CN104202578A - Method for automatically identifying criminal suspects - Google Patents
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- CN104202578A CN104202578A CN201410503775.0A CN201410503775A CN104202578A CN 104202578 A CN104202578 A CN 104202578A CN 201410503775 A CN201410503775 A CN 201410503775A CN 104202578 A CN104202578 A CN 104202578A
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Abstract
The invention relates to a method for automatically identifying criminal suspects. The method comprises the following steps: (1) providing a control platform, wherein the control platform comprises a high-definition camera, an image processor, a memorizer, a display, voice playing equipment and a digital signal processor; the high-definition camera is used for collecting security images in security places; the image processor is connected with the high-definition camera and is used for processing the security images; the memorizer memories a suspicious act feature library and a criminal suspect feature library; the digital signal processor is connected with the high-definition camera, the image processor, the memorizer, the display and the voice playing equipment respectively; based on the image processing results and the memory contents of the memorizer, confirming whether suspect criminals are found in the security images or not and, if the suspects are confirmed, controlling the display and the voice playing equipment to give an alarm; (2) utilizing the control platform to identify criminal suspects automatically.
Description
Technical field
The present invention relates to automobile monitoring field, relate in particular to a kind of automatic identification suspect method.
Background technology
The security department of various countries all arranges the security outpost of the tax office at transport hub place, for checking regulated item and finding suspect, for example, at subway entrance and the high speed charging aperture etc. in railway station, various places, city.Whether security measure is strong, be to determine that whether civil order is orderly, ensure the interference-free key factor of people's lives, and be also the effective means of arresting suspect.
In the security outpost of the tax office content of safety inspection be mainly check in passenger and luggage and articles thereof, whether to carry gun, the dangerous goods such as ammunition, explosive, the poisonous radioactivity of burn into, to guarantee the vehicles and passenger's safety.The inaccurate vehicles that use of refusal examiner, loss is according to degree processing violating the regulations, or responsibility is accepted the consequences by oneself.Meanwhile, in the arbitrary security outpost of the tax office in a country, the fugitive suspect's in various places information is all placed on record, and Security Personnel can be by inspection a suspect, and the face-image that contrast prestores, judges whether checked person is suspect.
But, the mode of finding suspect in prior art is comparatively backward, still rely on Security Personnel's personal experience, in the stream of people, find them and think that behavior questionable person person investigates, also need subsequently manual operation computer, will be contrasted one by one by investigation personnel's facial characteristics and the fugitive suspect's that each prestores facial characteristics, this mode was both lost time, inefficiency, has and too relies on Security Personnel's experience, and reliability is not high.
Therefore, need a kind of new automatic identification suspect method, can in the stream of people by the security outpost of the tax office, automatically identify behavior questionable person person, and whether automatic decision a suspect belongs to fugitive suspect, reduce the personnel to operate, in improving the automatization level of whole platform, ensure the accuracy of platform.
Summary of the invention
In order to address the above problem, the invention provides a kind of automatic identification suspect method, utilize flexible, the intelligent feature of robot, by Long-distance Control mode, robot is placed on to entrance front, the security outpost of the tax office, determine a suspect and further determine suspect based on image recognition, and in the situation that suspect's characteristic matching is not high, send to far-end control platform to treat further analysis by COFDM channel image scene, thereby the intelligent degree of safety and protection monitoring system is provided.
According to an aspect of the present invention, a kind of automatic identification suspect method is provided, the method comprises: 1) control platform is provided, described control platform comprises high-definition camera, image processor, memory, display, voice playing equipment and digital signal processor, described high-definition camera is for gathering the security image in security place, described image processor is connected with described high-definition camera, be used for described security image carries out image processing, described memory stores suspicious actions feature database and suspect's feature database, described digital signal processor and described high-definition camera, described image processor, described memory, described display is connected respectively with described voice playing equipment, storage content based on described processing result image and described memory, determine in described security image and whether have suspect, and determining while there is suspect, controlling described display and described voice playing equipment reports to the police to realize, and 2) automatically identify suspect with described control platform.
More specifically, described automatic identification suspect's safety protection robot control platform also comprises MPEG-2 image compression encoder, be positioned at the shell front end of described safety protection robot, connect described high-definition camera, for described security image is carried out to MPEG-2 image compression encoding, to generate coded data, COFDM wireless image reflector, be positioned on the shell front end of described safety protection robot, connect described MPEG-2 image compression encoder, for described coded data is carried out to COFDM chnnel coding, channel-encoded data is launched by COFDM communication channel, so that the COFDM wireless image receiver of the security management platform of far-end receives, wireless communication interface, is positioned on the shell front end of described safety protection robot, is connected, for realizing the transmitting-receiving of wireless data with described security management platform by cordless communication network, described memory bit is in the shell front end of described safety protection robot, be connected with described wireless communication interface, to upgrade described suspicious actions feature database and described suspect's feature database by described wireless communication interface from described security management platform timing, described memory has also been stored personage's upper limit gray threshold, personage's lower limit gray threshold and characteristic matching percentage threshold, and described personage's upper limit gray threshold and described personage's lower limit gray threshold are for separating the personage of image with background, robot driving arrangement, be positioned on the chassis of described safety protection robot, for the order based on receiving drive instruction, drive safety protection robot to leave for predetermined security place, described object drives in instruction and comprises predetermined security place, described robot driving arrangement comprises DC Brushless Motor, motor driver and two power wheels, and described two power wheels are two trailing wheels, and described DC Brushless Motor comprises decelerator, user input device, is positioned on the shell front end of described safety protection robot, connects described memory, for according to user's input, sets the characteristic matching percentage threshold in memory, described high-definition camera is positioned on the shell front end of described safety protection robot, gathers described security image with 1280 × 720 resolution, described image processor is positioned at the shell front end of described safety protection robot, comprise image pretreatment unit, person recognition unit, suspicious figure's recognition unit and characteristic matching unit, described image pretreatment unit is connected with described high-definition camera, for described security image being carried out successively to contrast enhancing and wavelet filtering with output pretreatment image, described person recognition unit is connected respectively with described image pretreatment unit and described memory, for by described pretreatment image gray value the pixel between described personage's upper limit gray threshold and described personage's lower limit gray threshold identify and form more than one personage's subimage, described suspicious figure's recognition unit is connected respectively with described person recognition unit and described memory, for identifying the behavioural characteristic of each personage's subimage, the behavioural characteristic of identification is mated with each suspicious actions feature in described suspicious actions feature database, determine in each personage's subimage whether comprise suspicious figure based on matching result, described characteristic matching unit is connected respectively with described suspicious figure's recognition unit and described memory, identify personage's facial characteristics that each determines the personage's subimage that comprises suspicious figure, and personage's facial characteristics of identification is mated with each suspect's facial characteristics of described suspect's feature database, existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, judge in definite personage's subimage that comprises suspicious figure and comprise suspect, there is suspect's signal and export the suspect's that corresponding suspect's facial characteristics belongs to name in output, not existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, there is not suspect's signal in output, described digital signal processor is connected respectively with described MPEG-2 image compression encoder, described COFDM wireless image reflector, described wireless communication interface, described memory, described robot driving arrangement, described user input device, described high-definition camera and described image processor, by the order receiving by described wireless communication interface drive instruction to be transmitted to described robot driving arrangement, and arrived order and drive behind the predetermined security place that instruction comprises in described robot driving arrangement feedback, start described high-definition camera and described image processor, described digital signal processor is starting after described high-definition camera and described image processor, if received while there is suspect's signal, the suspect's who receives name is sent to described security management platform by described wireless communication interface, if received while there is not suspect's signal, start described MPEG-2 image compression encoder and described COFDM wireless image reflector, described display is positioned on the shell front end of described safety protection robot, connects described digital signal processor, for the suspect's that receives described in showing name, described voice playing equipment is positioned on the shell front end of described safety protection robot, connects described digital signal processor, for playing the phonetic warning file corresponding with the described suspect's of existence signal.
More specifically, in described automatic identification suspect's safety protection robot control platform, described display is LCDs.
More specifically, in described automatic identification suspect's safety protection robot control platform, described voice playing equipment is loud speaker.
More specifically, in described automatic identification suspect's safety protection robot control platform, by integrated on a surface-mounted integrated circuit to described MPEG-2 image compression encoder, described COFDM wireless image reflector.
More specifically, in described automatic identification suspect's safety protection robot control platform, described robot driving arrangement also comprises two front universal wheels.
More specifically, described automatic identification suspect's safety protection robot control platform also comprises power supply unit, is used to described control platform power.
Brief description of the drawings
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the automatic identification suspect's that illustrates according to an embodiment of the present invention safety protection robot control platform.
Fig. 2 is the block diagram of the image processor of the automatic identification suspect's that illustrates according to an embodiment of the present invention safety protection robot control platform.
Embodiment
The embodiment of the safety protection robot control platform to automatic identification suspect of the present invention is elaborated below with reference to accompanying drawings.
The information that each country can be judged to be suspect by crime and through investigation concentrates in together, and mails to the security outpost of the tax office, various places as suspect's form.Even if suspect escapes from abroad, due to the existence of International Police Organization, this suspect's information also can mail to the every country that adds International Police Organization.Described suspect's information comprises suspect's photo, suspect's name and suspect's identity information.In order to make more digitlization of information, suspect's photo can be obtained to suspect's facial characteristics by signature analysis, together with facial characteristics and suspect's name, suspect's identity information, deposit analysis and the processing of suspect's feature database for various places digital device in.
Simultaneously, at the security outpost of the tax office place of various places, in order to substitute the artificial mode that judges a suspect, automatically identify by a suspect in the stream of people at the outpost of the tax office by robot, can be according to the analysis to people's various actions, retain those behaviors that are identified as suspicious actions as suspicious actions feature database, for the automatic identification of a suspect based on image processing.
But in prior art or handle described suspicious actions feature database and described suspect's feature database in artificial mode, like this, suspect's recognition efficiency is slower, identifying is very long, even can be in the process of operation the real suspect of under-enumeration.
Automatic identification suspect's of the present invention safety protection robot control platform; by in the security outpost of the tax office of robot application; complete a suspect's identification and suspect's identification by multiple image recognition technology; and in the time recognizing suspect and alarm; while whether being suspect, by COFDM channel, Field Force's image is passed to far-end platform to treat further analysis not sure.
Fig. 1 is the block diagram of the automatic identification suspect's that illustrates according to an embodiment of the present invention safety protection robot control platform, as shown in Figure 1, described control platform comprises high-definition camera 1, image processor 2, memory 3, display 5, voice playing equipment 6, digital signal processor 4 and power supply unit 7, described high-definition camera 1 is for gathering the security image in security place, described image processor 2 is connected with described high-definition camera 1, be used for described security image carries out image processing, described memory 3 has been stored suspicious actions feature database and suspect's feature database, described digital signal processor 4 and described high-definition camera 1, described image processor 2, described memory 3, described display 5, described voice playing equipment 6 is connected respectively with described power supply unit 7, based on the storage content of described processing result image and described memory 3, determine in described security image and whether have suspect, and determining while there is suspect, controlling described display 5 and described voice playing equipment 6 reports to the police to realize, described digital signal processor 4 is carried out electric weight intelligent management to described power supply unit 7.
Then, the structure of safety protection robot control platform of the present invention is carried out to more specific description.
Described control platform also comprises MPEG-2 image compression encoder, is positioned at the shell front end of described safety protection robot, connects described high-definition camera 1, for described security image is carried out to MPEG-2 image compression encoding, to generate coded data; COFDM wireless image reflector; be positioned on the shell front end of described safety protection robot; connect described MPEG-2 image compression encoder; for described coded data is carried out to COFDM chnnel coding; channel-encoded data is launched by COFDM communication channel, so that the COFDM wireless image receiver of the security management platform of far-end receives.
Described control platform also comprises wireless communication interface, is positioned on the shell front end of described safety protection robot, is connected, for realizing the transmitting-receiving of wireless data with described security management platform by cordless communication network; Described memory 3 is positioned at the shell front end of described safety protection robot; be connected with described wireless communication interface; to upgrade described suspicious actions feature database and described suspect's feature database by described wireless communication interface from described security management platform timing; described memory 3 has also been stored personage's upper limit gray threshold, personage's lower limit gray threshold and characteristic matching percentage threshold, and described personage's upper limit gray threshold and described personage's lower limit gray threshold are for separating the personage of image with background.
Described control platform also comprises robot driving arrangement; be positioned on the chassis of described safety protection robot; for the order based on receiving drive instruction; drive safety protection robot to leave for predetermined security place; described object drives in instruction and comprises predetermined security place; described robot driving arrangement comprises DC Brushless Motor, motor driver and two power wheels, and described two power wheels are two trailing wheels, and described DC Brushless Motor comprises decelerator.
Described control platform also comprises user input device, is positioned on the shell front end of described safety protection robot, connects described memory 3, for according to user's input, sets the characteristic matching percentage threshold in memory 3.
Described high-definition camera 1 is positioned on the shell front end of described safety protection robot, gathers described security image with 1280 × 720 resolution.
With reference to Fig. 2, described image processing 2 is positioned at the shell front end of described safety protection robot, comprises the image pretreatment unit 21, person recognition unit 22, suspicious figure's recognition unit 23 and the characteristic matching unit 24 that connect successively.
Described image pretreatment unit 21 is connected with described high-definition camera 1, for described security image being carried out successively to contrast enhancing and wavelet filtering with output pretreatment image.
Described person recognition unit 22 is connected respectively with described image pretreatment unit 21 and described memory 3, for by described pretreatment image gray value the pixel between described personage's upper limit gray threshold and described personage's lower limit gray threshold identify and form more than one personage's subimage.
Described suspicious figure's recognition unit 23 is connected respectively with described person recognition unit 22 and described memory 3, for identifying the behavioural characteristic of each personage's subimage, the behavioural characteristic of identification is mated with each suspicious actions feature in described suspicious actions feature database, determine in each personage's subimage whether comprise suspicious figure based on matching result.
Described characteristic matching unit 24 is connected respectively with described suspicious figure's recognition unit 23 and described memory 3, identify personage's facial characteristics that each determines the personage's subimage that comprises suspicious figure, and personage's facial characteristics of identification is mated with each suspect's facial characteristics of described suspect's feature database, existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, judge in definite personage's subimage that comprises suspicious figure and comprise suspect, there is suspect's signal and export the suspect's that corresponding suspect's facial characteristics belongs to name in output, not existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, there is not suspect's signal in output.
Described digital signal processor 4 and described MPEG-2 image compression encoder, described COFDM wireless image reflector, described wireless communication interface, described memory 3, described robot driving arrangement, described user input device, described high-definition camera 1 is connected respectively with described image processor 2, by the order receiving by described wireless communication interface drive instruction to be transmitted to described robot driving arrangement, and arrive order and driven behind the predetermined security place that instruction comprises in described robot driving arrangement feedback, start described high-definition camera 1 and described image processor 2.
Described digital signal processor 4 is starting after described high-definition camera 1 and described image processor 2, if received while there is suspect's signal, the suspect's who receives name is sent to described security management platform by described wireless communication interface, if received while there is not suspect's signal, start described MPEG-2 image compression encoder and described COFDM wireless image reflector.
Described display 5 is positioned on the shell front end of described safety protection robot, connects described digital signal processor 4, for the suspect's that receives described in showing name; Described voice playing equipment 6 is positioned on the shell front end of described safety protection robot, connects described digital signal processor 4, for playing the phonetic warning file corresponding with the described suspect's of existence signal.
Wherein, in described automatic identification suspect's safety protection robot control platform; described display 5 is chosen as LCDs; described voice playing equipment 6 is chosen as loud speaker; can described MPEG-2 image compression encoder, described COFDM wireless image reflector is integrated on a surface-mounted integrated circuit; described robot driving arrangement also comprises two front universal wheels, and described power supply unit 7 is used to described control platform power.
In addition, COFDM (coded orthogonal frequency division multiplexing), i.e. the abbreviation of Coded Orthogonal Frequency Division Multiplexing (COFDM), is the most advanced and the most potential modulation technique in the current world.Its general principle exactly by high-speed data-flow by going here and there and changing, be assigned in some subchannels that transmission rate is lower and transmit.Wherein, coding (C) refers to that chnnel coding adopts the variable convolutional encoding mode of encoding rate, to adapt to the protection requirement of different importance data; Orthogonal frequency (OFD) refers to use a large amount of carrier wave (subcarrier), and they have equal frequency interval, is all the integral multiple of a basic concussion frequency; Multiplexing (M) refers to that multichannel data source is interweaved and is distributed on above-mentioned a large amount of carrier wave, form a channel.COFDM technology belongs to multi-carrier modulation (Multi-Carrier Modulation, MCM) technology.MCM and COFDM are usually used in wireless channel, and their difference is: COFDM technology is refered in particular to the subchannel that channel distribution is orthogonal, and channel utilance is high; And MCM can be more kinds of channel distribution methods.
The release of COFDM technology is in order to improve spectrum of carrier utilance in fact, or in order to improve the modulation to multicarrier, his feature is that each subcarrier is mutually orthogonal, makes the frequency spectrum after band spectrum modulation can be overlapped, thereby has reduced the phase mutual interference between subcarrier.The modulator approach that the each carrier wave of COFDM uses can be different.Each carrier wave can be different according to the different choice of channel conditions modulation system, such as BPSK, QPSK, 8PSK, 16QAM, 64QAM etc., taking the optimum balance between the availability of frequency spectrum and the error rate as principle.COFDM utilization Adaptive Modulation, select different modulation systems according to the quality of channel condition.COFDM has also adopted power control and Adaptive Modulation phase co-ordination mode.When channel is good, transmitting power is constant, can enhanced modulation mode (as 64QAM), or when low modulation mode (as QPSK), reduce transmitting power.
In addition, Moving Picture Experts Group-2 was formulated in 1994, and design object is the image quality of advanced industrial standard and higher transfer rate.The transfer rate that MPEG-2 can provide between 3-10Mbits/sec, its resolution 720X486 under TSC-system formula, MPEG-2 also can provide and the video of broadcast level and the tonequality of CD level can be provided.The audio coding of MPEG-2 can provide in left and right and two surround channels, an and big bottom sound channel, due to manipulative when the design of MPEG-2, makes most of MPEG-2 decoders also can play the data of MPEG-1 form, as VCD.Meanwhile, due to the outstanding performance performance of MPEG-2, can be applicable to HDTV.Except the specified value as DVD, MPEG-2 also can be used for for broadcast, cable television network, and cable system and direct broadcasting satellite provide the digital video of broadcast level.
Adopt automatic identification suspect's of the present invention safety protection robot control platform; too rely on Security Personnel's experience, technical problem that recognition efficiency is lower for existing security control platform; settle flexibly security facilities by robot platform; rely on image processing techniques and complete a suspect's identification and suspect's identification; and under suspect's uncertain condition; send to remote side administration platform to judge more accurately image scene; thereby when improving platform flexibility, ensure science, reliability that suspect judges.
Be understandable that, although the present invention discloses as above with preferred embodiment, but above-described embodiment is not in order to limit the present invention.For any those of ordinary skill in the art, do not departing from technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not depart from technical solution of the present invention,, all still belongs in the scope of technical solution of the present invention protection any simple modification made for any of the above embodiments, equivalent variations and modification according to technical spirit of the present invention.
Claims (7)
1. a method of automatically identifying suspect, the method comprises:
1) provide control platform, described control platform comprises high-definition camera, image processor, memory, display, voice playing equipment and digital signal processor, described high-definition camera is for gathering the security image in security place, described image processor is connected with described high-definition camera, be used for described security image carries out image processing, described memory stores suspicious actions feature database and suspect's feature database, described digital signal processor and described high-definition camera, described image processor, described memory, described display is connected respectively with described voice playing equipment, storage content based on described processing result image and described memory, determine in described security image and whether have suspect, and determining while there is suspect, controlling described display and described voice playing equipment reports to the police to realize, and
2) automatically identify suspect with described control platform.
2. the method for claim 1, is characterized in that, described control platform also comprises:
MPEG-2 image compression encoder, is positioned at the shell front end of described safety protection robot, connects described high-definition camera, for described security image is carried out to MPEG-2 image compression encoding, to generate coded data;
COFDM wireless image reflector, be positioned on the shell front end of described safety protection robot, connect described MPEG-2 image compression encoder, for described coded data is carried out to COFDM chnnel coding, channel-encoded data is launched by COFDM communication channel, so that the COFDM wireless image receiver of the security management platform of far-end receives;
Wireless communication interface, is positioned on the shell front end of described safety protection robot, is connected, for realizing the transmitting-receiving of wireless data with described security management platform by cordless communication network;
Described memory bit is in the shell front end of described safety protection robot, be connected with described wireless communication interface, to upgrade described suspicious actions feature database and described suspect's feature database by described wireless communication interface from described security management platform timing, described memory has also been stored personage's upper limit gray threshold, personage's lower limit gray threshold and characteristic matching percentage threshold, and described personage's upper limit gray threshold and described personage's lower limit gray threshold are for separating the personage of image with background;
Robot driving arrangement, be positioned on the chassis of described safety protection robot, for the order based on receiving drive instruction, drive safety protection robot to leave for predetermined security place, described object drives in instruction and comprises predetermined security place, described robot driving arrangement comprises DC Brushless Motor, motor driver and two power wheels, and described two power wheels are two trailing wheels, and described DC Brushless Motor comprises decelerator;
User input device, is positioned on the shell front end of described safety protection robot, connects described memory, for according to user's input, sets the characteristic matching percentage threshold in memory;
Described high-definition camera is positioned on the shell front end of described safety protection robot, gathers described security image with 1280 × 720 resolution;
Described image processor is positioned at the shell front end of described safety protection robot, comprise image pretreatment unit, person recognition unit, suspicious figure's recognition unit and characteristic matching unit, described image pretreatment unit is connected with described high-definition camera, for described security image being carried out successively to contrast enhancing and wavelet filtering with output pretreatment image, described person recognition unit is connected respectively with described image pretreatment unit and described memory, for by described pretreatment image gray value the pixel between described personage's upper limit gray threshold and described personage's lower limit gray threshold identify and form more than one personage's subimage, described suspicious figure's recognition unit is connected respectively with described person recognition unit and described memory, for identifying the behavioural characteristic of each personage's subimage, the behavioural characteristic of identification is mated with each suspicious actions feature in described suspicious actions feature database, determine in each personage's subimage whether comprise suspicious figure based on matching result, described characteristic matching unit is connected respectively with described suspicious figure's recognition unit and described memory, identify personage's facial characteristics that each determines the personage's subimage that comprises suspicious figure, and personage's facial characteristics of identification is mated with each suspect's facial characteristics of described suspect's feature database, existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, judge in definite personage's subimage that comprises suspicious figure and comprise suspect, there is suspect's signal and export the suspect's that corresponding suspect's facial characteristics belongs to name in output, not existing matching degree when equaling suspect's facial characteristics of described characteristic matching percentage threshold, there is not suspect's signal in output,
Described digital signal processor is connected respectively with described MPEG-2 image compression encoder, described COFDM wireless image reflector, described wireless communication interface, described memory, described robot driving arrangement, described user input device, described high-definition camera and described image processor, by the order receiving by described wireless communication interface drive instruction to be transmitted to described robot driving arrangement, and arrived order and drive behind the predetermined security place that instruction comprises in described robot driving arrangement feedback, start described high-definition camera and described image processor;
Described digital signal processor is starting after described high-definition camera and described image processor, if received while there is suspect's signal, the suspect's who receives name is sent to described security management platform by described wireless communication interface, if received while there is not suspect's signal, start described MPEG-2 image compression encoder and described COFDM wireless image reflector;
Described display is positioned on the shell front end of described safety protection robot, connects described digital signal processor, for the suspect's that receives described in showing name;
Described voice playing equipment is positioned on the shell front end of described safety protection robot, connects described digital signal processor, for playing the phonetic warning file corresponding with the described suspect's of existence signal.
3. method as claimed in claim 2, is characterized in that:
Described display is LCDs.
4. method as claimed in claim 2, is characterized in that:
Described voice playing equipment is loud speaker.
5. method as claimed in claim 2, is characterized in that:
By integrated on a surface-mounted integrated circuit to described MPEG-2 image compression encoder, described COFDM wireless image reflector.
6. method as claimed in claim 2, is characterized in that:
Described robot driving arrangement also comprises two front universal wheels.
7. method as claimed in claim 2, is characterized in that, described control platform also comprises:
Power supply unit, is used to described control platform power.
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| CN106904084A (en) * | 2016-10-18 | 2017-06-30 | 彭晓梅 | Charging and discharging lithium battery detection means |
| CN111164036A (en) * | 2017-10-11 | 2020-05-15 | 三菱电机株式会社 | Prevention system of elevator |
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| CN108271003B (en) * | 2018-03-28 | 2019-03-05 | 安徽据说牛信息科技有限公司 | Cloud computing formula image processing system and method |
| CN108629322A (en) * | 2018-05-11 | 2018-10-09 | 中国联合网络通信集团有限公司 | Monitoring method, device and the computer readable storage medium of a suspect |
| CN108669937A (en) * | 2018-05-28 | 2018-10-19 | 湖南文理学院 | Multi-functional embroidery show stand |
| CN110222640A (en) * | 2019-06-05 | 2019-09-10 | 浙江大华技术股份有限公司 | Monitor recognition methods, device, method and the storage medium of suspect in place |
| CN110222640B (en) * | 2019-06-05 | 2022-02-18 | 浙江大华技术股份有限公司 | Method, device and method for identifying suspect in monitoring site and storage medium |
| CN110662002A (en) * | 2019-10-23 | 2020-01-07 | 徐州丰禾智能科技有限公司 | Factory security system with real-time image recognition and warning functions |
| CN111331614A (en) * | 2020-03-19 | 2020-06-26 | 上海陆根智能传感技术有限公司 | Robot based on artificial intelligence |
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