CN108566535A - Intelligent mobile camera and intelligent mobile monitoring system - Google Patents
Intelligent mobile camera and intelligent mobile monitoring system Download PDFInfo
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- CN108566535A CN108566535A CN201810369567.4A CN201810369567A CN108566535A CN 108566535 A CN108566535 A CN 108566535A CN 201810369567 A CN201810369567 A CN 201810369567A CN 108566535 A CN108566535 A CN 108566535A
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- intelligent mobile
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- arm controller
- electrical connection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of intelligent mobile camera, including image acquisition units, image processing unit, ARM controller unit, SLAM algorithm units, video tracking unit and GPU computing units；Image acquisition units and image processing unit electrical connection, image processing unit and the electrical connection of ARM controller unit；For automatic modeling and planning mobile route, video tracking unit is electrically connected with GPU computing units SLAM algorithm units respectively for carrying out target following, SLAM algorithm units and video tracking unit；GPU computing units and the electrical connection of ARM controller unit.Above-mentioned intelligent mobile camera, SLAM algorithm units can carry out automatic modeling and mobile route planning, when intelligent mobile camera does not observe target, can be moved according to the mobile route of setting, search the present position of target.When intelligent mobile camera observes target, target observations are carried out by video tracking unit, calculate the position where target, then carry out mobile tracking shooting.In addition, also providing a kind of intelligent mobile monitoring system.
Description
Technical field
The present invention relates to technical field of video monitoring more particularly to a kind of intelligent mobile camera and intelligent mobile monitoring systems
System.
Background technology
Video monitoring equipment is commonly used in each local and place the real-time condition of monitoring.By by monitoring camera and shifting
For dynamic equipment by network connection, user is that can watch the prison of high quality by network connection using mobile device at internet end
Depending on picture.
However, traditional monitoring camera can only pinpoint shooting, can not autonomous, personnel's mobile tracking can not be followed to clap
It takes the photograph, and can not remote control camera mobile route.
Invention content
In consideration of it, it is necessary to provide a kind of intelligent mobile cameras that personnel can be followed to carry out autonomous shooting, and carry
For it is a kind of can be with the intelligent mobile monitoring system of remote control mobile route.
A kind of intelligent mobile camera, including image acquisition units, image processing unit, ARM controller unit, SLAM algorithms
Unit, video tracking unit and GPU computing units；
Described image collecting unit and the electrical connection of described image processing unit, described image processing unit and ARM controls
Device unit electrical connection processed；
The SLAM algorithm units are used for for automatic modeling and planning mobile route, the video tracking unit according to institute
The image of image acquisition units acquisition is stated, target following, the SLAM algorithm units and video tracking unit difference are carried out
It is electrically connected with the GPU computing units；
The GPU computing units and ARM controller unit electrical connection.
Above-mentioned intelligent mobile camera, SLAM algorithm units can carry out automatic modeling and mobile route planning, in intelligent sliding
When dynamic camera does not observe target, it can be moved according to the mobile route of setting, search the present position of target.Work as intelligence
Can mobile camera when observing target, target observations are carried out by video tracking unit, calculate the position where target, then into
Row mobile tracking is shot.
In one embodiment, the ARM controller unit load have robot operating system, SLAM application systems and
Linux system.
In one embodiment, further include network communication unit, the network communication unit and the ARM controller unit
Communication connection.
In one embodiment, further include voice recognition unit, the voice recognition unit and GPU computing units electricity
Connection.
In one embodiment, further include face identification unit, the face identification unit and GPU computing units electricity
Connection.
A kind of intelligent mobile monitoring system, including intelligent mobile camera and mobile terminal；
The intelligent mobile camera includes image acquisition units, image processing unit, ARM controller unit, SLAM algorithms
Unit, video tracking unit, GPU computing units and network communication unit；
Described image collecting unit and the electrical connection of described image processing unit, described image processing unit and ARM controls
Device unit electrical connection processed；
The SLAM algorithm units are used for for automatic modeling and planning mobile route, the video tracking unit according to institute
The image of image acquisition units acquisition is stated, target following, the SLAM algorithm units and video tracking unit difference are carried out
It is electrically connected with the GPU computing units；
The GPU computing units and ARM controller unit electrical connection；
The network communication unit is connected with the ARM controller unit communication；
The mobile terminal and network communication unit communication connection.
In one embodiment, further include voice recognition unit, the voice recognition unit and GPU computing units electricity
Connection.
In one embodiment, further include face identification unit, the face identification unit and GPU computing units electricity
Connection.
In one embodiment, the ARM controller unit load have robot operating system, SLAM application systems and
Linux system.
In one embodiment, the mobile terminal is mobile phone, laptop or tablet computer.
Above-mentioned intelligent mobile monitoring system, SLAM algorithm units can establish indoor model, and mobile terminal can remotely exist
Mobile route is set on indoor model, and is sent to intelligent mobile camera, intelligent mobile camera is patrolled according to the mobile route of setting
Boat, to remotely located cruise path or real-time control mobile route.The screen that intelligent mobile camera takes is logical by network
Letter unit is sent to mobile terminal and is shown, facilitates remote monitoring.
Description of the drawings
Fig. 1 is the structural schematic diagram of the intelligent mobile camera of an embodiment；
Fig. 2 is the structural schematic diagram of the intelligent mobile monitoring system of an embodiment.
Specific implementation mode
In order to make the objectives, technical solutions, and advantages of the present invention be more clear, with reference to the accompanying drawings and embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
As shown in Figure 1, the intelligent mobile camera 100 of an embodiment, including image acquisition units 10, image processing unit
20, ARM controller unit 30, SLAM algorithm units 40, video tracking unit 50 and GPU computing units 60.
Image acquisition units 10 are for acquiring image.Image acquisition units 10 can be common meaning on CCD camera,
CMOS cameras or image pick-up card.Optical imagery is converted to analog/digital image by image acquisition units 10.
Image acquisition units 10 and image processing unit 20 are electrically connected.Image processing unit 20 is used for image acquisition units
The image of 10 acquisitions carries out data processing.
Image processing unit 20 and ARM controller unit 30 are electrically connected.ARM controller unit 30 is main microcontroller list
Member is mounted with operating system, and provides the carrier of control software.Specifically, ARM controller unit 30 is mounted with robot manipulation
System, SLAM application systems and Linux system.ARM controller unit 30 is used as master controller.
SLAM algorithm units 40 are for automatic modeling and planning mobile route.
The image that video tracking unit 50 is used to be acquired according to image acquisition units 10 calculates the terminal position moved next time
It sets, to carry out target following.Such as it is used for old man, child nurses scene and follows camera shooting.Specifically, intelligent mobile is for example arranged
Camera 100 follows target person, intelligent mobile camera 100 that can carry out position, the behavior of video analysis identification target person automatically,
Target person movement is tracked, and judges whether there is and falls down equal abnormal thing generation.If not having in the visual field of intelligent mobile camera 100
There is target person, then intelligent mobile camera 100 is moved according to the path of setting, actively searches target person residing position indoors
It sets.
SLAM algorithm units 40 and video tracking unit 50 are electrically connected with GPU computing units 60 respectively.
GPU computing units 60 and ARM controller unit 30 are electrically connected.ARM controller unit 30 calculates list for controlling GPU
The work of member 60.
GPU computing units 60 are to accelerate to use as all kinds of algorithms of auxiliary.Such as GPU computing units 60 can be used as video with
The calculating of all kinds of algorithms such as track unit 50 and SLAM algorithm units 40 uses.
In one embodiment, intelligent mobile camera 100 can also include network communication unit 70.Network communication unit
70 and ARM controller unit 30 communicate to connect.Network communication device 70 is mainly used for controlling the hair of information and image/video data
It send and receives.
In one embodiment, above-mentioned intelligent mobile camera 100 further includes voice recognition unit 80, speech recognition list
80 and GPU of member computing units 60 are electrically connected.The operation that GPU computing units 60 can be used for the algorithm of voice recognition unit 80 uses.
Intelligent mobile camera 100 carries out speech recognition by voice recognition unit 80, controls the movement of intelligent mobile camera 100, or
By speech recognition, it is turned on and off intelligent mobile camera 100.
In one embodiment, above-mentioned intelligent mobile camera 100 further includes face identification unit 90, recognition of face list
90 and GPU of member computing units 60 are electrically connected.The operation that GPU computing units 60 can be used for the algorithm of face identification unit 90 uses.
By face identification unit 90, intelligent movable camera 100 can carry out recognition of face to target person, to carry out track up.
In addition, can also by identifying that face and camera are arranged, judge intelligent mobile camera 100 whether the corresponding function such as suspend mode.Such as
Camera setting in the morning 8 points to running between 8 points at night, mainly nurse specific people and pass through face after other members of family go home
Identification judgement no longer needs intelligent mobile camera 100 to nurse automatically, then intelligent mobile camera 100 can be with suspend mode under this scene.
Above-mentioned intelligent mobile camera 100, when carrying out old man or child nurses, SLAM algorithm units 40 can carry out automatically
Modeling and mobile route planning are then moved according to the path of setting when intelligent mobile camera 100 does not observe old man or child
It is dynamic, search old man or child present position indoors.When intelligent mobile camera 100 observes old man or child, pass through video
Tracking cell 50 carries out personal observations, calculates the position where old man or child, then carries out mobile tracking shooting.
Above-mentioned intelligent mobile camera 100, can also be arranged the working time of autonomous：If 8 points of morning is to 18 points at night.And
And 100 closedown condition of intelligent mobile camera can be set, such as according to the human face discriminating function of setting, intelligent mobile camera 100 judges
Suspend mode whether is carried out, and suspend mode can be set to specified corner location, wall is oriented, protects privacy.Intelligent mobile camera 100 can
Unattended pattern is set, and unattended room performs intrusion detection.
In addition, as shown in Fig. 2, the intelligent mobile monitoring system 300 of an embodiment, including 100 He of intelligent mobile camera
Mobile terminal 200.
Fig. 1 is please also refer to, intelligent mobile camera 100 includes image acquisition units 10, image processing unit 20, ARM controls
Device unit 30, SLAM algorithm units 40, video tracking unit 50, GPU computing units 60 and network communication unit 70 processed.
Image acquisition units 10 and image processing unit 20 are electrically connected, image processing unit 20 and ARM controller unit 30
Electrical connection.
SLAM algorithm units 40 are for automatic modeling and planning mobile route, and video tracking unit 50 according to image for adopting
Collect the image that unit 10 acquires, carry out target following, SLAM algorithm units 40 and video tracking unit 50 calculate with GPU single respectively
Member 60 is electrically connected.
GPU computing units 60 and ARM controller unit 30 are electrically connected.
Network communication unit 70 and ARM controller unit 30 communicate to connect.
Mobile terminal 200 and network communication unit 70 communicate to connect.
Intelligent mobile camera 100 can also include voice recognition unit 80 and face identification unit 90.Intelligent mobile camera
100 image acquisition units 10, image processing unit 20, ARM controller unit 30, SLAM algorithm units 40, video tracking list
Member 50, the structure and function of GPU computing units 60, network communication unit 70, voice recognition unit 80 and face identification unit 90
As described above, details are not described herein.
In one embodiment, mobile terminal 200 can be that the movement such as mobile phone, laptop sheet or tablet computer is set
It is standby.
Above-mentioned intelligent mobile monitoring system 300, SLAM algorithm units 40 can establish indoor model, 200 energy of mobile terminal
Mobile route is set on enough models indoors, and is sent to intelligent mobile camera 100, intelligent mobile camera 100 is according to setting
Mobile route cruises, to remotely located cruise path or real-time control mobile route.What intelligent mobile camera 100 took regards
Screen is sent to mobile terminal 200 by network communication unit 70 and is shown.Above-mentioned intelligent mobile monitoring system 300 can control intelligence
The mobile camera 100 of energy performs intrusion detection in unattended room, and automatic sectional drawing is sent to mobile terminal 200, automatic to accuse
It is alert.
Above-mentioned intelligent mobile monitoring system 300, when carrying out old man or child nurses, SLAM algorithm units 40 can carry out
Automatic modeling and mobile route planning, when intelligent mobile camera 100 does not observe old man or child, then according to the road of setting
Diameter moves, and searches old man or child present position indoors.When intelligent mobile camera 100 observes old man or child, pass through
Video tracking unit 50 carries out personal observations, calculates the position where old man or child, then carries out mobile tracking shooting.
Above-mentioned intelligent mobile camera 100 can be with autonomous.Above-mentioned intelligent mobile monitoring system 300 can be by mobile whole
Hold App remote control mobile routes, above-mentioned intelligent mobile camera 100 and intelligent mobile monitoring system 300 that can at home be supported in old man
Always, the solitary equal environment of children provide auxiliary monitoring function.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a kind of intelligent mobile camera, which is characterized in that including image acquisition units, image processing unit, ARM controller list
Member, SLAM algorithm units, video tracking unit and GPU computing units；
Described image collecting unit and the electrical connection of described image processing unit, described image processing unit and the ARM controller
Unit is electrically connected；
The SLAM algorithm units are used for for automatic modeling and planning mobile route, the video tracking unit according to the figure
As the image that collecting unit acquires, target following is carried out, the SLAM algorithm units and the video tracking unit are respectively and institute
State the electrical connection of GPU computing units；
The GPU computing units and ARM controller unit electrical connection.
2. intelligent mobile camera as described in claim 1, which is characterized in that the ARM controller unit load has robot
Operating system, SLAM application systems and Linux system.
3. intelligent mobile camera as described in claim 1, which is characterized in that further include network communication unit, the network is logical
Letter unit is connected with the ARM controller unit communication.
4. intelligent mobile camera as described in claim 1, which is characterized in that further include voice recognition unit, the voice is known
Other unit and GPU computing units electrical connection.
5. intelligent mobile camera as described in claim 1, which is characterized in that further include face identification unit, the face is known
Other unit and GPU computing units electrical connection.
6. a kind of intelligent mobile monitoring system, which is characterized in that including intelligent mobile camera and mobile terminal；
The intelligent mobile camera include image acquisition units, image processing unit, ARM controller unit, SLAM algorithm units,
Video tracking unit, GPU computing units and network communication unit；
Described image collecting unit and the electrical connection of described image processing unit, described image processing unit and the ARM controller
Unit is electrically connected；
The SLAM algorithm units are used for for automatic modeling and planning mobile route, the video tracking unit according to the figure
As the image that collecting unit acquires, target following is carried out, the SLAM algorithm units and the video tracking unit are respectively and institute
State the electrical connection of GPU computing units；
The GPU computing units and ARM controller unit electrical connection；
The network communication unit is connected with the ARM controller unit communication；
The mobile terminal and network communication unit communication connection.
7. intelligent mobile monitoring system as claimed in claim 6, which is characterized in that further include voice recognition unit, institute's predicate
Sound recognition unit and GPU computing units electrical connection.
8. intelligent mobile monitoring system as claimed in claim 6, which is characterized in that further include face identification unit, the people
Face recognition unit and GPU computing units electrical connection.
9. intelligent mobile monitoring system as claimed in claim 6, which is characterized in that the ARM controller unit load is organic
Device people operating system, SLAM application systems and Linux system.
10. intelligent mobile monitoring system as claimed in claim 6, which is characterized in that the mobile terminal is mobile phone, notebook
Computer or tablet computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810369567.4A CN108566535A (en) | 2018-04-23 | 2018-04-23 | Intelligent mobile camera and intelligent mobile monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810369567.4A CN108566535A (en) | 2018-04-23 | 2018-04-23 | Intelligent mobile camera and intelligent mobile monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108566535A true CN108566535A (en) | 2018-09-21 |
Family
ID=63536225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810369567.4A Pending CN108566535A (en) | 2018-04-23 | 2018-04-23 | Intelligent mobile camera and intelligent mobile monitoring system |
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| CN111047828A (en) * | 2019-12-12 | 2020-04-21 | 天地伟业技术有限公司 | Household intelligent security alarm system |
| CN112171650A (en) * | 2020-09-25 | 2021-01-05 | 江西小马机器人有限公司 | Novel transformer substation moves and patrols and examines robot |
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| US20120022785A1 (en) * | 2004-03-29 | 2012-01-26 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
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Application publication date: 20180921 |