CN105741467A - Safety monitoring robot and robot safety monitoring method - Google Patents

Safety monitoring robot and robot safety monitoring method Download PDF

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Publication number
CN105741467A
CN105741467A CN201610265522.3A CN201610265522A CN105741467A CN 105741467 A CN105741467 A CN 105741467A CN 201610265522 A CN201610265522 A CN 201610265522A CN 105741467 A CN105741467 A CN 105741467A
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CN
China
Prior art keywords
robot
behavior
donor
unauthorized people
unit
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CN201610265522.3A
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Chinese (zh)
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CN105741467B (en
Inventor
王燕
江伟
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美的集团股份有限公司
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Priority to CN201610265522.3A priority Critical patent/CN105741467B/en
Publication of CN105741467A publication Critical patent/CN105741467A/en
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Publication of CN105741467B publication Critical patent/CN105741467B/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/18Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength
    • G08B13/189Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19613Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion

Abstract

The invention relates to a safety monitoring robot and a robot safety monitoring method, wherein the safety monitoring robot comprises the components of a tracking unit which is used for tracking movement of a non-authorized person and collecting an image of the non-authorized person; a behavior identification unit which identifies the behavior of the non-authorized person; a behavior comparing unit which is used for comparing the behavior of the identified current non-authorized person with a preset behavior set; and an information reminding unit which is used for transmitting reminding information to an authorized person when a comparison result determines an abnormal behavior. According to the safety monitoring robot and the safety monitoring method, the action of the non-authorized person is identified for aiming at a specific area which is set by the authorized person; furthermore reminding information is transmitted according to the action of the non-authorized person; and a dangerous behavior or threat of the non-authorized person can be effectively prevented, thereby actively stopping by the authorized person or helping the authorized person.

Description

A kind of security monitoring robot and robot security monitor method

Technical field

The present invention relates to communication technical field, be specifically related to a kind of security monitoring robot and robot security monitors method.

Background technology

Smart Home is the embodiment of Internet of Things under the influence of internet.Various equipment (such as audio & video equipment, illuminator, curtain control, airconditioning control, safety-protection system, Digital Theater System, video server, shadow cabinet system, network home appliance etc.) in family are connected together by Smart Home by technology of Internet of things, it is provided that several functions and the means such as home wiring control, Lighting control, remote control using telephone, indoor and outdoor remote control, burglar alarm, environmental monitoring, HVAC control, infrared forwarding and programmable Timer control.Compared with common household, Smart Home not only has traditional inhabitation function, has both building, network service, information household appliances, equipment automatization, it is provided that omnibearing information interactive function, saves fund even for various energy expenditures.

In recent years, along with communication technology, intellectual technology, development of Mobile Internet technology development, Smart Home has become the inevitable direction of household and house development from now on, and home services humanoid robot will become wherein important equipment simultaneously.Handicapped old man family is had, it is necessary to special messenger's nurse and treatment in particular for some.Generally more advanced mode is to accompany old man by nursing type robot and provide treatment to it.But, although nursing type robot can solve the problem that old man is in life, but when old man is uncomfortable or other unexpected dangerous situation occurs (robber's burglary, robbery etc.), it is impossible to got in touch with relatives in time by nursing type robot.

Summary of the invention

Solve the technical problem that and be action that how automatically identifying rows is behaved and produce corresponding warning signal.

For defect of the prior art, the present invention provides a kind of security monitoring robot and robot security to monitor method, it is possible to effectively remind donor to prevent dangerous play or the relief donor of unauthorized people in time.

First aspect, the present invention provides a kind of security monitoring robot, including:

Tracing unit, for following the trail of the movement of unauthorized people and gathering the current image following the trail of unauthorized people;

Activity recognition unit, identifies the behavior of unauthorized people;

Behavior comparing unit, for comparing the behavior of the current unauthorized people identified with the behavior collection preset;

Information reminding unit, for the transmission prompting message when comparative result is judged as Deviant Behavior to donor.

Alternatively, also include:

Position determination unit, for identifying the region at unauthorized people place;

Described information reminding unit, when unauthorized people arrives in privacy areas, sends prompting message to donor when comparative result is judged as abnormal operation.

Alternatively, described information reminding unit, for sending warning message when comparative result is judged as hazardous act.

Alternatively, voice collecting recognition unit is also included;

Described voice collecting recognition unit, for gathering and identify the voice messaging of donor;

Described voice collecting recognition unit, sends recognition result to speech comparison unit;

Described speech comparison unit, be additionally operable to by described recognition result and with default warning Key comparison;And

Described information reminding unit, sends warning message when comparative result is judged as warning keyword.

Employment mandate alternatively, also includes an authorization module, for will be made to be donor.

Alternatively, also include an identification module, be used for identifying that people's identity is for donor and unauthorized people.

Second aspect, present invention also offers a kind of robot security and monitors method, it is characterised in that including:

Follow the trail of the movement as unauthorized people the current image following the trail of unauthorized people of collection;

Identify the behavior of unauthorized people;

The behavior of the current unauthorized people identified is compared with the behavior collection preset;

Prompting message is sent when comparative result is judged as Deviant Behavior.

Alternatively, also include the region identifying unauthorized people place, when unauthorized people arrives in privacy areas, send prompting message when comparative result is judged as abnormal operation.

Alternatively, warning message is sent when comparative result is judged as hazardous act.

Alternatively, also include:

Gather and identify donor voice messaging and identify by described recognition result and with default warning Key comparison;

Warning message is sent when comparative result is judged as warning keyword.

Alternatively, also include employment mandate to be made for donor.

Alternatively, also include identifying that people's identity is for donor and unauthorized people.

As shown from the above technical solution, security monitoring robot provided by the invention and robot security monitor method, and for the action of the specific region identifying rows behaviour that donor sets, and the action according to unauthorized people sends prompting message.Hazardous act that the present invention can effectively stop behavior or the threat being subject to, in order to donor actively prevents or succours donor.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, simply introduce the accompanying drawing used required in embodiment or description of the prior art is made one below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the structural representation of a kind of security monitoring robot in one embodiment of the invention;

Fig. 2 is the structural representation of a kind of security monitoring robot in one embodiment of the invention;

Fig. 3 is the structural representation of a kind of security monitoring robot in one embodiment of the invention;

Fig. 4 is that in one embodiment of the invention, a kind of robot security monitors method flow schematic diagram.

Detailed description of the invention

For making the purpose of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.

As it is shown in figure 1, a kind of security monitoring robot, including: tracing unit, for following the trail of the movement of unauthorized people and gathering the current image following the trail of unauthorized people;Activity recognition unit, identifies the behavior of unauthorized people;Behavior comparing unit, for comparing the behavior of the current unauthorized people identified with the behavior collection preset;Information reminding unit, for the transmission prompting message when comparative result is judged as Deviant Behavior to donor.Below the security monitoring robot of the present invention and offer is launched detailed description.

As in figure 2 it is shown, security monitoring robot provided by the invention, also include: identity recognizing unit, be donor and unauthorized people for identifying the identity that current line is behaved, and send identity information to tracing unit;Tracing unit follows the trail of current unauthorized people according to identity information.It is typically in the robot that family uses, using the monitoring region as robot, the inner machine people zone of action, house.Specifically, when involved party enters the monitoring region of robot, identity recognizing unit needs first to identify the identity of donor or unauthorized people.Donor or unauthorized people's identity can be arranged to variety classes according to robot mandate Man's Demands.Employment mandate such as, also includes authorization module, for will be made to be donor.Can by the current donor making employment mandate be different brackets authority.There are the various grades such as the robot administrator of household electrical appliances administration authority, average family Member Users and Guest User.If current grant people's identity is machine handing personnel user, identity recognizing unit is by this identity information transmission to tracing unit, tracing unit follows the trail of current donor, behaviour's instruction that household electrical appliances are made by the command resolution unit resolves current grant people of robot, and the operation after resolving is transmitted to corresponding household electrical appliances.The voice messaging of current grant people is collected while accepting the household electrical appliances operational order of current grant people.If current grant people's identity is average family member, then following the trail of current grant people, identity recognizing unit is by this identity information transmission to tracing unit, and tracing unit follows the trail of current donor, and the voice messaging of current grant people is collected by robot.If current grant people's identity is visitor, identity recognizing unit is by this identity information transmission to tracing unit, and tracing unit follows the trail of current unauthorized people, collects motion images and the voice messaging of current unauthorized people.In the present invention, the identity that the biometric discrimination method identification current lines such as voice, gesture, fingerprint or recognition of face are behaved can be passed through when robot identification donor or unauthorized people's identity.The audio recognition method used in the present invention, gesture identification method, fingerprint identification method, face identification method etc. all can adopt existing method to realize, and the present invention no longer repeats one by one.

As it is shown on figure 3, the security monitoring robot that the embodiment of the present invention provides, also include voice collecting recognition unit;Voice collecting recognition unit, for gathering and identify the voice messaging of donor;Voice collecting recognition unit, sends recognition result to speech comparison unit;Speech comparison unit, be additionally operable to by recognition result and with default warning Key comparison;And information reminding unit, send warning message when comparative result is judged as warning keyword and report to the police to backstage.Specifically, robot is identifying while unauthorized human action also to the voice collecting of unauthorized people and identify.Gather and identify the voice messaging of current grant people and identify, generating warning message according to voice identification result.Have language threat information or calling for help information in the voice of unauthorized people if identified, then to backstage alert, this warning message can be written form, it is also possible to be speech form, it is of course possible to understands and can also is that pictorial form.During to the speech recognition of donor, the keyword in voice can be extracted, with the Key comparison prestored, if this keyword belongs to the warning keyword that donor pre-sets, then send to user terminal donor to user terminal, in order to user processes or prevents the unsafe act of unauthorized people in time or processes the calling for help of donor.This keyword can be the threat keyword that donor pre-sets can also be the calling for help keyword of donor.

Specifically, as shown in Figure 1 to Figure 3, the security monitoring robot that the embodiment of the present invention provides, also include: position determination unit, for identifying the region at unauthorized people place;Information reminding unit, when unauthorized people arrives in privacy areas, sends prompting message when comparative result is judged as abnormal operation.If being unauthorized people by current involved party's identification, then robot needs the privacy areas set some donors to monitor the action of unauthorized people, and tracing unit follows the trail of current unauthorized people, collects motion images and the voice messaging of current unauthorized people.Such as privacy areas includes bedroom, study, be provided with the region etc. of safety cabinet deposits the region of valuables.When unauthorized people enters the privacy areas that these donors set, robot strictly identifies the action of unauthorized people.The motion images of the unauthorized people of tracing unit Real-time Collection, the action of unauthorized people is identified by behavior comparing unit.In the present invention, the action of the unauthorized people of behavior comparing unit identification can adopt the image recognition that robot is gathered by existing mode identification method, and concrete identification process just repeats no more at this.

When robot recognize the performance of a different dive that unauthorized people sends close safe action that donor sets or meet unsafe act that donor sets time, send corresponding prompting message to donor.Such as, it is safe action (speak, stand, walk, sit, crouch) that donor sets some behavior act, and when the action that robot recognizes is not these actions, robot sends corresponding prompting to robot donor.It is that dangerous play (opens some private parts drawer, cupboard, safety cabinet etc. that donor sets some behavior;Directly send beating, kick).These safe actions or dangerous play that donor sets are possibly stored in data base.

Robot recognizes the action of unauthorized people when being unsafe act, sends prompting message to donor, and prompting message can be written form, it is also possible to be sound (including voice) form, it is of course possible to understands and can also is that pictorial form.When robot sends prompting image information to donor, the behavior image of unauthorized people is checked to donor's terminal for donor by robot with picture or visual form transmission, in order to donor processes in time or prevents the unsafe act of unauthorized people.

For embodying the superiority of security monitoring provided by the invention robot further, the present invention provides a kind of robot security being applied to above-mentioned robot to monitor method, as shown in Figure 4, the method includes: follow the trail of the movement as unauthorized people the current image following the trail of unauthorized people of collection;Identify the behavior of unauthorized people;The behavior of the current unauthorized people identified is compared with the behavior collection preset;Prompting message is sent when comparative result is judged as Deviant Behavior.Method of below robot security provided by the invention being monitored launches detailed description.

When involved party enters the monitoring region of robot, it is necessary to first identify the identity of donor, identify that people's identity is donor and unauthorized people.Donor's identity can be arranged to variety classes according to the demand of robotic user.Employment mandate such as, also includes authorization module, for will be made to be donor.Can by the current donor making employment mandate be different brackets authority.There is the robot administrator of household electrical appliances administration authority, average family Member Users and Guest User.If current user identities is machine handing personnel user, robot resolves the affected execution of household electrical appliances of current grant people and transmits to corresponding household electrical appliances.The voice messaging of current grant people is collected while accepting the household electrical appliances operational order of current grant people.If current grant people's identity is average family member, follow the trail of current grant people, collect the voice messaging of current grant people.If current grant people's identity is visitor, then follow the trail of current unauthorized people, collect motion images and the voice messaging of current unauthorized people.In the present invention, the identity of the current unauthorized people of biometric discrimination method identification such as voice, gesture, fingerprint or recognition of face or donor can be passed through when the unauthorized people of robot identification or donor's identity.

Specifically, robot needs the privacy areas set some donors to monitor the action of unauthorized people.Such as privacy areas includes bedroom, study, be provided with the region etc. of safety cabinet deposits the region of valuables.The motion images of the unauthorized people of robot Real-time Collection, and the action recognition to unauthorized people.When unauthorized people enters the privacy areas that these donors set, robot strictly identifies the action of unauthorized people.In the present invention, the action of the unauthorized people of robot identification can adopt the image recognition that robot is gathered by existing mode identification method, and concrete identification process just repeats no more at this.

When robot recognize the performance of a different dive that unauthorized people sends close safe action that donor sets or meet unsafe act that donor sets time, send corresponding prompting to robot donor.Such as, it is safe action (speak, stand, walk, sit, crouch) that donor sets some behavior act, and when the action that robot recognizes is not these actions, robot sends corresponding prompting to robot donor.It is that dangerous play (opens some private parts drawer, cupboard, safety cabinet etc. that donor sets some behavior;Directly send beating, kick).These safe actions or dangerous play that donor sets are possibly stored in data base.

Robot recognizes the action of unauthorized people when being unsafe act, sends prompting message.Prompting message can be written form, it is also possible to be speech form, it is of course possible to understands and can also is that pictorial form.When robot sends prompting image information to donor, the behavior image of unauthorized people is checked to user terminal for donor by robot with picture or visual form transmission, in order to donor processes in time or prevents the unsafe act of involved party.

In the present invention, robot also to the voice collecting of involved party and identify, generates alarm signal according to voice identification result while identifying rows is human action.Concrete collection and identify donor voice messaging and identify by recognition result and with default warning Key comparison;Warning message is sent when comparative result is judged as warning keyword.Having language threat information or calling for help information in the voice of involved party if identified, then send prompting message to donor, prompting message can be written form, it is also possible to be sound (including voice) form, it is of course possible to understands and can also is that pictorial form.During to the speech recognition of involved party, the keyword in voice can be extracted, with the Key comparison prestored, if this keyword belongs to the warning keyword that donor pre-sets, then send to user terminal, in order to donor processes or prevents the unsafe act of unauthorized people in time or processes the calling for help of involved party.This keyword can be the keyword that threatens that user pre-sets can also be the calling for help keyword (such as include some emergency secret signal) of involved party.

In sum, security monitoring robot provided by the invention and robot security monitor method, and for the action of the specific region identifying rows behaviour that donor sets, and the action according to unauthorized people sends prompting message.Hazardous act that the present invention can effectively stop behavior or the threat being subject to, in order to donor actively prevents or succours donor.

Those skilled in the art are it should be appreciated that embodiments herein can be provided as method, system or computer program.Therefore, the application can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.And, the application can adopt the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.

The application describes with reference to flow chart and/or the block diagram according to the method for the embodiment of the present application, equipment (system) and computer program.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

It should be noted that, in this article, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or equipment not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.When there is no more restriction, statement " including ... " key element limited, it is not excluded that there is also other identical element in including the process of described key element, method, article or equipment.Term " on ", the orientation of the instruction such as D score or position relationship be based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly;Can be mechanically connected, it is also possible to be electrical connection;Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.

In the description of the present invention, describe a large amount of detail.Although it is understood that, embodiments of the invention can be put into practice when not having these details.In some instances, known method, structure and technology it are not shown specifically, in order to do not obscure the understanding of this description.Similarly, it is to be understood that, one or more in order to what simplify that disclosure helping understands in each inventive aspect, herein above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or descriptions thereof sometimes.But, the method for the disclosure should not explained in reflecting an intention that namely the present invention for required protection requires feature more more than the feature being expressly recited in each claim.More precisely, as the following claims reflect, inventive aspect is in that all features less than single embodiment disclosed above.Therefore, it then follows claims of detailed description of the invention are thus expressly incorporated in this detailed description of the invention, wherein each claim itself as the independent embodiment of the present invention.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit;Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein some or all of technical characteristic is carried out equivalent replacement;And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme, it all should be encompassed in the middle of the claim of the present invention and the scope of description.

Claims (12)

1. a security monitoring robot, it is characterised in that including:
Tracing unit, for following the trail of the movement of unauthorized people and gathering the current image following the trail of unauthorized people;
Activity recognition unit, identifies the behavior of unauthorized people;
Behavior comparing unit, for comparing the behavior of the current unauthorized people identified with the behavior collection preset;
Information reminding unit, for the transmission prompting message when comparative result is judged as Deviant Behavior to donor.
2. security monitoring robot according to claim 1, it is characterised in that also include:
Position determination unit, for identifying the region at unauthorized people place;
Described information reminding unit, when unauthorized people arrives in privacy areas, sends prompting message to donor when comparative result is judged as abnormal operation.
3. security monitoring robot according to claim 1, it is characterised in that described information reminding unit, for sending warning message when comparative result is judged as hazardous act.
4. security monitoring robot according to claim 3, it is characterised in that also include voice collecting recognition unit;
Described voice collecting recognition unit, for gathering and identify the voice messaging of donor;
Described voice collecting recognition unit, sends recognition result to speech comparison unit;
Described speech comparison unit, be additionally operable to by described recognition result and with default warning Key comparison;And
Described information reminding unit, sends warning message when comparative result is judged as warning keyword.
5. security monitoring robot according to claim 1, it is characterised in that also include an authorization module, for making employment mandate be donor.
6. security monitoring robot according to claim 1, it is characterised in that also include an identification module, is used for identifying that people's identity is for donor and unauthorized people.
7. a robot security monitors method, it is characterised in that including:
Follow the trail of the movement as unauthorized people the current image following the trail of unauthorized people of collection;
Identify the behavior of unauthorized people;
The behavior of the current unauthorized people identified is compared with the behavior collection preset;
Prompting message is sent when comparative result is judged as Deviant Behavior.
8. robot security according to claim 7 monitors method, it is characterised in that also include the region identifying unauthorized people place, when unauthorized people arrives in privacy areas, sends prompting message when comparative result is judged as abnormal operation.
9. robot security according to claim 7 monitors method, it is characterised in that send warning message when comparative result is judged as hazardous act.
10. robot security according to claim 9 monitors method, it is characterised in that also include:
Gather and identify donor voice messaging and identify by described recognition result and with default warning Key comparison;
Warning message is sent when comparative result is judged as warning keyword.
11. robot security according to claim 7 monitors method, it is characterised in that also include employment mandate to be made for donor.
12. robot security according to claim 7 monitors method, it is characterised in that also include identifying that people's identity is for donor and unauthorized people.
CN201610265522.3A 2016-04-25 2016-04-25 A kind of security monitoring robot and robot security's monitoring method CN105741467B (en)

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