CN109623829A - A kind of control system and method for security robot - Google Patents
A kind of control system and method for security robot Download PDFInfo
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- CN109623829A CN109623829A CN201910107885.8A CN201910107885A CN109623829A CN 109623829 A CN109623829 A CN 109623829A CN 201910107885 A CN201910107885 A CN 201910107885A CN 109623829 A CN109623829 A CN 109623829A
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- 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
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention discloses a kind of control system of security robot, and control system is connect with crossing monitor by a remote server, and control system includes: the image that monitoring module is used to monitor in real time a preset range, and acquired image is transmitted to crossing monitor；Picture recognition module monitoring module acquired image for identification, to judge in image with the presence or absence of unlawful infringement behavior；Control module exports corresponding defense controls instruction according to image recognition result or early warning controls signal；Execution module is for driving security robot to take safeguard measure；Or execution module is for driving security robot to send distress signal to background server.The utility model has the advantages that monitoring security robot in real time; and whether there is or not the behaviors of unlawful infringement for self-identifying; when the behavior that security robot recognizes unlawful infringement occurs; safeguard measure can be taken to protect the personal safety of the injured party automatically; meanwhile security robot can alarm to background server automatically.
Description
Technical field
The present invention relates to robot control system field more particularly to the control systems and method of a kind of security robot.
Background technique
With the fast development of artificial intelligence technology, intelligent robot receives the common concern of people, at present on the market
Have already appeared the robot of all multiple types, such as service robot, cleaning robot, industrial robot, agricultural robot, household
Robot etc..The appearance of intelligent robot makes people's lives become more convenient.
Currently, the security work in city is mainly served as by security personnel, since the monitoring range of security personnel is larger, and
The energy of security personnel is limited, especially is easy to take sb's mind off sth at night, however night is the high incidence period of crime again, because
This, now there is an urgent need to a kind of security robots to assist security personnel to safeguard the personal safety and property safety of people.
Summary of the invention
For the above-mentioned problems in the prior art, the control system and method for a kind of security robot are now provided.
Specific technical solution is as follows:
The present invention includes that a kind of control system of security robot, the control system and crossing monitor are long-range by one
Server connection, the control system include:
One monitoring module, the monitoring module are used to monitor in real time the image of a preset range, and will be collected described
Image transmitting is to the crossing monitor；
One picture recognition module, described image identification module connect the monitoring module, and described image identification module is used for
It identifies the collected described image of the monitoring module, to judge with the presence or absence of unlawful infringement behavior in described image, and exports
One image recognition result；
One control module, the control module connect described image identification module, and the control module is described for receiving
Image recognition result, and corresponding defense controls instruction or early warning control signal are exported according to described image recognition result；
One execution module, the execution module connect the control module, and the execution module is for receiving the protection
Control instruction, to drive the security robot to take safeguard measure；Or
The execution module is for receiving the early warning control signal, to drive the security robot to background server
Send distress signal.
Preferably, described image identification module includes:
The history image with unlawful infringement behavior is stored in advance in Yu Suoshu storage unit in one storage unit；
One recognition unit connects the storage unit, and the monitoring module is collected for identification for the recognition unit
Described image, and compared with the history image, and export described image recognition result；
When described image collected there are the monitoring module in the history image, then exports an image and there is knowledge
Other result；
When described image collected there is no the monitoring module in the history image, then exports an image and do not deposit
In recognition result；
The control module receives described image, and there are recognition results, to export corresponding defense controls instruction or early warning
Control signal；
The execution module is for receiving the defense controls instruction, to drive the security robot that protection is taken to arrange
It applies；Or
The execution module is for receiving the early warning control signal, to drive the security robot to background server
Send distress signal.
Preferably, described image identification module further includes an Iiquid detection unit；
When there is personnel to carry the liquid by the security robot, the Iiquid detection unit detects the liquid
Color, to judge whether the liquid is dangerous material, when detect the liquid be dangerous material, then it is defeated to the control module
A trace command out；
The control module receives the trace command, and according to the trace command to drive the execution module to carry out
Tracking carries the personnel of the liquid.
Preferably, described image identification module further includes a metal detection unit；
When there is personnel to carry ironware by the security robot, the metal detection unit detects the metal
Utensil, to judge whether the ironware is controlled knife, when detecting the ironware is the controlled knife, then
A trace command is exported to the control module；
The control module receives the trace command, and according to the trace command to drive the execution module to carry out
Tracking carries the personnel of the ironware.
Preferably, the control system further includes a voice interaction module, and the voice interaction module connects the control
Module；The voice interaction module specifically includes:
One voice recognition unit, the voice recognition unit are cried for help sound source for identification；
One voice positioning unit connects the voice recognition unit, and the voice positioning unit is for positioning the emergency
Sound source, and send one to the control module and find sound source instruction；
The control module receives the searching sound source instruction, and is instructed according to the searching sound source to drive the execution
Module finds the personnel for issuing emergency sound source.
Preferably, the execution module specifically includes:
One interference unit, the interference unit is for receiving the defense controls instruction to drive the security robot to adopt
Measure is fetched protection, the safeguard measure includes the strong light jamming countermeasure that the interference unit is taken or high-pressure jet measure or high pressure
Water spray measure；
One alarm unit, the alarm unit receives the early warning and controls signal, to drive the security robot backward
Platform server sends distress signal；
One mobile unit, the control module drive the mobile unit to carry out tracking carrying according to the trace command
The personnel of the utensil.
The present invention includes a kind of control method of security robot, the control method specifically includes the following steps:
Step S1, it monitors the image of a preset range in real time using a monitoring module, and collected described image is passed
Transport to crossing monitor；
Step S2, the collected described image of monitoring module is identified using a picture recognition module, described in judgement
It whether there is unlawful infringement behavior in image, and export an image recognition result；
Step S3, described image recognition result is received using a control module, and is exported according to described image recognition result
Corresponding defense controls instruction or early warning control signal；
Step S4, it receives the defense controls using an execution module to instruct, to drive the security robot to take guarantor
Shield measure；Or
The execution module receives the early warning and controls signal, to drive the security robot to send to background server
Distress signal.
Preferably, in Yu Suoshu control method further include:
Step S5, emergency sound source is identified using a voice recognition unit；
Step S6, the emergency sound source is positioned using a voice positioning unit, and sends one to the control module and finds
Sound source instruction；
Step S7, the described control module receives the searching sound source instruction, and is instructed according to the searching sound source to drive
The execution module finds the personnel for issuing emergency sound source.
Preferably, in Yu Suoshu step S2 further include:
Step S20a, it when there is personnel's carrying of liquids by the security robot, is detected using an Iiquid detection unit
The color of the liquid, to judge whether the liquid is dangerous material；
If so, turning to step S20b；
If it is not, then return step S20a；
The step S20b, the Iiquid detection unit export a trace command to the control module；
Step S20c, the described control module receives the trace command, and according to the trace command to drive described hold
Row module carries out the personnel that tracking carries the liquid.
Preferably, in Yu Suoshu step S2 further include:
Step S21a, when there is personnel to carry ironware by the security robot, metal detection unit detects institute
Ironware is stated, to judge whether the ironware is controlled knife；
If so, turning to step S21b；
If it is not, then return step S21a；
The step S2b, the metal detection unit export a trace command to the control module；
Step S2c, the described control module receives the trace command, and according to the trace command to drive the execution
Module carries out the personnel that tracking carries the ironware.
The beneficial effect of technical solution of the present invention is: providing the control system and method for a kind of security robot, makes to protect
Peace robot is monitored in real time, and whether there is or not the behaviors of unlawful infringement for self-identifying, when security robot has recognized unlawful infringement
Behavior occur when, can take safeguard measure to protect the personal safety of the injured party automatically, meanwhile, security robot can be from trend
Background server alarm, succours the injured party with guaranteeing that security personnel is on the scene in time.
Detailed description of the invention
With reference to appended attached drawing, more fully to describe the embodiment of the present invention.However, appended attached drawing be merely to illustrate and
It illustrates, and is not meant to limit the scope of the invention.
Fig. 1 is the structural schematic diagram of the control system of security robot in the embodiment of the present invention；
Fig. 2 is the flow chart of the control method of security robot in the embodiment of the present invention；
Fig. 3 is the method flow diagram of security robot identification emergency sound source in the embodiment of the present invention；
Fig. 4 is the method flow diagram that security robot detects dangerous material in the embodiment of the present invention；
Fig. 5 is the method flow diagram that security robot detects controlled knife in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The present invention includes the control system that the present invention includes a kind of security robot, as shown in Figure 1, control system and crossing
Monitor 2 is connected by a remote server 8, and control system includes:
One monitoring module 1, monitoring module 1 are used to monitor in real time the image of a preset range, and acquired image is passed
Transport to crossing monitor 2；
One picture recognition module 3, picture recognition module 3 connect monitoring module 1, and picture recognition module 3 monitors for identification
1 acquired image of module to judge with the presence or absence of unlawful infringement behavior in image, and exports an image recognition result；
One control module 4, control module 4 connect picture recognition module 3, and control module 4 is used to receive image recognition result,
And corresponding defense controls instruction or early warning control signal are exported according to image recognition result；
One execution module 5,5 link control module 4 of execution module, execution module 5 is for receiving defense controls instruction, to drive
Dynamic security robot takes safeguard measure；Or
Execution module 5 is for receiving early warning control signal, to drive security robot to send emergency letter to background server
Number.
Specifically, through the above technical solutions, security robot is applicable to the peace in the places such as school, residential quarter, factory
Work is protected, security robot is set to school doorway in the present embodiment, monitoring module 1 can be associated with to the crossing monitor of school
2, security personnel can be by 2 checking monitoring module of crossing monitor, 1 captured in real-time and the image uploaded, when picture recognition module 3
When judging to occur in monitoring range unlawful infringement behavior, execution module 5 can be driven to take safeguard measure, offender is done
It disturbs, meanwhile, driving execution module 5 sends distress signal to background server, reminds security personnel that emergency occurs so as to protect
Peace personnel are on the scene in time.
In a kind of preferably embodiment, as shown in Figure 1, picture recognition module 3 includes:
One storage unit 31, in the history image with unlawful infringement behavior is stored in advance in storage unit 31；
One recognition unit 32, connects storage unit 32,1 acquired image of monitoring module for identification of recognition unit 32,
And it is compared with history image, and export image recognition result；
When there are when 1 acquired image of monitoring module, then exporting an image, there are recognition results in history image；
When 1 acquired image of monitoring module is not present in history image, then exporting an image, there is no recognition results；
Control module 4 receives image, and there are recognition results, to export corresponding defense controls instruction or early warning control letter
Number；
Execution module 5 is for receiving defense controls instruction, to drive security robot to take safeguard measure；Or
Execution module 5 is for receiving early warning control signal, to drive security robot to send emergency letter to background server
Number.
Specifically, when recognition unit 32 is by the history image pair in 1 acquired image of monitoring module and storage unit 31
Than to judge whether occur unlawful infringement behavior in monitoring range, if occurring unlawful infringement behavior in monitoring range, control module 4
Driving execution module 5 takes safeguard measure or sends distress signal to background server, to guarantee that it is existing that security personnel rushes in time
The injured party is implemented to succour field.
In a kind of preferably embodiment, as shown in Figure 1, picture recognition module 3 further include an Iiquid detection unit 33 with
One metal detection unit 34:
When there is personnel's carrying of liquids by security robot, Iiquid detection unit 33 detects the color of liquid, with judgement
Whether liquid is dangerous material, when detecting that liquid is dangerous material, then exports a trace command to control module 4；
Control module 4 receives trace command, and according to trace command to drive execution module 5 to carry out tracking carrying of liquids
Personnel.
When there is personnel to carry ironware by security robot, metal detection unit 34 detects ironware, to sentence
Whether disconnected ironware is controlled knife, when detecting ironware is controlled knife, then to one tracking of the output of control module 4
Instruction；
Control module 4 receives trace command, and carries metal device according to trace command to drive execution module 5 to carry out tracking
The personnel of tool.
Specifically, according to the above technical scheme, picture recognition module 3, which is detected, carries danger by the personnel of security robot
When dangerous product or controlled knife, execution module 5 all can drive security robot to track the personnel, meanwhile, 4 meeting of control module
Execution module 5 is promoted to send an alerting signal to background server, so that security personnel is to carrying dangerous material or controlled knife
Personnel monitor in real time, to prevent the generation of unlawful infringement behavior.
In a kind of preferably embodiment, as shown in Figure 1, control system further includes a voice interaction module 6, interactive voice
6 link control module 4 of module；Voice interaction module 6 specifically includes:
One voice recognition unit 61, voice recognition unit 61 are cried for help sound source for identification；
One voice positioning unit 62 connects voice recognition unit 61, and voice positioning unit 62 is used to position emergency sound source, and
One, which is sent, to control module 4 finds sound source instruction；
Control module 4, which receives, finds sound source instruction, and is asked according to sound source instruction is found with driving execution module 5 to find to issue
Rescue the personnel of sound source.
Specifically, voice interaction module 6 can be used to identify emergency sound source and execution module 5 driven to travel to emergency sound source,
Security robot is moved to staff for help location progress secondary-confirmation and executes if staff for help encroaches on by offender
Module 5 takes safeguard measure, meanwhile, execution module 5 sends distress signal to background server.
In a kind of preferably embodiment, as shown in Figure 1, execution module 5 specifically includes:
One interference unit 51, interference unit 51 is for receiving defense controls instruction to drive security robot that protection is taken to arrange
It applies, safeguard measure includes the strong light jamming countermeasure for interfering unit 51 to take or high-pressure jet measure or measure of spraying water with high pressure；
One alarm unit 52, alarm unit 52 receives early warning and controls signal, to drive security robot to background server
Send distress signal；
One mobile unit 53, control module 4 drive mobile unit 53 to carry out tracking according to trace command and carry utensil
Personnel.
The present invention includes a kind of control method of security robot, as shown in Fig. 2, control method specifically includes following step
It is rapid:
Step S1, it monitors the image of a preset range in real time using a monitoring module, and acquired image is transmitted to
Crossing monitor；
Step S2, monitoring module acquired image is identified using a picture recognition module, to judge whether deposit in image
In unlawful infringement behavior, and export an image recognition result；
Step S3, image recognition result is received using a control module, and corresponding anti-according to image recognition result output
It protects control instruction or early warning controls signal；
Step S4, defense controls instruction is received using an execution module, to drive security robot to take safeguard measure；Or
Execution module receives early warning and controls signal, to drive security robot to send distress signal to background server.
In a kind of preferably embodiment, as shown in figure 3, in control method further include:
Step S5, emergency sound source is identified using a voice recognition unit；
Step S6, emergency sound source is positioned using a voice positioning unit, and sends one to control module and finds sound source instruction；
Step S7, control module, which receives, finds sound source instruction, and instructs according to sound source is found to drive execution module to find
Issue the personnel of emergency sound source.
In a kind of preferably embodiment, as shown in figure 4, in step S2 further include:
Step S20a, when there is personnel's carrying of liquids by security robot, liquid is detected using an Iiquid detection unit
Color, to judge whether liquid is dangerous material；
If so, turning to step S20b；
If it is not, then return step S20a；
Step S20b, Iiquid detection unit exports a trace command to control module；
Step S20c, control module receives trace command, and is taken according to trace command with driving execution module to carry out tracking
The personnel of carrying liqs.
In a kind of preferably embodiment, as shown in figure 5, in step S2 further include:
Step S21a, when there is personnel to carry ironware by security robot, metal detection unit detects metal device
Tool, to judge whether ironware is controlled knife；
If so, turning to step S21b；
If it is not, then return step S21a；
Step S21b, metal detection unit exports a trace command to control module；
Step S21c, control module receives trace command, and is taken according to trace command with driving execution module to carry out tracking
Personnel with ironware.
The beneficial effect of technical solution of the present invention is: providing the control system and method for a kind of security robot, makes to protect
Peace robot is monitored in real time, and whether there is or not the behaviors of unlawful infringement for self-identifying, when security robot has recognized unlawful infringement
Behavior occur when, can take safeguard measure to protect the personal safety of the injured party automatically, meanwhile, security robot can be from trend
Background server alarm, succours the injured party with guaranteeing that security personnel is on the scene in time.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of control system of security robot, which is characterized in that the control system and crossing monitor are long-range by one
Server connection, the control system include:
One monitoring module, the monitoring module are used to monitor in real time the image of a preset range, and by collected described image
It is transmitted to the crossing monitor；
One picture recognition module, described image identification module connect the monitoring module, and described image identification module is for identification
The collected described image of monitoring module to judge with the presence or absence of unlawful infringement behavior in described image, and exports a figure
As recognition result；
One control module, the control module connect described image identification module, and the control module is for receiving described image
Recognition result, and corresponding defense controls instruction or early warning control signal are exported according to described image recognition result；
One execution module, the execution module connect the control module, and the execution module is for receiving the defense controls
Instruction, to drive the security robot to take safeguard measure；Or
The execution module is for receiving the early warning control signal, to drive the security robot to send to background server
Distress signal.
2. the control system of security robot according to claim 1, which is characterized in that described image identification module packet
It includes:
The history image with unlawful infringement behavior is stored in advance in Yu Suoshu storage unit in one storage unit；
One recognition unit connects the storage unit, and the monitoring module is collected described for identification for the recognition unit
Image, and compared with the history image, and export described image recognition result；
When described image collected there are the monitoring module in the history image, then exports an image and there is identification knot
Fruit；
When described image collected there is no the monitoring module in the history image, then exporting an image, there is no know
Other result；
The control module receives described image, and there are recognition results, to export corresponding defense controls instruction or early warning control
Signal；
The execution module is for receiving the defense controls instruction, to drive the security robot to take safeguard measure；Or
The execution module is for receiving the early warning control signal, to drive the security robot to send to background server
Distress signal.
3. the control system of security robot according to claim 1, which is characterized in that described image identification module also wraps
Include an Iiquid detection unit；
When there is personnel to carry the liquid by the security robot, the Iiquid detection unit detects the face of the liquid
Color, to judge whether the liquid is dangerous material, when detecting that the liquid is dangerous material, then to control module output one
Trace command；
The control module receives the trace command, and according to the trace command to drive the execution module to be tracked
Carry the personnel of the liquid.
4. the control system of security robot according to claim 1, which is characterized in that described image identification module also wraps
Include a metal detection unit；
When there is personnel to carry ironware by the security robot, the metal detection unit detects the metal device
Tool, to judge whether the ironware is controlled knife, when detect the ironware be the controlled knife when, then to
The control module exports a trace command；
The control module receives the trace command, and according to the trace command to drive the execution module to be tracked
Carry the personnel of the ironware.
5. the control system of security robot according to claim 1, it is characterised in that the control system further includes one
Voice interaction module, the voice interaction module connect the control module；The voice interaction module specifically includes:
One voice recognition unit, the voice recognition unit are cried for help sound source for identification；
One voice positioning unit connects the voice recognition unit, and the voice positioning unit is used to position the emergency sound source,
And one is sent to the control module and finds sound source instruction；
The control module receives the searching sound source instruction, and is instructed according to the searching sound source to drive the execution module
Find the personnel for issuing emergency sound source.
6. the control system of security robot according to claim 3, which is characterized in that the execution module is specifically wrapped
It includes:
One interference unit, the interference unit is for receiving the defense controls instruction to drive the security robot to take guarantor
Shield measure, the safeguard measure include the strong light jamming countermeasure that the interference unit is taken or high-pressure jet measure or spray water with high pressure
Measure；
One alarm unit, the alarm unit receive the early warning and control signal, to drive the security robot to take to backstage
Business device sends distress signal；
One mobile unit, the control module drive the mobile unit to carry out described in tracking carrying according to the trace command
The personnel of utensil.
7. a kind of control method of security robot, it is characterised in that for guarantor described in the claims 1-6 any one
Pacify robot control system, the control method specifically includes the following steps:
Step S1, it monitors the image of a preset range in real time using a monitoring module, and collected described image is transmitted to
Crossing monitor；
Step S2, the collected described image of monitoring module is identified using a picture recognition module, to judge described image
In whether there is unlawful infringement behavior, and export an image recognition result；
Step S3, described image recognition result is received using a control module, and is answered according to described image recognition result output phase
Defense controls instruction or early warning control signal；
Step S4, it receives the defense controls using an execution module to instruct, to drive the security robot that protection is taken to arrange
It applies；Or
The execution module receives the early warning and controls signal, is cried for help with driving the security robot to send to background server
Signal.
8. the control method of security robot according to claim 7, which is characterized in that also wrapped in Yu Suoshu control method
It includes:
Step S5, emergency sound source is identified using a voice recognition unit；
Step S6, the emergency sound source is positioned using a voice positioning unit, and sends one to the control module and finds sound source
Instruction；
Step S7, the described control module receives the searching sound source instruction, and described to drive according to searching sound source instruction
Execution module finds the personnel for issuing emergency sound source.
9. the control method of security robot according to claim 7, which is characterized in that also wrapped in Yu Suoshu step S2
It includes:
Step S20a, when there is personnel's carrying of liquids by the security robot, using described in Iiquid detection unit detection
The color of liquid, to judge whether the liquid is dangerous material；
If so, turning to step S20b；
If it is not, then return step S20a；
The step S20b, the Iiquid detection unit export a trace command to the control module；
Step S20c, the described control module receives the trace command, and according to the trace command to drive the execution mould
Block carries out the personnel that tracking carries the liquid.
10. the control method of security robot according to claim 9, which is characterized in that also wrapped in Yu Suoshu step S2
It includes:
Step S21a, when there is personnel to carry ironware by the security robot, metal detection unit detects the gold
Belong to utensil, to judge whether the ironware is controlled knife；
If so, turning to step S21b；
If it is not, then return step S21a；
The step S21b, the metal detection unit export a trace command to the control module；
Step S21c, the described control module receives the trace command, and according to the trace command to drive the execution mould
Block carries out the personnel that tracking carries the ironware.
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| CN201910107885.8A CN109623829A (en) | 2019-02-02 | 2019-02-02 | A kind of control system and method for security robot |
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| CN201910107885.8A CN109623829A (en) | 2019-02-02 | 2019-02-02 | A kind of control system and method for security robot |
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Cited By (1)
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| CN111612994A (en) * | 2020-05-07 | 2020-09-01 | 苏州斯坦姆智能科技有限公司 | Visual identification autonomous following detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111612994A (en) * | 2020-05-07 | 2020-09-01 | 苏州斯坦姆智能科技有限公司 | Visual identification autonomous following detection device |
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