CN108806142A - A kind of unmanned security system, method and sweeping robot - Google Patents
A kind of unmanned security system, method and sweeping robot Download PDFInfo
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- CN108806142A CN108806142A CN201810702670.6A CN201810702670A CN108806142A CN 108806142 A CN108806142 A CN 108806142A CN 201810702670 A CN201810702670 A CN 201810702670A CN 108806142 A CN108806142 A CN 108806142A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
- Burglar Alarm Systems (AREA)
Abstract
The present invention provides a kind of unmanned security system, method and sweeping robot, including video input unit, image processing unit, Moving target detection unit, mobile target classification unit, character features extraction unit, character features matching unit, alarm unit；The security method of the present invention uses above system, sweeping robot of the invention to use above system and method.The present invention is based on the intrinsic patrol function of sweeping robot and path planning functions; video input function; utilize the peripheral applications of software system development sweeping robot; it has portability; user is without individually purchase safety protection robot; security system is provided for family with low cost, avoids the wasting of resources.
Description
Technical field
The present invention relates to Intelligent robot for sweeping floor fields, and in particular to a kind of unmanned security system, method and machine of sweeping the floor
People.
Background technology
When it is indoor nobody when be easy to happen the criminal cases such as burglary, larger economic loss is caused to resident family, even
It is possible that can be because resident family returns in home, resident family and criminal surprisingly meet and cause damages to resident family's personal safety temporarily.Application
Number be 201720993039.7 Chinese patent, disclose a kind of household robot with security function, including fuselage, bottom
Disk, the first support plate, the second support plate, steering motor, threaded rod, shaft, driving gear, U-shaped frame, deflecting roller, driving device,
It is motor, turntable, camera, infrared sensor, headlamp, Fresnel Lenses, telephone connection net alarm, control panel, wireless
Communication module, GPS positioning module, PLC controller, annular protrusion, annular groove and reception terminal, the bottom of fuselage is equipped with bottom
Disk is fixed with the first support plate, the second support plate and steering motor at the top of chassis, between the first support plate and the second support plate
It is provided with threaded rod, the unsupervised to house security and guard is realized, home room can be patrolled by preset path
Monitoring is patrolled, remote household member can see patrol picture at any time by receiving terminal, once someone swarms into, the household robot
Meeting automatic alarm, ensure that the safety of family.
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances automatically
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.General use brush is swept and vacuum mode,
Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.In general, it will complete clear
Sweep, dust suction, the robot to work to wiping, be also uniformly classified as sweeping robot, existing sweeping robot only has wipe clean
Function, have a single function, intelligence degree is low, and the fun of using is few, and robot use environment mostly home environment, therefore one
Home security systems assistant officer generation exploitation of the kind based on sweeping robot.
Invention content
To solve the above problems, the present invention provides a kind of unmanned security system, method and sweeping robot.Base of the present invention
In the intrinsic patrol function of sweeping robot and path planning function, video input function is swept the floor using software system development
There is the peripheral applications of robot portability, user to be provided by family of low cost without individually purchase safety protection robot
Security system, avoids the wasting of resources.
To realize the technical purpose, the technical scheme is that：A kind of unmanned security system, including video input list
Member, image processing unit, Moving target detection unit, mobile target classification unit, character features extraction unit, character features
With unit, alarm unit；
The video input unit is used to obtain the ambient video where robot, and described image processing unit is used for institute
The video for stating the input of video input unit carries out RGB data processing by frame；
The Moving target detection unit is used to, according to RGB data treated video, carry out RGB information comparison frame by frame,
Judge mobile target；The mobile target classification unit distinguishes people and pet for classifying to mobile target；The people
Object feature extraction unit and for character features matching unit be respectively used to character features extraction and matching, realize person recognition,
Judge that stranger invades；The alarm unit after in character features matching unit, it fails to match for alarming.
Further, the mobile target classification unit uses neural network model comprising：Input layer, Standard convolution layer,
Separable convolution packet, averagely drop latitude layer are fully connected layer, output layer；The input layer carries out RGB to described image processing module
Video after data processing is read by frame；The output layer is used to export the pet model and mock-up funiture, Yi Jishi in video
The confidence level of other result.
Further, further include timing unit, mobile patrol unit；
Mobile patrol unit, is used for mobile robot, environment carries out patrol pattern indoors；
Timing unit is used for according to artificial setting, and in special time period, time opening goes on patrol pattern.
Preferably, further include sound detection unit, for detecting indoor sound by sound transducer, pass through the movement
Go on patrol unit so that robot carries out patrol pattern.
A kind of unmanned security method, is utilized above-mentioned unmanned security system, includes the following steps：
S1：When robot is gone on patrol, the video in camera visual range in robot is recorded, and video is carried out at image
Reason；
S2：Rgb color, Pixel Information extraction are carried out frame by frame to the video after image procossing in the step S1 and compared,
Calculate mobile objective contour；
S3：Mobile objective contour in the step S2 is classified, it is people or pet to distinguish mobile target, such as
Fruit is that pet then carries out step S1, otherwise carries out step S4；
S4：Extract the character features that mobile target in the step S3 is people；
S5：Character features in the step S4 are matched with the user characteristics of sweeper robot Historic preservation,
It alarms if it fails to match, otherwise carries out the step S1.
Further, the method that mobile target is people or pet is distinguished in the step S3, using including input layer, mark
Quasi- convolutional layer, the neural network model for separable convolution packet, averagely dropping latitude layer, being fully connected layer, furniture identification output layer, to institute
It states image processing module to carry out RGB data treated that video is read by frame, by carrying out Standard convolution to every frame image, can divide
It from convolution, averagely drops latitude, be fully connected processing, judge the furniture in image, the mock-up funiture in output video and identification
As a result confidence level.
Further, the method for the separable convolution includes depth convolution operation, line rectification operation, batch standardization behaviour
Make and point-by-point convolution operation.
Further, further include unmanned security mode setting step before the step S1：
T1：The unmanned security mode time section of user setting opens unmanned peace in unmanned security mode time section inner machine people
Guarantor's pattern；
T2：In step T1 described in user setting in unmanned security mode time section, the timing at robot patrol interval,
After timing, the step S1 is carried out.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike：
Before timing in the step T2 terminates, indoor sound is detected by sound transducer, is had indoors
The step S1 is carried out when quiet.
A kind of sweeping robot, including above-mentioned unmanned security system and unmanned security method.
The beneficial effects of the present invention are：
The present invention passes through image processing techniques and nerve by going on patrol the real-time video of shooting home environment to robot
Network technology judges, has distinguished mobile object, and when mobile object is behaved, and carries out person recognition, illegally enters to realize
The differentiation invaded；Meanwhile the present invention has also set up a kind of patrol mechanism, substantially increases resource utilization and security performance；And this
Invention utilizes software system development based on the intrinsic patrol function of sweeping robot and path planning function, video input function
The peripheral applications of sweeping robot have portability, and user is without individually purchase safety protection robot, using low cost as family
Front yard provides security system, avoids the wasting of resources.
Description of the drawings
Fig. 1 is the module principle figure of the unmanned security system of the present invention；
Fig. 2 is the mobile target classification unit schematic diagram in Fig. 1 of the present invention；
Fig. 3 is the flow chart of the unmanned security method of the present invention；
Fig. 4 is the flow chart of the separable convolution algorithm of the present invention.
Specific implementation mode
Technical scheme of the present invention will be clearly and completely described below.
As shown in Figure 1, a kind of unmanned security system, including video input unit, image processing unit, Moving target detection
Unit, mobile target classification unit, character features extraction unit, character features matching unit, alarm unit；
The video input unit is used to obtain the ambient video where robot, and described image processing unit is used for institute
The video for stating the input of video input unit carries out RGB data processing by frame；
The Moving target detection unit is used to, according to RGB data treated video, carry out RGB information comparison frame by frame,
Judge mobile target；The mobile target classification unit distinguishes people and pet for classifying to mobile target；The people
Object feature extraction unit and for character features matching unit be respectively used to character features extraction and matching, realize person recognition,
Judge that stranger invades；The alarm unit after in character features matching unit, it fails to match for alarming.The present invention is logical
The real-time video for going on patrol shooting home environment to robot is crossed, and by image processing techniques and nerual network technique, is judged, area
Mobile object is divided, and when mobile object is behaved, person recognition has been carried out, to realize the differentiation of illegal invasion.
Further, as shown in Fig. 2, the mobile target classification unit uses neural network model comprising input layer
(input), Standard convolution layer (convl), separable convolution packet (module1-9), averagely drop latitude layer (average pool), complete
Full articulamentum (full connect), output layer (output)；The input layer carries out RGB data to described image processing module
Treated, and video is read by frame；The output layer is used to export pet model in video and mock-up funiture and identification knot
The confidence level of fruit.
Further, further include timing unit, mobile patrol unit；
Mobile patrol unit, is used for mobile robot, environment carries out patrol pattern indoors；
Timing unit is used for according to artificial setting, and in special time period, time opening goes on patrol pattern.
Preferably, further include sound detection unit, for detecting indoor sound by sound transducer, pass through the movement
Go on patrol unit so that robot carries out patrol pattern.Sound transducer functions as a microphone (microphone).It is used for
Sound wave is received, shows the vibrational diagram of sound, but cannot be measured to the intensity of noise.Built in sound transducer one to sound
The condenser type Electret condenser microphone of sound sensitivity, sound wave make the electret film in microphone vibrate, and lead to the variation of capacitance, and generate with
Correspondence variation small voltage, this voltage is subsequently converted into the voltage of 0-5V, converts by A/D and is connect by data collector
By, and send processor to and realize sound induction, this is the conventional technical means of those skilled in the art, and this will not be repeated here.
As shown in figure 3, a kind of unmanned security method, is utilized above-mentioned unmanned security system, includes the following steps：
S1：When robot is gone on patrol, the video in camera visual range in robot is recorded, and video is carried out at image
Reason；
S2：Rgb color, Pixel Information extraction are carried out frame by frame to the video after image procossing in the step S1 and compared,
Calculate mobile objective contour；
S3：Mobile objective contour in the step S2 is classified, it is people or pet to distinguish mobile target, such as
Fruit is that pet then carries out step S1, otherwise carries out step S4；
S4：Extract the character features that mobile target in the step S3 is people；This character features can be based on it is above-mentioned
The facial character features of rgb color Pixel Information can also be the 3D body characteristics etc. established using depth camera.
S5：Character features in the step S4 are matched with the user characteristics of sweeper robot Historic preservation,
It alarms if it fails to match, otherwise carries out the step S1.The mode of this alarm can be short message, app prompting messages
Etc. modes.It should be noted that the present invention can also pass through face recognition technology, shape recognition technology, sound groove recognition technology in e etc.
Multiple technologies means carry out person recognition.
Further, the method that mobile target is people or pet is distinguished in the step S3, using including input layer, mark
Quasi- convolutional layer, the neural network model for separable convolution packet, averagely dropping latitude layer, being fully connected layer, furniture identification output layer, to institute
It states image processing module to carry out RGB data treated that video is read by frame, by carrying out Standard convolution to every frame image, can divide
It from convolution, averagely drops latitude, be fully connected processing, judge the furniture in image, the mock-up funiture in output video and identification
As a result confidence level.Wherein this neural network model can early period carry out artificial top set data set collect with mark pet with
People, later stage are based on MobileNet frameworks progress disaggregated model pre-training and obtain.
Further, as shown in figure 4, the method for the separable convolution includes depth convolution (depthwise conv) behaviour
Make, line rectification (RELU) operation, batch standardizes (batch norm) operation and point-by-point convolution (1 × 1conv) operation.
Further, further include unmanned security mode setting step before the step S1：
T1：The unmanned security mode time section of user setting opens unmanned peace in unmanned security mode time section inner machine people
Guarantor's pattern；This period can be the time of having a rest in the evening, can also be to go out the time on daytime.
T2：In step T1 described in user setting in unmanned security mode time section, the timing at robot patrol interval,
After timing, the step S1 is carried out.That is, the present invention establishes a kind of patrol mechanism, this mechanism can
To be to open unmanned security pattern, and in unmanned security pattern, machine is artificially spaced progress based on the period manually set
Security is gone on patrol, while being spaced in patrol and opening sound detection, when judging to have sound, patrol security is carried out in time, greatly improves
Resource utilization and security performance.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike：
Before timing in the step T2 terminates, indoor sound is detected by sound transducer, is had indoors
The step S1 is carried out when quiet.
A kind of sweeping robot, including above-mentioned unmanned security system and unmanned security method.Advantage is, is based on
The intrinsic patrol function of sweeping robot and path planning function, video input function utilize software system development sweeper
There is the peripheral applications of device people portability, user to be provided by family of low cost without individually purchase safety protection robot
Security system avoids the wasting of resources.
For those of ordinary skill in the art, without departing from the concept of the premise of the invention, it can also do
Go out several modifications and improvements, these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of unmanned security system, which is characterized in that including video input unit, image processing unit, Moving target detection
Unit, mobile target classification unit, character features extraction unit, character features matching unit, alarm unit；
The video input unit is used to obtain the ambient video where robot, and described image processing unit to described for regarding
The video of frequency input unit input carries out RGB data processing by frame；
The Moving target detection unit is used to, according to RGB data treated video, carry out RGB information comparison frame by frame, judges
Mobile target；The mobile target classification unit distinguishes people and pet for classifying to mobile target；The personage is special
It levies extraction unit and is respectively used to character features extraction and matching for character features matching unit, realize person recognition, judge
Stranger invades；The alarm unit after in character features matching unit, it fails to match for alarming.
2. the unmanned security system according to right 1, which is characterized in that the mobile target classification unit uses neural network
Model comprising：Input layer, separable convolution packet, averagely drops latitude layer, is fully connected layer, output layer at Standard convolution layer；It is described
Input layer carries out RGB data treated video by frame reading to described image processing module；The output layer is regarded for exporting
The confidence level of pet model and mock-up funiture and recognition result in frequency.
3. unmanned security system according to claim 1, which is characterized in that further include timing unit, mobile patrol unit；
Mobile patrol unit, is used for mobile robot, environment carries out patrol pattern indoors；
Timing unit is used for according to artificial setting, and in special time period, time opening goes on patrol pattern.
4. unmanned security system according to claim 3, which is characterized in that further include sound detection unit, for passing through
The indoor sound of sound transducer detection passes through the mobile patrol unit so that robot carries out patrol pattern.
5. a kind of unmanned security method, is utilized unmanned security system described in claim 1, which is characterized in that including following
Step：
S1：When robot is gone on patrol, the video in camera visual range in robot is recorded, and video is subjected to image procossing；
S2：Rgb color, Pixel Information extraction are carried out frame by frame to the video after image procossing in the step S1 and compared, is calculated
Go out mobile objective contour；
S3：Mobile objective contour in the step S2 is classified, it is people or pet to distinguish mobile target, if it is
Pet then carries out step S1, otherwise carries out step S4；
S4：Extract the character features that mobile target in the step S3 is people；
S5：Character features in the step S4 are matched with the user characteristics of sweeper robot Historic preservation, if
It then alarms with failure, otherwise carries out the step S1.
6. unmanned security method according to claim 5, which is characterized in that distinguishing mobile target in the step S3 is
The method of people or pet, using including input layer, Standard convolution layer, separable convolution packet, averagely drop latitude layer, be fully connected
The neural network model of layer, furniture identification output layer carries out RGB data treated video to described image processing module and presses frame
It reads, by carrying out Standard convolution to every frame image, separable convolution, averagely dropping latitude, be fully connected processing, judges in image
Furniture, export video in mock-up funiture and recognition result confidence level.
7. unmanned security method according to claim 6, which is characterized in that the method for the separable convolution includes depth
Convolution operation, line rectification operation, batch normalizing operation and point-by-point convolution operation.
8. unmanned security method according to claim 5, which is characterized in that further include unmanned security before the step S1
Mode setting step：
T1：The unmanned security mode time section of user setting opens unmanned security mould in unmanned security mode time section inner machine people
Formula；
T2：In step T1 described in user setting in unmanned security mode time section, the timing at robot patrol interval, fixed
When the time after, carry out the step S1.
9. the unmanned security method according to claim 8 based on robot, which is characterized in that further include sound detection
Step：
Before timing in the step T2 terminates, indoor sound is detected by sound transducer, when having sound indoors
Carry out the step S1.
10. a kind of sweeping robot, which is characterized in that including unmanned security system described in claim 1 and claim 5
The unmanned security method.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110363947A (en) * | 2019-07-11 | 2019-10-22 | 京东方科技集团股份有限公司 | The method and security system of illegal invasion are judged based on WIFI reflection signal |
| CN110580445A (en) * | 2019-07-12 | 2019-12-17 | 西北工业大学 | Face key point detection method based on GIoU and weighted NMS improvement |
| CN111225178A (en) * | 2018-11-23 | 2020-06-02 | 杭州眼云智家科技有限公司 | Video monitoring method and system based on object detection |
| WO2020113452A1 (en) * | 2018-12-05 | 2020-06-11 | 珊口（深圳）智能科技有限公司 | Monitoring method and device for moving target, monitoring system, and mobile robot |
| CN111540154A (en) * | 2020-04-01 | 2020-08-14 | 海信（山东）空调有限公司 | Air conditioner and security control method of air conditioner |
| CN112022103A (en) * | 2020-09-24 | 2020-12-04 | 深圳市启蒙智慧医疗科技有限公司 | Anti-invasion body fat scale monitoring method and device, computer equipment and storage medium |
| CN112394717A (en) * | 2019-07-31 | 2021-02-23 | 江苏美的清洁电器股份有限公司 | Indoor environment warning method and device and sweeping robot |
| WO2021238194A1 (en) * | 2020-05-25 | 2021-12-02 | 珠海格力电器股份有限公司 | Indoor monitoring method, device, and system, storage medium, and camera device |
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Application publication date: 20181113 |