CN109801472A - Safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing - Google Patents
Safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing Download PDFInfo
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- CN109801472A CN109801472A CN201811509369.XA CN201811509369A CN109801472A CN 109801472 A CN109801472 A CN 109801472A CN 201811509369 A CN201811509369 A CN 201811509369A CN 109801472 A CN109801472 A CN 109801472A
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Abstract
The embodiment of the present invention provides a kind of safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing.The method of the embodiment of the present invention, according to the environmental data of the current location, judges whether to find dangerous situation by the way that by the vehicle-mounted automatic patrol of unpiloted security, during automatic driving vehicle is gone on patrol automatically, car-mounted terminal obtains the environmental data of current location；And in discovery dangerous situation, then execute the corresponding treatment measures of the dangerous situation, even if time or place in illumination condition difference, also dangerous situation can efficiently and be in time found, and treatment measures corresponding with dangerous situation are intelligently taken, improve efficiency, safety and the timeliness of safety and protection monitoring.
Description
Technical field
The present embodiments relate to field of security technology more particularly to a kind of safety and protection monitoring method, apparatus, automatic driving car
And readable storage medium storing program for executing.
Background technique
As the improvement of people's living standards, need of the people to the automation security protection system in the places such as inhabitation, work
Ask higher and higher, people generally wish that inhabitation, working environment have security system, can maximumlly deter criminal, most have
The safety of the protection people of effect.
Current security system is mostly the camera fixed in the installation of the monitoring areas such as entrance, and camera intelligent monitoring is fixed
Situation in monitoring area can not be monitored the region except monitoring area, it is still desirable to be equipped with several Security Personnel into
Row is gone on patrol round-the-clockly.But Security Personnel passes through in illumination condition poor time or place etc. the dangerous time to take place frequently or place
Eye-observation is difficult found the abnormal situation, and the low efficiency manually gone on patrol and real-time it is poor.
Summary of the invention
The embodiment of the present invention provides a kind of safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing, to
Security Personnel is solved in illumination condition poor time or place etc. the dangerous time to take place frequently or place, is difficult to find by eye-observation
Abnormal conditions, and the problem for low efficiency and the real-time difference manually gone on patrol.
The one aspect of the embodiment of the present invention is to provide a kind of safety and protection monitoring method, comprising:
During automatic driving vehicle is gone on patrol automatically, the environmental data of current location is obtained；
According to the environmental data of the current location, judge whether to find dangerous situation；
If it was found that dangerous situation, executes the corresponding treatment measures of the dangerous situation.
The other side of the embodiment of the present invention is to provide a kind of safety and protection monitoring device, comprising:
Data acquisition module, for obtaining the environmental data of current location during automatic driving vehicle is gone on patrol automatically；
Dangerous situation identification module judges whether to find dangerous situation for the environmental data according to the current location；
Dangerous situation processing module, if executing the corresponding treatment measures of the dangerous situation for finding dangerous situation.
The other side of the embodiment of the present invention is to provide a kind of car-mounted terminal, comprising:
Memory, processor, and it is stored in the computer journey that can be run on the memory and on the processor
Sequence, the processor realize method described above when running the computer program.
The other side of the embodiment of the present invention is to provide a kind of computer readable storage medium, is stored with computer journey
Sequence, the computer program realize method described above when being executed by processor.
The other side of the embodiment of the present invention is to provide a kind of automatic driving vehicle, comprising:
Imaging sensor, for acquiring the image of current location in real time during automatic driving vehicle is gone on patrol automatically
Data；
Audio sensor, for acquiring audio data in real time during automatic driving vehicle is gone on patrol automatically；
And car-mounted terminal described above.
Safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing provided in an embodiment of the present invention, by by
The unpiloted vehicle-mounted automatic patrol of security, during automatic driving vehicle is gone on patrol automatically, car-mounted terminal obtains current location
Environmental data judge whether to find dangerous situation according to the environmental data of the current location；And finding dangerous situation,
Then execute the corresponding treatment measures of the dangerous situation, even if time or place in illumination condition difference, also can efficiently and
Dangerous situation is found in time, and intelligently takes treatment measures corresponding with dangerous situation, improves efficiency, the peace of safety and protection monitoring
Full property and timeliness.
Detailed description of the invention
Fig. 1 is the safety and protection monitoring method flow diagram that the embodiment of the present invention one provides；
Fig. 2 is safety and protection monitoring method flow diagram provided by Embodiment 2 of the present invention；
Fig. 3 is another safety and protection monitoring method flow diagram provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram for the safety and protection monitoring device that the embodiment of the present invention three provides；
Fig. 5 is the structural schematic diagram for the car-mounted terminal that the embodiment of the present invention five provides.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the range of design of the embodiment of the present invention in any manner with verbal description, but by reference to specific reality
Applying example is that those skilled in the art illustrate idea of the invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the embodiment of the present invention.On the contrary, they be only with
The example of the consistent device and method of as detailed in the attached claim, the embodiment of the present invention some aspects.
Term " first " involved in the embodiment of the present invention, " second " etc. are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.In the description of following embodiment,
The meaning of " plurality " is two or more, unless otherwise specifically defined.
These specific embodiments can be combined with each other below, may be at certain for the same or similar concept or process
It is repeated no more in a little embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Embodiment one
Fig. 1 is the safety and protection monitoring method flow diagram that the embodiment of the present invention one provides.The embodiment of the present invention is directed to Security Personnel
In illumination condition poor time or place etc. the dangerous time to take place frequently or place, it is difficult found the abnormal situation by eye-observation, and
The problem for low efficiency and the real-time difference manually gone on patrol, provides safety and protection monitoring method.
Method in the present embodiment is applied to refer to the automatic driving vehicle for executing security task.Method in this implementation is held
Row main body can be the car-mounted terminal of automatic driving vehicle.
As shown in Figure 1, specific step is as follows for this method:
Step S101, during automatic driving vehicle is gone on patrol automatically, the environmental data of current location is obtained.
In the present embodiment, automatic driving vehicle can be gone on patrol automatically according to setting patrol route, during automatic patrol,
Each data acquisition device of car-mounted terminal control automatic driving vehicle acquires the environmental data of surrounding in real time, and is sent to vehicle-mounted
Terminal.
Wherein, current location refers to the current location of automatic driving vehicle.
The environmental data that car-mounted terminal obtains includes image data and/or audio data of surrounding etc., such as camera
The audio data etc. that the image data of shooting, audio sensor acquire.
In addition, all data that environmental data can be got with car-mounted terminal, such as the temperature of temperature sensor acquisition
Information etc. is spent, the present embodiment is not specifically limited herein.
Step S102, according to the environmental data of the current location, judge whether to find dangerous situation.
In the present embodiment, dangerous situation includes multiple types, and the data characteristics of different types of dangerous situation is different.It can be with
By technical staff previously according to the dangerous situation occurred, sum up multiple types dangerous situation and all kinds of dangerous feelings
The data characteristics of condition.
Car-mounted terminal can be according to the image data and/or audio data of surrounding, and the data in conjunction with all kinds of dangerous situations are special
Sign, the dangerous situation that discovery surrounding occurs.
Optionally, car-mounted terminal can by acquire current location image data, by the image data of current location with
The reference image data of same position is compared, and identifies the image data of current location and the reference picture number of same position
Visibly different place, obtains suspect object in, further determines that the corresponding dangerous situation of suspect object.For example, identifying
Suspect object is a people, then the behavior posture by further determining that this people, determines that this people is dangerous person
(such as thief, robber, abuser), if it is determined that this people is dangerous person, then being determined according to the type of dangerous person
Current dangerous situation, etc..
Wherein, the reference image data of same position may include the image data under the environmental conditions such as multiple and different, with
Convenient for accurately finding dangerous situation.Environmental condition may include illumination condition, weather condition etc., and the present embodiment is not done herein
It is specific to limit.
Optionally, car-mounted terminal can carry out semantic analysis to audio data by the audio data of acquisition current location,
Whether audio data includes danger signal；If audio data includes danger signal, can be according to danger signal
Type determines dangerous situation type；If audio data does not include danger signal, it was determined that not had according to audio data
It was found that dangerous situation.
Optionally, car-mounted terminal can also receive the information such as request of seeking help of user terminal transmission, receive asking for user
When helping request, it is believed that have found dangerous situation.
If step S103, finding dangerous situation, the corresponding treatment measures of the dangerous situation are executed.
In the present embodiment, every kind of dangerous situation can correspond to the different treatment measures of one or more.Due to different
The urgency level and solution of dangerous situation are different, therefore different types of dangerous situation can be with corresponding different place
Reason measure.The corresponding treatment measures of all kinds of dangerous situations can be set with experience according to actual needs by technical staff, this
Embodiment is not specifically limited herein.
For example, car-mounted terminal can take following one or more kinds for the treatment of measures if discovery dangerous situation is kindling
: a kind for the treatment of measures are: sending fire-warning information to fire-fighting center and/or security center, wherein security center refers to nothing
People drives scheduling and the administrative center of vehicle；Another treatment measures are: car-mounted terminal can directly be sent out to automatic fire control vehicle
The fire-fighting comprising fire location is sent to request, so that automatic fire control vehicle goes to fire location to put out a fire after receiving fire-fighting request；
Another treatment measures are: kindling information warning, or triggering kindling alarm device are issued, to prompt surrounding people to withdraw in time
Scene of fire.
For example, if discovery dangerous situation be dangerous personage implement violence or plunder when, car-mounted terminal can take with
Lower one or more treatment measures: a kind for the treatment of measures are: control vehicle is issued for warning or draw back with fear dangerous person
Prompt tone, such as " police arrive, please stop act of violence at once " or " messenger, someone plunder in the place XX " at once,
Etc.；Another treatment measures are: the position shooting evidence that control vehicle goes to dangerous situation to occur；Another treatment measures
It is: sends the warning message that position occurs comprising dangerous situation to public security department and security center；Another treatment measures are: to
First-aid centre sends the rescue information that position occurs comprising dangerous situation；Etc..
The embodiment of the present invention by going on patrol in automatic driving vehicle by the vehicle-mounted automatic patrol of unpiloted security automatically
Cheng Zhong, car-mounted terminal obtain the environmental data of current location, according to the environmental data of the current location, judge whether discovery danger
Dangerous situation condition；And discovery dangerous situation, then execute the corresponding treatment measures of the dangerous situation, though illumination condition difference when
Between or place, also can efficiently and in time find dangerous situation, and intelligently take treatment measures corresponding with dangerous situation,
Improve efficiency, safety and the timeliness of safety and protection monitoring.
Embodiment two
Fig. 2 is safety and protection monitoring method flow diagram provided by Embodiment 2 of the present invention；Fig. 3 is provided by Embodiment 2 of the present invention
Another safety and protection monitoring method flow diagram.On the basis of the above embodiment 1, it in the present embodiment, is patrolled automatically in automatic driving vehicle
During patrolling, the environmental data for obtaining current location can be image data and/or audio data.It, can be with for image data
It is handled by process as shown in Figure 2.For audio data, can be handled by process as shown in Figure 3.If ring
Border data include image data and audio data simultaneously, then car-mounted terminal can concurrently to image data and audio data into
Row processing.
As shown in Fig. 2, the process flow to image data includes the following steps:
Step S201, during automatic driving vehicle is gone on patrol automatically, the acquisition of the first imaging sensor is received in real time simultaneously
The image data of the current location sent.
Wherein, current location refers to the current location of automatic driving vehicle.
In the present embodiment, automatic driving vehicle can install there are many with different function imaging sensor.Wherein,
One imaging sensor can be common high-definition camera, for obtaining the image data of surrounding in real time.Second imaging sensor
It can be the narrow angular transducer such as long-distance millimeter-wave radar, suspect object can obtained compared with distant location apart from suspect object
The close-up image data being more clear.
During automatic driving vehicle is gone on patrol automatically, car-mounted terminal can receive the acquisition of the first imaging sensor in real time
And the image data of the current location sent.
Step S202, the suspect object in the image data of the current location is identified.
In the present embodiment, the suspect object in the image data of the current location is identified, it specifically can be using such as lower section
Formula is realized:
The history of the current location is obtained referring to image；By the image data of the current location and the history reference
Image is compared, and determines the suspect object in the image data of the current location.
Wherein, the history of same position may include image data under multiple and different environmental conditions referring to image, so as to
In accurately finding dangerous situation.Environmental condition may include illumination condition, weather condition etc., and the present embodiment is not done herein to be had
Body limits.
Optionally, the suspect object identification model based on machine learning can be stored in car-mounted terminal, car-mounted terminal passes through
A large amount of training datas carry out model training to suspect object identification model, obtain accurately knowing according to history referring to image
The suspect object identification model of suspect object in image data that Chu be not current.In the step, by the picture number of current location
According to input suspect object identification model, it can identify the suspect object in the image data of current location.
In addition, no longer executing subsequent step if not including suspect object in the image data of the current location.
Step S203, the second imaging sensor for controlling the automatic driving vehicle acquires the suspect object in real time
Close-up image data.
Wherein, the second imaging sensor can be the narrow angular transducer such as long-distance millimeter-wave radar, can in distance
Doubt the close-up image data being more clear that object obtains suspect object compared with distant location.
Optionally, after the suspect object in the image data for identifying the current location, car-mounted terminal can be with
Control automatic driving vehicle is travelled towards the suspect object, with close suspect object, and can preferably acquire suspect object
Close-up image data.
Step S204, the close-up image data that second imaging sensor is sent in fact is received.
Car-mounted terminal can receive the close-up image data that the second imaging sensor is sent in fact in real time.
Step S205, according to the close-up image data, the corresponding dangerous situation of the suspect object is identified.
After getting the close-up image data of suspect object, it is described suspicious right to be identified according to the close-up image data
As corresponding dangerous situation, can specifically realize in the following way:
According to the close-up image data and dangerous situation identification model, the corresponding danger of the suspect object is identified
Dangerous situation condition, the dangerous situation identification model are to carry out model training to machine learning model using training set to obtain.
Optionally, the dangerous situation identification model based on machine learning can be stored in car-mounted terminal, car-mounted terminal will be big
Image data when history dangerous situation occurs is measured as training data, model training is carried out to dangerous situation identification model.Instruction
The dangerous situation identification model got can accurately identify current image data pair according to current image data
The dangerous situation answered.In the step, close-up image data is inputted into dangerous situation identification model, it can identify close-up image
The corresponding dangerous situation of data.
Optionally, image data when can also be occurred according to a large amount of history dangerous situations is summed up as training data
The compromising feature data of all types of dangerous situations；After getting the close-up image data of suspect object, close up view is determined
As the compromising feature data for including in data, so as to further determine that the corresponding dangerous situation of close-up image data.
If step S206, finding dangerous situation, according to the close-up image data and map datum, described in positioning
The position that dangerous situation occurs.
Specifically, after determining and finding dangerous situation, can also according to close-up image data, automatic driving vehicle it is current
Position calculates the position that the dangerous situation occurs in conjunction with map datum and the calibrating parameters of the second imaging sensor.
In addition, after finding suspect object, if dangerous situation can not be determined whether, by close-up image data
It is sent to security center, so that technical staff artificially judges whether there is dangerous situation.
Car-mounted terminal can receive the information of the dangerous situation of security center transmission, and it is corresponding to execute the dangerous situation
Treatment measures.
Step S207, the corresponding treatment measures of the dangerous situation are executed.
In the present embodiment, the corresponding treatment measures of the dangerous situation are executed, can specifically include:
The position that the automatic driving vehicle goes to the dangerous situation to occur is controlled, and issues warning prompt tone；With/
Or, issuing dangerous warning information by alarm mode corresponding with the dangerous situation, the danger warning information is included at least
The position that the dangerous situation occurs.
Wherein, warning indicators sound refers to for warning or drawing back with fear dangerous person's sound.Different dangerous situations is corresponding
Alarm mode can be different, and alarm mode includes at least alarm object and communication mode.The corresponding announcement of all types of dangerous situations
Police's formula can rule of thumb be set by technical staff, and the present embodiment is not specifically limited herein.
In the present embodiment, every kind of dangerous situation can correspond to the different treatment measures of one or more.Due to different
The urgency level and solution of dangerous situation are different, therefore different types of dangerous situation can be with corresponding different place
Reason measure.The corresponding treatment measures of all kinds of dangerous situations can be set with experience according to actual needs by technical staff, this
Embodiment is not specifically limited herein.
For example, car-mounted terminal can take following one or more kinds for the treatment of measures if discovery dangerous situation is kindling
: a kind for the treatment of measures are: sending fire-warning information to fire-fighting center and/or security center, wherein security center refers to nothing
People drives scheduling and the administrative center of vehicle；Another treatment measures are: car-mounted terminal can directly be sent out to automatic fire control vehicle
The fire-fighting comprising fire location is sent to request, so that automatic fire control vehicle goes to fire location to put out a fire after receiving fire-fighting request；
Another treatment measures are: kindling information warning, or triggering kindling alarm device are issued, to prompt surrounding people to withdraw in time
Scene of fire.
For example, if discovery dangerous situation be dangerous personage implement violence or plunder when, car-mounted terminal can take with
Lower one or more treatment measures: a kind for the treatment of measures are: control vehicle is issued for warning or draw back with fear dangerous person
Prompt tone, such as " police arrive, please stop act of violence at once " or " messenger, someone plunder in the place XX " at once,
Etc.；Another treatment measures are: the position shooting evidence that control vehicle goes to dangerous situation to occur；Another treatment measures
It is: sends the warning message that position occurs comprising dangerous situation to public security department and security center；Another treatment measures are: to
First-aid centre sends the rescue information that position occurs comprising dangerous situation；Etc..
The present embodiment by the processing to image data, can effectively find manually to be not easy discovery suspect object and
Dangerous situation, and corresponding treatment measures are taken in time, it will injure and be preferably minimized.
As shown in figure 3, the process flow to audio data includes the following steps:
Step S301, during automatic driving vehicle is gone on patrol automatically, audio sensor is received in real time and acquires and sends
Audio data.
In the present embodiment, automatic driving vehicle can be equipped with one or more kinds of audios for receiving audio data and pass
Sensor.Audio sensor can acquire in real time and send audio data to car-mounted terminal.Car-mounted terminal can receive in real time
The audio data that audio sensor is acquired and sent.
Step S302, identifying processing is carried out to the audio data, whether judged in the audio data comprising dangerous letter
Number.
In the present embodiment, danger signal library can be pre-established, is stored with for indicating what known dangerous situation occurred
Danger signal.Danger signal can be intended to indicate that the key word information of dangerous situation.For example, " thief ", " robbery ", "
Fire ", " fire fighting " etc..
In the step, voice recognition processing is carried out to audio data, the corresponding text information of audio data is obtained, judges text
Whether include danger signal in this information, if in text information including one or more danger signal, determines included danger
The corresponding dangerous situation of dangerous signal.
Optionally, another dangerous situation identification model based on machine learning, car-mounted terminal can be stored in car-mounted terminal
Calling for help information when a large amount of history dangerous situations are occurred carries out mould to this another dangerous situation identification model as training data
Type training.This dangerous situation identification model that training obtains, can accurately identify the text according to one section of text information
The corresponding dangerous situation of information.In the step, the corresponding text information of audio data is inputted into this dangerous situation identification model,
It can identify the corresponding dangerous situation of audio data.
If not including danger signal in step S303, the described audio data, it is determined that do not find dangerous situation.
If in step S304, the described audio data including danger signal, it is determined that discovery dangerous situation.
If step S305, finding dangerous situation, the source position of the audio data is positioned, the source position is true
It is set to the position that the dangerous situation occurs.
In the step, the source position for positioning the audio data specifically can be using any one progress in the prior art
The method that the source position of audio is positioned realizes that details are not described herein again for the present embodiment.
Step S306, the corresponding treatment measures of the dangerous situation are executed.
The step is similar with step S207, and details are not described herein again for the present embodiment.
The present embodiment can find fire signal, injured party's distress signal etc. by the processing to audio data in time
Deng so as to find dangerous situation in time, and taking corresponding treatment measures in time, will injure and be preferably minimized.
Further, in this embodiment car-mounted terminal can also be in real time during automatic driving vehicle is gone on patrol automatically
The request of seeking help that user terminal is sent is received, the request of seeking help includes at least position and the dangerous situation letter of the user terminal
Breath.According to the position of the user terminal, the corresponding treatment measures of the dangerous situation information are executed.
User terminal can install client-side program, when user is in desperate situation, can be triggered with a key to nobody and be driven
It sails vehicle and sends request of seeking help, include the location information of user terminal in request of seeking help.Furthermore it is possible to according to critical degree
Or the different key of type set of dangerous situation, different key corresponds to different dangerous situation information, so that unmanned
Vehicle can take accurate measure to implement relief in time.
During automatic driving vehicle is gone on patrol automatically, car-mounted terminal can also receive asking for user terminal transmission in real time
Request is helped, and extracts position and the dangerous situation information of the user terminal in requesting of seeking help, according to the position of the user terminal
It sets, executes the corresponding treatment measures of the dangerous situation information.In addition, being able to carry out institute according to the position of the user terminal
The corresponding treatment measures of dangerous situation information are stated, similar with above-mentioned steps S207, details are not described herein again for the present embodiment.
The embodiment of the present invention is handled by the image data around obtaining in real time, can effectively be found manually not
Hold detectable suspect object and dangerous situation, and takes corresponding treatment measures in time；It is same to obtain audio data in real time,
And identify the corresponding dangerous situation of audio data, fire signal, injured party's distress signal etc. can be found in time, thus
Dangerous situation can be found in time, and takes corresponding treatment measures in time, will be injured and be preferably minimized by can be with
Audio data；Further, believed by the position comprising user terminal and dangerous situation that receive user terminal transmission in real time
The request of seeking help of breath executes the corresponding treatment measures of the dangerous situation information, Neng Gou according to the position of the user terminal
When receiving user and seeking help, goes to user terminal position to implement urgent measure in time, injury can be greatly reduced, mentioned
The high efficiency of safety and protection monitoring, safety and timeliness.
Embodiment three
Fig. 4 is the structural schematic diagram for the safety and protection monitoring device that the embodiment of the present invention three provides.It is provided in an embodiment of the present invention
Safety and protection monitoring device can execute the process flow of safety and protection monitoring embodiment of the method offer.As shown in figure 4, the safety and protection monitoring device
40 include:.
Specifically, data acquisition module 401 is used for during automatic driving vehicle is gone on patrol automatically, obtains current location
Environmental data.
Dangerous situation identification module 402 is used for the environmental data according to the current location, judges whether to find dangerous feelings
Condition.
If dangerous situation processing module 403 executes the corresponding processing of the dangerous situation and arranges for finding dangerous situation
It applies.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment one,
Details are not described herein again for concrete function.
The embodiment of the present invention by going on patrol in automatic driving vehicle by the vehicle-mounted automatic patrol of unpiloted security automatically
Cheng Zhong, car-mounted terminal obtain the environmental data of current location, according to the environmental data of the current location, judge whether discovery danger
Dangerous situation condition；And discovery dangerous situation, then execute the corresponding treatment measures of the dangerous situation, though illumination condition difference when
Between or place, also can efficiently and in time find dangerous situation, and intelligently take treatment measures corresponding with dangerous situation,
Improve efficiency, safety and the timeliness of safety and protection monitoring.
Example IV
On the basis of above-described embodiment three, in the present embodiment, during automatic driving vehicle is gone on patrol automatically, acquisition is worked as
The environmental data of front position can be image data and/or audio data.
The data acquisition module is also used to: during automatic driving vehicle is gone on patrol automatically, receiving the first figure in real time
The image data of the current location for acquiring and sending as sensor.
The dangerous situation identification module is also used to:
Identify the suspect object in the image data of the current location；Control the second image of the automatic driving vehicle
Sensor acquires the close-up image data of the suspect object in real time；Receive second imaging sensor send in fact it is described
Close-up image data；According to the close-up image data, the corresponding dangerous situation of the suspect object is identified.
Optionally, the dangerous situation identification module is also used to:
The history of the current location is obtained referring to image；By the image data of the current location and the history reference
Image is compared, and determines the suspect object in the image data of the current location.
Optionally, the dangerous situation identification module is also used to:
According to the close-up image data and dangerous situation identification model, the corresponding danger of the suspect object is identified
Dangerous situation condition, the dangerous situation identification model are to carry out model training to machine learning model using training set to obtain.
Optionally, the dangerous situation processing module is also used to:
If it was found that dangerous situation positions the dangerous situation hair according to the close-up image data and map datum
Raw position.
In the present embodiment, the data acquisition module is also used to: during automatic driving vehicle is gone on patrol automatically, in real time
Receive the audio data that audio sensor is acquired and sent.
The dangerous situation identification module is also used to:
Identifying processing is carried out to the audio data, whether is judged in the audio data comprising danger signal；If described
It include danger signal in audio data, it is determined that discovery dangerous situation；If not including danger signal in the audio data, really
Fixed no discovery dangerous situation.
Optionally, the dangerous situation processing module is also used to:
If the source position is determined as described it was found that dangerous situation, positions the source position of the audio data
The position that dangerous situation occurs.
Optionally, the dangerous situation processing module is also used to:
The position that the automatic driving vehicle goes to the dangerous situation to occur is controlled, and issues warning prompt tone；With/
Or, issuing dangerous warning information by alarm mode corresponding with the dangerous situation, the danger warning information is included at least
The position that the dangerous situation occurs.
In the present embodiment, the data acquisition module is also used to:
During automatic driving vehicle is gone on patrol automatically, the request of seeking help that user terminal is sent is received in real time, it is described to ask
Request is helped to include at least position and the dangerous situation information of the user terminal.
The dangerous situation identification module is also used to:
According to the position of the user terminal, the corresponding treatment measures of the dangerous situation information are executed.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment two,
Details are not described herein again for concrete function.
The embodiment of the present invention is handled by the image data around obtaining in real time, can effectively be found manually not
Hold detectable suspect object and dangerous situation, and takes corresponding treatment measures in time；It is same to obtain audio data in real time,
And identify the corresponding dangerous situation of audio data, fire signal, injured party's distress signal etc. can be found in time, thus
Dangerous situation can be found in time, and takes corresponding treatment measures in time, will be injured and be preferably minimized by can be with
Audio data；Further, believed by the position comprising user terminal and dangerous situation that receive user terminal transmission in real time
The request of seeking help of breath executes the corresponding treatment measures of the dangerous situation information, Neng Gou according to the position of the user terminal
When receiving user and seeking help, goes to user terminal position to implement urgent measure in time, injury can be greatly reduced, mentioned
The high efficiency of safety and protection monitoring, safety and timeliness.
Embodiment five
Fig. 5 is the structural schematic diagram for the car-mounted terminal that the embodiment of the present invention five provides.As shown in figure 5, the car-mounted terminal 50
It include: processor 501, memory 502, and it is stored in the meter that can be executed on the memory 502 and by the processor 501
Calculation machine program.
The processor 501 realizes any of the above-described side when executing and storing in the computer program on the memory 502
The safety and protection monitoring method that method embodiment provides.
The embodiment of the present invention by going on patrol in automatic driving vehicle by the vehicle-mounted automatic patrol of unpiloted security automatically
Cheng Zhong, car-mounted terminal obtain the environmental data of current location, according to the environmental data of the current location, judge whether discovery danger
Dangerous situation condition；And discovery dangerous situation, then execute the corresponding treatment measures of the dangerous situation, though illumination condition difference when
Between or place, also can efficiently and in time find dangerous situation, and intelligently take treatment measures corresponding with dangerous situation,
Improve efficiency, safety and the timeliness of safety and protection monitoring.
Embodiment six
A kind of automatic driving vehicle that the embodiment of the present invention six provides is mounted with image sensing on the automatic driving vehicle
Device, audio sensor and car-mounted terminal.
Specifically, imaging sensor is used for during automatic driving vehicle is gone on patrol automatically, current location is acquired in real time
Image data.
Audio sensor is used for during automatic driving vehicle is gone on patrol automatically, acquires audio data in real time.
Car-mounted terminal can be the car-mounted terminal of the offer of above-described embodiment five, and details are not described herein again for the present embodiment.
The embodiment of the present invention by going on patrol in automatic driving vehicle by the vehicle-mounted automatic patrol of unpiloted security automatically
Cheng Zhong, car-mounted terminal obtain the environmental data of current location, according to the environmental data of the current location, judge whether discovery danger
Dangerous situation condition；And discovery dangerous situation, then execute the corresponding treatment measures of the dangerous situation, though illumination condition difference when
Between or place, also can efficiently and in time find dangerous situation, and intelligently take treatment measures corresponding with dangerous situation,
Improve efficiency, safety and the timeliness of safety and protection monitoring.
In addition, the embodiment of the present invention also provides a kind of computer readable storage medium, it is stored with computer program, the meter
Calculation machine program realizes the safety and protection monitoring method that any of the above-described embodiment of the method provides when being executed by processor.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claims are pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by appended claims
System.
Claims (21)
1. a kind of safety and protection monitoring method characterized by comprising
During automatic driving vehicle is gone on patrol automatically, the environmental data of current location is obtained；
According to the environmental data of the current location, judge whether to find dangerous situation；
If it was found that dangerous situation, executes the corresponding treatment measures of the dangerous situation.
2. obtaining the method according to claim 1, wherein described during automatic driving vehicle is gone on patrol automatically
Take the environmental data of current location, comprising:
During automatic driving vehicle is gone on patrol automatically, the first imaging sensor is received in real time and acquires and sends described current
The image data of position.
3. according to the method described in claim 2, it is characterized in that, the environmental data according to the current location, judgement
Whether dangerous situation is found, comprising:
Identify the suspect object in the image data of the current location；
The second imaging sensor for controlling the automatic driving vehicle acquires the close-up image data of the suspect object in real time；
Receive the close-up image data that second imaging sensor is sent in fact；
According to the close-up image data, the corresponding dangerous situation of the suspect object is identified.
4. according to the method described in claim 3, it is characterized in that, in the image data of the identification current location can
Doubt object, comprising:
The history of the current location is obtained referring to image；
The image data of the current location is compared with the history referring to image, determines the image of the current location
Suspect object in data.
5., can described in identification according to the method described in claim 3, it is characterized in that, described according to the close-up image data
Doubt the corresponding dangerous situation of object, comprising:
According to the close-up image data and dangerous situation identification model, the corresponding dangerous feelings of the suspect object are identified
Condition, the dangerous situation identification model are to carry out model training to machine learning model using training set to obtain.
6. according to the method described in claim 3, it is characterized in that, if the discovery dangerous situation, executes the dangerous feelings
The corresponding treatment measures of condition, comprising:
If it was found that dangerous situation positions what the dangerous situation occurred according to the close-up image data and map datum
Position.
7. obtaining the method according to claim 1, wherein described during automatic driving vehicle is gone on patrol automatically
Take the environmental data of current location, comprising:
During automatic driving vehicle is gone on patrol automatically, the audio data that audio sensor is acquired and sent is received in real time.
8. the method according to the description of claim 7 is characterized in that the environmental data according to the current location, judgement
Whether dangerous situation is found, comprising:
Identifying processing is carried out to the audio data, whether is judged in the audio data comprising danger signal；
If in the audio data including danger signal, it is determined that discovery dangerous situation；
If not including danger signal in the audio data, it is determined that do not find dangerous situation.
9. according to the method described in claim 8, it is characterized in that, if the discovery dangerous situation, executes the dangerous feelings
Before the corresponding treatment measures of condition, further includes:
If the source position is determined as the danger it was found that dangerous situation, positions the source position of the audio data
The position happened.
10. -9 described in any item methods according to claim 1, which is characterized in that if the discovery dangerous situation, executes institute
State the corresponding treatment measures of dangerous situation, comprising:
The position that the automatic driving vehicle goes to the dangerous situation to occur is controlled, and issues warning prompt tone；
And/or
Dangerous warning information is issued by alarm mode corresponding with the dangerous situation, the danger warning information includes at least
The position that the dangerous situation occurs.
11. -9 described in any item methods according to claim 1, which is characterized in that the method also includes:
During automatic driving vehicle is gone on patrol automatically, the request of seeking help that user terminal is sent is received in real time, and described seek help is asked
Ask the position including at least the user terminal and dangerous situation information；
According to the position of the user terminal, the corresponding treatment measures of the dangerous situation information are executed.
12. a kind of safety and protection monitoring device characterized by comprising
Data acquisition module, for obtaining the environmental data of current location during automatic driving vehicle is gone on patrol automatically；
Dangerous situation identification module judges whether to find dangerous situation for the environmental data according to the current location；
Dangerous situation processing module, if executing the corresponding treatment measures of the dangerous situation for finding dangerous situation.
13. device according to claim 12, which is characterized in that
The data acquisition module is also used to: during automatic driving vehicle is gone on patrol automatically, receiving the first image biography in real time
The image data of the current location that sensor is acquired and sent；
The dangerous situation identification module is also used to:
Identify the suspect object in the image data of the current location；
The second imaging sensor for controlling the automatic driving vehicle acquires the close-up image data of the suspect object in real time；
Receive the close-up image data that second imaging sensor is sent in fact；
According to the close-up image data, the corresponding dangerous situation of the suspect object is identified.
14. device according to claim 13, which is characterized in that the dangerous situation processing module is also used to:
If it was found that dangerous situation positions what the dangerous situation occurred according to the close-up image data and map datum
Position.
15. device according to claim 12, which is characterized in that
The data acquisition module is also used to: during automatic driving vehicle is gone on patrol automatically, receiving audio sensor in real time
The audio data for acquiring and sending；
The dangerous situation identification module is also used to:
Identifying processing is carried out to the audio data, whether is judged in the audio data comprising danger signal；
If in the audio data including danger signal, it is determined that discovery dangerous situation；
If not including danger signal in the audio data, it is determined that do not find dangerous situation.
16. device according to claim 15, which is characterized in that the dangerous situation processing module is also used to:
If the source position is determined as the danger it was found that dangerous situation, positions the source position of the audio data
The position happened.
17. the described in any item devices of 2-16 according to claim 1, which is characterized in that the dangerous situation processing module is also used
In:
The position that the automatic driving vehicle goes to the dangerous situation to occur is controlled, and issues warning prompt tone；
And/or
Dangerous warning information is issued by alarm mode corresponding with the dangerous situation, the danger warning information includes at least
The position that the dangerous situation occurs.
18. the described in any item devices of 2-16 according to claim 1, which is characterized in that
The data acquisition module is also used to: during automatic driving vehicle is gone on patrol automatically, receiving user terminal hair in real time
The request of seeking help sent, the request of seeking help include at least position and the dangerous situation information of the user terminal；
The dangerous situation identification module is also used to:
According to the position of the user terminal, the corresponding treatment measures of the dangerous situation information are executed.
19. a kind of car-mounted terminal characterized by comprising
Memory, processor, and it is stored in the computer program that can be run on the memory and on the processor,
The processor realizes such as method of any of claims 1-11 when running the computer program.
20. a kind of computer readable storage medium, which is characterized in that it is stored with computer program,
Such as method of any of claims 1-6 is realized when the computer program is executed by processor.
21. a kind of automatic driving vehicle characterized by comprising
Imaging sensor, for acquiring the image data of current location in real time during automatic driving vehicle is gone on patrol automatically；
Audio sensor, for acquiring audio data in real time during automatic driving vehicle is gone on patrol automatically；
And car-mounted terminal described in claim 19.
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| CN201811509369.XA CN109801472A (en) | 2018-12-11 | 2018-12-11 | Safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing |
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| CN201811509369.XA CN109801472A (en) | 2018-12-11 | 2018-12-11 | Safety and protection monitoring method, apparatus, automatic driving vehicle and readable storage medium storing program for executing |
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