CN109658570A - A kind of server, client, mobile robot, door access control system and method - Google Patents
A kind of server, client, mobile robot, door access control system and method Download PDFInfo
- Publication number
- CN109658570A CN109658570A CN201811557726.XA CN201811557726A CN109658570A CN 109658570 A CN109658570 A CN 109658570A CN 201811557726 A CN201811557726 A CN 201811557726A CN 109658570 A CN109658570 A CN 109658570A
- Authority
- CN
- China
- Prior art keywords
- visitor
- visiting
- access control
- mind
- message
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/30—Individual registration on entry or exit not involving the use of a pass
- G07C9/32—Individual registration on entry or exit not involving the use of a pass in combination with an identity check
- G07C9/37—Individual registration on entry or exit not involving the use of a pass in combination with an identity check using biometric data, e.g. fingerprints, iris scans or voice recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/172—Classification, e.g. identification
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/30—Individual registration on entry or exit not involving the use of a pass
- G07C9/38—Individual registration on entry or exit not involving the use of a pass with central registration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/56—Unified messaging, e.g. interactions between e-mail, instant messaging or converged IP messaging [CPM]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/12—Messaging; Mailboxes; Announcements
- H04W4/14—Short messaging services, e.g. short message services [SMS] or unstructured supplementary service data [USSD]
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to access control technical field, a kind of server, client, mobile robot, door access control system and method are disclosed.Access control method therein includes: to identify that the client of Xiang Zhiding object sends visiting notification message when having a mind to visitor's visiting；And/or visiting notification message is sent to mobile robot, control mobile robot is mobile to be found specified object and shows visiting notification message to it；The visiting msu message of specified object is received, access control robot executes corresponding access control operation accordingly.The embodiment of the present invention is for visitor, visiting notification message can be shown to specified object by client or mobile robot, and then corresponding access control operation is executed according to the visiting auditing result of specified object, this implementation can have specified object directly to carry out quickly visiting audit to visitor, and visitor is avoided to sink into the condition fallen into a long wait because being unfamiliar with register flow path.
Description
Technical field
The present invention relates to access control technical field more particularly to a kind of server, client, mobile robot, gate inhibitions
Control system and method.
Background technique
Traditional access control method based on recognition of face generally passes through face recognition technology and the note for being pre-stored in backstage
Volume face information compares, and then access control is opened.But in actual application, due to the update of background data base
Approach is single or visitor does not know about product function, it is not known that how to register personal information, therefore there are visitors because of wisdom
Gate inhibition can not identify reason and in the practical problems such as the doorway waiting time is too long.
Summary of the invention
The purpose of the present invention is to provide a kind of server, client, mobile robot, door access control system and method,
Unregistered visitor of the existing technology is overcome to lead to the defect of access experience difference because not knowing about accreditation process.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of server, comprising: notification scheme module；
The notification scheme module, for when having a mind to visitor's visiting, the client of Xiang Zhiding object to send institute
State the visiting notification message for having a mind to visitor；It is also used to send when having a mind to visitor's visiting to mobile robot
The visiting notification message for having a mind to visitor and message display instruction；It is also used to receive the client or moving machine
The visiting msu message for the specified object that device people returns, and phase is sent to gate inhibition's machine human hair according to the visiting msu message
The access control instruction answered.
A kind of client, comprising: message notification module and visitor's management module；
The message notification module, the visiting notification message for having a mind to visitor sent for receiving server,
And the visiting notification message is shown by preset interface and/or voice mode；
Visitor's management module, for having a mind to visit to described when receiving the visiting notification message
Personnel carry out visiting audit, and the visiting msu message is sent to server.
Optionally, the client further include: identification device management module and administrator's account module；
The identification device management module, for adding equipment, device attribute and/or monitoring of tools information；
Administrator's account module, for setting company's information, report and/or associated gate inhibition robot and moving machine
Device people's information.
A kind of mobile robot, comprising: camera, navigation module, the first face recognition module, message display module and nothing
Line communication module；
The wireless communication module, for receive server transmission the visiting notification message for having a mind to visitor and
Message display instruction；It is also used to send visiting msu message to server；
The navigation module, for navigating when receiving message display instruction；
The camera, for acquiring facial image within the vision during the navigation process；
First face recognition module judges the facial image for carrying out recognition of face to the facial image
Whether it is the facial image of specified object, if then sending discovery goal notification to the message display module；
The message display module, for passing through preset interface and/or language when receiving the discovery goal notification
Sound mode to the specified object show described in have a mind to the visiting notification message of visitor；It is also used to receive described specified pair
As the visiting msu message of input.
A kind of access control system, comprising: server as described above, client as described above are as described above to move
Mobile robot, and for the gate inhibition robot according to the corresponding access control operation of the access control instruction execution.
Optionally, the gate inhibition robot, be also used to identify it is described have a mind to visitor, be specifically used for: acquisition is current
The facial image of visitor judges face database with the presence or absence of corresponding people after carrying out recognition of face to the facial image
Member's information determines that current visitor is unregistered personnel, and continue to determine whether persistently to examine within a preset period of time if nothing
Measure the current visitor, the positive face rate of the current visitor reaches preset ratio and in same preset time period
Other staff are not detected, if so, determining that current visitor is to have a mind to visitor, and by the people of current visitor
Face image is sent to the server.
A kind of access control method, comprising:
When identifying that having a mind to visitor visits, visitor is had a mind to described in the client transmission of Xiang Zhiding object
Visiting notification message；And/or to the visiting notification message for having a mind to visitor described in mobile robot transmission, control institute
State that mobile robot is mobile to find the specified object, and to the specified object show described in have a mind to the visiting of visitor
Notification message；
The visiting msu message for receiving the specified object is executed according to the visiting msu message access control robot
Corresponding access control operation.
Optionally, the recognition methods for having a mind to visitor includes:
Access control robot acquires the facial image of current visitor, after carrying out recognition of face to the facial image
Face database is judged with the presence or absence of corresponding personal information, if nothing, is determined that current visitor is unregistered personnel, is continued
In next step；
Judge whether be continuously detected the current visitor, the current visitor within a preset period of time just
Face rate reaches preset ratio and other staff is not detected in same preset time period, if so, determining current visitor
Visitor is had a mind to be described.
Optionally, the access control operation includes: that the control gate inhibition robot opens or closes gate inhibition；And/or control
Make opening gate after having a mind to visitor's registration identity information described in the gate inhibition robot guidance.
Optionally, the specified object includes: administrator, access object and default has permission at least one of personnel.
A kind of storage medium, the storage medium are stored with a plurality of instruction, and described instruction is suitable for processor and is loaded, with
Execute the step in as above described in any item access control methods.
Compared with prior art, the embodiment of the present invention has the advantages that
The embodiment of the present invention proposes a kind of collaboration solution for access control, for unregistered visitor,
Visiting notification message, and then arriving according to specified object can be shown to specified object by client or mobile robot
Auditing result is visited to execute corresponding access control operation, this implementation directly can carry out visitor by specified object
Quickly visiting audit, avoids visitor from sinking into the condition fallen into a long wait because being unfamiliar with register flow path.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural block diagram of access control system provided in an embodiment of the present invention；
Fig. 2 is access control method flow chart provided in an embodiment of the present invention.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Embodiment one
Referring to Fig. 1, present embodiments providing a kind of access control system, comprising: server, client, mobile machine
People and gate inhibition robot.In the access control system, server and client, mobile robot and gate inhibition robot it
Between wirelessly connect, access control is realized by cooperative cooperating.Various pieces will be described in detail respectively below.
(1) server, comprising: personnel activity's logging modle, prestores face management module and notice at device management module
Scheme module.
Personnel activity's logging modle, for recording the recognition result of gate inhibition robot, including personnel's grouping information, Ren Yuanchuan
Build the time, the head portrait, title, threshold value, validity period, the customized voice that detect etc..
Face management module is prestored, adds function and audit management function for realizing personal information；Its people provided
There are three types of member's information addition manners, be respectively as follows: administrator backstage directly addition manner, by mobile application addition manner and pass through
Register platforms addition manner；Audit management function carries out audit management, visiting for newly added visitor information for administrator
Audit state include it is pending, have agreed to, refused.
Specifically, adding the method for prestoring face information by mobile application are as follows: by the movement for being mounted on mobile phone terminal
Using acquisition facial image, the other informations such as the image of acquisition and the keyword of index addition are uploaded into background server, it will
Face information is added to face database.The index field and information wherein added include face picture, face picture title, figure
Piece validity period, grouping simultaneously add remarks.Wherein face picture is stored in the face database on backstage, for in real time identify
Facial image is matched.
Meanwhile addition prestores face information and can be linked by way of invitation to invitee's transmission, for being invited to
People adds the face information of oneself.It is realized especially by following steps: addition invitation personnel title and validity period；It generates and invites
Code；It is confirmed whether to send invitation code；If so, invitation code is automatically copied to shear plate；It is confirmed whether that short message transmission is called to invite
It please code；CommAPI is called, contact person is selected and is sent.Wherein CommAPI includes the SMS based on cellular network, immediately
Communications applications, such as wechat, QQ, mailbox.
Invitee, which receives to be uploaded to facial image by following steps after invitation code, prestores face database: selection grouping；
Add title and access date；Shoot photo；It uploads and submits.
In addition, addition, which prestores face information, can complete visiting personal information in the registration terminal of setting by visitor
Registration and head portrait upload, and visitor selects visiting company, selection grouping, acquisition face information, the audit of wechat public platform or moves
Dynamic application audit.
The facial image added by three of the above approach is successfully added to after audit and prestores face database, protects simultaneously
Refusal function is stayed, if disposable visitor, administrator can directly click refusal button in visitor's application, facilitate management.
Notification scheme module, for when having a mind to visitor's visiting, module to be to specified object by wireless communication
Client sends the visiting notification message for having a mind to visitor；It is also used to when having a mind to visitor's visiting, by wireless
Communication module sends the visiting notification message for having a mind to visitor and message display instruction to mobile robot；It is also used to lead to
The visiting msu message that wireless communication module receives the specified object that client or mobile robot return is crossed, and is examined according to visiting
Nuclear information send corresponding access control to instruct to gate inhibition's machine human hair.Access control instruction can be with are as follows: unlatching/closing gate inhibition, or
Person has a mind to opening gate after visitor completes to register in guidance.
Wherein, specified object can for the corresponding administrator of door access machine device people, have a mind to visitor access object or
Personnel are had permission, which can preset, and what can also be acquired according to gate inhibition robot has a mind to visitor's input
Relevant information set.
In practical applications, having a mind to visitor can be any visitor, can use at this time various preset
The starting of triggering mode trigger notice scheme module；Certainly, it can also will have a mind to visitor and be limited to unregistered visitor.
Based on above-mentioned notification scheme module, so that server when having a mind to visitor's visiting, can generate corresponding
Notification message of visiting, is sent to the client displaying of specified object by notification scheme in real time, or is sent to mobile robot, by
Mobile robot finds specified object and shows visiting notification message to it；Believe receiving the visiting audit that specified object returns
After breath, access control robot executes corresponding access control operation accordingly.It, can be in this way, for unregistered visitor
Visiting audit and processing are carried out by specified object in time, the registration waiting time of visitor can be shortened, promote user experience.
(2) client, comprising: wireless communication module, message notification module, visitor's management module, identification equipment pipe
Manage module and administrator's account module.
Message notification module, the visiting notification message for having a mind to visitor sent for receiving server, and lead to
It crosses preset interface and/or voice mode shows visiting notification message.
Visitor's management module, for when receiving the visiting notification message for having a mind to visitor, to having a mind to
Visitor carries out visiting audit, and visiting msu message is sent to server；It is also used to add grouping and activation record (arrives
Group, visiting time and visiting type (out, entering) of visit personnel).
Device management module is identified, for adding equipment, device attribute and/or monitoring of tools information.
Administrator's account module, for setting company's information, report and/or associated gate inhibition robot and mobile robot
Information.
Above-mentioned client is specifically as follows mobile applications and Web page application program.By client, user can be square
Just visiting audit quickly is carried out for having a mind to visitor.
(3) mobile robot, comprising: camera, navigation module, the first face recognition module, message display module and nothing
Line communication module；
Wireless communication module, for receiving the visiting notification message for having a mind to visitor and message of server transmission
Show instruction；It is also used to send visiting msu message to server.
Navigation module, for navigating when receiving message display instruction.
Camera, for acquiring facial image within the vision during the navigation process.
First face recognition module judges whether facial image is specified pair for carrying out recognition of face to facial image
The facial image of elephant, if then sending discovery goal notification to message display module.
Message display module, for when receiving discovery goal notification, by preset interface and/or voice mode to
Specified object shows the visiting notification message for having a mind to visitor；It is also used to receive the visiting audit letter of specified object input
Breath.
Different from conventional robot, mobile robot provided in this embodiment can independent navigation find specified object,
And the visiting notification message for having a mind to visitor is shown to specified object.
(4) gate inhibition robot is operated for the corresponding access control of access control instruction execution according to server,
Mainly include: bottom single-chip microcontroller plate, bottom mainboard, head single-chip microcontroller plate, camera module, voice interaction module, the second face
Identification module, bluetooth module and wireless communication module.Bluetooth module is placed on the single-chip microcontroller plate of head, and gate inhibition robot passes through
Bluetooth module access control unlatching/closing, module is communicated with server by wireless communication.
Bottom single-chip microcontroller plate is responsible for opening the door using the mode of wired connection in some scenarios；Bottom mainboard is the hard of system
Part calculates core cell, and includes radio hardware module；Head single-chip microcontroller plate is for assisting control camera module and voice
Interactive module.
Camera module is collectively constituted by ash point camera, usb or so camera and steering engine.Ash point camera is main camera,
For acquiring facial image, facial image is sent to local face recognition module；Usb or so camera is responsible for detection door
Whether prohibit can in the presence of the main camera in front has not preferentially perceived visitor with the presence of human body around robot
To control accordingly, main camera is mobile to the left or right to be gone to detect and identify visitor；Steering engine is the head of gate inhibition robot
Motion control motor can control main cam movement.
Voice interaction module guides strange visitor to register detailed identification information for engaging in the dialogue with visitor
And access object, and carry out receptionist.The voice interaction module includes microphone array module, audio defeat processing mould
Block, SPK and speech recognition SDK.Microphone array module is responsible for the conversation audio of acquisition visitor；Audio defeat handles mould
Block is responsible for the analog audio data of microphone array module being converted into digital audio-frequency data, and carries out preliminary noise reduction process；
SPK is for playing audio.
Face recognition module operates on the mainboard of bottom, it passes through the facial image that will test and is input to recognition of face mould
The depth characteristic vector of the face picture is calculated using the human face recognition model for type；Then calculate depth characteristic to
Each of the depth characteristic Vector Groups for measuring and prestoring face database facial image prestore the distance between depth characteristic vector value, in advance
The depth characteristic Vector Groups deposited include it is multiple prestore depth characteristic vector, prestore depth characteristic vector and subscriber identity information one by one
It is corresponding；Determine that corresponding target prestores depth characteristic vector when distance value minimum；Determine the target prestore depth characteristic to
Measure the identity that corresponding subscriber identity information is user in the face picture.Identifying that current visitor is registration user
Afterwards, identification record is reported to server to face recognition module by module by wireless communication, and door opening command is passed through under bluetooth
Up to switch relay, control switch relay opens gate inhibition or gate.
In addition, face recognition module, it may also be used for visitor is had a mind in identification, has a mind to the people that visits in the present embodiment
Member refers to unregistered visitor.Face recognition module is specifically used for: the facial image of current visitor is acquired, to people
Face image judges face database with the presence or absence of corresponding personal information after carrying out recognition of face, if nothing, determines current visiting
Personnel are unregistered personnel, are continued in next step；Judge whether to be continuously detected current visitor, current within a preset period of time
The positive face rate of visitor reaches preset ratio and other staff is not detected in same preset time period, if so, determining
Current visitor has a mind to visitor described in being.After identifying current visitor to have a mind to visitor, face is known
The facial image for having a mind to visitor is reported to server to other module by module by wireless communication, and trigger the server end executes
Notification scheme generates operation.
Referring to Fig. 2, the method that respectively access control is completed in composition collaboration in above-mentioned access control system includes:
Step 201, gate inhibition robot identify and have a mind to visitor, and the people for having a mind to visitor is sent to server
Face image.
Step 202, server send the visiting notification message for having a mind to visitor to the client of specified object.
Step 202 ', server sends to mobile robot and has a mind to the visiting notification message of visitor.
Step 203, the client of specified object receive after having a mind to the visiting notification message of visitor, by default
Interface and/or voice broadcasting modes show visiting notification message.
Step 203 ', mobile robot receive after having a mind to the visiting notification message of visitor, it is mobile find it is specified
Object has a mind to the visiting notification message of visitor after searching out specified object to its displaying.
Step 204, client obtain the visiting msu message of specified object input, and visiting msu message is sent to clothes
Business device.
Step 204 ', mobile robot obtain the visiting msu message of specified object input, and will visiting msu message hair
It send to server.
Step 205, server generate corresponding access control according to visiting msu message and instruct, and access control is instructed
It is sent to gate inhibition robot.
Step 206, gate inhibition robot execute corresponding access control operation, comprising: open or close gate inhibition；And/or language
Sound guidance has a mind to visitor and registers identity information and access object.
In above-mentioned process, step 202~step 204, with step 202 '~step 204 ', an execution can be selected, can also be same
Shi Zhihang is not limited specifically.
Embodiment two
It will appreciated by the skilled person that all or part of the steps in the various methods of above-described embodiment can be with
It is completed by instructing, or relevant hardware is controlled by instruction to complete, which can store computer-readable deposits in one
In storage media, and is loaded and executed by processor.
For this purpose, the embodiment of the present invention provides a kind of storage medium, wherein being stored with a plurality of instruction, which can be processed
Device is loaded, to execute the step in any human face target distance measuring method provided by the embodiment of the present invention.For example, this refers to
Order can execute following steps:
When identifying that having a mind to visitor visits, visitor is had a mind to described in the client transmission of Xiang Zhiding object
Visiting notification message；And/or to the visiting notification message for having a mind to visitor described in mobile robot transmission, control institute
State that mobile robot is mobile to find the specified object, and to the specified object show described in have a mind to the visiting of visitor
Notification message；
The visiting msu message for receiving the specified object is executed according to the visiting msu message access control robot
Corresponding access control operation.
The specific implementation of above each operation can be found in the embodiment of front, and details are not described herein.
Wherein, which may include: read-only memory (ROM, Read Only Memory), random access memory
Body (RAM, Random Access Memory), disk or CD etc..
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (11)
1. a kind of server, which is characterized in that the server includes: notification scheme module；
The notification scheme module, for having described in the client transmission of Xiang Zhiding object when having a mind to visitor's visiting
The visiting notification message of wish visitor；It is also used to when having a mind to visitor's visiting, to described in mobile robot transmission
Have a mind to visiting notification message and the message display instruction of visitor；It is also used to receive the client or mobile robot
The visiting msu message of the specified object returned, and given accordingly according to the visiting msu message to gate inhibition's machine human hair
Access control instruction.
2. a kind of client, which is characterized in that the client includes: message notification module and visitor's management module；
The message notification module, the visiting notification message for having a mind to visitor sent for receiving server, and lead to
It crosses preset interface and/or voice mode shows the visiting notification message；
Visitor's management module, for having a mind to visitor to described when receiving the visiting notification message
Visiting audit is carried out, and the visiting msu message is sent to server.
3. client according to claim 2, which is characterized in that the client further include: identification device management module
With administrator's account module；
The identification device management module, for adding equipment, device attribute and/or monitoring of tools information；
Administrator's account module, for setting company's information, report and/or associated gate inhibition robot and mobile robot
Information.
4. a kind of mobile robot, which is characterized in that the mobile robot includes: camera, navigation module, the knowledge of the first face
Other module, message display module and wireless communication module；
The wireless communication module, for receiving the visiting notification message for having a mind to visitor and message of server transmission
Show instruction；It is also used to send visiting msu message to server；
The navigation module, for navigating when receiving message display instruction；
The camera, for acquiring facial image within the vision during the navigation process；
Whether first face recognition module judges the facial image for carrying out recognition of face to the facial image
For the facial image for specifying object, goal notification is found if then sending to the message display module；
The message display module, for passing through preset interface and/or voice side when receiving the discovery goal notification
Formula to the specified object show described in have a mind to the visiting notification message of visitor；It is defeated to be also used to receive the specified object
The visiting msu message entered.
5. a kind of access control system, which is characterized in that the access control system includes: service as described in claim 1
Device, client as claimed in claim 2 or claim 3, mobile robot as claimed in claim 4, and for according to the door
Prohibit the gate inhibition robot that control instruction executes corresponding access control operation.
6. access control system according to claim 5, which is characterized in that the gate inhibition robot is also used to identify institute
It states and has a mind to visitor, be specifically used for: acquiring the facial image of current visitor, face knowledge is carried out to the facial image
Face database is not judged afterwards with the presence or absence of corresponding personal information, if nothing, determines that current visitor is unregistered personnel,
And continue to determine whether the positive face for being continuously detected the current visitor, the current visitor within a preset period of time
Rate reaches preset ratio and other staff is not detected in same preset time period, if so, determining that current visitor is
Visitor is had a mind to, and the facial image of current visitor is sent to the server.
7. a kind of access control method, which is characterized in that the access control method includes:
When identifying that having a mind to visitor visits, arriving for visitor is had a mind to described in the client transmission of Xiang Zhiding object
Visit notification message；And/or to the visiting notification message for having a mind to visitor described in mobile robot transmission, control the shifting
Mobile robot is mobile to find the specified object, and notifies to the visiting for having a mind to visitor described in the specified object displaying
Message；
The visiting msu message for receiving the specified object executes corresponding according to the visiting msu message access control robot
Access control operation.
8. access control method according to claim 7, which is characterized in that the recognition methods for having a mind to visitor
Include:
Access control robot acquires the facial image of current visitor, judges after carrying out recognition of face to the facial image
Face database whether there is corresponding personal information, if nothing, determines that current visitor is unregistered personnel, continues next
Step；
Judge whether the positive face rate for being continuously detected the current visitor, the current visitor within a preset period of time
Reach preset ratio and other staff are not detected in same preset time period, if so, determining current visitor for institute
It states and has a mind to visitor.
9. access control method according to claim 7, which is characterized in that the access control operation includes: control institute
It states gate inhibition robot and opens or closes gate inhibition；And/or it controls and has a mind to visitor's registration described in the gate inhibition robot guidance
Opening gate after identity information.
10. access control method according to claim 7, which is characterized in that the specified object includes: administrator, visits
It asks object and presets and have permission at least one of personnel.
11. a kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, and described instruction is suitable for processor
It is loaded, the step in 7 to 10 described in any item access control methods is required with perform claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811557726.XA CN109658570A (en) | 2018-12-19 | 2018-12-19 | A kind of server, client, mobile robot, door access control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811557726.XA CN109658570A (en) | 2018-12-19 | 2018-12-19 | A kind of server, client, mobile robot, door access control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109658570A true CN109658570A (en) | 2019-04-19 |
Family
ID=66114945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811557726.XA Pending CN109658570A (en) | 2018-12-19 | 2018-12-19 | A kind of server, client, mobile robot, door access control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109658570A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111429263A (en) * | 2019-12-11 | 2020-07-17 | 南京奥拓电子科技有限公司 | Information interaction method, device, server and system for robot |
| CN113192251A (en) * | 2021-04-29 | 2021-07-30 | 常熟理工学院 | Method for realizing identity recognition of multiple biological characteristics capable of being configured on line |
| CN114939880A (en) * | 2022-06-20 | 2022-08-26 | 武汉虹信技术服务有限责任公司 | Intelligent robot system for park |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1687956A (en) * | 2005-04-28 | 2005-10-26 | 上海电力学院 | Self-aid man face image acquiring system based on ultrasonic distance measurement |
| JP2009136974A (en) * | 2007-12-07 | 2009-06-25 | Honda Motor Co Ltd | Mobile robot |
| CN103634503A (en) * | 2013-12-16 | 2014-03-12 | 苏州大学 | Video manufacturing method based on face recognition and behavior recognition and video manufacturing method based on face recognition and behavior recognition |
| CN103718125A (en) * | 2011-08-02 | 2014-04-09 | 微软公司 | Finding a called party |
| CN104506562A (en) * | 2015-01-13 | 2015-04-08 | 东北大学 | Two-dimension code and face recognition fused conference identity authentication device and method |
| CN105182983A (en) * | 2015-10-22 | 2015-12-23 | 深圳创想未来机器人有限公司 | Face real-time tracking method and face real-time tracking system based on mobile robot |
| CN105976469A (en) * | 2016-05-13 | 2016-09-28 | 南京万鸿威视信息技术有限公司 | Intelligent doorkeeper management system with robot and application thereof |
| CN106851348A (en) * | 2017-03-10 | 2017-06-13 | 杭州领娱科技有限公司 | A kind of promotion method and system based on invitation code |
| CN107733838A (en) * | 2016-08-11 | 2018-02-23 | 中国移动通信集团安徽有限公司 | A kind of mobile terminal client terminal identity identifying method, device and system |
| CN108306991A (en) * | 2017-08-31 | 2018-07-20 | 弗徕威智能机器人科技（上海）有限公司 | A kind of indoor and outdoor security protection coordinated control system |
| CN108734818A (en) * | 2017-04-25 | 2018-11-02 | 北京猎户星空科技有限公司 | Gate inhibition's operating method, device, terminal device and server |
| CN108737488A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Reception processing method, apparatus and system |
-
2018
- 2018-12-19 CN CN201811557726.XA patent/CN109658570A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1687956A (en) * | 2005-04-28 | 2005-10-26 | 上海电力学院 | Self-aid man face image acquiring system based on ultrasonic distance measurement |
| JP2009136974A (en) * | 2007-12-07 | 2009-06-25 | Honda Motor Co Ltd | Mobile robot |
| CN103718125A (en) * | 2011-08-02 | 2014-04-09 | 微软公司 | Finding a called party |
| CN103634503A (en) * | 2013-12-16 | 2014-03-12 | 苏州大学 | Video manufacturing method based on face recognition and behavior recognition and video manufacturing method based on face recognition and behavior recognition |
| CN104506562A (en) * | 2015-01-13 | 2015-04-08 | 东北大学 | Two-dimension code and face recognition fused conference identity authentication device and method |
| CN105182983A (en) * | 2015-10-22 | 2015-12-23 | 深圳创想未来机器人有限公司 | Face real-time tracking method and face real-time tracking system based on mobile robot |
| CN105976469A (en) * | 2016-05-13 | 2016-09-28 | 南京万鸿威视信息技术有限公司 | Intelligent doorkeeper management system with robot and application thereof |
| CN107733838A (en) * | 2016-08-11 | 2018-02-23 | 中国移动通信集团安徽有限公司 | A kind of mobile terminal client terminal identity identifying method, device and system |
| CN106851348A (en) * | 2017-03-10 | 2017-06-13 | 杭州领娱科技有限公司 | A kind of promotion method and system based on invitation code |
| CN108734818A (en) * | 2017-04-25 | 2018-11-02 | 北京猎户星空科技有限公司 | Gate inhibition's operating method, device, terminal device and server |
| CN108306991A (en) * | 2017-08-31 | 2018-07-20 | 弗徕威智能机器人科技（上海）有限公司 | A kind of indoor and outdoor security protection coordinated control system |
| CN108737488A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Reception processing method, apparatus and system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111429263A (en) * | 2019-12-11 | 2020-07-17 | 南京奥拓电子科技有限公司 | Information interaction method, device, server and system for robot |
| CN111429263B (en) * | 2019-12-11 | 2024-04-26 | 南京奥拓电子科技有限公司 | Robot information interaction method, device, server and system |
| CN113192251A (en) * | 2021-04-29 | 2021-07-30 | 常熟理工学院 | Method for realizing identity recognition of multiple biological characteristics capable of being configured on line |
| CN114939880A (en) * | 2022-06-20 | 2022-08-26 | 武汉虹信技术服务有限责任公司 | Intelligent robot system for park |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106441305B (en) | Paths planning method and device of the interior across floor | |
| US11178275B2 (en) | Method and apparatus for detecting abnormality of caller | |
| CN109658570A (en) | A kind of server, client, mobile robot, door access control system and method | |
| CN106504390A (en) | Control method for door lock, apparatus and system | |
| CN110415420A (en) | A kind of visitor's intelligent management system and its management method based on recognition of face | |
| US9210269B2 (en) | Active speaker indicator for conference participants | |
| CN101393622A (en) | A method and a system for presenting reminders in a portable device | |
| CN109036412A (en) | voice awakening method and system | |
| CN109714374A (en) | Building talkback method, apparatus and system | |
| CN106203022B (en) | The hiding method and apparatus of the application display of intelligent terminal | |
| CN107026943A (en) | voice interactive method and system | |
| CN105915723B (en) | Building intercom method, system and entrance machine | |
| CN110166726A (en) | A kind of video conference terminal and system of self-identifying user | |
| CN108351707A (en) | Man-machine interaction method and device, terminal equipment and computer readable storage medium | |
| CN106209800A (en) | Equipment Authority sharing method and apparatus | |
| CN109428859A (en) | A kind of synchronized communication method, terminal and server | |
| CN103297585A (en) | Method and system for navigation between contact persons | |
| CN110211278A (en) | The access control system and passing method for remotely confirming visitor's identity based on face snap | |
| JP2017174346A (en) | Reception system and reception method | |
| CN205693743U (en) | A kind of building conversational system | |
| CN106568454A (en) | Information prompting method and device | |
| CN110476203A (en) | Information provider unit, terminal installation, display system, program and information providing method | |
| JPWO2019097674A1 (en) | Operation support device for vehicles | |
| CN208862936U (en) | It registers one's residence smart machine and intelligent voice messaging system | |
| CN110365755A (en) | A kind of information recommendation method and device triggered in real time based on key scenes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |