CN109015638A - A kind of patrol robot control method and system for meeting security - Google Patents
A kind of patrol robot control method and system for meeting security Download PDFInfo
- Publication number
- CN109015638A CN109015638A CN201810927102.6A CN201810927102A CN109015638A CN 109015638 A CN109015638 A CN 109015638A CN 201810927102 A CN201810927102 A CN 201810927102A CN 109015638 A CN109015638 A CN 109015638A
- Authority
- CN
- China
- Prior art keywords
- patrol
- point
- duration
- priority
- people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of patrol robot control methods and system for meeting security, which comprises the first patrol robot of control is reached according to preset patrol route and respectively gone on patrol a little on patrol route, and obtains the flow of the people of each patrol point；Patrol priority is carried out to each patrol point according to the flow of the people of each patrol point to divide；According to the patrol duration in the patrol priority planning patrol path of each patrol point and each patrol point；The second patrol robot is controlled respectively to go on patrol a little according on the arrival patrol path of patrol path, and the accident detection of each corresponding patrol duration of patrol point is carried out on each patrol point, when detecting that a certain patrol point is abnormal event, alert notification is sent to default terminal.
Description
Technical field
The present invention relates to technical field of robot control more particularly to a kind of patrol robot controls for meeting security
Method and system.
Background technique
As robot the relevant technologies are constantly in the application of production and living and commercial field, interaction of the people to robot
Functional requirement is higher and higher, and robot patrol can allow robot more intelligent, be applied to meeting-place, and large evening party can also enhance section
Skill sense, offers convenience for people's lives.
Current robot patrol strategy is relatively more fixed, can not at any time according to flow of the people to beat, patrol route, patrol
It patrols duration to be changed, causes to go on patrol low efficiency, patrol mass effect is poor.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of patrol robot controls for meeting security
Method and system processed；
A kind of patrol robot control method for meeting security proposed by the present invention, comprising:
S1, the first patrol robot of control are reached according to preset patrol route and are respectively gone on patrol a little on patrol route, and obtain
The flow of the people of each patrol point；
S2, patrol priority division is carried out to each patrol point according to the flow of the people of each patrol point；
S3, the patrol duration that path and each patrol point are gone on patrol according to the patrol priority planning of each patrol point；
S4, the second patrol robot of control are reached according to patrol path and are respectively gone on patrol a little on patrol path, and in each patrol point
The upper accident detection for carrying out each corresponding patrol duration of patrol point, when detecting that a certain patrol point is abnormal event, to
Default terminal sends alert notification.
Preferably, step S2 is specifically included: when the flow of the people of patrol point is less than preset first number threshold value, by this
The patrol priority of patrol point is divided into low；It is greater than preset first number threshold value in the flow of the people of patrol point and is less than preset
When the second number threshold value, the patrol priority which puts is divided into；It is greater than preset second in the flow of the people of patrol point
When number threshold value, the patrol priority which puts is divided into height, wherein the first number threshold value less than the second number threshold value,
Second number threshold value is less than third number threshold value.
Preferably, step S3 is specifically included: being formulated according to the high, medium and low sequence of patrol priority and is reached each patrol point
Sequentially, and according to the sequential program(me) for reaching each patrol point path is gone on patrol；When the patrol priority of patrol point is low, plan that this is patrolled
Patrol a length of first duration when patrol a little；When the patrol priority of patrol point is middle, plan a length of when the patrol of the patrol point
Second duration；When the patrol priority of patrol point is high, a length of third duration when the patrol of the patrol point is planned, wherein the
One duration is less than third duration less than the second duration, the second duration.
Preferably, described to send alert notification to default terminal in step S4, it specifically includes: sending and send out to default terminal
The position of the patrol point of raw anomalous event and anomalous event content；
Preferably, in step S4, the anomalous event inspection that each corresponding patrol duration of patrol point is carried out on each patrol point
It surveys, specifically includes: in the corresponding patrol duration of each patrol point, the human behavior image and video of each patrol point are acquired, according to institute
It states human behavior image and video and Visual intelligent recognizer judges whether be abnormal event on each patrol point.
Preferably, in step S1, the flow of the people for obtaining each patrol point is specifically included: the personnel of each patrol point of acquisition
Image, and each flow of the people for going on patrol point is determined based on personnel's image and Visual intelligent recognizer.
A kind of patrol robot control system for meeting security, comprising: the first patrol robot, the second patrol machine
People and control module；
First patrol robot is equipped with Pedestrian flow detection module, and Pedestrian flow detection module is used to obtain the people of detection zone
Flow；
Second patrol robot is equipped with accident detection module and alarm modules, and accident detection module is for examining
Survey whether detection zone is abnormal event, alarm modules are used to send alert notification to default terminal；
Control module respectively with the first patrol machine and the second patrol robot communication connection；
Patrol route is preset in control module, control module instruction the first patrol robot of control is arrived according to patrol route
It is respectively gone on patrol a little on up to patrol route, and obtains the flow of the people of each patrol point by Pedestrian flow detection module, control module is according to each
The flow of the people for going on patrol point carries out patrol priority to each patrol point and divides, and plans patrol further according to the patrol priority of each patrol point
The patrol duration in path and each patrol point, control module instruction the second patrol robot of control reach patrol road according to patrol path
It is respectively gone on patrol on diameter a little, and carries out the exception of each corresponding patrol duration of patrol point on each patrol point by accident detection module
Event detection, when detecting that a certain patrol point is abnormal event, control module instruction controls alarm modules to default terminal
Send alert notification.
Preferably, the control module, is specifically used for: being less than preset first number threshold value in the flow of the people of patrol point
When, the patrol priority which puts is divided into low；It is greater than preset first number threshold value and small in the flow of the people of patrol point
When preset second number threshold value, the patrol priority which puts is divided into；It is greater than in the flow of the people of patrol point pre-
If the second number threshold value when, the patrol priority which puts is divided into height, wherein the first number threshold value is less than the second people
Number threshold value, the second number threshold value are less than third number threshold value.
Preferably, the control module, is specifically used for: formulating to reach according to the high, medium and low sequence of patrol priority and respectively patrol
Sequence a little is patrolled, and path is gone on patrol according to the sequential program(me) for reaching each patrol point；When the patrol priority of patrol point is low, rule
Draw a length of first duration when the patrol of the patrol point；When the patrol priority of patrol point is middle, the patrol of the patrol point is planned
The second duration of Shi Changwei；When the patrol priority of patrol point is high, a length of third duration when the patrol of the patrol point is planned,
In, the first duration is less than third duration less than the second duration, the second duration.
Preferably, the alarm modules, are specifically used for: the position of the patrol point of event is abnormal to default terminal
And anomalous event content；
Preferably, the accident detection module, is specifically used for: in the corresponding patrol duration of each patrol point, acquisition is each
The human behavior image and video for going on patrol point judge each according to the human behavior image and video and Visual intelligent recognizer
Whether event is abnormal on patrol point.
Preferably, the Pedestrian flow detection module, is specifically used for: personnel's image of each patrol point of acquisition, and based on described
Personnel's image and Visual intelligent recognizer determine the flow of the people of each patrol point.
The present invention is reached according to preset patrol route by the first patrol robot of control and is respectively gone on patrol a little on patrol route,
And the flow of the people of each patrol point is obtained, patrol priority is carried out to each patrol point according to the flow of the people of each patrol point and is divided, according to
The patrol duration in the patrol priority planning patrol path of each patrol point and each patrol point controls the second patrol robot according to patrolling
It patrols on the arrival patrol path of path and respectively goes on patrol a little, and carry out the anomalous event of the corresponding patrol duration of each patrol on each patrol point
Detection sends alert notification to default terminal, in this way, the first patrol plane when detecting that a certain patrol point is abnormal event
For device people with faster speed to the flow of the people gone on patrol on patrol route a little is obtained, the flow of the people based on patrol point judges a patrol point
Patrol priority, and formulate the patrol path of the second patrol robot and a patrol duration for patrol point, go on patrol a little preferential
Grade is higher (i.e. flow of the people is larger, security level is lower for patrol point), then goes on patrol that the time is longer, and the priority gone on patrol a little is lower (i.e.
Flow of the people is smaller, security level is higher for patrol point), then it goes on patrol that the time is shorter, is ensureing the same of the patrol quality of each patrol point
When, realize the quick patrol to each patrol point.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the patrol robot control method for meeting security proposed by the present invention；
Fig. 2 is a kind of module diagram of the patrol robot control system for meeting security proposed by the present invention.
Specific embodiment
Referring to Fig.1, a kind of patrol robot control method for meeting security proposed by the present invention, comprising:
Step S1, the first patrol robot of control are reached according to preset patrol route and are respectively gone on patrol a little on patrol route, and
The flow of the people for obtaining each patrol point, specifically includes: personnel's image of each patrol point of acquisition, and is based on personnel's image and vision
Intelligent recognition algorithm determines the flow of the people of each patrol point.
In concrete scheme, the intelligent video camera head being arranged on the first patrol robot acquires personnel's image of each patrol point,
The flow of the people of each patrol point, further, the first patrol robot are determined based on personnel's image and Visual intelligent recognizer again
Upper settable lighting apparatus auxiliary intelligent video camera head realizes night monitoring, and obstacle avoidance module is arranged on the first patrol robot, realizes
The detection of barrier, obstacle avoidance module are made of ultrasonic sensor and infrared sensor in robot kinematics.
Step S2 carries out patrol priority to each patrol point according to the flow of the people of each patrol point and divides, specifically includes: patrolling
When patrolling flow of the people a little less than preset first number threshold value, the patrol priority which puts is divided into low；In patrol point
Flow of the people be greater than preset first number threshold value and be less than preset second number threshold value when, the patrol which is put is preferential
During grade is divided into；When the flow of the people of patrol point is greater than preset second number threshold value, the patrol priority which is put is drawn
It is divided into height, wherein the first number threshold value is less than third number threshold value less than the second number threshold value, the second number threshold value.
In concrete scheme, when the flow of the people of patrol point is less than the first number threshold value, illustrate the number of the patrol point compared with
Few, the patrol priority which puts is divided into low by security level height (safety)；It is greater than in the flow of the people of patrol point the first
Number threshold values and when less than the second number threshold value, illustrate that the number of the patrol point is more, security level is more lower (safer), by this
During the patrol priority of patrol point is divided into；When the flow of the people of patrol point is greater than the second number threshold value, illustrate the patrol point
Number is very more, and security level is lower (dangerous), and the patrol priority which puts is divided into middle height.
Step S3, according to the patrol duration in the patrol priority planning patrol path of each patrol point and each patrol point, specifically
It include: that the sequence for reaching each patrol point is formulated according to the high, medium and low sequence of patrol priority, and according to reaching each patrol point
Path is gone on patrol in sequential program(me)；When the patrol priority of patrol point is low, a length of first duration when the patrol of the patrol point is planned；
When the patrol priority of patrol point is middle, a length of second duration when the patrol of the patrol point is planned；When the patrol of patrol point is excellent
When first grade is high, a length of third duration when the patrol of the patrol point is planned, wherein the first duration is less than the second duration, when second
It is long to be less than third duration.
It is preferential to reach during going on patrol path according to the patrol priority planning of each patrol point in concrete scheme
Patrol priority be high patrol point, secondly reach patrol priority be in patrol point, finally reach patrol priority be it is low
Patrol point.
During planning the patrol duration of each patrol point, when to go on patrol patrol priority a little be low, illustrate number compared with
Few, patrol duration is most short, when the patrol priority for going on patrol a little is middle, illustrates that number is more, goes on patrol that duration is longer, goes on patrol patrolling a little
Patrol priority be it is high when, illustrate that number is very more, patrol duration longest.
Step S4, the second patrol robot of control is reached according to patrol path and is respectively gone on patrol a little on patrol path, and is respectively being patrolled
It patrols on a little and carries out an accident detection for each corresponding patrol duration of patrol point, detecting that a certain patrol point is abnormal event
When, alert notification is sent to default terminal, is specifically included: in the corresponding patrol duration of each patrol point, acquiring the people of each patrol point
Member's behavior image and video, judged according to the human behavior image and video and Visual intelligent recognizer be on each patrol point
It is no to be abnormal event, when detecting that a certain patrol point is abnormal event, event is abnormal to default terminal
Go on patrol position and the anomalous event content of point.
In concrete scheme, the second intelligent video camera head being arranged on the second patrol robot acquires personnel's row of each patrol point
For image and video, judge whether send out on each patrol point according to the human behavior image and video and Visual intelligent recognizer
Raw anomalous event is abnormal the patrol of event to default terminal when detecting that a certain patrol point is abnormal event
The position of point and anomalous event content notify Security Personnel to carry out related disposition.
Referring to Fig. 2, a kind of patrol robot control system for meeting security proposed by the present invention, comprising: first patrols
Patrol robot, the second patrol robot and control module；
First patrol robot is equipped with Pedestrian flow detection module, and Pedestrian flow detection module is used to obtain the people of detection zone
Flow is specifically used for: personnel's image of each patrol point of acquisition, and is determined based on personnel's image and Visual intelligent recognizer
The flow of the people of each patrol point.
In concrete scheme, the intelligent video camera head being arranged on the first patrol robot acquires personnel's image of each patrol point,
The flow of the people of each patrol point, further, the first patrol robot are determined based on personnel's image and Visual intelligent recognizer again
Upper settable lighting apparatus auxiliary intelligent video camera head realizes night monitoring, and obstacle avoidance module is arranged on the first patrol robot, realizes
The detection of barrier, obstacle avoidance module are made of ultrasonic sensor and infrared sensor in robot kinematics.
Second patrol robot is equipped with accident detection module and alarm modules, and accident detection module is for examining
It surveys whether detection zone is abnormal event, is specifically used for: in the corresponding patrol duration of each patrol point, acquiring the people of each patrol point
Member's behavior image and video, judged according to the human behavior image and video and Visual intelligent recognizer be on each patrol point
It is no to be abnormal event.
Alarm modules are used to send alert notification to default terminal, are specifically used for: being abnormal thing to default terminal
The position of the patrol point of part and anomalous event content.
Control module respectively with the first patrol machine and the second patrol robot communication connection；
Patrol route is preset in control module, control module instruction the first patrol robot of control is arrived according to patrol route
It is respectively gone on patrol a little on up to patrol route, and obtains the flow of the people of each patrol point by Pedestrian flow detection module, control module is according to each
The flow of the people for going on patrol point carries out patrol priority to each patrol point and divides, and plans patrol further according to the patrol priority of each patrol point
The patrol duration in path and each patrol point, control module instruction the second patrol robot of control reach patrol road according to patrol path
It is respectively gone on patrol on diameter a little, and carries out the exception of each corresponding patrol duration of patrol point on each patrol point by accident detection module
Event detection, when detecting that a certain patrol point is abnormal event, control module instruction controls alarm modules to default terminal
Alert notification is sent, is specifically used for: when the flow of the people of patrol point is less than preset first number threshold value, being patrolled what the patrol was put
Patrol priority be divided into it is low；It is greater than preset first number threshold value in the flow of the people of patrol point and is less than preset second number threshold
When value, the patrol priority which puts is divided into；When the flow of the people of patrol point is greater than preset second number threshold value,
The patrol priority that the patrol is put is divided into height, wherein the first number threshold value is less than the second number threshold value, the second number threshold value
Less than third number threshold value, the sequence for reaching each patrol point is formulated according to the high, medium and low sequence of patrol priority, and according to arriving
Path is gone on patrol in sequential program(me) up to each patrol point；When the patrol priority of patrol point is low, when planning the patrol of the patrol point
A length of first duration；When the patrol priority of patrol point is middle, a length of second duration when the patrol of the patrol point is planned；When patrolling
When to patrol patrol priority a little be high, a length of third duration when the patrol of the patrol point is planned, wherein the first duration is less than second
Duration, the second duration are less than third duration.
In concrete scheme, when the flow of the people of patrol point is less than the first number threshold value, illustrate the number of the patrol point compared with
Few, the patrol priority which puts is divided into low by security level height (safety)；It is greater than in the flow of the people of patrol point the first
Number threshold values and when less than the second number threshold value, illustrate that the number of the patrol point is more, security level is more lower (safer), by this
During the patrol priority of patrol point is divided into；When the flow of the people of patrol point is greater than the second number threshold value, illustrate the patrol point
Number is very more, and security level is lower (dangerous), and the patrol priority which puts is divided into middle height.
During going on patrol path according to the patrol priority planning of each patrol point, the preferential patrol priority that reaches is high
Patrol point, secondly reach patrol priority be in patrol point, finally reach patrol priority be low patrol point.
During planning the patrol duration of each patrol point, when to go on patrol patrol priority a little be low, illustrate number compared with
Few, patrol duration is most short, when the patrol priority for going on patrol a little is middle, illustrates that number is more, goes on patrol that duration is longer, goes on patrol patrolling a little
Patrol priority be it is high when, illustrate that number is very more, patrol duration longest.
The second intelligent video camera head being arranged on second patrol robot acquires the human behavior image and video of each patrol point,
Judge whether be abnormal event on each patrol point according to the human behavior image and video and Visual intelligent recognizer,
When detecting that a certain patrol point is abnormal event, position and the exception of the patrol point of event are abnormal to default terminal
Event content notifies Security Personnel to carry out related disposition.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of patrol robot control method for meeting security characterized by comprising
S1, the first patrol robot of control are reached according to preset patrol route and are respectively gone on patrol a little on patrol route, and obtain and respectively patrol
Patrol flow of the people a little；
S2, patrol priority division is carried out to each patrol point according to the flow of the people of each patrol point；
S3, the patrol duration that path and each patrol point are gone on patrol according to the patrol priority planning of each patrol point；
S4, the second patrol robot of control are reached according to patrol path and are respectively gone on patrol a little on patrol path, and enterprising in each patrol point
An accident detection for each corresponding patrol duration of patrol point of row, when detecting that a certain patrol point is abnormal event, to presetting
Terminal sends alert notification.
2. the patrol robot control method according to claim 1 for meeting security, which is characterized in that step S2,
Specifically include: when the flow of the people of patrol point is less than preset first number threshold value, the patrol priority which is put is divided
It is low；When the flow of the people of patrol point is greater than preset first number threshold value and is less than preset second number threshold value, this is patrolled
During the patrol priority for patrolling a little is divided into；When the flow of the people of patrol point is greater than preset second number threshold value, by the patrol point
Patrol priority be divided into height, wherein for the first number threshold value less than the second number threshold value, the second number threshold value is less than the third party
Number threshold value.
3. the patrol robot control method according to claim 2 for meeting security, which is characterized in that step S3,
It specifically includes: formulating each sequence for going on patrol point of arrival according to the high, medium and low sequence of priority is gone on patrol, and according to each patrol of arrival
Path is gone on patrol in the sequential program(me) of point；When the patrol priority of patrol point is low, a length of first when planning the patrol of the patrol point
Duration；When the patrol priority of patrol point is middle, a length of second duration when the patrol of the patrol point is planned；When patrolling for patrol point
When to patrol priority be high, a length of third duration when the patrol of the patrol point is planned, wherein the first duration is less than the second duration, and the
Two durations are less than third duration.
4. the patrol robot control method according to claim 1 for meeting security, which is characterized in that step S4
In, it is described to send alert notification to default terminal, it specifically includes: being abnormal the position of the patrol point of event to default terminal
It sets and anomalous event content；
Preferably, in step S4, the accident detection that each corresponding patrol duration of patrol point is carried out on each patrol point, tool
Body includes: the human behavior image and video of each patrol point to be acquired, according to the personnel in the corresponding patrol duration of each patrol point
Behavior image and video and Visual intelligent recognizer judge whether be abnormal event on each patrol point.
5. the patrol robot control method according to claim 1 for meeting security, which is characterized in that step S1
In, the flow of the people for obtaining each patrol point specifically includes: personnel's image of each patrol point of acquisition, and is schemed based on the personnel
Picture and Visual intelligent recognizer determine the flow of the people of each patrol point.
6. a kind of patrol robot control system for meeting security characterized by comprising the first patrol robot,
Two patrol robots and control module；
First patrol robot is equipped with Pedestrian flow detection module, and Pedestrian flow detection module is used to obtain the stream of people of detection zone
Amount；
Second patrol robot is equipped with accident detection module and alarm modules, and accident detection module is for detecting inspection
Survey whether region is abnormal event, alarm modules are used to send alert notification to default terminal；
Control module respectively with the first patrol machine and the second patrol robot communication connection；
Patrol route is preset in control module, control module instruction the first patrol robot of control is patrolled according to patrol route arrival
It patrols on route and respectively goes on patrol a little, and obtain the flow of the people of each patrol point by Pedestrian flow detection module, control module is according to each patrol
The flow of the people of point carries out patrol priority to each patrol point and divides, further according to the patrol priority planning patrol path of each patrol point
With the patrol duration of each patrol point, control module instruction the second patrol robot of control reaches on patrol path according to patrol path
Each patrol point, and each corresponding anomalous event for going on patrol duration of patrol point is carried out in each go on patrol on point by accident detection module
Detection, when detecting that a certain patrol point is abnormal event, control module instruction control alarm modules are sent to default terminal
Alert notification.
7. the patrol robot control system according to claim 6 for meeting security, which is characterized in that the control
Module is specifically used for: when the flow of the people of patrol point is less than preset first number threshold value, patrol priority which is put
It is divided into low；It, will when the flow of the people of patrol point is greater than preset first number threshold value and is less than preset second number threshold value
During the patrol priority of the patrol point is divided into；When the flow of the people of patrol point is greater than preset second number threshold value, this is patrolled
The patrol priority patrolled a little is divided into height, wherein the first number threshold value is less than the second number threshold value, and the second number threshold value is less than
Three number threshold values.
8. the patrol robot control system according to claim 7 for meeting security, which is characterized in that the control
Module is specifically used for: the sequence for reaching each patrol point is formulated according to the high, medium and low sequence of patrol priority, and each according to reaching
Path is gone on patrol in the sequential program(me) of patrol point；When the patrol priority of patrol point is low, plan a length of when the patrol of the patrol point
First duration；When the patrol priority of patrol point is middle, a length of second duration when the patrol of the patrol point is planned；When patrol point
Patrol priority be it is high when, plan a length of third duration when the patrol of the patrol point, wherein when the first duration is less than second
Long, the second duration is less than third duration.
9. the patrol robot control system according to claim 6 for meeting security, which is characterized in that the alarm
Module is specifically used for: position and the anomalous event content of the patrol point of event are abnormal to default terminal；
Preferably, the accident detection module, is specifically used for: in the corresponding patrol duration of each patrol point, acquiring each patrol
The human behavior image and video of point, judge each patrol according to the human behavior image and video and Visual intelligent recognizer
Whether event is abnormal on point.
10. the patrol robot control system according to claim 6 for meeting security, which is characterized in that the people
Flow detection module, is specifically used for: personnel's image of each patrol point of acquisition, and is identified based on personnel's image and Visual intelligent
Algorithm determines the flow of the people of each patrol point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927102.6A CN109015638B (en) | 2018-08-15 | 2018-08-15 | Patrol robot control method and system for conference security |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927102.6A CN109015638B (en) | 2018-08-15 | 2018-08-15 | Patrol robot control method and system for conference security |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109015638A true CN109015638A (en) | 2018-12-18 |
| CN109015638B CN109015638B (en) | 2021-06-18 |
Family
ID=64631323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810927102.6A Active CN109015638B (en) | 2018-08-15 | 2018-08-15 | Patrol robot control method and system for conference security |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015638B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110170997A (en) * | 2019-05-27 | 2019-08-27 | 北京深醒科技有限公司 | A kind of patrol robot control system and its working method for public place |
| CN110378552A (en) * | 2019-06-05 | 2019-10-25 | 特斯联（北京）科技有限公司 | Community security personal scheduling system and method based on gridding |
| CN111152228A (en) * | 2020-01-22 | 2020-05-15 | 深圳国信泰富科技有限公司 | Robot action self-planning system |
| CN113183152A (en) * | 2021-04-25 | 2021-07-30 | 深圳优地科技有限公司 | Motion abnormality determination method, electronic device, and storage medium |
| CN115146878A (en) * | 2022-09-05 | 2022-10-04 | 深圳市海邻科信息技术有限公司 | Commanding and scheduling method, system, vehicle-mounted equipment and computer readable storage medium |
| WO2024071457A1 (en) * | 2022-09-26 | 2024-04-04 | 엘지전자 주식회사 | Guide robot and operating method of guide robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101625771A (en) * | 2008-07-11 | 2010-01-13 | 财团法人工业技术研究院 | Patrol checking management system and method |
| CN101779119A (en) * | 2007-06-21 | 2010-07-14 | 瑞皮斯坎安全产品公司 | Systems and methods for improving directed people screening |
| JP2012022515A (en) * | 2010-07-14 | 2012-02-02 | Hitachi Building Systems Co Ltd | Maintenance patrol plan creation device |
| CN103038795A (en) * | 2009-12-24 | 2013-04-10 | 旅行者保险公司 | Risk assessment and control, insurance premium determinations, and other applications using busyness |
| CN105291111A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN105654647A (en) * | 2016-01-28 | 2016-06-08 | 中北大学 | Identification method for judging home invasion in real time |
| CN105807773A (en) * | 2016-05-13 | 2016-07-27 | 南京工程学院 | Restaurant service robot system based on iGPS and internal communication |
| CN205594453U (en) * | 2016-05-11 | 2016-09-21 | 哈尔滨工大服务机器人有限公司 | Patrol system of robot |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| CN107392390A (en) * | 2017-08-07 | 2017-11-24 | 江苏警官学院 | A kind of community policy patrol path optimization design method based on deep learning algorithm |
| US20180012323A1 (en) * | 2016-07-07 | 2018-01-11 | Motorola Solutions, Inc | Method and apparatus for improving dispatch of different types of law enforcement patrols for achieving a desired deterrent effect |
| CN108229400A (en) * | 2018-01-04 | 2018-06-29 | 东南大学 | Subway station large passenger flow identification method for early warning and system |
| CN108389340A (en) * | 2018-04-24 | 2018-08-10 | 王社兵 | A kind of station perimeter alarm system and method based on ZigBee-network |
| CN110170997A (en) * | 2019-05-27 | 2019-08-27 | 北京深醒科技有限公司 | A kind of patrol robot control system and its working method for public place |
-
2018
- 2018-08-15 CN CN201810927102.6A patent/CN109015638B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101779119A (en) * | 2007-06-21 | 2010-07-14 | 瑞皮斯坎安全产品公司 | Systems and methods for improving directed people screening |
| CN101625771A (en) * | 2008-07-11 | 2010-01-13 | 财团法人工业技术研究院 | Patrol checking management system and method |
| CN103038795A (en) * | 2009-12-24 | 2013-04-10 | 旅行者保险公司 | Risk assessment and control, insurance premium determinations, and other applications using busyness |
| JP2012022515A (en) * | 2010-07-14 | 2012-02-02 | Hitachi Building Systems Co Ltd | Maintenance patrol plan creation device |
| CN105291111A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN105654647A (en) * | 2016-01-28 | 2016-06-08 | 中北大学 | Identification method for judging home invasion in real time |
| CN205594453U (en) * | 2016-05-11 | 2016-09-21 | 哈尔滨工大服务机器人有限公司 | Patrol system of robot |
| CN105807773A (en) * | 2016-05-13 | 2016-07-27 | 南京工程学院 | Restaurant service robot system based on iGPS and internal communication |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| US20180012323A1 (en) * | 2016-07-07 | 2018-01-11 | Motorola Solutions, Inc | Method and apparatus for improving dispatch of different types of law enforcement patrols for achieving a desired deterrent effect |
| CN107392390A (en) * | 2017-08-07 | 2017-11-24 | 江苏警官学院 | A kind of community policy patrol path optimization design method based on deep learning algorithm |
| CN108229400A (en) * | 2018-01-04 | 2018-06-29 | 东南大学 | Subway station large passenger flow identification method for early warning and system |
| CN108389340A (en) * | 2018-04-24 | 2018-08-10 | 王社兵 | A kind of station perimeter alarm system and method based on ZigBee-network |
| CN110170997A (en) * | 2019-05-27 | 2019-08-27 | 北京深醒科技有限公司 | A kind of patrol robot control system and its working method for public place |
Non-Patent Citations (1)
| Title |
|---|
| 谢智昊等: "大规模人群聚集风险控制态势模型研究", 《风险管理》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110170997A (en) * | 2019-05-27 | 2019-08-27 | 北京深醒科技有限公司 | A kind of patrol robot control system and its working method for public place |
| CN110378552A (en) * | 2019-06-05 | 2019-10-25 | 特斯联（北京）科技有限公司 | Community security personal scheduling system and method based on gridding |
| CN111152228A (en) * | 2020-01-22 | 2020-05-15 | 深圳国信泰富科技有限公司 | Robot action self-planning system |
| CN111152228B (en) * | 2020-01-22 | 2021-07-09 | 深圳国信泰富科技有限公司 | Robot action self-planning system |
| CN113183152A (en) * | 2021-04-25 | 2021-07-30 | 深圳优地科技有限公司 | Motion abnormality determination method, electronic device, and storage medium |
| CN115146878A (en) * | 2022-09-05 | 2022-10-04 | 深圳市海邻科信息技术有限公司 | Commanding and scheduling method, system, vehicle-mounted equipment and computer readable storage medium |
| WO2024071457A1 (en) * | 2022-09-26 | 2024-04-04 | 엘지전자 주식회사 | Guide robot and operating method of guide robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015638B (en) | 2021-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015638A (en) | A kind of patrol robot control method and system for meeting security | |
| WO2021253961A1 (en) | Intelligent visual perception system | |
| CN110991320B (en) | Road condition detection method and device, electronic equipment and storage medium | |
| US9275545B2 (en) | System and method for monitoring vehicle traffic and controlling traffic signals | |
| US20210311476A1 (en) | Patrol robot and patrol robot management system | |
| CN106353886A (en) | Intelligent head up display of automobile | |
| CN107871399B (en) | Automatic vehicle driving system and method | |
| CN203870474U (en) | Automatic navigation patrol robot for visual monitoring | |
| CN109271872A (en) | A kind of judgement of high voltage isolator division state and trouble-shooter and method | |
| WO2017054279A1 (en) | Fatigued driving processing method and apparatus | |
| CN102622908B (en) | Television monitoring system of automatic tracking vehicle and method thereof | |
| CN110379111A (en) | A kind of unmanned plane inspection system for forest fire protection | |
| CN111035542A (en) | Intelligent blind guiding system based on image recognition | |
| CN108597225A (en) | Intelligent road traffic surveillance and control system and its monitoring method | |
| CN110170997A (en) | A kind of patrol robot control system and its working method for public place | |
| CN104442566A (en) | Vehicle inside passenger dangerous state alarming device and alarming method | |
| JP7070116B2 (en) | Remote monitoring system | |
| CN105962908A (en) | Flying body temperature detector control method and device | |
| CN102420972A (en) | Monitoring system | |
| CN109785638A (en) | A kind of artificial intelligence signal lamp control system | |
| JP2019213132A (en) | Remote monitoring system | |
| CN114005088A (en) | Safety rope wearing state monitoring method and system | |
| CN206524010U (en) | A kind of motor line is through automatic reminding system during crossing | |
| US11377326B2 (en) | Elevator door control system, elevator system, and elevator door control method | |
| CN105138947A (en) | Guard reminding method, reminding device and reminding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |