CN109514583A - Abnormal alarm method, night watching robot and storage medium - Google Patents
Abnormal alarm method, night watching robot and storage medium Download PDFInfo
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- CN109514583A CN109514583A CN201811574998.0A CN201811574998A CN109514583A CN 109514583 A CN109514583 A CN 109514583A CN 201811574998 A CN201811574998 A CN 201811574998A CN 109514583 A CN109514583 A CN 109514583A
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/16—Actuation by interference with mechanical vibrations in air or other fluid
- G08B13/1654—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems
- G08B13/1672—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems using sonic detecting means, e.g. a microphone operating in the audio frequency range
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19695—Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of abnormal alarm method, night watching robot and storage mediums, the described method comprises the following steps: acquisition acoustic information, whether have abnormal conditions according to acoustic information analytical judgment；When phonetic analysis result, which is, there are abnormal conditions, the image information at the sound source scene of acoustic information is acquired, abnormal conditions are judged whether there is according to image information analysis；When image analysis result, which is, there are abnormal conditions, alarm.A kind of abnormal alarm method provided by the embodiment of the present invention, the exception monitoring mode combined using phonetic analysis and image analysis, just positioning is carried out to abnormal first with phonetic analysis, recycle image analysis as abnormal accurate matching and confirmation, when two kinds of analysis modes, which determine, there are abnormal conditions, just alarm.To greatly enhancing night watching robot to the analysis ability of abnormal conditions, and then the problems such as improve the accuracy rate of alarm, reduce wrong report, fail to report.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of abnormal alarm method, night watching robot and storage
Medium.
Background technique
As labor cost is higher and higher, robot replaces Security Personnel's completion night watching work gradually to popularize.Currently,
The relevant school of lot of domestic and international, scientific research institution, enterprise etc. all substitute the technology of artificial night watching in research night watching robot.
Night watching robot needs monitoring field environment, when discovery has abnormal conditions, then and alarm.Existing patrol machine
Device people is mainly using photographic device come monitoring field environment, using image analysis technology to determine whether there is abnormal conditions.But this
Kind monitoring mode is relatively simple, weaker to the analysis ability of abnormal conditions, causes the accuracy rate of alarm low, is easy to produce mistake
The problems such as reporting, failing to report is unable to satisfy the real demand of substitution Security Personnel's night watching.
Therefore, how to enhance night watching robot to the analysis ability of abnormal conditions, and then improve the accuracy rate of alarm, be to work as
The technical issues of preceding urgent need to resolve.
Summary of the invention
The main purpose of the embodiment of the present invention is to provide a kind of abnormal alarm method, night watching robot and storage medium,
It is intended to enhance night watching robot to the analysis ability of abnormal conditions, and then improves the accuracy rate of alarm.
To achieve these objectives, it on the one hand proposes a kind of abnormal alarm method, the described method comprises the following steps:
Acoustic information is acquired, whether abnormal conditions are had according to acoustic information analytical judgment；
When phonetic analysis result, which is, there are abnormal conditions, the image information at the sound source scene of the acoustic information, root are acquired
Whether there are abnormal conditions according to described image information analysis and judgment；
When image analysis result, which is, there are abnormal conditions, alarm.
Optionally, it is described whether the step of abnormal conditions is had according to described image information analysis and judgment after further include:
When image analysis result, which is, does not have abnormal conditions, whether there is exception again according to acoustic information analytical judgment
Situation；
It is different again according to whether described image information analysis and judgment has when phonetic analysis result has remained as abnormal conditions
Reason condition；
When image analysis result, which is, there are abnormal conditions, alarm.
Optionally, the method also includes:
After n times phonetic analysis and image analysis, phonetic analysis result has remained as abnormal conditions, image analysis knot
Fruit remains as when not having abnormal conditions, sends the acoustic information and described image information to monitoring center；Wherein, N >=2.
Optionally, described whether to there are the abnormal conditions to include: according to acoustic information analytical judgment
Multi dimensional analysis is carried out to the acoustic information, judges whether sound is abnormal；
When cacophonia, it is determined with abnormal conditions.
Optionally, described to include: to acoustic information progress multi dimensional analysis
Analyze at least two in sound frequency, sound spectrum, sound intensity and the sound power in the acoustic information
Feature.
Optionally, the image information at the sound source scene of the acquisition acoustic information includes:
It determines the orientation at the sound source scene of the acoustic information, and is moved near the sound source scene；
Photographic device is directed at the sound source collection in worksite image information.
Optionally, described whether to there are the abnormal conditions to include: according to described image information analysis and judgment
Described image information is analyzed, judges whether the sound source scene has depredation；
When there is depredation at the sound source scene, the depredation is analyzed, judges whether Slope protection is artificial broken
It is bad；
When the Slope protection is artificial destruction, it is determined with abnormal conditions.
It is optionally, described that carry out alarm include: to send warning message to monitoring center, and/or sound an alarm by loudspeaker.
On the other hand a kind of night watching robot is proposed, which includes memory, processor and at least one quilt
It stores in the memory and is configured as the application program executed by the processor, the application program is configured as using
In the aforementioned abnormal alarm method of execution.
Another further aspect proposes a kind of computer readable storage medium, is stored with exception on the computer readable storage medium
Alert program, when the abnormal alarm program is executed by processor, the step of realizing aforementioned abnormal alarm method.
A kind of abnormal alarm method provided by the embodiment of the present invention, is combined different using phonetic analysis and image analysis
Normal monitoring mode carries out just positioning to abnormal first with phonetic analysis, recycle image analysis as it is abnormal it is accurate match with
Confirmation is just alarmed when two kinds of analysis modes, which determine, abnormal conditions.To greatly enhance night watching robot pair
The analysis ability of abnormal conditions, and then the problems such as improve the accuracy rate of alarm, reduce wrong report, fail to report.
Detailed description of the invention
Fig. 1 is the flow chart of abnormal alarm method first embodiment of the invention；
Fig. 2 is the structural schematic diagram of night watching robot in the embodiment of the present invention；
Fig. 3 is the flow chart of abnormal alarm method second embodiment of the invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
Embodiment one
Referring to Fig. 1, propose that abnormal alarm method first embodiment of the invention, the abnormal alarm method are mainly used in
Night watching robot, naturally it is also possible to be applied to other equipment or field, this is not limited by the present invention, the embodiment of the present invention with
It is described in detail applied to night watching robot.As shown in Fig. 2, being the structural schematic diagram of night watching robot.The night watching robot
Including moveable fuselage 10, and be installed on the voice collection device 20 (such as microphone) of fuselage 10, sound analysis module 30,
Photographic device 40 (such as camera) and image analysis module 50, sound analysis module 30 and image analysis module 50 also can be set
Inside fuselage 10, photographic device 40 is electrically connected with image analysis module 50, voice collection device 20 and sound analysis module 30
Electrical connection.
The abnormal alarm method of the embodiment of the present invention the following steps are included:
Whether S11, acquisition acoustic information have abnormal conditions according to acoustic information analytical judgment.When phonetic analysis result is
When there are abnormal conditions, S12 is entered step；When phonetic analysis result, which is, does not have abnormal conditions, terminate process.
In the embodiment of the present invention, scene, real-time or timing acquisition sound are monitored by voice collection device by night watching robot
Whether message breath has abnormal conditions according to acoustic information analytical judgment by sound analysis module.Preferably, the present invention is implemented
Example in, night watching robot to acoustic information carry out multi dimensional analysis, as analyze acoustic information in sound frequency, sound spectrum,
At least two features in sound intensity and sound power judge whether sound is abnormal, when cacophonia, is then determined with exception
Situation then determines no abnormal conditions when sound is normal.
For example, obtaining the sound frequency in acoustic information, four kinds of sound spectrum, sound intensity and sound power features, sentence
Disconnected four kinds of features whether in preset normal range (NR), when four kinds of features in the normal range when, then assert that sound is normal, when
At least one feature not in the normal range when, then assert cacophonia.
In addition, night watching robot can also be using existing sound analysis method to determine whether having abnormal conditions, this hair
It is bright that details are not described herein.
The image information at the sound source scene of S12, acquisition acoustic information, judges whether there is abnormal feelings according to image information analysis
Condition.When image analysis result, which is, there are abnormal conditions, S13 is entered step；When image analysis result, which is, does not have abnormal conditions, knot
Line journey.
In the present embodiment, when phonetic analysis result, which is, abnormal conditions, night watching robot then further passes through camera shooting dress
The image information for setting the sound source scene of acquisition acoustic information, is judged whether there is by image analysis module according to image information analysis
Abnormal conditions.
Specifically, night watching robot use first sound location technology determine acoustic information sound source scene orientation, so
After be moved to sound source scene nearby, by photographic device alignment sound source collection in worksite image information.Certainly, if sound source scene
When near night watching robot, night watching robot is then not necessarily to move, and photographic device is directly directed at sound source collection in worksite image information.
After collecting image information, night watching robot then uses image analysis technology analysis to collect image, and judgement is
It is no to have abnormal conditions.
For example, night watching robot analyzes image information, judge whether sound source scene has depredation, as whether door and window is broken
Whether whether bad, door lock be destroyed, have article to drop etc..When there is depredation at sound source scene, night watching robot is then analyzed
The depredation judges whether Slope protection is artificial destruction, such as when in the case where not blowing hard, door and window is destroyed, then
Determine that Slope protection is artificial destruction.When Slope protection is artificial destruction, night watching robot is then determined with abnormal conditions.Into one
Step ground, when Slope protection is not artificial destruction, but the article being destroyed is important or when will cause serious consequence, patrol machine
Device people also can be determined that abnormal conditions.
For another example, night watching robot analyzes image information, when finding that there is flare at sound source scene, is then determined with abnormal conditions.
In addition, night watching robot can also be using existing image analysis method to determine whether having abnormal conditions, this hair
It is bright that details are not described herein.
S13, it alarms.
It in the present embodiment, when image analysis result, which is, abnormal conditions, then alarms, such as: being sent to monitoring center
There are abnormal conditions at warning message, notice monitoring center scene；Alternatively, being sounded an alarm by loudspeaker, to notify personnel nearby；Or
Person both sent warning message to monitoring center, while sounding an alarm further through loudspeaker.
The abnormal alarm method of the embodiment of the present invention, the exception monitoring side combined using phonetic analysis and image analysis
Formula carries out just positioning to abnormal first with phonetic analysis, recycles image analysis as abnormal accurate matching and confirmation, when two
Kind analysis mode determines when having abnormal conditions, just alarms.To greatly enhance night watching robot to abnormal conditions
Analysis ability, and then the problems such as improve the accuracy rate of alarm, reduce wrong report, fail to report.
Embodiment two
Referring to Fig. 3, proposes abnormal alarm method second embodiment of the invention, the described method comprises the following steps:
Whether S21, acquisition acoustic information have abnormal conditions according to acoustic information analytical judgment.When analysis result is different to have
When reason condition, S22 is entered step；When analyzing result is not have abnormal conditions, terminate process.
The image information at the sound source scene of S22, acquisition acoustic information, judges whether there is abnormal feelings according to image information analysis
Condition.When analyzing result is not have abnormal conditions, S23 is entered step；When analyzing result is there are abnormal conditions, enter step
S25。
In the present embodiment, step S21 and S22 is identical as the step S11 and S12 in first embodiment, and details are not described herein.
S23, whether there are abnormal conditions again according to acoustic information analytical judgment.When analyzing result is to have abnormal conditions,
Enter step S24；When analyzing result is not have abnormal conditions, terminate process.
In the present embodiment, when image analysis result and phonetic analysis result are inconsistent, that is, when there is no abnormal conditions, patrol machine
Device people is then checked using phonetic analysis, whether has abnormal conditions, concrete analysis side again according to acoustic information analytical judgment
Method is identical as the step S11 in first embodiment, and details are not described herein.
S24, abnormal conditions are judged whether there is again according to image information analysis.When analyzing result is to have abnormal conditions,
Enter step S25；When analyzing result is not have abnormal conditions, S26 is entered step.
In the present embodiment, when secondary phonetic analysis result has remained as abnormal conditions, night watching robot then again according to
Image information analysis judges whether there is abnormal conditions, and specific analytical method is identical as the step S12 in first embodiment, herein not
It repeats again.
S25, it alarms.
It is all when having abnormal conditions, then to be reported when phonetic analysis result is consistent with image analysis result in the present embodiment
It is alert.
S26, acoustic information and image information are sent to monitoring center.
In the present embodiment, after secondary analysis, phonetic analysis result has remained as abnormal conditions, and image analysis result is still
For no abnormal conditions, i.e., when phonetic analysis result and image analysis result are still inconsistent, night watching robot then believes sound
Breath and image information are sent to monitoring center, are analyzed and determined by monitoring center.After monitoring center obtains analysis result, then will
Analysis result returns to night watching robot, and when analyzing result is to have abnormal conditions, night watching robot then alarms.
Optionally, after N (N >=2, N are natural number) secondary phonetic analysis and image analysis, phonetic analysis result is still
To there is abnormal conditions, image analysis result remains as no abnormal conditions, i.e. phonetic analysis result and image analysis result still
When inconsistent, night watching robot then sends acoustic information and image information to monitoring center.N can be set according to actual needs,
Then be the situation of aforementioned second embodiment as N=2, furthermore N can also be 3,4,5 ..., that is, carry out three times, four times or
After five analyses, then acoustic information and image information are sent to monitoring center and analyzed and determined.
The abnormal alarm method of the present embodiment then uses sound when the analysis result of two kinds of analysis modes is inconsistent again
Cent analysis checked, when check result with phonetic analysis result is consistent for the first time when, carry out image analysis again, when two kinds analyses
As a result determine and then alarm when having abnormal conditions, when two kinds of analysis results are still inconsistent, then transfer to monitoring center into
Row manual analysis.To further enhance night watching robot to the analysis ability of abnormal conditions and improve the accurate of alarm
Rate, the problems such as further reducing wrong report, fail to report.
The embodiment of the present invention proposes a kind of night watching robot simultaneously, which includes memory, processor and extremely
Few one is stored in memory and is configured as the application program executed by processor, which is configurable for
Execute abnormal alarm method.Abnormal alarm method as described in this embodiment is different involved in above-described embodiment in the present invention
Normal alarm method, details are not described herein.
The night watching robot of the embodiment of the present invention, the exception monitoring mode combined using phonetic analysis and image analysis,
Just positioning is carried out to abnormal first with phonetic analysis, recycles image analysis as abnormal accurate matching and confirmation, when two kinds
Analysis mode determines when having abnormal conditions, just alarms.To greatly enhance the analysis ability to abnormal conditions, into
And the problems such as improving the accuracy rate of alarm, reducing wrong report, fail to report.
The embodiment of the present invention also proposes a kind of computer readable storage medium, is stored on the computer readable storage medium
Abnormal alarm program, when which is executed by processor, realize abnormal alarm method the step of.Institute in the present embodiment
The abnormal alarm method of description is abnormal alarm method involved in above-described embodiment in the present invention, and details are not described herein.
It will be understood by those skilled in the art that the present invention includes being related to for executing one in operation described herein
Or multinomial equipment.These equipment can specially design and manufacture for required purpose, or also may include general-purpose computations
Known device in machine.These equipment have the computer program being stored in it, these computer programs selectively activate
Or reconstruct.Such computer program, which can be stored in equipment (for example, computer) readable medium or be stored in, to be suitable for
Storage e-command is simultaneously coupled in any kind of medium of bus respectively, and the computer-readable medium includes but is not limited to
Any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, it is read-only to deposit
Reservoir), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-
Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable Programmable
Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card.It is, readable
Medium includes by equipment (for example, computer) with any medium for the form storage or transmission information that can be read.
Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology neck
Field technique personnel be appreciated that these computer program instructions can be supplied to general purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, to pass through the processing of computer or other programmable data processing methods
The scheme specified in frame or multiple frames of the device to execute structure chart and/or block diagram and/or flow graph disclosed by the invention.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, not thereby limiting the scope of the invention.This
Without departing from the scope and spirit of the invention, there are many variations to implement the present invention by field technical staff, for example as one
The feature of a embodiment can be used for another embodiment and obtain another embodiment.It is all to use institute within technical concept of the invention
Any modifications, equivalent replacements, and improvements of work, should all be within interest field of the invention.
Claims (10)
1. a kind of abnormal alarm method, which comprises the following steps:
Acoustic information is acquired, whether abnormal conditions are had according to acoustic information analytical judgment；
When phonetic analysis result, which is, there are abnormal conditions, the image information at the sound source scene of the acoustic information is acquired, according to institute
It states image information analysis and judges whether there is abnormal conditions；
When image analysis result, which is, there are abnormal conditions, alarm.
2. abnormal alarm method according to claim 1, which is characterized in that described according to described image information analysis and judgment
After whether having the step of abnormal conditions further include:
When image analysis result, which is, does not have abnormal conditions, whether there are abnormal feelings again according to acoustic information analytical judgment
Condition；
When phonetic analysis result has remained as abnormal conditions, whether there are abnormal feelings again according to described image information analysis and judgment
Condition；
When image analysis result, which is, there are abnormal conditions, alarm.
3. abnormal alarm method according to claim 2, which is characterized in that the method also includes:
After n times phonetic analysis and image analysis, phonetic analysis result has remained as abnormal conditions, and image analysis result is still
It is so when there is no abnormal conditions, to send the acoustic information and described image information to monitoring center；Wherein, N >=2.
4. abnormal alarm method according to claim 1-3, which is characterized in that described according to the acoustic information
Whether analyze and determine has the abnormal conditions to include:
Multi dimensional analysis is carried out to the acoustic information, judges whether sound is abnormal；
When cacophonia, it is determined with abnormal conditions.
5. abnormal alarm method according to claim 4, which is characterized in that described to carry out various dimensions to the acoustic information
Analysis includes:
Analyze at least two features in sound frequency, sound spectrum, sound intensity and the sound power in the acoustic information.
6. abnormal alarm method according to claim 1-3, which is characterized in that the acquisition acoustic information
The image information at sound source scene include:
It determines the orientation at the sound source scene of the acoustic information, and is moved near the sound source scene；
Photographic device is directed at the sound source collection in worksite image information.
7. abnormal alarm method according to claim 1-3, which is characterized in that described according to described image information
Whether analyze and determine has the abnormal conditions to include:
Described image information is analyzed, judges whether the sound source scene has depredation；
When there is depredation at the sound source scene, the depredation is analyzed, judges whether Slope protection is artificial destruction；
When the Slope protection is artificial destruction, it is determined with abnormal conditions.
8. abnormal alarm method according to claim 1-3, which is characterized in that it is described carry out alarm include: to
Monitoring center sends warning message, and/or is sounded an alarm by loudspeaker.
9. a kind of night watching robot, including memory, processor and at least one be stored in the memory and be configured
For the application program executed by the processor, which is characterized in that the application program is configurable for perform claim and requires 1
To 8 described in any item abnormal alarm methods.
10. a kind of computer readable storage medium, which is characterized in that be stored with abnormal report on the computer readable storage medium
Alert program when the abnormal alarm program is executed by processor, is realized such as abnormal report described in any item of the claim 1 to 8
The step of alarm method.
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Cited By (4)
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| CN112396803A (en) * | 2020-12-07 | 2021-02-23 | 安徽江淮汽车集团股份有限公司 | Vehicle safety alarm method, device, storage medium and device |
| CN112671622A (en) * | 2020-12-24 | 2021-04-16 | 珠海格力电器股份有限公司 | Safety monitoring method and device based on intelligent mobile equipment and intelligent mobile equipment |
| CN112910746A (en) * | 2019-12-04 | 2021-06-04 | 瓦兰姆系统有限公司 | Home robot and intelligent home safety monitoring system intercommunicated with home equipment |
| CN114147740A (en) * | 2021-12-09 | 2022-03-08 | 中科计算技术西部研究院 | Robot patrol planning system and method based on environment state |
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| CN112671622B (en) * | 2020-12-24 | 2022-06-14 | 珠海格力电器股份有限公司 | Safety monitoring method and device based on intelligent mobile equipment and intelligent mobile equipment |
| CN114147740A (en) * | 2021-12-09 | 2022-03-08 | 中科计算技术西部研究院 | Robot patrol planning system and method based on environment state |
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Address after: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Kewei Robot Technology Co., Ltd Address before: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN KEWEI ROBOT SERVICE Co.,Ltd. |
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Application publication date: 20190326 |