CN107351132A - A kind of safety detection method based on robot, robot and storage medium - Google Patents
A kind of safety detection method based on robot, robot and storage medium Download PDFInfo
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- CN107351132A CN107351132A CN201710638003.1A CN201710638003A CN107351132A CN 107351132 A CN107351132 A CN 107351132A CN 201710638003 A CN201710638003 A CN 201710638003A CN 107351132 A CN107351132 A CN 107351132A
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- image
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- stranger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention is applied to robotic technology field, there is provided a kind of safety detection method based on robot, robot and storage medium, including：The current set pattern of detection, if detecting, set pattern is first mode or second mode, passes through the image information of the camera collector in robot；Image in the image information of collection and default image data base is subjected to match cognization；If the image information of the personnel is not present in described image database, it is determined that be stranger, send prompting message；Under second mode after stranger is defined as, the image that camera gathers in real time is obtained；Identify the position of stranger in the image gathered in real time, and the stranger according to the position tracking of stranger.Stranger can effectively be taken precautions against by the program and enter some places, also the stranger can be tracked according to the image information of collection even if into some places, effectively take precautions against security incident.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of safety detection method based on robot, robot
And storage medium.
Background technology
Robot is the automatic installations for performing work, due to only needing the computer program that operation prestores can
To complete predetermined work, it is possible to apply in many occasions.For example, perform prison in many public places or private site
Control work.
Although traditional robot has monitoring camera, and can provide the recording and storing function of video, this
The simple video record of kind and store function are mainly used in that the investigation and evidence collection after safety problem occurs, and can not preferably take precautions against peace
Full accident.
The content of the invention
In view of this, the embodiments of the invention provide a kind of safety detection method based on robot, robot and storage
Medium, to solve the problems, such as that existing robot can not take precautions against security incident.
The first aspect of the embodiment of the present invention provides a kind of safety detection method based on robot, including：
The current set pattern of robot detection, if detecting, set pattern is first mode or the second mould
Formula, then pass through the image information of the camera collector in robot；
Image in the image information of collection and default image data base is subjected to match cognization to obtain recognition result；
If the recognition result is the image information that the personnel are not present in described image database, it is determined that the people
Member is stranger, sends prompting message；
If detecting, set pattern be second mode, it is determined that the personnel for stranger after, taken the photograph described in acquisition
The image gathered in real time as head；
The position of stranger in the image gathered in real time is identified, and it is strange according to the position tracking of stranger
People.
The second aspect of the embodiment of the present invention provides a kind of robot, including：
Photo module, for detecting current set pattern, if detecting set pattern for first mode or the
Two modes, then pass through the image information of the camera collector in robot；
Matching module, for by the image in the image information of collection and default image data base carry out match cognization with
Obtain recognition result；
Prompting module, if being that the image that the personnel are not present in described image database is believed for the recognition result
Breath, it is determined that the personnel are stranger, send prompting message；
Acquisition module, if for detecting that set pattern be second mode, it is determined that the personnel for stranger it
Afterwards, the image that the camera gathers in real time is obtained；
Tracking module, for identifying the position of stranger in the image gathered in real time, and according to the position of stranger
Track the stranger.
The third aspect of the embodiment of the present invention provides a kind of robot, including：Memory, processor and it is stored in institute
The computer program that can be run in memory and on the processor is stated, it is real during computer program described in the computing device
The step of methods described that existing first aspect of the embodiment of the present invention provides.
The fourth aspect of the embodiment of the present invention provides a kind of computer-readable recording medium, the computer-readable storage
Media storage has computer program, and the computer program realizes the embodiment of the present invention when being executed by one or more processors
On the one hand the step of methods described provided.
Existing beneficial effect is the embodiment of the present invention compared with prior art：
The current set pattern of detection, if detecting, set pattern is first mode or second mode, is passed through
The image information of camera collector in robot；By in the image information of collection and default image data base
Image carry out match cognization；If the image information of the personnel is not present in described image database, it is determined that it is stranger,
Send prompting message；Under second mode after stranger is defined as, the image that camera gathers in real time is obtained；Identification is adopted in real time
The position of stranger in the image of collection, and the stranger according to the position tracking of stranger.Can be in personnel by the program
Into before some places, the image information of personnel is identified, stranger is determined whether according to image information, can effectively be taken precautions against
Stranger enters the place；Furthermore it is also possible to identify whether personnel are stranger in place, if stranger can track institute
State stranger and gather the image information of stranger in real time, effectively take precautions against security incident.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the implementation process schematic diagram for the safety detection method based on robot that one embodiment of the invention provides；
Fig. 2 is the implementation process schematic diagram for the safety detection method based on robot that further embodiment of this invention provides；
Fig. 3 is the implementation process schematic diagram for the safety detection method based on robot that yet another embodiment of the invention provides；
Fig. 4 is the schematic block diagram for the robot that one embodiment of the invention provides；
Fig. 5 is the schematic block diagram for the robot that one embodiment of the invention provides.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
It should be appreciated that ought be in this specification and in the appended claims in use, special described by the instruction of term " comprising "
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded from one or more of the other feature, entirety, step,
Operation, element, component and/or its presence or addition for gathering.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As used in description of the invention and appended claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and appended claims is
Refer to any combinations of one or more of the associated item listed and be possible to combine, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
The robot can be used under various modes, for example, entrance guard's pattern, patrol pattern, safe inspection mode,
More patterns can also be set in practical application, the application places of each pattern can function that is different, realizing can be different,
Certainly, there can also be identical function under various modes.
Fig. 1 is the implementation process schematic diagram for the safety detection method based on robot that one embodiment of the invention provides,
Robot application may comprise steps of in entrance guard's pattern, as shown in the figure this method described in the embodiment：
Step S101, the current set pattern of robot detection, if detecting, set pattern is the first mould
Formula, then pass through the image information of the camera collector in robot.
Which kind of in embodiments of the present invention, robot can be set in advance to be operated under pattern, for example, we set first
Pattern is entrance guard's pattern, and second mode is patrol pattern.By taking entrance guard's pattern as an example, when setting entrance guard's pattern, robot can be first
Default initial position is returned to, or after being arranged to entrance guard's pattern, the current position of robot is exactly default initial position.In advance
If initial position can be the doorway or porch in some places, for example, robot is placed at the doorway of company, machine
Device people is initial position according to the memory picture current location at the doorway of current positional information and current shooting；Or
Initial position places signal projector, and robot determines the position of signal projector to determine to preset by the signal received
Initial position.
Robot can determine whether that personnel occur by the image that camera gathers, or be sensed by induction installation
Whether personnel appearance is had, and induction installation can be infrared inductor.When the personnel that sense occur or determine have by camera
The image information of collector when personnel occur.The image gathered by camera determines whether that specifically leading to occur in personnel
Cross：It is determined that whether having moving object appearance in the picture of collection, identify whether moving object is people if having moving object appearance,
If people, the image information for containing people is obtained.It can pass through when it is determined that whether thering is moving object to occur in the picture of collection
Continuous at least two image is contrasted to determine, if the difference of at least two images of contrast exceedes discrepancy threshold, then it is assumed that have
Moving object.
Step S102, the image information of collection is subjected to match cognization to obtain with the image in default image data base
Recognition result.
In embodiments of the present invention, exemplified by applied to company, the image information of the employee of company can be inputted to figure
As database, employee's image information in the image information and image data base of the personnel of collection is subjected to match cognization, specifically
The face characteristic in image information can be matched, can also be using the further feature of personnel as supplemental characteristic, for example, hair is believed
Breath.Matching threshold can be set, when the matching degree of the personnel's image and at least one image in image data base of collection is more than
During matching threshold, then it is assumed that the image information of the personnel in described image database be present, that is, the personnel are company person
Work, the instruction let pass can be sent to gate control system.Otherwise, it is considered as being not present the figure of the personnel in described image database
As information, that is, the personnel are not company personnel, it can be assumed that being stranger.
Step S103, if the recognition result is the image information that the personnel are not present in described image database,
It is stranger to determine the personnel, sends prompting message.
In embodiments of the present invention, if the recognition result is the image that the personnel are not present in described image database
Information is specially：There is no any image and the matching degree of the image information of the personnel currently gathered to be more than in the database
Matching threshold.If it is determined that it is stranger, it is necessary to send prompting message, remind stranger original place to wait, and notify safety management
System, after keeper is known by safety management system and has personnel's visiting, company doorway reception visiting person can be gone.It can also incite somebody to action
The image information of the personnel of collection sends to safety management system, keeper and checks that the image of personnel is believed by safety management system
Breath, if thinking to let pass according to the image information of the personnel of collection, the instruction of a clearance is just sent to robot.
After prompting message is sent, camera can continue to gather the image of stranger, according to the image information of stranger
Recognize when the stranger makes a forcible entry into the information of company (for example, stranger pushes company gate open, stranger enters preset areas
Domain), then control machine people leaves default initial position, tracks stranger and gathers the image information of stranger in real time, so as to
Be monitored in stranger, can also by real-time position information during robotic tracking stranger and shooting image transmitting extremely
Safety management system, in order to which keeper can know the current position of stranger by safety management system.
Can also be that robot sets other functions under entrance guard's pattern, for example, by the image information of collection with it is default
Image data base in image carry out match cognization to obtain recognition result after, if the recognition result is described image number
According to the image information that the personnel in storehouse be present, then send presupposed information and record the image information that gathers the personnel when
Between.
In embodiments of the present invention, after it is determined that the image information of the personnel in default image data base be present,
Presupposed information is can be sent out, such as is welcomed by forms such as sound, action, light, by taking sound as an example, sends and " welcomes
The voice messaging of presence ".Specifically according to different personnel different presupposed informations can also be set to welcome.If it is applied to
Company, the time of image information of the personnel can also will be gathered as attendance information.
Under entrance guard's pattern, when robot is placed on plant area doorway or parking lot doorway, automatic point can also be increased
Function with parking stall, it is specific as follows：
If including information of vehicles in the image information of the camera collection, the information of vehicles is recorded；
Be that the vehicle distributes parking stall according to the information of vehicles, and by the parking stall of distribution by visualization interface or
The mode of person's voice broadcast exports.
In embodiments of the present invention, camera car can occur with real-time image acquisition information if detecting in image information
Information, that is, recognize and occur vehicle in described image, then information of vehicles, such as car can be identified according to described image
Type, license plate number etc..Record the license plate number of the vehicle and record collects the time of the image comprising the vehicle, and according to car
Information is that the vehicle distributes parking stall, for example, when license plate number is the license plate number in presetting database, can distribute company
Internal parking stall.When license plate number is not the license plate number in default database, guest parking stall can be distributed.Default data
Storehouse can be the database of the license plate number composition of company personnel.The parking stall of distribution can also be passed through visualization interface or language
The mode that sound is reported exports.If no parking stall can also be exported by way of visualization interface or voice broadcast, for example,
Stop bit number or the information without parking stall are shown by display screen.
The embodiment of the present invention is applied to entrance guard's pattern, can not only realize entrance guard's function, prevents stranger from entering some field
Institute, the stranger can also be tracked when detecting that stranger makes a forcible entry into some place, stranger can be prevented and enter certain
Individual place, take precautions against security incident.
Fig. 2 is the implementation process signal for the safety detection method based on robot that another embodiment of the invention provides
Figure, robot application described in the embodiment may comprise steps of in patrol pattern, as shown in the figure this method：
Step S201, the current set pattern of robot detection, if detecting, set pattern is the second mould
During formula, the robot is gone on patrol according to default patrol route.
In embodiments of the present invention, if detecting, the pattern currently set is second mode, that is, goes on patrol pattern, machine
People is gone on patrol according to default patrol route.The map for going on patrol place and default patrol route can be stored to machine
In the memory space of people, robot is gone on patrol according to the map and default patrol route in patrol place.
Step S202, pass through the image information of the camera collector in robot.
In embodiments of the present invention, it is that robot in the embodiment of the present invention is in patrol shape with step S101 difference
State, not at default initial position.
Pass through the image information of camera collector during patrol.If multiple personnel are detected in piece image
Information, then obtain the image information of each personnel in the width image respectively, respectively with the image in default image data base
Match cognization is carried out, before match cognization, whether the image information that can also detect the personnel of collection meets standard, only accords with
The image information of standardization can carry out match cognization with the image in default image data base.Pass through personnel for example, working as
Face feature when carrying out match cognization, face are unintelligible in the image information of the personnel of collection or missing, it is possible to occur
Even if in image data base exist the personnel image, also can't match cognization success, it is likely that the personnel are determined as
Stranger.
Step S203, the image information of collection is subjected to match cognization to obtain with the image in default image data base
Recognition result.
In embodiments of the present invention, can be by the image information for meeting preset requirement of collection and default image data base
In image carry out match cognization obtain recognition result.The specific description that can refer in step S102, will not be repeated here.
Step S204, if the recognition result is the image information that the personnel are not present in described image database,
It is stranger to determine the personnel, sends prompting message.
The step is consistent with step S103 contents, specifically can refer to step S103 description, will not be repeated here.
Step S205, it is determined that the personnel be stranger after, obtain the image that the camera gathers in real time.
In embodiments of the present invention, robot is during patrol, when it is determined that stranger occur, can pass through camera
Real-time image acquisition, real-time image acquisition is actual and gathers at predetermined intervals, and simply interlude is relatively short.
Step S206, the position of stranger in the image gathered in real time is identified, and according to the position tracking of stranger
The stranger.
After the image for obtaining camera collection, the position of stranger in image is identified, is gathered in real time according to the camera
Image frame in stranger position adjustment robot position so that stranger is constantly in the figure of camera collection
As the ratio of image frame shared by stranger in the image frame gathered in real time, that is, footpath between fields in picture, can also be identified
Size of the stranger in image frame, robot is adjusted according to the ratio of the shared image frame of stranger in image frame in real time
Advance or retreat.This makes it possible to realize in real time obtain stranger image, and in real time adjust robot position realize with
Track stranger.
Can also be that robot sets other functions under patrol pattern, such as：When default patrol position is arrived in patrol
When, safety detection is carried out to default position by the detector in robot；
If the result of the safety detection sends the first warning information not meet default safety standard.
In embodiments of the present invention, detector, such as smoke detector, air humidity can also be set to visit in robot
Survey device, hygrosensor.It can shift to an earlier date to set in different patrol positions and open different detectors to detect some position
Whether smokescope is exceeded, whether humidity is exceeded, whether temperature is exceeded.Certainly, in actual applications can also only a kind of detection
Device sets other detectors to carry out safety detection, if the result of safety detection does not meet default safety standard, then
Send the first warning information.Different warning informations can be set according to the result of safety detection.For example, set according to danger classes
Fixed different warning information.
The embodiment of the present invention is applied to patrol pattern, robot gone on patrol in Space, Place can not only identify at any time it is strange
People, other potential safety hazards can also be identified during patrol, can preferably take precautions against security incident.
Fig. 3 is the implementation process signal for the safety detection method based on robot that further embodiment of the present invention provides
Figure, robot application may comprise steps of in safe inspection mode, as shown in the figure this method described in the embodiment：
Step S301, if detecting, set pattern is the 3rd pattern, passes through the sensor in robot
Or camera has detected whether personnel's appearance.
In embodiments of the present invention, if detecting the pattern set as the 3rd pattern, that is, safe inspection mode, the mould
The security sweep to personnel is mainly used under formula, for example, subway entrance, company doorway can be arranged on.Shooting can be passed through
Head determines whether that personnel occur, and can also determine whether that personnel occur by sensor, such as infrared sensor.
Step S302, if having detected personnel's appearance, security sweep is carried out to the personnel of appearance.
In embodiments of the present invention, scanner can be set in robot, for being scanned to human body, can also incited somebody to action
Security scanner is by wired mode or is wirelessly connected in robot, and robot obtains the figure of scanner scanning
As determining whether scanning to default object.
Step S303, if scanning sends the second warning information to default article in security sweep.
In embodiments of the present invention, the default article can be contraband (fireworks, firecracker etc.), such as in some meeting-place
Porch, contraband inspection is carried out by the robot, so it is prevented that someone brings contraband into meeting-place causes to pacify
Full accident.Article as defined in intra-company is can also be, for example, u disks, notebook, Products etc..So it is prevented that having
People goes out the carryings such as company property, technological document.
It should be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.The division of embodiment is also only a kind of citing, in actual applications, can also be split different embodiments or group
It is combined to form new embodiment, all within the scope of the present invention.
Fig. 4 is the schematic block diagram for the robot that one embodiment of the invention provides, and for convenience of description, is only shown and the present invention
The related part of embodiment.The robot 4 can be the unit of software unit, hardware cell or soft or hard combination.
The robot 4 includes：
Photo module 41, for detecting current set pattern, if detect set pattern for first mode or
Second mode, then pass through the image information of the camera collector in robot；
Matching module 42, for the image in the image information of collection and default image data base to be carried out into match cognization
To obtain recognition result；
Prompting module 43, if being that the image that the personnel are not present in described image database is believed for the recognition result
Breath, it is determined that the personnel are stranger, send prompting message；
Acquisition module 44, if for detecting that set pattern is second mode, it is determined that the personnel are stranger
Afterwards, the image that the camera gathers in real time is obtained；
Tracking module 45, for identifying the position of stranger in the image gathered in real time, and according to the position of stranger
Put the tracking stranger.
Optionally, the robot also includes：
Processing module 46, if for detecting that set pattern is first mode, by the image information of collection and in advance
If image data base in image carry out match cognization to obtain recognition result after, if the recognition result is described image
The image information of the personnel in database be present, then send presupposed information and record the image information that gathers the personnel when
Between.
Optionally, the robot also includes：
Identification module 47, if for detecting that set pattern is first mode, by robot
After the image information of camera collector, if including information of vehicles in the image information of camera collection, record
The information of vehicles；
Distribute module 48, for being that the vehicle distributes parking stall according to the information of vehicles, and by the parking stall of distribution
Exported by way of visualization interface or voice broadcast.
Optionally, the robot also includes：
Safety detection module, if for detecting that set pattern is second mode, the robot is according to default
Patrol route is gone on patrol；When default position is arrived in patrol, default position is carried out by the detector in robot
Safety detection；
First alarm modules, if the result for the safety detection not meet default safety standard, sends the
One warning information.
Optionally, the robot includes：
Personnel's detection module, if for detecting that set pattern is the 3rd pattern, by robot
Sensor or camera detected whether personnel's appearance；
Scan module, if for having detected personnel's appearance, security sweep is carried out to the personnel of appearance；
Second alarm modules, if for being scanned in security sweep to default article, send the second warning information.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different functions
Module is completed, will the internal structure of the robot be divided into different functional modules, with complete it is described above whole or
Person's partial function.Each functional module in embodiment can be integrated in a processing module or modules are independent
Be physically present, can also two or more modules be integrated in a module, above-mentioned integrated module can both use hard
The form of part is realized, can also be realized in the form of software function module.In addition, the specific name of each functional module is also
For the ease of mutually distinguishing, the protection domain of the application is not limited to.The specific work process of module in said system, can
With reference to the corresponding process in preceding method embodiment, will not be repeated here.
Fig. 5 is the schematic block diagram for the robot that one embodiment of the invention provides.As shown in figure 5, the robot 5 of the embodiment
Including：One or more processors 50, memory 51 and it is stored in the memory 51 and can be on the processor 50
The computer program 52 of operation.The processor 50 realizes the above-mentioned safety based on robot when performing the computer program 52
Step in inspection method embodiment, such as the step S101 to S103 shown in Fig. 1.Or the processor 50 perform it is described
The function of each module in above-mentioned robotic embodiment, such as the function of module 41 to 45 shown in Fig. 4 are realized during computer program 52.
Exemplary, the computer program 52 can be divided into one or more modules, one or more of
Module is stored in the memory 51, and is performed by the processor 50, to complete the present invention.One or more of moulds
Block can be the series of computation machine programmed instruction section that can complete specific function, and the instruction segment is used to describe the computer journey
Implementation procedure of the sequence 52 in the robot 5.For example, the computer program 52 can be divided into photo module, matching
Module, prompting module, acquisition module, tracking module.
The photo module, for detecting current set pattern, if detecting, set pattern is first mode
Or second mode, then pass through the image information of the camera collector in robot；
The matching module, for the image in the image information of collection and default image data base to be carried out into matching knowledge
Not to obtain recognition result；
The prompting module, if being in the absence of the image of the personnel in described image database for the recognition result
Information, it is determined that the personnel are stranger, send prompting message；
The acquisition module, if for detecting that set pattern is second mode, it is determined that the personnel are strange
After people, the image that the camera gathers in real time is obtained；
The tracking module, for identifying the position of stranger in the image gathered in real time, and according to stranger's
Stranger described in position tracking.
The specific descriptions of other modules will not be repeated here with reference to the description in a upper embodiment.
The robot includes but are not limited to processor 50, memory 51.It will be understood by those skilled in the art that Fig. 5
The only example of robot 5, the restriction to robot 5 is not formed, parts more more or less than diagram can be included, or
Person combines some parts, or different parts, such as the robot can also include input equipment, output equipment, network
Access device, bus etc..
The processor 50 can be CPU (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 51 can be the internal storage unit of the robot 5, such as the hard disk or internal memory of robot 5.
The memory 51 can also be the External memory equipment of the robot 5, such as the plug-in type being equipped with the robot 5 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 51 can also both include the internal storage unit of the robot 5 or wrap
Include External memory equipment.The memory 51 is used to store the computer program and other programs needed for the robot
And data.The memory 51 can be also used for temporarily storing the data that has exported or will export.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment
The part of load, it may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the mould of each example described with reference to the embodiments described herein
Block and step, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually with hard
Part or software mode perform, application-specific and design constraint depending on technical scheme.Professional and technical personnel can be with
Described function is realized using distinct methods to each specific application, but this realization is it is not considered that exceed this hair
Bright scope.
In embodiment provided by the present invention, it should be understood that disclosed robot and method, can be by other
Mode realize.For example, robotic embodiment described above is only schematical, for example, the division of the module, only
Only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical by some interfaces, device or unit
News connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated module is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-described embodiment side
All or part of flow in method, by computer program the hardware of correlation can also be instructed to complete, described computer
Program can be stored in a computer-readable recording medium, and the computer program can be achieved above-mentioned each when being executed by processor
The step of individual embodiment of the method..Wherein, the computer program includes computer program code, the computer program code
Can be source code form, object identification code form, executable file or some intermediate forms etc..The computer-readable medium can
With including：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk, magnetic disc,
CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that computer-readable recording medium includes can carry out appropriate increase and decrease according to legislation in jurisdiction and the requirement of patent practice, such as
In some jurisdictions, according to legislation and patent practice, computer-readable medium does not include being electric carrier signal and telecommunications letter
Number.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should
Within protection scope of the present invention.
Claims (10)
- A kind of 1. safety detection method based on robot, it is characterised in that including：The current set pattern of robot detection, if the pattern set by detecting is first mode or second mode, Then pass through the image information of the camera collector in robot；Image in the image information of collection and default image data base is subjected to match cognization to obtain recognition result；If the recognition result is the image information that the personnel are not present in described image database, it is determined that the personnel are Stranger, send prompting message；If detecting, set pattern be second mode, it is determined that the personnel for stranger after, obtain the camera The image gathered in real time；Identify the position of stranger in the image gathered in real time, and the stranger according to the position tracking of stranger.
- 2. the method as described in claim 1, it is characterised in that set pattern is first mode if detecting, will adopted After the image information of collection carries out match cognization to obtain recognition result with the image in default image data base, methods described Also include：If the recognition result is the image information for existing in described image database the personnel, sends presupposed information and remember Record gathers the time of the image information of the personnel.
- 3. the method as described in claim 1, it is characterised in that set pattern is first mode if detecting, is being passed through After the image information of camera collector in robot, methods described also includes：If including information of vehicles in the image information of the camera collection, the information of vehicles is recorded；It is that the vehicle distributes parking stall according to the information of vehicles, and the parking stall of distribution is passed through into visualization interface or language The mode that sound is reported exports.
- 4. the method as described in claim 1, it is characterised in that if the pattern set by detecting is second mode, the side Method also includes：The robot is gone on patrol according to default patrol route；When default position is arrived in patrol, safety detection is carried out to default position by the detector in robot；If the result of the safety detection sends the first warning information not meet default safety standard.
- 5. the method as described in claim 1, it is characterised in that after the current set pattern of robot detection, Methods described also includes：If detecting, set pattern is the 3rd pattern, is detected by the sensor in robot or camera Whether personnel appearance is had；If having detected personnel's appearance, security sweep is carried out to the personnel of appearance；If scanning sends the second warning information to default article in security sweep.
- 6. the method as described in claim 1, it is characterised in that the position of stranger in the identification image gathered in real time Put, and stranger includes according to the position tracking of stranger：According to the position of the position adjustment robot of stranger in the image frame gathered in real time so that stranger locates always In the image frame of camera collection；The ratio of image frame shared by stranger in the image frame gathered in real time is identified, according to stranger in image frame Shared ratio adjusts robot and advances or retreat in real time.
- A kind of 7. robot, it is characterised in that including：Photo module, for detecting current set pattern, if detecting, set pattern is first mode or the second mould Formula, then pass through the image information of the camera collector in robot；Matching module, for the image information of collection to be carried out into match cognization to obtain with the image in default image data base Recognition result；Prompting module, if for the recognition result for the image information of the personnel is not present in described image database, It is stranger to determine the personnel, sends prompting message；Acquisition module, if for detecting that set pattern be second mode, it is determined that the personnel for stranger after, obtain The image for taking the camera to gather in real time；Tracking module, for identifying the position of stranger in the image gathered in real time, and according to the position tracking of stranger The stranger.
- 8. robot as claimed in claim 7, it is characterised in that the robot also includes：Processing module, if for detecting that set pattern is first mode, by the image information of collection and default figure After carrying out match cognization as the image in database to obtain recognition result, if the recognition result is described image database The middle image information that the personnel be present, then send presupposed information and record the time for gathering the image information of the personnel；Identification module, if for detecting that set pattern is first mode, passing through the camera in robot After the image information of collector, if including information of vehicles in the image information of camera collection, the car is recorded Information；Distribute module, for being that the vehicle distributes parking stall according to the information of vehicles, and by the parking stall of distribution by can Mode depending on changing interface or voice broadcast exports.
- 9. a kind of robot, including：Memory, processor and it is stored in the memory and can transports on the processor Capable computer program, it is characterised in that realize such as claim 1 to 6 times described in the computing device during computer program The step of one methods described.
- 10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, and its feature exists In when the computer program is executed by processor the step of realization such as any one of claim 1 to 6 methods described.
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| CN201710638003.1A CN107351132A (en) | 2017-07-31 | 2017-07-31 | A kind of safety detection method based on robot, robot and storage medium |
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| CN107909050A (en) * | 2017-11-29 | 2018-04-13 | 中科新松有限公司 | A kind of personnel identity information determines method, system, equipment and storage medium |
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| CN108737733A (en) * | 2018-06-08 | 2018-11-02 | Oppo广东移动通信有限公司 | Information cuing method and device, electronic equipment, computer readable storage medium |
| CN109558802A (en) * | 2018-10-31 | 2019-04-02 | 云南电网有限责任公司昆明供电局 | Personal identification monitoring system and monitoring method in cable tunnel |
| CN110032953A (en) * | 2019-03-26 | 2019-07-19 | 深圳市沃特沃德股份有限公司 | Monitor method, apparatus, storage medium and the computer equipment of stranger |
| CN111611904A (en) * | 2020-05-15 | 2020-09-01 | 新石器慧通（北京）科技有限公司 | Dynamic target identification method based on unmanned vehicle driving process |
| CN111612994A (en) * | 2020-05-07 | 2020-09-01 | 苏州斯坦姆智能科技有限公司 | Visual identification autonomous following detection device |
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