CN104144326A - Robot monitoring system with image recognition and automatic patrol route setting function - Google Patents
Robot monitoring system with image recognition and automatic patrol route setting function Download PDFInfo
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- CN104144326A CN104144326A CN201410335310.9A CN201410335310A CN104144326A CN 104144326 A CN104144326 A CN 104144326A CN 201410335310 A CN201410335310 A CN 201410335310A CN 104144326 A CN104144326 A CN 104144326A
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Abstract
The invention discloses a robot monitoring system with an image recognition and automatic patrol route setting function. A pre-established image route of a robot is applied, preset monitoring points can be provided for a user, and therefore the user only needs to give instructions to the robot to conduct automatic patrol. The robot can conduct patrol operation on all monitoring points according to the preset image route, and shot images can be transmitted to a remote monitoring unit. Timing operation can also be set, the robot is made to make fixed patrol movement within fixed time, and original personnel patrol is effectively replaced. When abnormal conditions or personnel occur, effective recognition can also be provided for a monitor person, and the purposes of warning and information supply are achieved.
Description
[technical field]
Present invention is directed to portable monitoring, especially a kind of tool image identification and automatically go on patrol the robot surveillance of path setting.
[background technology]
General supervisory control system builds mode at present, is all to select multiple fixed locations in a space, places watch-dog, to allow monitor staff can monitor at any time the situation in whole space in these fixed points.For example watch-dogs are placed in the multiple positions in warehouse or household, then by monitor staff from telemonitoring.When the spatial dimension of needs monitoring is larger, just need more watch-dogs are installed, to allow monitoring range can contain whole space; On the other hand, when the facility thing in space is more, the visual dead angle in monitoring also can be more, and this situation also needs to install multiple watch-dogs, to avoid producing the dead angle of monitoring.
When required watch-dog quantity is more, cost also can be higher, and also higher for connecting the wiring cost of watch-dog, makes overall surveillance cost increase.And because watch-dog is to be all placed on fixing position, if invader learns the position of these watch-dogs in advance, just likely allow invader avoid monitoring range, or destroy these watch-dogs, make supervisory control system occur dead angle, and allow invader be able to monitoring instruction space.
General supervisory control system all need to be monitored at any time by monitor staff, could control in real time the situation of whole monitoring space.In the time that watch-dog is more or monitoring environment is more complicated, just need more monitoring human resources, allow overall supervisory control system cost rise.
Due to the suitable progress of the technology of present robot, and can application remoting technology allow easily robot move freely in the space of setting.Add in addition the development of computer vision field, allow computer can from image, analyze environmental information, further the specific objective in environment is identified, followed the tracks of and the machine vision such as measurement.These technology have developed into and can drop into practical degree.
Therefore this case wishes to propose the technology that a kind of brand-new applied robot and image technology are monitored, to solve the many defects on prior art.
[summary of the invention]
So object of the present invention is the problem solving in above-mentioned prior art, in the present invention, proposes a kind of tool image identification and automatically go on patrol the robot surveillance of path setting.The image path that wherein applied robot sets up in advance, can provide user to preset control point, therefore user only needs instruction robot automatically to go on patrol, the operation that this robot can go on patrol to each control point according to predefined image path, and shot with video-corder image is sent on long-range watch-dog.Also can set fixed cycle operator, and the patrol that Ling Gai robot fixes at a fixed time action, effectively to replace original personnel's patrol.Moreover run into while having unusual condition or personnel, also can provide effective identification to give long-range supervisor, reach the object that warning and information provide, therefore robot can effectively replace traditional patrol operation.Moreover also unlike must a large amount of monitors being set on fixing point in prior art, in this case, monitoring point can optionally be selected, and the angle that can monitor by the action adjustment of Head and Neck and height.
For the present invention that achieves the above object proposes a kind of tool image identification and automatically goes on patrol the robot surveillance of path setting, comprise following technical proposals:
This tool image identification and automatically go on patrol the robot surveillance of path setting, comprises:
One robot fuselage, comprises main part, and from this extended Head and Neck in main part top, wherein this Head and Neck comprises a head and a neck; This neck system upwards extends in scalable mode from this main part, and this head is connected to this neck in rotatable mode;
One power source system is arranged on the inside of this robot fuselage and creates relevant all component for providing power to give this;
It comprises one camera head camera lens system and is arranged on this Head and Neck, and it comprises set of lenses and can make a video recording to context;
One control panel is arranged on this robot fuselage interior, for the action of control and the action of other relevant apparatus; This control panel comprises:
One power-driven mechanism can receive outside signal, and this power-driven mechanism can drive this actuating unit of this robot fuselage to move, and orders about this robot fuselage action;
One Head and Neck driving mechanism can receive outside signal, to control the flexible of this neck and to rotate, and the rotation of this head;
This power-driven mechanism comprises a vector location for showing the shooting direction of this camera head and the direction that this robot fuselage advances; And this two direction is outwards transmitted in vectorial mode;
One camera operating-controlling mechanism, for receiving outside signal to control the shooting of camera head;
One image processor, is to receive the image of shooting with video-corder from this camera head, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory; And
This image processor comprises a construction unit, image path; This image processor receives the image from this camera head; This shooting direction that can transmit according to this vector location of this power-driven mechanism and the direction of advance of this robot fuselage are set up mobile route, and are stored in the corresponding image of taking in each corresponding points on this mobile route and this mobile route simultaneously.
Wherein this construction unit, image path comprises an image path setting interface, and it can pass to down the device in downstream, using the use as remote setting; This image path setting interface system provides operating personnel to login this construction unit, image path and monitors required path planning to set up; According to this construction unit, image path, operating personnel can framework go out the image database of a monitoring environment; Its mode of operation, for to the environment that will monitor, operates this robot and follows planned path to advance, and makes a video recording and the monitoring task of other setting for default camera point, and by these data storings in internal memory, therefore can set up patrol path; Wherein must make can be by the image of taking in more easily another point between adjacent 2 for this default camera point.
Wherein in internal memory, store while movement from a camera point to another camera point, by this camera head shooting vector of direction and vector of the direction that this robot fuselage advances that this vector location calculated.
Wherein this image processor still comprises an automatic monitoring setup unit; This automatic monitoring setup unit comprises an automatic monitoring and sets interface, and it can pass to down the device in downstream, using the use as remote monitoring; This automatic monitoring is set interface system provides operating personnel to login this automatic monitoring setup unit to do the automatic monitoring of fixing a point at setting-up time, and the supervisory control action setting in this fixed point (being control point), mainly to carry out in this fixed point the action that camera picture etc. is set, and by taken in image to teletransmission; Guide this robot to advance toward next control point according to the path application image identification of being planned or according to above-listed stored this camera head shooting vector of direction and the vector of the direction that this robot fuselage advances subsequently; Apply this mode and all control points were all maked an inspection tour and taken in relevant image and relevant detecting data.
Wherein above-mentioned control point is a line segment or a region; This automatic monitoring setup unit be according to rule decided at the higher level but not officially announced to this line segment or division control point, region and guide this robot in this line segment or a region ordinal shift to these to monitor operation.
Wherein this image processor still comprises an anomaly unit, this anomaly unit stores abnormal image data, and can receive the input image that this camera head is detected, then by this image and abnormal image comparing, whether abnormal to determine this corresponding control point of absorption image.
Wherein this image processor still comprises an alarm unit, and this alarm unit connects this anomaly unit, for receiving the abnormal signal from this anomaly unit, and sends alarm signal and gives long-range supervisor.
Wherein this image processor still comprises a human face recognition unit for identification face; This human face recognition unit receives the image from this camera head; This human face recognition unit comprises a face holder, wherein stores specific face and relevant data, and is set as warning personage for some specific face; The image that this human face recognition unit is taken in for camera head, first detect the existence of face, after subsequently detected face being fixed, intercept the image of this face, and the Given Face storing in this image and this face holder is compared, if specific face, the processing of being correlated with according to this relevant data.
The number that wherein this human face recognition unit can record a certain control point simultaneously with provide with supervisor as a reference.
Wherein on this robot fuselage, comprise a robot signal transmitting and receiving machine, connect this image processor, digitized video stored this internal memory of this image processor outwards can be transmitted.
Described tool image identification and automatically go on patrol the robot surveillance of path setting, still comprises a watch-dog; This watch-dog is arranged on the long-range suitable electronic message unit of separating with this robot fuselage; This watch-dog comprises a watch-dog APP as man-machine interface; Operator can be via this watch-dog APP and this watch-dog interaction, carry out signal transmission by the wired or wireless mode of this supervisor applications and this robot fuselage again, receive on the one hand the camera signal from this robot fuselage, and emission control signal carries out corresponding control action with the control panel of this watch-dog.
Thereby there is following beneficial effect by this invention of technique scheme:
The image path that applied robot sets up in advance, can provide user to preset control point, therefore user only needs instruction robot automatically to go on patrol, the operation that this robot can go on patrol to each control point according to predefined image path, and shot with video-corder image is sent on long-range watch-dog.Also can set fixed cycle operator, and the patrol that Ling Gai robot fixes at a fixed time action, effectively to replace original personnel's patrol.Moreover run into while having unusual condition or personnel, also can provide effective identification to give long-range supervisor, reach the object that warning and information provide, therefore robot can effectively replace traditional patrol operation.Moreover also unlike must a large amount of monitors being set on fixing point in prior art, in this case, monitoring point can optionally be selected, and the angle that can monitor by the action adjustment of Head and Neck and height.
[brief description of the drawings]
Fig. 1 shows the structural representation of the assembly of this case.
Fig. 2 shows the structure calcspar of the assembly of this case.
Advance in the patrol path that schematic diagram demonstration this case Zhong Gai robot of Fig. 3 follows monitor staff to plan in a monitoring environment.
The schematic diagram of Fig. 4 shows that in this case, multiple control points can be set in this patrol path, to make robot arrive the supervisory control action that control point sets.
The schematic diagram of Fig. 5 shows that in this case, this patrol path can be also a line segment or a region.
The schematic diagram of Fig. 6 shows that this vector location of this power-driven mechanism in this case can calculate the shooting direction of camera head and the direction of advance of this robot fuselage.
The schematic diagram of Fig. 7 shows that this anomaly unit in this case can receive the image that this camera head detects and compare, and is extremely sent to abnormal signal this alarm unit if having.
[embodiment]
This case system has about tool image identification and automatically goes on patrol the robot surveillance of path setting, hereby sincerely with regard to the structure composition of this case, and effect and the advantage that can produce, coordinates graphicly, and one of act this case preferred embodiment is described in detail as follows.
Please refer to shown in Fig. 1 to Fig. 2, show the robot 1 of this creation, wherein this robot 1 comprises following assembly:
One robot fuselage 2, comprises main part 100, and from these main part 100 extended Head and Neck 200 in top, and actuating unit 300.Wherein this Head and Neck 200 comprises a head 220 and a neck 210.This neck 210 is upwards to extend in scalable mode from this main part 100, and 220, this head is connected to this neck 210 in rotatable mode.This actuating unit 300 is generally installed on the below of this main part 100.General this actuating unit 300 comprises transmission mechanism 410 and wheel body 310.
One power source 400 is that relevant all component is created for providing power to give this in the inside that is arranged on this robot fuselage 2, as provides power to give transmission mechanism 410, to make transmission mechanism 410 these wheel bodys 310 of guiding.
One camera head 30 its to comprise camera lens 35 be to be arranged on this Head and Neck 200, it comprises set of lenses and can make a video recording to context.
One control panel 10 is arranged on this robot fuselage 2 inside, for the action of control and the action of other relevant apparatus.This control panel 10 comprises:
One power-driven mechanism 20 can receive outside signal, and this power-driven mechanism 20 can drive this actuating unit 300 to move, and takes action and order about this robot fuselage 2.
One Head and Neck driving mechanism 21 can receive outside signal, to control the flexible of this neck 210 and to rotate, and the rotation of this head 220.
This power-driven mechanism 20 comprises a vector location 201 for showing the shooting direction of this camera head 30 and the direction that this robot fuselage 2 advances.And this two direction is outwards transmitted in vectorial mode.As shown in Figure 6, in this case, can drive these camera head 30 rotating 360 degrees via this Head and Neck driving mechanism 21, and the technology of obtained image image application processing be set up to the ring field image of 3D, to make supervisor can understand actual situation.
One camera operating-controlling mechanism 22, for receiving outside signal to control the shooting of camera head 30, as the basic function of the depth of field, brightness, shutter speed, flash luminance etc. camera head.
One timer 50, can start the time of shooting or the time of reminding monitor staff to monitor by external setting-up.
One image processor 600 (please refer to Fig. 2), is to receive the image of shooting with video-corder from this camera head 30, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory 660.
This image processor 600 comprises a construction unit, image path 610.This image processor 600 receives the image from this camera head 30.This shooting direction that can transmit according to this vector location 201 of this power-driven mechanism 20 and the direction of advance of this robot fuselage 2 are set up mobile route, and are stored in the corresponding image of taking in each corresponding points on this mobile route and this mobile route simultaneously.
This construction unit, image path 610 comprises an image path setting interface 6101, and it can pass to down the device in downstream, using the use as remote setting.This image path setting interface 6101 is to provide operating personnel to login this construction unit, image path 610 to monitor required path planning to set up.
According to this construction unit, image path 610, operating personnel can framework go out the image database of a monitoring environment.As shown in Figure 3, its mode of operation, for to the environment that will monitor, operates this robot 1 and follows planned path to advance, and makes a video recording and the monitoring task of other setting for default camera point, and by these data storings in internal memory 660, therefore can set up patrol path.Wherein must make can be by the image of taking in more easily another point between adjacent 2 for this default camera point.And can store if desired while movement from a camera point to another camera point this camera head 30 being calculated by this vector location 201 the make a video recording vector of direction and the vector of the direction that this robot fuselage 2 advances.
This image processor 600 still comprises an automatic monitoring setup unit 620, and wherein this automatic monitoring setup unit 620 comprises an automatic monitoring setting interface 6201, and it can pass to down the device in downstream, using the use as remote monitoring.It is to provide operating personnel to login this automatic monitoring setup unit 620 to do the automatic monitoring of fixing a point at setting-up time that this automatic monitoring is set interface 6201.As shown in Figure 4, wherein operating personnel (in figure, nothing shows) can, according to the multiple control points of image path setting of set up monitoring environment, as the A in Fig. 4, B, C, D, E, and can set the tour time.In the time that the operator scheme of robot is set as automatic monitoring, this robot 1 moves to the arbitrary control point in set up automatic monitoring viewpoint, as the A point in Fig. 4, and the supervisory control action setting in this fixed point (being control point), mainly the action of setting at this fixed point camera picture etc., and by taken in image to teletransmission.Guide this robot 1 to advance toward next control point according to the make a video recording vector of direction and the vector of the direction that this robot fuselage 2 advances of the path application image identification planned or above-listed this stored camera head 30 of foundation subsequently.Apply this mode and all control points were all maked an inspection tour and taken in relevant image and relevant detecting data.
This automatic monitoring setup unit 620 comprises an automatic monitoring and sets interface 6201, and it can pass to down the device in downstream, using the use as remote monitoring.
Wherein above-mentioned control point can be also a line segment or a region, with reference to figure 5.This automatic monitoring setup unit 620 for the rule according to decided at the higher level but not officially announced to this line segment or division control point, region and guide this robot 1 in this line segment or a region ordinal shift to these to monitor operation.
This image processor 600 still comprises an anomaly unit 630, wherein store abnormal image data, and can receive the image input that this camera head 30 is detected, again by this image and abnormal image comparing, whether abnormal to determine this corresponding control point of absorption image, if abnormal, send abnormal signal.
This image processor 600 still comprises an alarm unit 650 and connects this anomaly unit 630, for receiving the abnormal signal from this anomaly unit 630, and sends alarm signal and gives long-range supervisor.
As shown in Figure 7, this robot 1 detect a certain control point place have a window under normal circumstances this window be situation about closing.In this anomaly unit 630, store the image that this window closes.In the time detecting this control point, the image of being taken in by this robot 1 is sent to this anomaly unit 630 and carries out image comparison.In the time that the result of comparison shows this window not in situation about closing, as window does not align with window lattice, this anomaly unit 630 transmits an abnormal signal and gives this alarm unit 650, is given the alarm and is given monitor staff by this alarm unit 650.
This image processor 600 still comprises a human face recognition unit 640 and can be used for identification face.This human face recognition unit 640 receives the image from this camera head 30.This human face recognition unit 640 comprises a face holder 645, wherein stores specific face and relevant data, and is set as warning personage for some specific face.The image that this human face recognition unit 640 is taken in for camera head 30, first detect the existence of face, after subsequently detected face being fixed, intercept the image of this face, and the Given Face storing in this image and this face holder 645 is compared, if specific face, the processing of being correlated with according to this relevant data.Be the face of the special warning of needs as a face that is compared out shows this face, this human face recognition unit 640 notifies this supervisor to pay special attention to by this alarm unit 650.Or the face that is compared out shows this face unspecific face, is likely not received external effractor, and this human face recognition unit 640 notifies this supervisor to take necessary operation by this alarm unit 650.
The number that this human face recognition unit 640 can record a certain control point simultaneously with provide with supervisor as a reference.
One robot signal transmitting and receiving machine 60 is another position that is arranged on this robot fuselage 2, connects this image processor 600, digitized video stored this internal memory 660 of this image processor 600 outwards can be transmitted.This robot signal transmitting and receiving machine 60 of preferably is transceiver.
One watch-dog 71, is mainly the watch-dog separating with this robot fuselage 2.This watch-dog 71 can be arranged on the long-range suitable electronic message unit of separating with this robot fuselage 2, in mobile phone, computer, flat computer, PDA etc. device.This watch-dog comprises a watch-dog APP (application, application program) 70 as man-machine interface.Operator can be via this watch-dog APP 70 and these watch-dog 71 interactions, apply wired or wireless mode by this watch-dog 71 again and this robot fuselage 2 carries out signal transmission, receive on the one hand the camera signal from this robot fuselage 2, and emission control signal carries out corresponding control action with the control panel 10 of this watch-dog 71.
This watch-dog APP70 comprises this image path setting interface 6101 of being downloaded by this construction unit, image path 610, to make supervisor set up patrol path via this interface.This watch-dog APP70 still comprises this automatic monitoring and sets interface 6201 to make the monitor staff can be by the multiple control points of this interface setting.
This watch-dog 71 comprises a monitoring client transceiver 72.This monitoring client transceiver 72 receives the signal from this robot signal transmitting and receiving machine 60, can see through these robot fuselage 2 monitoring site environment with the monitor staff who makes in this watch-dog 71 one end.
One of this case application examples is described as follows, and such as in a home environment, user can be according to this construction unit, image path 610, and framework goes out the image database of a monitoring environment.Its mode of operation, for to the environment that will monitor, operates this robot 1 and follows planned path to advance, and makes a video recording and the monitoring task of other setting for default camera point, therefore can set up patrol path.Then user applies the image path setting interface 6101 of this construction unit, image path 610, does the automatic monitoring of fixing a point with Ling Gai robot 1 at setting-up time.As shown in Figure 4, wherein operating personnel (in figure, nothing shows) can, according to the multiple control points of image path setting of set up monitoring environment, as the A in Fig. 4, B, C, D, E, and can set the tour time.
Such as in controlling at home, in the time that user stays out, when the operator scheme of robot is set as to automatic monitoring, this robot 1 moves to the arbitrary control point in set up automatic monitoring viewpoint, Ling Gai robot 1 starts shooting, and captures needed image via this above-mentioned power-driven mechanism 20 of this image control, this Head and Neck driving mechanism 21 and this camera operating-controlling mechanism 22 to reach needed position.As whether safe and sound and do not invaded in watched door and window to each door and window place place.Or near the window that can detour when rainy, see if there is rainwater and sprinkle light fixture in a family or in interview room and whether have and open or close.
The advantage of this case is the image path that applied robot sets up in advance, can provide user to preset control point, therefore user only needs instruction robot automatically to go on patrol, the operation that this robot can go on patrol to each control point according to predefined image path, and shot with video-corder image is sent on long-range watch-dog.Also can set fixed cycle operator, and the patrol that Ling Gai robot fixes at a fixed time action.Effectively to replace original personnel's patrol.Moreover run into while having unusual condition or personnel, also can provide effective identification to give long-range supervisor, reach the object that warning and information provide.Therefore robot can effectively replace traditional patrol operation.Moreover also unlike must a large amount of monitors being set on fixing point in prior art, in this case, monitoring point can optionally be selected, and the angle that can monitor by the action adjustment of Head and Neck and height.
In sum, the design of consideration of this case hommization, quite realistic demand.The existing disappearance of its concrete improvement, obviously has breakthrough progress advantage compared to prior art, really have the enhancement of effect, and non-being easy to is reached.This case discloses or is exposed on the document and market of internal and overseas, has met patent statute.
Above-listed detailed description system illustrates for one of the present invention possible embodiments, and only this embodiment is not in order to limit the scope of the claims of the present invention, all do not depart from skill spirit of the present invention institute for it equivalence implement or change, all should be contained in the scope of the claims of this case.
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Claims (11)
1. tool image identification and automatically go on patrol the robot surveillance of path setting, is characterized in that: comprise:
One robot fuselage, this fuselage comprises main part, and from the extended Head and Neck in main part top, wherein this Head and Neck comprises a head and a neck; This neck is upwards extended and obtains with stretch mode by this main part, and this head and this neck are rotationally connected;
One power source is arranged on the inside of this robot fuselage for power is provided;
It comprises one camera head camera lens and is arranged on described Head and Neck, and it comprises set of lenses;
One control panel is arranged on described robot fuselage interior, for the action of control and the action of other relevant apparatus; This control panel comprises:
One power-driven mechanism can receive outside signal, and this power-driven mechanism can drive this actuating unit of this robot fuselage to move, and orders about this robot fuselage action;
One Head and Neck driving mechanism can receive outside signal, to control the flexible of this neck and to rotate, and the rotation of this head;
Described power-driven mechanism comprises a vector location for showing the shooting direction of this camera head and the direction that this robot fuselage advances; And this two direction is outwards transmitted in vectorial mode; ;
One camera operating-controlling mechanism, for receiving outside signal to control the shooting of camera head;
One image processor, is to receive the image of shooting with video-corder from this camera head, and carries out digital image processing, the video conversion of simulation is originally become to digitized video, and be stored in an internal memory;
Described image processor comprises a construction unit, image path; This image processor receives the image from this camera head; This shooting direction that can transmit according to this vector location of this power-driven mechanism and the direction of advance of this robot fuselage are set up mobile route, and are stored in the corresponding image of taking in each corresponding points on this mobile route and this mobile route simultaneously.
2. tool image identification as claimed in claim 1 and automatically go on patrol the robot surveillance of path setting, it is characterized in that: this described construction unit, image path comprises an image path setting interface, it can pass to down the device in downstream, using the use as remote setting; This image path setting interface system provides operating personnel to login this construction unit, image path and monitors required path planning to set up; According to this construction unit, image path, operating personnel can framework go out the image database of a monitoring environment; Its mode of operation, for to the environment that will monitor, operates this robot and follows planned path to advance, and makes a video recording and the monitoring task of other setting for default camera point, and by these data storings in internal memory, therefore can set up patrol path; Wherein must make can be by the image of taking in more easily another point between adjacent 2 for this default camera point.
3. tool image identification as claimed in claim 2 and automatically go on patrol the robot surveillance of path setting, it is characterized in that: in described internal memory, store while movement from a camera point to another camera point, described vector location calculates this camera head shooting vector of direction and vector of this robot fuselage direction of advance.
4. tool image identification as claimed in claim 2 and automatically go on patrol the robot surveillance of path setting, is characterized in that: described image processor also comprises an automatic monitoring setup unit; This automatic monitoring setup unit comprises an automatic monitoring and sets interface, and it can pass to down the device in downstream, using the use as remote monitoring; This automatic monitoring is set interface system provides operating personnel to login this automatic monitoring setup unit to do the automatic monitoring of fixing a point at setting-up time, and the supervisory control action setting in this fixed point (being control point), mainly to carry out in this fixed point the action that camera picture etc. is set, and by taken in image to teletransmission; Guide this robot to advance toward next control point according to the path application image identification of being planned or according to above-listed stored this camera head shooting vector of direction and the vector of the direction that this robot fuselage advances subsequently; Apply this mode and all control points were all maked an inspection tour and taken in relevant image and relevant detecting data.
5. tool image identification as claimed in claim 4 and automatically go on patrol the robot surveillance of path setting, is characterized in that: described control point is a line segment or a region; Described automatic monitoring setup unit according to rule decided at the higher level but not officially announced to this line segment or division control point, region and guide this robot in this line segment or a region ordinal shift to these to monitor operation.
6. tool image identification as claimed in claim 4 and automatically go on patrol the robot surveillance of path setting, it is characterized in that: described image processor also comprises an anomaly unit, this anomaly unit stores abnormal image data, and can receive the input image that this camera head is detected, by this image and abnormal image comparing, whether abnormal to determine this corresponding control point of absorption image again.
7. tool image identification as claimed in claim 4 and automatically go on patrol the robot surveillance of path setting, it is characterized in that: described image processor also comprises an alarm unit, this alarm unit connects described anomaly unit, for receiving the abnormal signal from this anomaly unit, and send alarm signal to long-range supervisor.
8. tool image identification as claimed in claim 1 and automatically go on patrol the robot surveillance of path setting, is characterized in that: described image processor also comprises a human face recognition unit for identification face; This human face recognition unit receives the image from described camera head; Described human face recognition unit includes a face holder, wherein stores specific face and relevant data, and is set as warning personage for some specific face; The image that this human face recognition unit is taken in for camera head, first detect the existence of face, after subsequently detected face being fixed, intercept the image of this face, and the Given Face storing in this image and this face holder is compared, if specific face, the processing of being correlated with according to this relevant data.
9. tool image identification as claimed in claim 8 and automatically go on patrol the robot surveillance of path setting, is characterized in that: described human face recognition unit records the number of a certain control point simultaneously.
10. tool image identification as claimed in claim 1 and automatically go on patrol the robot surveillance of path setting, it is characterized in that: on described robot fuselage, comprise a robot signal transmitting and receiving machine, connect described image processor, stored digitized video in described image processor internal memory is outwards transmitted.
11. tool image identifications as claimed in claim 1 and automatically go on patrol the robot surveillance of path setting, is characterized in that: this system also comprises a watch-dog; This watch-dog is arranged on the electronic remote information equipment with the fuselage separation of described robot; This watch-dog comprises a watch-dog, and APP is as man-machine interface; Operator can be via this watch-dog APP and this watch-dog interaction, carry out signal transmission by the wired or wireless mode of this supervisor applications and this robot fuselage again, this watch-dog receives the camera signal from this robot fuselage on the one hand, and emission control signal carries out corresponding control action with the control panel of this watch-dog on the other hand.
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