CN107608354A - A kind of intelligent security protection goes on patrol device - Google Patents
A kind of intelligent security protection goes on patrol device Download PDFInfo
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- CN107608354A CN107608354A CN201710862297.6A CN201710862297A CN107608354A CN 107608354 A CN107608354 A CN 107608354A CN 201710862297 A CN201710862297 A CN 201710862297A CN 107608354 A CN107608354 A CN 107608354A
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Abstract
The invention provides a kind of intelligent security protection to go on patrol device, monitoring host computer including patrol dolly and with going on patrol dolly wireless connection, stereo vision apparatus is provided with the patrol dolly, communicator and controller, the stereo vision apparatus is used for the three-dimensional scenic for obtaining beat, the communicator is used to send the three-dimensional scenic to monitoring host computer and receive the control instruction of monitoring host computer, the controller is used to be controlled patrol dolly according to the control instruction of monitoring host computer, the monitoring host computer is used to be monitored beat according to the three-dimensional scenic of acquisition and sends control instruction to patrol dolly according to monitoring situation.The present invention has the beneficial effect that：Patrol dolly is controlled by monitoring host computer, realizes unmanned patrol security protection, patrol efficiency is substantially increased and security protection is horizontal.
Description
Technical field
The present invention relates to technical field of security and protection, and in particular to a kind of intelligent security protection goes on patrol device.
Background technology
Current security protection patrol, which relies primarily on, to be accomplished manually, and each plant area, warehouse, building site are provided with security protection patrolman
Member, disadvantage of this is that the waste for not only causing manpower and materials, and security personnel are also impossible to keep notice height constantly
Degree is concentrated, it is difficult to carries out effective security protection.
The content of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of intelligent security protection goes on patrol device.
The purpose of the present invention is realized using following technical scheme：
Provide a kind of intelligent security protection patrol device, including patrol dolly and the monitoring master with going on patrol dolly wireless connection
Machine, described go on patrol on dolly are provided with stereo vision apparatus, communicator and controller, and the stereo vision apparatus is used to obtain
The three-dimensional scenic of beat, the communicator are used to send the three-dimensional scenic to monitoring host computer and receive monitoring host computer
Control instruction, the controller is used to be controlled patrol dolly according to the control instruction of monitoring host computer, the monitoring master
Machine, which is used to be monitored beat according to the three-dimensional scenic of acquisition and sends control to patrol dolly according to monitoring situation, to be referred to
Order.
The present invention has the beneficial effect that：Patrol dolly is controlled by monitoring host computer, realizes unmanned patrol security protection,
Substantially increase patrol efficiency and security protection is horizontal.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Reference：
Go on patrol dolly 1, monitoring host computer 2.
Embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of intelligent security protection of the present embodiment patrol device, including patrol dolly 1 and with going on patrol the nothing of dolly 1
The monitoring host computer 2 of line connection, described go on patrol on dolly 1 are provided with stereo vision apparatus, communicator and controller, the solid
Sighting device is used for the three-dimensional scenic for obtaining beat, and the communicator is used to send the three-dimensional scenic to monitoring master
Machine 2 and the control instruction for receiving monitoring host computer 2, the controller are used for the control instruction according to monitoring host computer 2 to going on patrol dolly 1
It is controlled, the monitoring host computer 2 is used to be monitored beat according to the three-dimensional scenic of acquisition and according to monitoring situation
Control instruction is sent to patrol dolly 1.
The present embodiment is controlled by monitoring host computer to patrol dolly, is realized unmanned patrol security protection, is greatly improved
Patrol efficiency and security protection are horizontal.
Preferably, the patrol dolly 1 is chargeable patrol dolly 1.
This preferred embodiment patrol dolly is easy to use.
Preferably, the chargeable patrol dolly 1 uses lithium cell charging.
This preferred embodiment battery length and powered stable.
Preferably, the stereo vision apparatus includes two video cameras of identical and the stereopsis being connected with the video camera
Feel processing unit, described two video cameras of identical are respectively arranged in patrol dolly 1 both sides, are designated as left video camera and right shooting
Machine, the stereopsis device include the first demarcating module, the second image collection module, the 3rd stereo matching module and the
Four three-dimensional reconstruction modules, first demarcating module are used to demarcate two video cameras of identical, and second image obtains
Modulus block uses two video cameras by demarcation to obtain image, and the 3rd stereo matching module is used to seek from two images
Subpoint of the same scene point on the respective plane of delineation is found out, and calculates the parallax of the subpoint, obtains disparity map, it is described
4th three-dimensional reconstruction module is used to rebuild three-dimensional scenic according to disparity map.
It is accurate that this preferred embodiment three-dimensional scenic obtains, and the security protection for improving patrol device is horizontal.
Preferably, it is described that two video cameras of identical are demarcated, be specially：A, the distortion model of lens is determined：Wherein,
In formula, k1、k2For radial distortion parameter, p1、p2For centrifugal distortion parameter, xd、ydFor the image coordinate of reality, xu、yuTo be preferable
Image coordinate；
B, the value of left and right video camera parameter to be calibrated is determined, in the following ways：Prepare a template, print and it
It is attached on an even curface, by mobile calibrating template or video camera, shoots multiple different directions and the template image of angle,
The inner parameter of left and right video camera, external parameter, radial distortion parameter and centrifugal distortion parameter are determined using Zhang Shi standardizations
Value；Determine left and right image mechanism into stero parameter value, in the following ways：
In formula, n represents the number of world coordinate system, EHi lAnd EHi rRepresent left and right video camera under i-th of world coordinate system respectively
Spin matrix, EMi lAnd EMi rTranslation vector of the left and right video camera under i-th of world coordinate system is represented respectively, and EH and EM are represented
Left and right image mechanism into stero spin matrix and translation vector.
The demarcating module of this preferred embodiment first is demarcated to left and right video camera, ensure that the accuracy subsequently calculated,
The lens distortion model more conforms to lens image formation rule, improve demarcation level, while to two image mechanisms into system
Demarcated, had laid a good foundation for the collection and matching of follow-up stereo-picture, also provided for raising security protection solid
Basis.
Preferably, the 3rd stereo matching module includes the first pretreatment unit, the second matching unit and the 3rd evaluation
Unit, first pretreatment unit are filtered processing to image, and second matching unit is used for according to filtered figure
As asking for disparity map, the 3rd evaluation unit is evaluated match condition according to disparity map.
First pretreatment unit includes the first filtering subunit, the second filtering subunit and filtering fusion subelement,
First filtering subunit carries out a filtering process to image, and second filtering subunit carries out secondary filtering to image
Processing, the filtering fusion subelement merge to filter result twice；
It is described that a filtering process is carried out to image, in the following ways：If YW (x, y) is image function, filtered
Image is represented by：In formula, YW1
(x, y) represents the image after a filtering process, and σ represents filter scale parameter；
It is described that secondary filtering processing is carried out to image, in the following ways：If YW (x, y) is image function, filtered
Image is represented by：In formula, YW2
(x, y) represents the image after secondary filtering is handled；
It is described that filter result twice is merged：
In formula, YW3(x, y) represents filtered image.
The pretreatment unit of this preferred embodiment first is during Stereo matching, it is contemplated that illumination background, noise and scape
The interference of each factor such as object location relation, processing is filtered to image, reduces the filtering process time, achieves good filter
Ripple effect, it is favorably improved the efficiency and precision and the security protection level of patrol device of follow-up Stereo matching.
Preferably, the 3rd evaluation unit includes the first processing subelement, second processing subelement and fusion treatment
Unit, the first processing subelement are used for the first evaluation points for determining Stereo matching situation, the second processing subelement
For determining the second evaluation points of Stereo matching situation, the fusion treatment subelement is used for according to the first evaluation points and the
Two evaluation points carry out overall merit to three-dimensional match condition.
First evaluation points for determining output image, in the following ways： In formula, A represents the flat site in anaglyph, NARepresent flat site
Comprising number of pixels, CSj(x, y) represents the parallax value that anaglyph is shown, CSs(x, y) represents the true parallax surveyed by hand
Value, LG1Represent the first evaluation points of Stereo matching situation；
Second evaluation points for determining output image, in the following ways： In formula, Z represents the occlusion area in anaglyph, NzRepresent flat site
Comprising number of pixels, LG2Represent the second evaluation points of Stereo matching situation；
It is described that overall merit is carried out to three-dimensional match condition, in the following ways：Commented according to the first evaluation points and second
The valency factor calculates the overall merit factorThe overall merit factor is bigger, Stereo matching effect
Fruit is better.
The evaluation unit of this preferred embodiment the 3rd is quantitatively described for Stereo matching effect, realizes three-dimensional of image
The objective evaluation matched somebody with somebody, and the evaluation module considers many-sided factor of evaluation, evaluation it is with a high credibility, ensure that patrol device
Security effect.
Security protection patrol is carried out using intelligent security protection of the present invention patrol device, chooses 5 beats, respectively beat
Domain 1, beat 2, beat 3, beat 4, beat 5, beat security and patrol cost are united
Meter, it is caused to have the beneficial effect that shown in table compared with artificial patrol：
| Beat security improves | Going on patrol cost reduces | |
| Beat 1 | 29% | 21% |
| Beat 2 | 27% | 23% |
| Beat 3 | 26% | 25% |
| Beat 4 | 25% | 27% |
| Beat 5 | 24% | 29% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (7)
1. a kind of intelligent security protection goes on patrol device, it is characterised in that the prison including patrol dolly and with going on patrol dolly wireless connection
Main frame is controlled, is provided with stereo vision apparatus, communicator and controller on the patrol dolly, the stereo vision apparatus is used for
The three-dimensional scenic of beat is obtained, the communicator is used to send the three-dimensional scenic to monitoring host computer and receive monitoring
The control instruction of main frame, the controller are used to be controlled patrol dolly according to the control instruction of monitoring host computer, the prison
Control main frame is used to be monitored beat according to the three-dimensional scenic of acquisition and sends control to patrol dolly according to monitoring situation
System instruction.
2. intelligent security protection according to claim 1 goes on patrol device, it is characterised in that the patrol dolly patrols to be chargeable
Patrol dolly.
3. intelligent security protection according to claim 2 goes on patrol device, it is characterised in that the chargeable patrol dolly uses
Lithium cell charging.
4. intelligent security protection according to claim 3 goes on patrol device, it is characterised in that the stereo vision apparatus includes phase
Two same video cameras and the stereopsis device being connected with the video camera, described two video cameras of identical are pacified respectively
Loaded on patrol dolly both sides, be designated as left video camera and right video camera, the stereopsis device include the first demarcating module,
Second image collection module, the 3rd stereo matching module and the 4th three-dimensional reconstruction module, first demarcating module are used for phase
Two same video cameras are demarcated, and second image collection module uses two video cameras by demarcation to obtain image,
3rd stereo matching module is used to search out subpoint of the same scene point on the respective plane of delineation from two images,
And the parallax of the subpoint is calculated, disparity map is obtained, the 4th three-dimensional reconstruction module is used for according to disparity map to three dimensional field
Scape is rebuild.
5. intelligent security protection according to claim 4 goes on patrol device, it is characterised in that described to two video cameras of identical
Demarcated, be specially：A, the distortion model of lens is determined：Wherein, In formula, k1、k2For radial distortion parameter, p1、p2Join for centrifugal distortion
Number, xd、ydFor the image coordinate of reality, xu、yuFor preferable image coordinate；
B, the value of left and right video camera parameter to be calibrated is determined, in the following ways：Prepare a template, print and it is pasted
On an even curface, by mobile calibrating template or video camera, multiple different directions and the template image of angle are shot,
The inner parameter of left and right video camera, external parameter, radial distortion parameter and centrifugal distortion parameter are determined using Zhang Shi standardizations
Value；Determine left and right image mechanism into stero parameter value, in the following ways：
In formula, n represents the number of world coordinate system, EHi lAnd EHi rRepresent left and right video camera under i-th of world coordinate system respectively
Spin matrix, EMi lAnd EMi rTranslation vector of the left and right video camera under i-th of world coordinate system is represented respectively, and EH and EM are represented
Left and right image mechanism into stero spin matrix and translation vector.
6. intelligent security protection according to claim 5 goes on patrol device, it is characterised in that the 3rd stereo matching module bag
The first pretreatment unit, the second matching unit and the 3rd evaluation unit are included, first pretreatment unit is filtered to image
Processing, second matching unit are used to ask for disparity map according to filtered image, and the 3rd evaluation unit is according to parallax
Figure is evaluated match condition；
First pretreatment unit includes the first filtering subunit, the second filtering subunit and filtering fusion subelement, described
First filtering subunit carries out a filtering process to image, and second filtering subunit is carried out at secondary filtering to image
Reason, the filtering fusion subelement merge to filter result twice；
It is described that a filtering process is carried out to image, in the following ways：If YW (x, y) is image function, filtered image
It is represented by：In formula, YW1(x,
Y) image after a filtering process is represented, σ represents filter scale parameter；
It is described that secondary filtering processing is carried out to image, in the following ways：If YW (x, y) is image function, filtered image
It is represented by：In formula, YW2(x,y)
Represent the image after secondary filtering is handled；
It is described that filter result twice is merged：Formula
In, YW3(x, y) represents filtered image.
7. intelligent security protection according to claim 6 goes on patrol device, it is characterised in that the 3rd evaluation unit includes the
One processing subelement, second processing subelement and fusion treatment subelement, the first processing subelement are used to determine three-dimensional
The first evaluation points with situation, the second processing subelement are used for the second evaluation points for determining Stereo matching situation, institute
Fusion treatment subelement is stated to be used to carry out overall merit to three-dimensional match condition according to the first evaluation points and the second evaluation points；
First evaluation points for determining output image, in the following ways： In formula, A represents the flat site in anaglyph, NARepresent flat site
Comprising number of pixels, CSj(x, y) represents the parallax value that anaglyph is shown, CSs(x, y) represents the true parallax surveyed by hand
Value, LG1Represent the first evaluation points of Stereo matching situation；
Second evaluation points for determining output image, in the following ways： In formula, Z represents the occlusion area in anaglyph, NZRepresent flat site
Comprising number of pixels, LG2Represent the second evaluation points of Stereo matching situation；
It is described that overall merit is carried out to three-dimensional match condition, in the following ways：According to the first evaluation points and second evaluation because
Son calculates overall merit factor LG：The overall merit factor is bigger, and Stereo matching effect is better.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862297.6A CN107608354B (en) | 2017-09-21 | 2017-09-21 | Intelligent security patrol device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862297.6A CN107608354B (en) | 2017-09-21 | 2017-09-21 | Intelligent security patrol device |
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| CN107608354A true CN107608354A (en) | 2018-01-19 |
| CN107608354B CN107608354B (en) | 2020-09-25 |
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ID=61061555
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488829A (en) * | 2019-08-26 | 2019-11-22 | 上海秒针网络科技有限公司 | Go on patrol the control method and device of equipment |
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| US20160195390A1 (en) * | 2015-01-05 | 2016-07-07 | Bell Helicopter Textron Inc. | Inspecting components using mobile robotic inspection systems |
| CN205271990U (en) * | 2015-12-15 | 2016-06-01 | 福建省特种设备检验研究院 | Special equipment scene of accident sniffing robot |
| CN105957288A (en) * | 2016-06-24 | 2016-09-21 | 河南大数据智能机器人有限公司 | Intelligent safety protection patrol apparatus |
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| CN110488829A (en) * | 2019-08-26 | 2019-11-22 | 上海秒针网络科技有限公司 | Go on patrol the control method and device of equipment |
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Effective date of registration: 20200828 Address after: Room 11305, 13 / F, unit 1, building 10, Gaoke Shangdu Mocha, zhangbawu Road, hi tech Zone, Xi'an City, Shaanxi Province Applicant after: Xi'an kemeige Intelligent Technology Co., Ltd Address before: 518000 Nanshan Street Xiangnan Road, Nanshan District, Shenzhen City, Guangdong Province, No. 129 Sagemingyuan Applicant before: SHENZHEN XINHUIDA MACHINERY DESIGN Co.,Ltd. |
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