed at the rear part of the vehicle frame, the driving module is connected with the driving wheel through the differential mechanism, the front end of the vehicle frame is configured with an anti-collision strip, the automatic charging interface and the charging socket are respectively configured at the two ends of the vehicle frame, the surface of the vehicle body is configured with an ultrasonic detection radar and a smoke sensor, the vehicle body is fixed on the upper surface of the vehicle frame through a chassis support, the top of the vehicle body is connected with the holder, the system comprises a panoramic camera and a starlight camera, wherein a 3D laser navigation module is fixed at the top of a holder, a battery is electrically connected with an automatic charging interface and a charging socket, a steering module and a driving module are electrically connected with an electronic control processing module, the holder, an infrared imager, the panoramic camera, the starlight camera, the 3D laser navigation module, an ultrasonic detection radar and a smoke sensor are electrically connected with the electronic control processing module, an environmental sound module and a wireless communication module are also arranged in a vehicle body, and the environmental sound module and the wireless communication module are electrically connected with the electronic control processing module; the collision-prevention strip is provided with a collision sensor and a photoelectric sensor, the car body is also provided with a sound collector and a temperature sensor, and the collision sensor, the temperature sensor, the photoelectric sensor and the sound collector are all electrically connected with the electric control processing module; an inertia measuring device and a milemeter device which are used for acquiring inertia data of the mobile platform are also arranged in the vehicle body, the inertia measuring device is a six-dimensional inertia measuring device comprising a gyroscope, the inertia measuring device at least comprises an acceleration sensor used for measuring the acceleration of the mobile platform in the X-axis direction, the Y-axis direction and the Z-axis direction, and the inertia measuring device and the milemeter device are both electrically connected with the electric control processing module. The invention is especially suitable for the property management of the residential area, wherein the property management comprises property equipment management, sanitation management, safety entrance guard management and various management of fire, cables and the like.
An automatic inspection method of an intelligent security robot is suitable for the intelligent security robot and executes the following steps,
s1, the intelligent security robot performs primary cruising on a working place, acquires initial environment data, completes configuration of a navigation map, and obtains an inspection route and a working plan corresponding to the inspection route according to manual setting or automation; the intelligent security robot automatically calculates an inspection route by taking a minimum connection path connecting all work places as a target according to the distribution of the work places, and configures a corresponding work plan corresponding to the inspection route according to the properties of the corresponding work places on the minimum connection path, wherein the work plan of the inspection route comprises work actions and work time, the work actions comprise conventional shooting, panoramic shooting, starlight shooting, infrared imaging, ambient sound reading, smoke detection and temperature detection, and the work time is automatically set or manually set according to the properties of the work places;
s2, the intelligent security robot automatically patrols according to the patrolling route, acquires data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in real time in the automatic patrolling process, and performs an obstacle avoidance step corresponding to the data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in combination with the navigation map;
s3, the intelligent security robot acquires data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera in real time according to the work plan and the current position, uploads the data to the client in combination with the current position information, and if the data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera are abnormal, an alarm signal is triggered and uploaded to the client;
in the process of executing the steps S2 and S3, if the data detected by the 3D laser navigation module, the ultrasonic detection radar and the collision sensor data indicate that the routing inspection route cannot be completed, the intelligent security robot or the client automatically or auxiliarily and manually sets and plans a temporary routing inspection route according to the current environmental data, and the intelligent security robot performs routing inspection according to the temporary routing inspection route;
in the process of executing the steps S2 and S3, the client performs image processing on data of the panoramic camera and the starlight camera, analyzes the detected images to obtain the state of the detected object, and generates a report of single inspection;
in the process of executing steps S2 and S3, if human-computer interaction occurs, the intelligent security robot receives the live sound, performs noise reduction and semantic recognition processing on the voice information, performs human-computer interaction according to the semantic recognition processing result, and executes a corresponding action according to a preset corresponding policy.
Preferably, the obstacle avoidance step comprises the following sub-steps,
s201, if the intelligent security robot judges that the current road cannot pass through and can not bypass, returning by the intelligent security robot according to the original road;
if the intelligent security robot judges that the obstacle on the current road cannot pass through, the intelligent security robot automatically selects the nearest detour route according to the navigation map to detour;
if the intelligent security robot judges that the current road can pass, executing the step S202;
s202, if an ultrasonic detection radar detects that an obstacle exists in the range of 1m-2m around the intelligent security robot in the running process, executing a first obstacle avoidance sub-step, if a photoelectric sensor detects a low obstacle, executing a second obstacle avoidance sub-step, and if a collision sensor detects a collision, executing a third obstacle avoidance sub-step;
the first obstacle avoidance substep, the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, if the ultrasonic detection radar detects that the obstacle exists in the range of 0m to 1m of the periphery, the intelligent security robot stops moving and gives an alarm until no obstacle exists in the range of 0m to 1m of the periphery, then the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, and the intelligent security robot restores to normal motion;
in the second obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until an obstacle leaves the detection range of the photoelectric sensor, and the intelligent security robot recovers normal movement;
and in the third obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until the collision sensor detects that the obstacle disappears, and the intelligent security robot recovers to move normally.
Preferably, the work plan comprises a face recognition safety step, a fire detection step, an equipment supervision step, an air quality detection step, a one-key help seeking step, a parking space management step, a garbage recognition step, a noise detection step and a fixed point inflammable inspection step.
Preferably, the face recognition security step comprises the sub-steps of: the intelligent security robot identifies and collects a current face image;
carrying out binarization processing on the current face information, and extracting a face information feature code according to the face information after binarization processing;
and (4) checking the attribute of the face information feature code to the current face information feature code, and executing corresponding action according to the attribute of the current face information feature code.
Preferably, the device supervision step comprises a device registration sub-step, a device identification sub-step and a comparison management sub-step;
the equipment registration substep, manually inputting the name, the position and the property of the equipment to be supervised, the graph in the normal state of the equipment and the time point corresponding to the graph in the normal state of the equipment, extracting an equipment feature code according to the graph in the normal state of the equipment, and pairing the equipment feature code with the corresponding time point;
in the equipment identification substep, the intelligent security robot shoots equipment to be supervised at the equipment position, extracts equipment feature codes, inquires the equipment feature codes of the normal state graph of the equipment at the current time point according to the current time point, and compares the current equipment feature codes with the equipment feature codes of the normal state graph;
and a comparison management substep, namely judging that the current equipment works normally if the current equipment feature code is compared with the equipment feature code of the normal state graph and meets the contrast requirement, and otherwise, alarming on site and transmitting an alarm signal to the client.
Preferably, the parking space management step comprises a parking space registration substep, a license plate identification substep and a comparison management substep;
the parking space management step comprises a parking space registration substep, wherein a parking space position, a parking space owner contact mode and a number of a parking space owner license plate are manually input and are mutually paired;
and a license plate identification substep, wherein the intelligent security robot shoots a license plate of a current parking vehicle according to the position of the parking space if the current parking space is used, identifies the license plate, compares and manages the license plate, continues cruising if the current license plate is the same as the number of the parking space owner license plate, and signals to a client or contacts with the owner through a parking space owner contact way if the current license plate is different from the number of the parking space owner license plate.
Preferably, the license plate recognition comprises the following actions of firstly calibrating a license plate region, secondly binarizing the license plate region, thirdly segmenting characters, and fourthly recognizing the license plate; and in the parking space registration substep, a reminding time period is set, and in the comparison management substep, if the numbers of the current license plate and the number of the parking space owner license plate are different in the reminding time period, a signal is sent to a client or the parking space owner is contacted with the owner through a parking space owner contact way.
Preferably, the intelligent security robot stores a plurality of voice question and answer information, if human-computer interaction occurs to call for help by one-key alarm, the intelligent security robot alarms on site and uploads current position information, all recording equipment available for audio and video is started, if human-computer interaction occurs to call for help by voice, the intelligent security robot receives site sound and performs noise reduction and semantic recognition processing on the voice information, the intelligent security robot feeds back the voice question and answer information according to a semantic recognition processing result, and the voice question and answer information comprises the current position information, target position information, current time, current air quality information and current noise information.
Preferably, the intelligent security robot is at least provided with one of an inspection well identification module, a community door identification module, an illumination identification module, a license plate identification module, a thermal imaging identification module, a voice identification module, a VCR conversion module, a sundry detection module, a path identification module and a bar code identification module; when at least two intelligent security robots are selected for automatic inspection in the same area, each intelligent security robot is configured with a subordinate area, each area has at least one navigation map, and each navigation map is configured with at least one intelligent security robot.
The substantial effects of the invention are as follows: the invention combines the technology of inertial navigation with 3D laser, so that the robot can realize autonomous positioning, walking and working in various indoor and outdoor environments such as a garden and the like with high precision and stability. The invention can realize safety protection with omnibearing, no dead angle and low cost, can automatically shoot photos with preset patrol points according to task requirements when the robot is in automatic patrol, identifies the states of a unit door, a street lamp and the ground through image processing of a background, summarizes reports and gives an alarm.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
In the figure: I. cloud platform, II, automobile body, III, moving platform.
Detailed Description
The technical solution of the present invention will be further specifically described below by way of specific examples.
Example 1:
the utility model provides an intelligent security robot (see attached figure 1), includes mobile platform III, automobile body II and cloud platform I, mobile platform includes the frame, turns to module, drive wheel, differential mechanism, automatic interface and the socket that charges, dispose automatically controlled processing module and battery in the automobile body, it disposes to turn to the module the front portion of frame, drive module fixes on the frame, differential mechanism fixes the rear portion at the frame, drive module passes through differential mechanism and is connected with the drive wheel, the front end of frame disposes the anticollision strip, and automatic interface and the socket that charges dispose respectively at the both ends of frame, the surface of automobile body disposes ultrasonic detection radar and smoke transducer, the automobile body passes through chassis support to be fixed the upper surface of frame, the top of automobile body with the cloud platform is connected, dispose infrared imager and panoramic camera on the cloud platform, The system comprises a starlight camera, a 3D laser navigation module is fixed at the top of a holder, a battery is electrically connected with an automatic charging interface and a charging socket, a steering module and a driving module are electrically connected with an electric control processing module, and the holder, an infrared imager, a panoramic camera, the starlight camera, the 3D laser navigation module, an ultrasonic detection radar and a smoke sensor are electrically connected with the electric control processing module; the intelligent security robot is in communication connection with the client, an environmental sound module and a wireless communication module are also arranged in the vehicle body, and the environmental sound module and the wireless communication module are both electrically connected with the electronic control processing module; the client is connected with the intelligent security robot server through a network, buried charging points are configured at the working place of the intelligent security robot, and the charging points are matched with the automatic charging interfaces; the collision-prevention strip is provided with a collision sensor and a photoelectric sensor, the car body is also provided with a sound collector and a temperature sensor, and the collision sensor, the temperature sensor, the photoelectric sensor and the sound collector are all electrically connected with the electronic control processing module; an inertia measuring device and a milemeter device for acquiring inertia data of the mobile platform are also arranged in the vehicle body, the inertia measuring device is a six-dimensional inertia measuring device comprising a gyroscope, the inertia measuring device at least comprises an acceleration sensor for measuring the acceleration of the mobile platform in the X-axis direction, the Y-axis direction and the Z-axis direction, and the inertia measuring device and the milemeter device are both electrically connected with the electric control processing module; the vehicle body is provided with a human-computer interaction device, the human-computer interaction device is electrically connected with the electric control processing module, and the human-computer interaction device at least comprises one of a sound alarm or an optical alarm.
The client in the embodiment comprises a mobile phone client and a field client provided with corresponding software, the authority of each client is manually set, for example, the mobile phone client only has simple data display and notification functions, and the field client adopts a computer as a main device and can have more data processing functions and other auxiliary functions.
An automatic inspection method of an intelligent security robot is applicable to the intelligent security robot, can be applicable to a plurality of specific fields such as property management, street patrol, safety management, fire monitoring, equipment supervision and the like, and executes the following steps that S1 the intelligent security robot cruises a working place for the first time to obtain initial environment data, complete the configuration of a navigation map, and manually set or automatically obtain an inspection route and a working plan corresponding to the inspection route; in step S1, the following steps are performed,
s101, uniformly folding the data of all moving frame images into a coordinate system of an initial image through matching coordinate transformation according to three-dimensional data of the surrounding environment of the moving platform acquired through a 3D laser navigation module, inertial data of the moving platform acquired through an inertial measurement device and mileage data of the moving platform acquired through a mileage meter device to generate a three-dimensional point cloud map;
s102, rasterizing, denoising and denoising the three-dimensional point cloud map generated in the S101;
s103, acquiring the position of the initial image in the three-dimensional point cloud map, and calculating and judging to obtain the initial positions of the current road and the obstacle;
s104, importing a working place and a charging point in a manually calibrated three-dimensional point cloud map to form a navigation map;
and S105, planning the patrol route and a work plan corresponding to the patrol route according to the distribution of the work places and the charging points.
In the step S101, the matching coordinate transformation is to calculate the pose of each moving frame image with respect to the object in the surrounding environment according to the inertia data and the mileage data of the moving platform when measuring the three-dimensional data of each moving frame image, and obtain the three-dimensional point cloud map by jointly optimizing and correcting the three-dimensional data. In step S105, the intelligent security robot automatically calculates an inspection route according to distribution of the work sites with a minimum connection path connecting all the work sites as a target, and configures a corresponding work plan corresponding to the inspection route according to properties of the corresponding work sites on the minimum connection path, where the work plan of the inspection route includes work actions and work time, the work actions include conventional shooting, panoramic shooting, starlight shooting, infrared imaging, ambient sound reading, smoke detection, and temperature detection, and the work time is automatically set or manually set according to the properties of the work sites. A plurality of charging paths reaching a charging point are configured in the routing of the routing inspection route, and the number of the charging paths is calculated by the total power consumption of the routing inspection route working plan.
S2, the intelligent security robot automatically patrols according to the patrolling route, acquires data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in real time in the automatic patrolling process, and performs an obstacle avoidance step corresponding to the data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in combination with the navigation map; the obstacle avoidance step comprises the following sub-steps,
s201, if the intelligent security robot judges that the current road cannot pass through and can not bypass, returning by the intelligent security robot according to the original road;
if the intelligent security robot judges that the obstacle on the current road cannot pass through, the intelligent security robot automatically selects the nearest detour route according to the navigation map to detour;
if the intelligent security robot judges that the current road can pass, executing the step S202;
s202, if an ultrasonic detection radar detects that an obstacle exists in the range of 1m-2m around the intelligent security robot in the running process, executing a first obstacle avoidance sub-step, if a photoelectric sensor detects a low obstacle, executing a second obstacle avoidance sub-step, and if a collision sensor detects a collision, executing a third obstacle avoidance sub-step;
the first obstacle avoidance substep, the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, if the ultrasonic detection radar detects that the obstacle exists in the range of 0m to 1m of the periphery, the intelligent security robot stops moving and gives an alarm until no obstacle exists in the range of 0m to 1m of the periphery, then the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, and the intelligent security robot restores to normal motion;
in the second obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until an obstacle leaves the detection range of the photoelectric sensor, and the intelligent security robot recovers normal movement;
and in the third obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until the collision sensor detects that the obstacle disappears, and the intelligent security robot recovers to move normally.
The priority of the detection data of the ultrasonic detection radar, the photoelectric sensor and the collision sensor is from high to low in sequence: ultrasonic detection radar detection data, photoelectric sensor detection data and collision sensor detection data.
In the first obstacle avoidance sub-step, the second obstacle avoidance sub-step and the third obstacle avoidance sub-step, if the existence of the obstacle exceeds the set time length, the intelligent security robot judges whether the current road can pass or not again after retreating, and the obstacle avoidance step is executed again according to the latest judgment result of the intelligent security robot.
S3, the intelligent security robot acquires data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera in real time according to the work plan and the current position, uploads the data to the client in combination with the current position information, and if the data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera is abnormal, an alarm signal is triggered and uploaded to the client;
in the process of executing the steps S2 and S3, if the data detected by the 3D laser navigation module, the ultrasonic detection radar and the collision sensor data indicate that the routing inspection route cannot be completed, the intelligent security robot or the client automatically or auxiliarily and manually sets and plans a temporary routing inspection route according to the current environmental data, and the intelligent security robot performs routing inspection according to the temporary routing inspection route;
in the process of executing the steps S2 and S3, the client performs image processing on data of the panoramic camera and the starlight camera, analyzes the detected images to obtain the state of the detected object, and generates a report of single inspection;
in the process of executing steps S2 and S3, if human-computer interaction occurs, the intelligent security robot receives the live sound, performs noise reduction and semantic recognition processing on the voice information, performs human-computer interaction according to the semantic recognition processing result, and executes a corresponding action according to a preset corresponding policy. The working plan mentioned in the embodiment is configured differently according to different application scenes, and mainly comprises a face recognition safety step, a fire detection step, an equipment supervision step, an air quality detection step, a one-key help seeking step, a parking space management step, a garbage recognition step, a noise detection step and a flammable point fixed point inspection step;
the face recognition security step comprises the following substeps: the intelligent security robot identifies and collects a current face image;
carrying out binarization processing on the current face information, and extracting a face information feature code according to the face information after binarization processing;
and (4) checking the attribute of the face information feature code to the current face information feature code, and executing corresponding action according to the attribute of the current face information feature code.
If the current face information feature code is registered as an owner, the intelligent security robot executes a corresponding welcome action, wherein the welcome action at least releases the action;
if the current face information feature code is registered as a dangerous figure, the intelligent security robot executes a corresponding alarm action;
and if the current face information feature code is not registered, the intelligent security robot executes a corresponding information uploading action.
The intelligent security robot is communicated with the existing equipment through the wireless communication module to acquire certificate information, and extracts a face image from the certificate information to perform recognition and registration.
The intelligent security robot can also acquire certificate information through the human-computer interaction module, and extract a face image from the certificate information for identification and registration.
The fire detection step comprises the following steps:
the intelligent security robot collects environmental audio and video in real time and uploads the environmental audio and video to the client, and current fire detection is judged manually;
detecting a high-temperature object in a monitoring area through an infrared imager, wherein the threshold temperature of the high-temperature object is manually set, and the infrared imager alarms on site and transmits an alarm signal to a client after detecting the high-temperature object;
detecting the current smoke state through a smoke sensor, alarming on site and transmitting an alarm signal to a client if the smoke state is detected;
the current temperature data is detected through the temperature sensor, if the current temperature data belongs to a normal temperature range, the current temperature data is stored as environment data, if the current temperature data belongs to a dangerous temperature range, on-site alarming is carried out, an alarm signal is transmitted to the client side, and the normal temperature range and the dangerous temperature range are manually set.
If the property of the working place is the flammable point in the step S105, the intelligent security robot automatically adds a flammable point fixed point inspection step,
the method comprises the following steps that firstly, an inflammable point fixed-point inspection step is carried out, an intelligent security robot stays at an inflammable point position, and a dangerous temperature range corresponding to an inflammable point is read;
secondly, the fixed point inspection of the flammable point is carried out, an infrared imager is used for detecting the temperature or the temperature change trend of the current flammable point and uploading the temperature or the temperature change trend, and if the temperature of the flammable point is dangerous temperature, an on-site alarm is carried out and an alarm signal is transmitted to the client;
and thirdly, performing fixed-point routing inspection on the flammable point, if the current temperature change trend of the flammable point exceeds a set value, performing on-site alarm and transmitting an alarm signal to the client.
The stay time of the intelligent security robot at the position of the flammable point is manually set, and the dangerous temperature range corresponding to the flammable point is manually set or is obtained by comprehensively calculating the nature of the flammable point and the current environmental data.
The equipment supervision step comprises an equipment registration sub-step, an equipment identification sub-step and a comparison management sub-step;
the equipment registration substep, manually inputting the name, the position and the property of the equipment to be supervised, the graph in the normal state of the equipment and the time point corresponding to the graph in the normal state of the equipment, extracting an equipment feature code according to the graph in the normal state of the equipment, and pairing the equipment feature code with the corresponding time point;
in the equipment identification substep, the intelligent security robot shoots equipment to be supervised at the equipment position, extracts equipment feature codes, inquires the equipment feature codes of the normal state graph of the equipment at the current time point according to the current time point, and compares the current equipment feature codes with the equipment feature codes of the normal state graph;
and a comparison management substep, namely judging that the current equipment works normally if the current equipment feature code is compared with the equipment feature code of the normal state graph and meets the contrast requirement, and otherwise, alarming on site and transmitting an alarm signal to the client.
The parking space management step comprises a parking space registration sub-step, a license plate identification sub-step and a comparison management sub-step;
the parking space management step comprises a parking space registration substep, wherein a parking space position, a parking space owner contact mode and a number of a parking space owner license plate are manually input and are mutually paired;
and a license plate identification substep, wherein the intelligent security robot shoots a license plate of a current parking vehicle according to the position of the parking space if the current parking space is used, identifies the license plate, compares and manages the license plate, continues cruising if the current license plate is the same as the number of the parking space owner license plate, and signals to a client or contacts with the owner through a parking space owner contact way if the current license plate is different from the number of the parking space owner license plate.
The license plate recognition comprises the following actions of firstly calibrating a license plate area, secondly binarizing the license plate area, thirdly segmenting characters and fourthly recognizing the license plate.
And in the parking space registration substep, a reminding time period is set, and in the comparison management substep, if the numbers of the current license plate and the number of the parking space owner license plate are different in the reminding time period, a signal is sent to a client or the parking space owner is contacted with the owner through a parking space owner contact way.
The air quality detection step, the garbage recognition step and the noise detection step are relatively simple, and are not described in detail in this embodiment, the main technical idea of the garbage recognition step is similar to that of the image recognition in the present invention, and the air quality detection step and the noise detection step are integrated and then displayed by the human-computer interaction device in this embodiment.
The intelligent security robot stores a plurality of voice question and answer information, if human-computer interaction occurs to ask for help for one-key alarm, the intelligent security robot alarms on site and uploads current position information, all recording equipment available for audio and video is started, if the human-computer interaction occurs to ask for help for voice, the intelligent security robot receives site sound and performs noise reduction and semantic recognition processing on the voice information, the intelligent security robot feeds back the voice question and answer information according to a semantic recognition processing result, and the voice question and answer information comprises the current position information, target position information, current time, current air quality information and current noise information.
Example 2:
the embodiment is basically the same as embodiment 1, except that in the embodiment, when at least two intelligent security robots are selected for automatic inspection in the same area, each intelligent security robot is configured with a subordinate area, each area has at least one navigation map, and each navigation map is configured with at least one intelligent security robot.
The intelligent security robot is at least provided with one of an inspection well identification module, a community door identification module, an illumination identification module, a license plate identification module, a thermal imaging identification module, a voice identification module, a VCR conversion module, a sundry detection module, a path identification module and a bar code identification module. The intelligent security robot automatically uploads the set data to the intelligent security robot server, and the intelligent security robot server performs big data calculation on the safety data, the fire protection data and the property management data.
By adopting the technology disclosed by the embodiment, the polling and the scheduled inspection of a plurality of scenes can be realized, and on the basis of the hardware provided in the embodiment, corresponding hardware can be correspondingly increased, decreased and replaced, so that corresponding effects can be achieved, for example: carrying the thermal infrared imager by the robot, monitoring the ambient temperature in real time in a visual mode in the patrol process, and alarming and taking a picture if the ambient temperature is higher than a set temperature threshold value, wherein if the ambient temperature is not higher than the set temperature threshold value, the alarm is given out, and if the ambient temperature is not higher than the set temperature threshold value, the alarm is taken; the robot carries a temperature sensor, monitors the environmental temperature in the patrol process, and gives an alarm and records if the environmental temperature is higher than a set temperature threshold; in the embodiment, the robot is provided with a smoke sensor, smoke in the air is monitored in the patrol process, and if the smoke is detected, an alarm is given and recorded; in the embodiment, the robot performs temperature detection on potential key fire hazard points through the thermal infrared imager in the patrol process. For example, the interior of the garbage can is possibly subjected to high-temperature fire hazard due to fermentation and the like. The human is not visible and the robot detects these key positions.
The invention combines the technology of inertial navigation with 3D laser, so that the robot can realize autonomous positioning, walking and working in various indoor and outdoor environments such as a garden and the like with high precision and stability. The invention can realize safety protection with omnibearing, no dead angle and low cost, can automatically shoot photos with preset patrol points according to task requirements when the robot is in automatic patrol, identifies the states of a unit door, a street lamp and the ground through image processing of a background, summarizes reports and gives an alarm. The fire hazard can be effectively reduced, the application range is wide, and the practicability is strong.
Example 3:
in the automatic inspection method of the intelligent security robot in the embodiment, the intelligent security robot executes an equipment registration sub-step in equipment management, taking a cell safety door as an example, manually enters an equipment name cell safety door to be supervised, the equipment position is at a cell door, the equipment property is that the graph of the normal state of the safety equipment and the equipment is opened when the day is busy and closed when the rest of the time is busy, extracts the equipment feature code according to the graph of the normal state of the equipment, and pairs the equipment feature code with the corresponding time point;
the method comprises an equipment identification substep, wherein an intelligent security robot shoots an image of a current community security gate at an equipment position, extracts an equipment feature code, inquires the equipment feature code of the security gate at the current time point according to the current time point, and compares the current equipment feature code with the equipment feature code; if the current cell safety door feature code is compared with the feature code meeting the contrast requirement, judging that the current equipment works normally, otherwise, for example, the feature code at night is the same as the feature code in busy days, alarming on site and transmitting an alarm signal to the client.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (8)
1. The utility model provides an intelligent security robot, intelligent security robot and customer end communication connection, the customer end passes through the network and is connected its characterized in that with intelligent security robot server: the device comprises a mobile platform, a vehicle body and a cloud platform, wherein the mobile platform comprises a vehicle frame, a steering module, a driving wheel, a differential mechanism, an automatic charging interface and a charging socket, an electric control processing module and a battery are arranged in the vehicle body, the steering module is arranged at the front part of the vehicle frame, the driving module is fixed on the vehicle frame, the differential mechanism is fixed at the rear part of the vehicle frame, the driving module is connected with the driving wheel through the differential mechanism, an anti-collision strip is arranged at the front end of the vehicle frame, the automatic charging interface and the charging socket are respectively arranged at the two ends of the vehicle frame, an ultrasonic detection radar and a smoke sensor are arranged on the surface of the vehicle body, the vehicle body is fixed on the upper surface of the vehicle frame through a chassis support, the top of the vehicle body is connected with the cloud platform, an, the steering module and the driving module are electrically connected with the electronic control processing module, the holder, the infrared imager, the panoramic camera, the starlight camera, the 3D laser navigation module, the ultrasonic detection radar and the smoke sensor are electrically connected with the electronic control processing module, an environmental sound module and a wireless communication module are also arranged in the vehicle body, and the environmental sound module and the wireless communication module are electrically connected with the electronic control processing module; the collision-prevention strip is provided with a collision sensor and a photoelectric sensor, the car body is also provided with a sound collector and a temperature sensor, and the collision sensor, the temperature sensor, the photoelectric sensor and the sound collector are all electrically connected with the electric control processing module; an inertia measuring device and a mileometer device for acquiring inertia data of the mobile platform are also arranged in the vehicle body, the inertia measuring device is a six-dimensional inertia measuring device comprising a gyroscope, the inertia measuring device at least comprises an acceleration sensor for measuring the acceleration of the mobile platform in the X-axis direction, the Y-axis direction and the Z-axis direction, and the inertia measuring device and the mileometer device are both electrically connected with the electric control processing module;
the intelligent security robot executes the following steps,
s1, the intelligent security robot performs primary cruising on a working place, acquires initial environment data, completes configuration of a navigation map, and obtains an inspection route and a working plan corresponding to the inspection route according to manual setting or automation; the intelligent security robot automatically calculates an inspection route by taking a minimum connection path for connecting all work places as a target according to the distribution of the work places, and configures a corresponding work plan corresponding to the inspection route according to the properties of the corresponding work places on the minimum connection path, wherein the work plan of the inspection route comprises work actions and work time, the work actions comprise conventional shooting, panoramic shooting, starlight shooting, infrared imaging, ambient sound reading, smoke detection and temperature detection, and the work time is automatically set or manually set according to the properties of the work places;
s2, the intelligent security robot automatically patrols according to the patrolling route, acquires data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in real time in the automatic patrolling process, and performs an obstacle avoidance step corresponding to the data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in combination with the navigation map;
s3, the intelligent security robot acquires data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera in real time according to the work plan and the current position, uploads the data to the client in combination with the current position information, and if the data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera are abnormal, an alarm signal is triggered and uploaded to the client;
in the process of executing the steps S2 and S3, if the data detected by the 3D laser navigation module, the ultrasonic detection radar and the collision sensor data indicate that the routing inspection route cannot be completed, the intelligent security robot or the client automatically or auxiliarily and manually sets and plans a temporary routing inspection route according to the current environmental data, and the intelligent security robot performs routing inspection according to the temporary routing inspection route;
in the process of executing the steps S2 and S3, the client performs image processing on data of the panoramic camera and the starlight camera, analyzes the detected images to obtain the state of the detected object, and generates a report of single inspection;
in the process of executing the steps S2 and S3, if human-computer interaction occurs, the intelligent security robot receives the site sound, performs noise reduction and semantic recognition processing on the voice information, performs human-computer interaction according to the semantic recognition processing result, and executes corresponding actions according to a preset corresponding strategy;
in step S1, the following steps are performed,
s101, uniformly folding the data of all moving frame images into a coordinate system of an initial image through matching coordinate transformation according to three-dimensional data of the surrounding environment of the moving platform acquired through a 3D laser navigation module, inertial data of the moving platform acquired through an inertial measurement device and mileage data of the moving platform acquired through a mileage meter device to generate a three-dimensional point cloud map;
s102, rasterizing, denoising and denoising the three-dimensional point cloud map generated in the S101;
s103, acquiring the position of the initial image in the three-dimensional point cloud map, and calculating and judging to obtain the initial positions of the current road and the obstacle;
s104, importing a working place and a charging point in a manually calibrated three-dimensional point cloud map to form a navigation map;
s105, planning an inspection route and a working plan corresponding to the inspection route according to the distribution of the working places and the charging points;
the obstacle avoidance step comprises the following sub-steps,
s201, if the intelligent security robot judges that the current road cannot pass through and can not bypass, returning by the intelligent security robot according to the original road;
if the intelligent security robot judges that the obstacle on the current road cannot pass through, the intelligent security robot automatically selects the nearest detour route according to the navigation map to detour;
if the intelligent security robot judges that the current road can pass, executing the step S202;
s202, if an ultrasonic detection radar detects that an obstacle exists in the range of 1m-2m around the intelligent security robot in the running process, executing a first obstacle avoidance sub-step, if a photoelectric sensor detects a low obstacle, executing a second obstacle avoidance sub-step, and if a collision sensor detects a collision, executing a third obstacle avoidance sub-step;
the first obstacle avoidance substep, the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, if the ultrasonic detection radar detects that the obstacle exists in the range of 0m to 1m of the periphery, the intelligent security robot stops moving and gives an alarm until no obstacle exists in the range of 0m to 1m of the periphery, then the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, and the intelligent security robot restores to normal motion;
in the second obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until an obstacle leaves the detection range of the photoelectric sensor, and the intelligent security robot recovers normal movement;
in the third obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until the collision sensor detects that the obstacle disappears, and the intelligent security robot recovers normal movement;
the working plan comprises a face recognition safety step, a fire detection step, an equipment supervision step, an air quality detection step, a one-key help seeking step, a parking space management step, a garbage recognition step, a noise detection step and a fixed point flammability inspection step.
2. An automatic inspection method of an intelligent security robot is suitable for the intelligent security robot according to claim 1, and is characterized in that: the following steps are carried out in the following manner,
s1, the intelligent security robot performs primary cruising on a working place, acquires initial environment data, completes configuration of a navigation map, and obtains an inspection route and a working plan corresponding to the inspection route according to manual setting or automation; the intelligent security robot automatically calculates an inspection route by taking a minimum connection path for connecting all work places as a target according to the distribution of the work places, and configures a corresponding work plan corresponding to the inspection route according to the properties of the corresponding work places on the minimum connection path, wherein the work plan of the inspection route comprises work actions and work time, the work actions comprise conventional shooting, panoramic shooting, starlight shooting, infrared imaging, ambient sound reading, smoke detection and temperature detection, and the work time is automatically set or manually set according to the properties of the work places;
s2, the intelligent security robot automatically patrols according to the patrolling route, acquires data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in real time in the automatic patrolling process, and performs an obstacle avoidance step corresponding to the data of the 3D laser navigation module, the ultrasonic detection radar, the photoelectric sensor and the collision sensor in combination with the navigation map;
s3, the intelligent security robot acquires data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera in real time according to the work plan and the current position, uploads the data to the client in combination with the current position information, and if the data collected by the smoke sensor, the temperature sensor, the infrared imager, the panoramic camera and the starlight camera are abnormal, an alarm signal is triggered and uploaded to the client;
in the process of executing the steps S2 and S3, if the data detected by the 3D laser navigation module, the ultrasonic detection radar and the collision sensor data indicate that the routing inspection route cannot be completed, the intelligent security robot or the client automatically or auxiliarily and manually sets and plans a temporary routing inspection route according to the current environmental data, and the intelligent security robot performs routing inspection according to the temporary routing inspection route;
in the process of executing the steps S2 and S3, the client performs image processing on data of the panoramic camera and the starlight camera, analyzes the detected images to obtain the state of the detected object, and generates a report of single inspection;
in the process of executing the steps S2 and S3, if human-computer interaction occurs, the intelligent security robot receives the site sound, performs noise reduction and semantic recognition processing on the voice information, performs human-computer interaction according to the semantic recognition processing result, and executes corresponding actions according to a preset corresponding strategy;
in step S1, the following steps are performed,
s101, uniformly folding the data of all moving frame images into a coordinate system of an initial image through matching coordinate transformation according to three-dimensional data of the surrounding environment of the moving platform acquired through a 3D laser navigation module, inertial data of the moving platform acquired through an inertial measurement device and mileage data of the moving platform acquired through a mileage meter device to generate a three-dimensional point cloud map;
s102, rasterizing, denoising and denoising the three-dimensional point cloud map generated in the S101;
s103, acquiring the position of the initial image in the three-dimensional point cloud map, and calculating and judging to obtain the initial positions of the current road and the obstacle;
s104, importing a working place and a charging point in a manually calibrated three-dimensional point cloud map to form a navigation map;
s105, planning an inspection route and a working plan corresponding to the inspection route according to the distribution of the working places and the charging points;
the obstacle avoidance step comprises the following sub-steps,
s201, if the intelligent security robot judges that the current road cannot pass through and can not bypass, returning by the intelligent security robot according to the original road;
if the intelligent security robot judges that the obstacle on the current road cannot pass through, the intelligent security robot automatically selects the nearest detour route according to the navigation map to detour;
if the intelligent security robot judges that the current road can pass, executing the step S202;
s202, if an ultrasonic detection radar detects that an obstacle exists in the range of 1m-2m around the intelligent security robot in the running process, executing a first obstacle avoidance sub-step, if a photoelectric sensor detects a low obstacle, executing a second obstacle avoidance sub-step, and if a collision sensor detects a collision, executing a third obstacle avoidance sub-step;
the first obstacle avoidance substep, the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, if the ultrasonic detection radar detects that the obstacle exists in the range of 0m to 1m of the periphery, the intelligent security robot stops moving and gives an alarm until no obstacle exists in the range of 0m to 1m of the periphery, then the intelligent security robot runs at a low speed and keeps the intelligent security robot until the obstacle leaves the range of 1m-2m of the periphery, and the intelligent security robot restores to normal motion;
in the second obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until an obstacle leaves the detection range of the photoelectric sensor, and the intelligent security robot recovers normal movement;
in the third obstacle avoidance sub-step, the intelligent security robot stops moving and gives an alarm until the collision sensor detects that the obstacle disappears, and the intelligent security robot recovers normal movement;
the working plan comprises a face recognition safety step, a fire detection step, an equipment supervision step, an air quality detection step, a one-key help seeking step, a parking space management step, a garbage recognition step, a noise detection step and a fixed point flammability inspection step.
3. The automatic inspection method for the intelligent security robot according to claim 2, wherein the method comprises the following steps:
the face recognition security step comprises the following substeps: the intelligent security robot identifies and collects a current face image;
carrying out binarization processing on the current face information, and extracting a face information feature code according to the face information after binarization processing;
and (4) checking the attribute of the face information feature code to the current face information feature code, and executing corresponding action according to the attribute of the current face information feature code.
4. The automatic inspection method for the intelligent security robot according to claim 3, wherein the method comprises the following steps: the equipment supervision step comprises an equipment registration sub-step, an equipment identification sub-step and a comparison management sub-step;
the equipment registration substep, manually inputting the name, the position and the property of the equipment to be supervised, the graph in the normal state of the equipment and the time point corresponding to the graph in the normal state of the equipment, extracting an equipment feature code according to the graph in the normal state of the equipment, and pairing the equipment feature code with the corresponding time point; in the equipment identification substep, the intelligent security robot shoots equipment to be supervised at the equipment position, extracts equipment feature codes, inquires the equipment feature codes of the normal state graph of the equipment at the current time point according to the current time point, and compares the current equipment feature codes with the equipment feature codes of the normal state graph;
and a comparison management substep, namely judging that the current equipment works normally if the current equipment feature code is compared with the equipment feature code of the normal state graph and meets the contrast requirement, and otherwise, alarming on site and transmitting an alarm signal to the client.
5. The automatic inspection method for the intelligent security robot according to claim 3, wherein the method comprises the following steps: the parking space management step comprises a parking space registration sub-step, a license plate identification sub-step and a comparison management sub-step;
the parking space management step comprises a parking space registration substep, wherein a parking space position, a parking space owner contact mode and a number of a parking space owner license plate are manually input and are mutually paired;
and a license plate identification substep, wherein the intelligent security robot shoots a license plate of a current parking vehicle according to the position of the parking space if the current parking space is used, identifies the license plate, compares and manages the license plate, continues cruising if the current license plate is the same as the number of the parking space owner license plate, and signals to a client or contacts with the owner through a parking space owner contact way if the current license plate is different from the number of the parking space owner license plate.
6. The automatic inspection method for the intelligent security robot according to claim 5, wherein the method comprises the following steps: the license plate identification comprises the following actions of firstly calibrating a license plate area, secondly carrying out binarization on the license plate area, thirdly segmenting characters and fourthly identifying the license plate; and in the parking space registration substep, setting a reminding time period, and in the comparison management substep, if the number of the current license plate is different from that of the parking space owner license plate in the reminding time period, signaling to a client or contacting with the owner through a parking space owner contact way.
7. The automatic inspection method for the intelligent security robot according to claim 6, wherein the method comprises the following steps: the intelligent security robot stores a plurality of voice question and answer information, if human-computer interaction occurs to call for help by one-key alarm, the intelligent security robot alarms on site and uploads current position information, all input equipment available for audio and video is started, if the human-computer interaction occurs to call for help by voice, the intelligent security robot receives site sound and performs noise reduction and semantic recognition processing on the voice information, the intelligent security robot feeds back the voice question and answer information according to a semantic recognition processing result, and the voice question and answer information comprises the current position information, target position information, current time, current air quality information and current noise information.
8. The automatic inspection method for the intelligent security robot according to claim 7, wherein the method comprises the following steps: the intelligent security robot is at least provided with one of an inspection well identification module, a cell door identification module, an illumination identification module, a license plate identification module, a thermal imaging identification module, a voice identification module, a VCR conversion module, a sundry detection module, a path identification module and a bar code identification module; when at least two intelligent security robots are selected for automatic inspection in the same area, each intelligent security robot is configured, each area is provided with at least one navigation map, and each navigation map is at least provided with one intelligent security robot.
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