CN117542009A - Recognition method and device for patrol robot - Google Patents
Recognition method and device for patrol robot Download PDFInfo
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- CN117542009A CN117542009A CN202311572324.8A CN202311572324A CN117542009A CN 117542009 A CN117542009 A CN 117542009A CN 202311572324 A CN202311572324 A CN 202311572324A CN 117542009 A CN117542009 A CN 117542009A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000007123 defense Effects 0.000 claims abstract description 67
- 230000009545 invasion Effects 0.000 claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 14
- 238000000605 extraction Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 9
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 abstract description 14
- 239000000463 material Substances 0.000 abstract description 7
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- 230000002159 abnormal effect Effects 0.000 description 5
- 241001465754 Metazoa Species 0.000 description 3
- 241000287107 Passer Species 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/31—User authentication
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The application relates to a patrol robot identification method and device, wherein the method comprises the following steps: acquiring real-time image information of the patrol robot in the defense arrangement area; determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information; extracting an invader image and invasion position information in the real-time image information; and determining that the identity of the invader is legal according to the image of the invader and the invasion position information. The device uses the method, the robot senses the environment, makes dynamic decisions according to the planned route and the preset information in the system library, so that timing, fixed-point monitoring or uninterrupted flow patrol security is realized, all streams, traffic junctions and military bases can be comprehensively monitored, the consumption of manpower and material resources is low, the use cost of the machine is low, and the all-weather security requirement can be met.
Description
Technical Field
The application relates to the technical field of intelligent robots, in particular to a patrol robot identification method and device.
Background
In recent years, with the increasing and growing demands of logistics, transportation hubs and the like on security forces in China, robots are participating in patrol security work of a series of large-scale people stream and logistics places such as airports, stations, convention centers, supermarkets, logistics warehouses and the like as a special force, and have a growing trend.
In addition, the security of the military base is an important measure for guaranteeing the national safety and stability, and has important significance for maintaining the national interests and the combat power of the army; at present, security work of a military base mainly relies on monitoring camera equipment to collect images in the environment and combines a mode of manual fixed-point station guard to monitor and protect the military base, however, the images collected by the monitoring camera equipment need to depend on attention of manpower, a mode of manual fixed-point station guard has a large blind area, even if the monitoring camera equipment is combined, the military base cannot be monitored comprehensively, only areas with large risks can be monitored, manpower and material resources consume huge, the degree of dependence of the mode on quality of security personnel is high, and the requirements of day and night security are difficult to meet.
The patrol robot is a new research direction of the service robot, is a multifunctional comprehensive system integrating environment sensing, route planning, dynamic decision, behavior control and alarm devices, can realize timing, fixed-point monitoring or uninterrupted mobile patrol security by adopting the patrol robot, has wide application prospect and has received attention from home and abroad.
Disclosure of Invention
In order to solve the problems that when various logistics, transportation hubs and military bases are required to be protected, images in the environment are collected by means of monitoring camera equipment, and the military bases cannot be monitored comprehensively in a mode of combining manpower fixed-point station, only areas with large risks can be guaranteed to be monitored, manpower and material resources are consumed greatly, and the requirements of day and night security are difficult to meet. The invention determines that an intruder exists in the arming area by acquiring the real-time image information of the patrol robot in the arming area and comparing the real-time image information with the preset image information, extracts the image of the intruder and the intrusion position information in the real-time image information, and finally determines that the identity of the intruder is legal.
The invention provides the following scheme:
an identification method of a patrol robot, comprising:
acquiring real-time image information of the patrol robot in the defense arrangement area;
determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information;
extracting an invader image and invasion position information in the real-time image information;
and determining that the identity of the invader is legal according to the image of the invader and the invasion position information.
The identification method includes the steps of:
the patrol route information input by a user at a patrol robot terminal is acquired;
determining an arming area according to patrol route information and a shooting range of the patrol robot;
and acquiring real-time image information shot by the patrol robot according to the patrol route information and the defense arrangement area.
The identification method described above, wherein the step of determining that the intruder exists in the arming area according to the real-time image information and the preset image information includes:
comparing the real-time image information with preset image information to determine the difference information of the image information in the defense arrangement area;
preprocessing difference information in the real-time image information;
and determining that an intruder exists in the defense arrangement area according to the processed difference information and the preset image information.
The above identification method, the step of extracting the image of the intruder and the intrusion position information in the real-time image information, includes:
when an invader exists in the defense arrangement area, extracting an invader image in the real-time image information based on a preset algorithm;
determining a position interval and a position azimuth between an invader image and the patrol robot;
acquiring a first position coordinate of a position where the patrol robot is located;
and generating intrusion position information according to the first position coordinates, the position spacing and the position azimuth.
The identification method described above, wherein the step of determining that the identity of the intruder is legal according to the image of the intruder and the intrusion position information, comprises:
acquiring a second position coordinate of the temporary pass card;
determining identity legitimacy of the invader according to the image of the invader and a preset image database;
and if the identity is illegal, comparing the second position coordinate with the first position coordinate to determine that the identity of the intruder is legal.
An identification device of a patrol robot, comprising:
the acquisition module is used for acquiring real-time image information of the patrol robot in the defense arrangement area;
the first determining module is used for determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information;
the extraction module is used for extracting the invader image and the invasion position information in the real-time image information;
and the second determining module is used for determining that the identity of the invader is legal according to the image of the invader and the invasion position information.
The identification device as described above, the acquisition module includes:
the first acquisition unit is used for acquiring patrol route information input by a user at the patrol robot terminal;
a first determining unit, configured to determine an arming area according to patrol route information and a shooting range of the patrol robot;
the second acquisition unit is used for acquiring real-time image information shot by the patrol robot according to the patrol route information and the defense arrangement area;
the first determining module includes:
the second determining unit is used for comparing the real-time image information with preset image information and determining the difference information of the image information in the defense arrangement area;
the processing unit is used for preprocessing the difference information in the real-time image information;
the third determining unit is used for determining that an intruder exists in the defense arrangement area according to the processed difference information and the preset image information;
the extraction module comprises:
the extraction unit is used for extracting an invader image in the real-time image information based on a preset algorithm when the invader exists in the defense arrangement area;
a fourth determining unit, configured to determine a position interval and a position and orientation between the intruder image and the patrol robot;
the third acquisition unit is used for acquiring a first position coordinate of the position of the patrol robot;
the generating unit is used for generating intrusion position information according to the first position coordinates, the position spacing and the position azimuth;
the second determining module includes:
a fourth acquisition unit configured to acquire a second position coordinate of the temporary pass card;
a fifth determining unit, configured to determine identity legitimacy of the intruder according to the intruder image and a preset image database;
and the sixth determining unit is used for comparing the second position coordinate with the first position coordinate to determine that the identity of the intruder is legal if the identity is illegal.
A computer-readable storage medium having stored thereon a computer program which, when executed by an identification device of a patrol robot, implements the identification method of a patrol robot as described above.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of identifying a patrol robot as described above when executing the computer program.
According to the embodiment of the invention, the real-time image information of the patrol robot in the defense arrangement area is obtained and compared with the preset image information, the existence of an invader in the defense arrangement area is determined, the image of the invader and the invasion position information in the real-time image information are extracted, finally, the identity legitimacy of the invader is determined, the environment is sensed by the robot, and dynamic decision is carried out according to the planned route and the preset information in the system library, so that timing, fixed-point monitoring or uninterrupted flow patrol security is realized, all-round monitoring can be carried out on various flows, traffic hinges and military bases comprehensively, the consumption of manpower and material resources is low, and the use cost of the machine is low, and can meet the requirements of all-weather security.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an identification method of a patrol robot according to a first embodiment of the present invention;
fig. 2 is a detailed flowchart of step S11 in fig. 1;
FIG. 3 is a detailed flowchart of step S12 of FIG. 1;
fig. 4 is a detailed flowchart of step S13 in fig. 1;
fig. 5 is a detailed flowchart of step S14 in fig. 1;
fig. 6 is a block diagram showing the construction of an identification device of a patrol robot according to a second embodiment of the present invention;
FIG. 7 is a detailed block diagram of the acquisition module of FIG. 4;
FIG. 8 is a detailed block diagram of the first determination module of FIG. 4;
FIG. 9 is a detailed block diagram of the extraction module of FIG. 4;
FIG. 10 is a detailed block diagram of the second determination module of FIG. 4;
fig. 11 is a block diagram of a computer device according to yet another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention, and that well-known modules, units and their connections, links, communications or operations with each other are not shown or described in detail. Also, the described features, architectures, or functions may be combined in any manner in one or more implementations. It will be appreciated by those skilled in the art that the various embodiments described below are for illustration only and are not intended to limit the scope of the invention. It will be further appreciated that the modules or units or processes of the embodiments described herein and illustrated in the drawings may be combined and designed in a wide variety of different configurations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The definitions of the various terms or methods set forth in the following embodiments are generally based on the broad concepts that may be practiced with the disclosure in the examples except where logically no such definitions are set forth, and in the following understanding, each specific lower specific definition of a term or method is to be considered an inventive subject matter and should not be interpreted as a narrow sense or as a matter of prejudice to the contrary that the specification does not disclose such a specific definition. Similarly, the order of the steps in the method is flexible and variable on the premise that the steps can be logically implemented, and specific lower limits in various nouns or generalized concepts of the method are within the scope of the invention.
First embodiment:
referring to fig. 1 to 5, the present embodiment provides a method for identifying a patrol robot, including S11-S14, wherein:
s11, acquiring real-time image information of the patrol robot in the defense arrangement area.
According to the embodiment, specific patrol route information is input through a user, the patrol route information comprises patrol places and patrol starting time, the range which can be shot by the patrol robot is combined, the shot range comprises shooting angles and shooting distances corresponding to the shooting angles, the defense distribution area is determined through combination, the light information is acquired, the light intensity is determined according to the intensity of the light information, if the light intensity is higher than a threshold value, real-time image information in the defense distribution area is acquired in a normal image acquisition mode, if the light intensity is lower than the threshold value, an external red thermal imaging camera is started to identify the environment, so that the environment in the defense distribution area is judged to be abnormal, and then according to the abnormal information, real-time image information of the corresponding position is acquired through a night vision camera arranged on the periphery of the patrol robot, so that the situation in the defense distribution area can be better acquired, and therefore, the judgment is fast, and errors are avoided.
As a preferred embodiment, but not particularly limited thereto, step S11 includes S111-S113, wherein:
s111, patrol route information input by a user at the patrol robot terminal is acquired.
According to the embodiment, the corresponding patrol route information is input into the intelligent terminal, the central console or the upper computer by the user, the patrol route information can be preset in the database in advance, each patrol route is named, the patrol route with the corresponding name is directly searched when the patrol route is called, the user can also adjust the patrol route according to the actual patrol requirement of the day, and the specific operation is as follows:
the intelligent terminal is operated to select a patrol starting point and a patrol terminal, then a plurality of selectable patrol routes are automatically generated by the background, after a user selects a corresponding or similar patrol route, the route of the patrol route is adjusted to realize the position of the selected route, and finally the patrol route is determined, so that various choices can be provided for the user, the selected route is convenient and quick, the convenience is high, and the reliability is stronger.
S112, determining the defense arrangement area according to the patrol route information and the shooting range of the patrol robot.
According to the embodiment, the shooting range of the patrol robot is obtained, the shooting range is determined according to the parameters of the machine, the parameters comprise the focal length, the arrangement height of the camera and the like, the shooting range is calculated and determined according to the determined patrol route information and the shooting range of the patrol robot, the shooting coverage range of the patrol route information is determined as a defense distribution area, the area range and the content contained in the shot real-time image data can be determined better, and the patrol robot is high in convenience and high in reliability.
S113, acquiring real-time image information shot by the patrol robot according to the patrol route information and the defense arrangement area.
According to the embodiment, after the patrol robot reaches the starting point of the patrol route, the plurality of cameras arranged on the periphery of the patrol robot are controlled to be started according to the defense distribution area, the real-time image information shot by the plurality of cameras is obtained, the plurality of cameras comprise an infrared thermal imaging module, a camera shooting module and a night vision module, and the defense distribution areas among the plurality of patrol robots are overlapped in edge, so that the defense distribution effect is better.
S12, determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information.
According to the embodiment, according to the comparison of the obtained real-time image information and the preset image information, the preset image information is the picture information under the condition that no animal enters the environment normally, when the difference value between the real-time image information and the preset image information is larger than the image threshold value, an intruder exists in the defense-setting area, and the image threshold value is set mainly for avoiding the problem that the patrol robot is misjudged due to shaking of the patrol robot or due to wind blowing of trees, the intruder exists in the environment can be determined better, and the intruder is a person, an animal or a vehicle.
As a preferred embodiment, but not particularly limited thereto, step S12 includes S121-S123, wherein:
s121, comparing the real-time image information with preset image information, and determining difference information of the image information in the defense arrangement area.
According to the embodiment, the real-time image information is compared with the preset image information, so that the difference information of the image information in the defense arrangement area is determined, when the difference value between the real-time image information and the preset image information is larger than the image threshold value, the existence of an intruder in the defense arrangement area is determined, and the preset image information is the image information of a scene when no person or other animal is in the defense arrangement area.
S122, preprocessing the difference information in the real-time image information.
According to the embodiment, after normalization and binarization processing are carried out on the real-time image information, difference information is determined, whether the difference information is caused by tree shaking along wind or machine shaking is determined, if yes, an intruder can be determined, if not, no intruder exists in the environment, and the intrusion condition in the defense area can be efficiently judged through real-time comparison and real-time processing.
S123, determining that an intruder exists in the defense arrangement area according to the processed difference information and the preset image information.
According to the embodiment, comparison is performed according to the processed difference information and the preset image information, the preset image information is also stored with image data under the influence of tree shaking along with wind and machine shaking, an intruder exists in a defense arrangement area through comparison of the difference, false triggering of an alarm is effectively avoided, and stability is higher.
S13, extracting the invader image and the invasion position information in the real-time image information.
When an intruder exists in the defense arrangement area, the method extracts and confirms the image of the intruder in the real-time image information and the position information of the intruder, so that the legitimacy of the intruder entering the defense arrangement area can be judged through the image information or the position information, and the judging result is more accurate and reliable.
As a preferred embodiment, but not particularly limited thereto, step S13 includes S131 to S134, wherein:
s131, when an intruder exists in the defense arrangement area, extracting an intruder image in the real-time image information based on a preset algorithm.
When an intruder exists in the defense distribution area, the binary abnormal image information is the image information when the intruder exists, the binary abnormal image information is compared with the preset image information, the difference pixel point is extracted, the difference pixel point is placed in the real-time image information, the intruder image is extracted, the intruder image can be efficiently and conveniently extracted through a simpler algorithm, the efficiency is higher, the speed is higher, and the reliability is stronger.
S132, determining the position interval and the position orientation between the invader image and the patrol robot.
According to the embodiment, the position distance between the image of the invader and the patrol robot is determined through the laser radar, the range radar or the ultrasonic module arranged on the periphery of the patrol robot, the position of the camera where the abnormal image information is shot is acquired, the position and the orientation between the image of the invader and the patrol robot are determined, the position and the orientation of the invader can be calculated through the position and the orientation information of the patrol robot better, the position and orientation of the invader is calculated, the calculation result is accurate and reliable, and the stability is higher.
S133, acquiring a first position coordinate of the position of the patrol robot.
According to the embodiment, through the Beidou positioning instrument arranged on the patrol robot, the geographic position coordinate information of the patrol robot is obtained, the geographic position coordinate information is determined to be the first position coordinate, the position coordinate information of an invader can be generated through the determination of the coordinate, the invasion information can be better judged, and therefore secondary judgment is made under the condition that the image information cannot be determined that the invader is legal.
S134, generating intrusion position information according to the first position coordinates, the position spacing and the position azimuth.
According to the embodiment, through the first position coordinates, the position spacing and the position orientation, the intrusion position information of the intruder is determined through coordinate conversion, and the intrusion information can be better judged, so that secondary judgment is made under the condition that the image information cannot be used for determining that the intruder is legal.
S14, determining that the identity of the invader is legal according to the image of the invader and the invasion position information.
In the embodiment, when the image of the invader and the invasion position information are determined, comparison and judgment are preferably carried out through the image of the invader, if the image information of the invader is successfully compared, namely the identity is legal, if the image of the invader is failed to be compared, namely the identity is illegal, if the image information is failed to be verified, the identity can be well determined to be legal through verification of the position information, so that a two-stage verification method is adopted, mainly the information of people who have long-term effective access to a defense area and temporary passers is distinguished, the long-term resident personnel have face image information in a database, the temporary passers can only pass through a temporary information card, the temporary passers can be carried by a card on the body, and can also be an object which is similar to ETC and installed on an automobile, so that people with different requirements can pass through determination of whether the identity of the invader is legal or not, the judgment method comprises image comparison and position comparison can be well distinguished to be legal and illegal information, and the stability is high.
As a preferred embodiment, but not particularly limited thereto, step S14 includes S141-S143, wherein:
s141, acquiring second position coordinates of the temporary pass card.
The position coordinate information is determined to be the second position coordinate by acquiring the position coordinate information transmitted back to the central control database by the temporary pass card, wherein the temporary pass card comprises an IC card carried by a person, a vehicle identification card similar to the ETC of the vehicle or an NFC information card arranged on a mobile phone.
S142, determining identity legitimacy of the invader according to the invader image and a preset image database.
In the embodiment, firstly, the information of the invader is compared with the preset image database, if the invader is a long-term resident person, the preset image database has the face and whole image information, the pass legitimacy of the invader in the defense arrangement area can be determined, and if the invader is a temporary pass person or an illegal invader, the preset image database does not have the information, whether the invader has a temporary communication card or not needs to be judged, and the judgment is carried out for the second time, so that the occurrence of a misjudgment event is effectively avoided.
S143, if the identity is illegal, comparing the second position coordinate with the first position coordinate to determine that the identity of the intruder is legal.
In this embodiment, if the identity is illegal, that is, the image data of the person does not exist in the database, the second position coordinate of the temporary pass card and the first position coordinate of the intruder are compared, if the first position coordinate and the second position coordinate are equal or are similar within the coordinate threshold, the identity is legal, if the first position coordinate and the second position coordinate exceed the coordinate threshold, the identity is illegal, an alarm message is sent to the central console, the central console is requested to determine a processing signal, and the intruder is continuously tracked until the intruder exceeds the defense distribution area or the central console returns the processing signal.
According to the embodiment, the real-time image information of the patrol robot in the defense arrangement area is obtained and compared with the preset image information, the existence of an invader in the defense arrangement area is determined, the image of the invader and the invasion position information in the real-time image information are extracted, finally the identity legitimacy of the invader is determined, the environment is sensed by the robot, and dynamic decision is carried out according to the planned route and the preset information in the system library, so that timing, fixed-point monitoring or uninterrupted flow patrol security is realized, all-round monitoring can be carried out on various streams, transportation hubs and military bases comprehensively, the manpower and material consumption is low, and the machine use cost is low, so that all-weather security requirements can be met.
Second embodiment:
referring to fig. 6 to 10, the present embodiment provides an identification device 100 of a patrol robot, including an acquisition module 110, a first determination module 120, an extraction module 130, and a second determination module 140, wherein:
the acquisition module 110 is connected to the first determination module 120, and is configured to acquire real-time image information of the patrol robot in the defense deployment area.
As a preferred solution, but not particularly limited, the acquisition module 110 includes a first acquisition unit 111, a first determination unit 112, and a second acquisition unit 113, wherein:
a first acquisition unit 111 connected to the first determination unit 112 for acquiring patrol route information entered by the user at the patrol robot terminal.
The first determining unit 112 is connected to the second acquiring unit 113, and is configured to determine the defense deployment area according to the patrol route information and the shooting range of the patrol robot.
And a second obtaining unit 113, configured to obtain real-time image information photographed by the patrol robot according to the patrol route information and the defense deployment area.
The first determining module 120 is connected to the extracting module 130, and is configured to determine that an intruder exists in the defense deployment area according to the real-time image information and the preset image information.
As a preferred solution, but not particularly limited, the first determining module 120 includes a second determining unit 121, a processing unit 122, and a third determining unit 123, wherein:
the second determining unit 121 is connected to the processing unit 122, and is configured to compare the real-time image information with the preset image information, and determine difference information of the image information in the defense area.
The processing unit 122 is connected to the third determining unit 123, and is configured to pre-process the difference information in the real-time image information.
The third determining unit 123 is configured to determine that an intruder exists in the defense deployment area according to the processed difference information and the preset image information.
The extracting module 130 is connected to the second determining module 140, and is configured to extract the image of the intruder and the intrusion position information in the real-time image information.
As a preferred solution, but not particularly limited, the extraction module 130 includes an extraction unit 131, a fourth determination unit 132, a third acquisition unit 133, and a generation unit 134, wherein:
the extracting unit 131 is connected to the fourth determining unit 132, and is configured to extract an image of the intruder in the real-time image information based on a preset algorithm when the intruder exists in the defense deployment area.
The fourth determining unit 132 is connected to the third obtaining unit 133, and is configured to determine a position interval and a position and orientation between the image of the intruder and the patrol robot.
And a third obtaining unit 133 connected to the generating unit 134, for obtaining the first position coordinate of the position where the patrol robot is located.
The generating unit 134 is configured to generate intrusion position information according to the first position coordinate, the position pitch, and the position orientation.
The second determining module 140 is configured to determine that the identity of the intruder is legal according to the image of the intruder and the intrusion position information.
As a preferred solution, but not particularly limited, the second determining module 140 includes a fourth acquiring unit 141, a fifth determining unit 142, and a sixth determining unit 143, wherein:
a fourth acquisition unit 141 connected to the fifth determination unit 142 for acquiring second position coordinates of the temporary pass card.
The fifth determining unit 142 is connected to the sixth determining unit 143, and is configured to determine identity legitimacy of the intruder according to the image of the intruder and the preset image database.
And a sixth determining unit 143, configured to compare the second position coordinate with the first position coordinate if the identity is illegal, and determine that the identity of the intruder is legal.
According to the embodiment, the real-time image information of the patrol robot in the defense arrangement area is obtained and compared with the preset image information, the existence of an invader in the defense arrangement area is determined, the image of the invader and the invasion position information in the real-time image information are extracted, finally the identity legitimacy of the invader is determined, the environment is sensed by the robot, and dynamic decision is carried out according to the planned route and the preset information in the system library, so that timing, fixed-point monitoring or uninterrupted flow patrol security is realized, all-round monitoring can be carried out on various streams, transportation hubs and military bases comprehensively, the manpower and material consumption is low, and the machine use cost is low, so that all-weather security requirements can be met.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The embodiment of the invention also provides a computer storage medium, on which a computer program is stored, which when being executed by a processor, implements an identification method of a patrol robot as in the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiments of the method may be accomplished by a computer program to instruct related hardware, where the computer program may be stored in a non-volatile computer readable storage medium, and the computer program may include the above-described embodiments of the method for identifying a patrol robot when executed. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present invention may be essentially or part contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program code, such as a removable storage device, RAM, ROM, magnetic or optical disk. Corresponding to the above computer storage medium, in one embodiment, there is also provided a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements an identification method of a patrol robot in the above embodiments when executing the program.
The computer device may be a terminal, and its internal structure may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a method of identifying a patrol robot. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
According to the embodiment, the real-time image information of the patrol robot in the defense arrangement area is obtained and compared with the preset image information, the existence of an invader in the defense arrangement area is determined, the image of the invader and the invasion position information in the real-time image information are extracted, finally the identity legitimacy of the invader is determined, the environment is sensed by the robot, and dynamic decision is carried out according to the planned route and the preset information in the system library, so that timing, fixed-point monitoring or uninterrupted flow patrol security is realized, all-round monitoring can be carried out on various streams, transportation hubs and military bases comprehensively, the manpower and material consumption is low, and the machine use cost is low, so that all-weather security requirements can be met.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A method of identifying a patrol robot, comprising:
acquiring real-time image information of the patrol robot in the defense arrangement area;
determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information;
extracting an invader image and invasion position information in the real-time image information;
and determining that the identity of the invader is legal according to the image of the invader and the invasion position information.
2. The method of claim 1, wherein the step of acquiring real-time image information of the patrol robot in the arming area comprises:
the patrol route information input by a user at a patrol robot terminal is acquired;
determining an arming area according to patrol route information and a shooting range of the patrol robot;
and acquiring real-time image information shot by the patrol robot according to the patrol route information and the defense arrangement area.
3. The method according to claim 1, wherein the step of determining that an intruder exists in the arming area according to the real-time image information and the preset image information comprises:
comparing the real-time image information with preset image information to determine the difference information of the image information in the defense arrangement area;
preprocessing difference information in the real-time image information;
and determining that an intruder exists in the defense arrangement area according to the processed difference information and the preset image information.
4. The method of claim 1, wherein the step of extracting the intruder image and the intrusion location information in the real-time image information comprises:
when an invader exists in the defense arrangement area, extracting an invader image in the real-time image information based on a preset algorithm;
determining a position interval and a position azimuth between an invader image and the patrol robot;
acquiring a first position coordinate of a position where the patrol robot is located;
and generating intrusion position information according to the first position coordinates, the position spacing and the position azimuth.
5. The method of claim 4, wherein the step of determining that the identity of the intruder is legal based on the image of the intruder and the intrusion location information comprises:
acquiring a second position coordinate of the temporary pass card;
determining identity legitimacy of the invader according to the image of the invader and a preset image database;
and if the identity is illegal, comparing the second position coordinate with the first position coordinate to determine that the identity of the intruder is legal.
6. An identification device of a patrol robot, comprising:
the acquisition module is used for acquiring real-time image information of the patrol robot in the defense arrangement area;
the first determining module is used for determining that an intruder exists in the defense arrangement area according to the real-time image information and the preset image information;
the extraction module is used for extracting the invader image and the invasion position information in the real-time image information;
and the second determining module is used for determining that the identity of the invader is legal according to the image of the invader and the invasion position information.
7. The identification device of claim 6, wherein the acquisition module comprises:
the first acquisition unit is used for acquiring patrol route information input by a user at the patrol robot terminal;
a first determining unit, configured to determine an arming area according to patrol route information and a shooting range of the patrol robot;
the second acquisition unit is used for acquiring real-time image information shot by the patrol robot according to the patrol route information and the defense arrangement area;
the first determining module includes:
the second determining unit is used for comparing the real-time image information with preset image information and determining the difference information of the image information in the defense arrangement area;
the processing unit is used for preprocessing the difference information in the real-time image information;
the third determining unit is used for determining that an intruder exists in the defense arrangement area according to the processed difference information and the preset image information;
the extraction module comprises:
the extraction unit is used for extracting an invader image in the real-time image information based on a preset algorithm when the invader exists in the defense arrangement area;
a fourth determining unit, configured to determine a position interval and a position and orientation between the intruder image and the patrol robot;
the third acquisition unit is used for acquiring a first position coordinate of the position of the patrol robot;
the generating unit is used for generating intrusion position information according to the first position coordinates, the position spacing and the position azimuth;
the second determining module includes:
a fourth acquisition unit configured to acquire a second position coordinate of the temporary pass card;
a fifth determining unit, configured to determine identity legitimacy of the intruder according to the intruder image and a preset image database;
and the sixth determining unit is used for comparing the second position coordinate with the first position coordinate to determine that the identity of the intruder is legal if the identity is illegal.
8. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by the recognition means of a patrol robot, implements the recognition method of a patrol robot according to any one of claims 1-5.
9. Computer device, characterized in that it comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of recognition of a patrol robot according to any one of claims 1-5 when executing the computer program.
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| CN202311572324.8A CN117542009A (en) | 2023-11-22 | 2023-11-22 | Recognition method and device for patrol robot |
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| CN202311572324.8A CN117542009A (en) | 2023-11-22 | 2023-11-22 | Recognition method and device for patrol robot |
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