CN110909092B - State monitoring and maintaining Internet of things system for community public facilities - Google Patents
State monitoring and maintaining Internet of things system for community public facilities Download PDFInfo
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- CN110909092B CN110909092B CN201910959355.6A CN201910959355A CN110909092B CN 110909092 B CN110909092 B CN 110909092B CN 201910959355 A CN201910959355 A CN 201910959355A CN 110909092 B CN110909092 B CN 110909092B
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The invention provides a state monitoring and maintaining Internet of things system for community public facilities, which comprises: the mobile inspection robot is used for receiving inspection task information sent by the property management end so as to perform inspection operation on a plurality of public facilities, and accordingly, the state result of the public facilities is confirmed; the property management terminal is used for generating a routing inspection maintenance record table according to the public facility state result and issuing a warning command to the networking warning mark, so that a warning canceling command is issued to the networking warning mark after the current state of the public facility after maintenance sent by the maintenance party terminal is received; the networking warning sign is used for giving an alarm according to the warning command; and the maintenance side terminal is used for uploading the current state of the maintained public facilities to the property management side. The invention can monitor the current state of public facilities in the community, find the problems of damage, loss and the like of the public facilities in time and is convenient for maintenance personnel to maintain in time; alerts can be applied over the damaged public facilities to alert people.
Description
Technical Field
The invention relates to the technical field of community monitoring, in particular to a state monitoring and maintaining internet of things system for community public facilities.
Background
In a modern community environment, a lot of public facilities such as fitness equipment, a dustbin, a fire extinguisher, a bench, an express cabinet and the like are usually installed or placed, and the public facilities provide convenience for the life of people and guarantee the safety of the community.
The community public facilities are not only fixed assets of the community, but also important components for the life service of residents, need to be kept in a normal state when the community public facilities work, and can be maintained and replaced in time when the community public facilities are damaged, so that the normal life of people is guaranteed. However, in real life, due to the lack of effective monitoring and maintenance technical means, public facilities in many communities are in a condition of being overhauled for a long time, and damaged public facilities not only affect the normal use of residents, but also have many risks, for example, damaged fitness equipment is easy to cause human body injuries; damaged garbage cans, express cabinets and the like can cause environmental pollution and article loss; damage and loss of the fire extinguisher may cause hidden troubles for fire fighting work, etc.
Based on the description, the invention provides the state monitoring and maintaining Internet of things system for the community public facilities, which can visually monitor the current state of the community public facilities, find the problems of damage, loss and the like of the public facilities in time and facilitate the maintenance and treatment of the public facilities in time; the necessary warnings can be applied over the damaged public facilities to alert people.
Disclosure of Invention
Objects of the invention
In order to overcome at least one defect in the prior art, the invention provides a state monitoring and maintaining Internet of things system for community public facilities, which visually monitors the current state of the public facilities in a community through the Internet of things, finds the problems of damage, loss and the like of the public facilities in time and is convenient for maintenance personnel to perform maintenance treatment in time; necessary warnings are applied over the damaged public facilities to remind people of the attention.
(II) technical scheme
As a first aspect of the present invention, the present invention discloses a state monitoring and maintaining internet of things system for community public facilities, comprising:
the mobile inspection robot is used for receiving inspection task information sent by the property management end so as to perform inspection operation on a plurality of public facilities, confirming the state result of the public facilities according to the inspection task information, and uploading the inspection task information to the property management end;
the property management terminal is used for issuing the inspection task information, generating an inspection maintenance record table according to the public facility state result, issuing a warning command to the networking warning mark, and issuing a warning canceling command to the networking warning mark after receiving the current state of the maintained public facility sent by the maintainer terminal;
the networking warning sign is used for giving an alarm according to the warning command;
and the maintenance side terminal is used for uploading the current state of the maintained public facilities to the property management terminal.
In one possible embodiment, the patrol task information includes: the type, number and location coordinates of the utility.
In a possible embodiment, the inspection robot is configured to plan an inspection route according to the position coordinates, so as to inspect the plurality of public facilities.
In one possible embodiment, the mobile inspection robot includes: a positioning and autonomous movement planning module and a navigation component; the positioning and autonomous movement planning module accurately obtains the position coordinates of the positioning and autonomous movement planning module through a positioning technology; in addition, an electronic map of a community public space is stored in the positioning and autonomous mobile planning module, wherein the electronic map comprises a road path existing in the community public space; the positioning and autonomous movement planning module autonomously plans a movement path of the robot to the position coordinate of the destination by combining a road path in an electronic map of a community public space according to the position coordinate of the mobile inspection robot and the position coordinate of the destination; the navigation component controls the traveling mechanical structure to autonomously travel to a destination position along the planned moving path according to the planned moving path, and the navigation component realizes obstacle avoidance and collision avoidance functions based on the vision and point cloud ranging principle in the moving process.
In one possible embodiment, the mobile inspection robot includes: the system comprises a camera, a public facility picture library and an image comparison module; the camera is used for shooting video images of the public facilities; the public facility picture library is used for storing a normal condition reference picture and a damaged condition reference picture of the public facility; (ii) a The image comparison module is used for comparing the video image of the public facility with the normal condition reference picture and/or the damaged condition reference picture so as to confirm the current state of the public facility.
In one possible embodiment, the property management terminal includes: a display screen for displaying a utility damage report of the utility in the damaged condition.
In a possible embodiment, the arrangement of the networking warning sign includes: a mobile arrangement and/or a stationary arrangement; the mobile arrangement comprises: pushing the networking warning mark out of a storage bin inside the mobile inspection robot to the public facility under the damage condition; the fixed arrangement comprises: and fixedly installing the networking warning sign beside the public facilities.
In a possible embodiment, the alert command includes: a type of a damaging condition of the utility.
In one possible embodiment, the networking warning sign includes: red warning lights and/or orange warning lights.
In one possible implementation mode, the mobile inspection robot, the property management terminal and the maintenance side terminal communicate through the internet of things.
(III) advantageous effects
According to the state monitoring and maintaining internet of things system for community public facilities, the mobile inspection robot is used for performing inspection operation on a plurality of public facilities according to inspection task information sent by the property management terminal and uploading the detected state results of the public facilities to the property management terminal, so that the current state of the public facilities in a community can be visually monitored, the problems of damage, loss and the like of the public facilities can be found in time, and maintenance personnel can conveniently perform maintenance in time; the property management end can issue a warning command to the networking warning mark, so that public facilities in the damage condition are warned through the networking warning mark, the public facilities after maintenance are uploaded to the property management end in the current state at the maintenance side terminal, and the property management end issues a cancellation warning command to the networking warning mark, so that necessary warning is applied to the damaged public facilities, and people are reminded of paying attention to the warning. Not only the community safety is ensured, but also the life of people is facilitated.
Drawings
The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.
FIG. 1 is a schematic structural diagram of a state monitoring and maintenance Internet of things system for community public facilities provided by the invention;
FIG. 2 is a schematic diagram of a mobile inspection robot according to the present invention;
fig. 3 is a schematic structural diagram of a networking warning sign provided by the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.
It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are used for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the scope of the invention.
A first embodiment of a system for monitoring and maintaining the state of a community public facility and internet of things provided by the invention is described in detail below with reference to fig. 1. As shown in fig. 1, the internet of things system provided by this embodiment mainly includes: the system comprises a mobile inspection robot, a property management terminal, a networking warning sign and a maintenance side terminal.
And the mobile inspection robot is used for receiving inspection task information sent by the property management end so as to perform inspection operation on a plurality of public facilities, confirming the state result of the public facilities according to the inspection task information, and uploading the inspection task information to the property management end. The mobile inspection robot can detect the current state of each public facility according to the inspection task information, can generate a public facility state result according to the detection result of the current states of the plurality of public facilities, and sends the public facility state result to the property management terminal for corresponding processing.
Specifically, the mobile inspection robot is a robot with positioning and autonomous movement functions, and can accurately obtain position coordinates of the robot through satellite positioning technologies such as GPS, Beidou and Galileo; the robot internally stores an electronic map of a community public space, including a road path existing in the community public space; according to the position coordinates of the mobile inspection robot and the position coordinates of the destination, the robot can independently plan a mobile path reaching the position coordinates of the destination by combining a road path in an electronic map of a community public space; the robot is provided with a traveling mechanical structure such as a driving wheel and a navigation component using a vision and point cloud distance measurement principle, so that the robot can autonomously travel to a destination position along a planned moving path, and can realize the functions of obstacle avoidance, collision avoidance and the like in the traveling process.
The mobile inspection robot receives the inspection task information records from the property management terminal, and determines the types (fitness equipment, a dustbin, a fire extinguisher, a bench, an express cabinet and the like) of public facilities distributed to the robot to perform inspection, the serial numbers of the public facilities and the position coordinates of each public facility; the robot takes the position coordinate of each public facility as the destination position coordinate; since most public facilities of the community are located beside the community road, the position point on the road path closest to the public facilities can be used as the destination position; and planning a moving path of the routing inspection route, and sequentially moving to a position close to each public facility along the routing inspection route. And the mobile inspection robot performs inspection operation on the public facilities at the position, confirms the state result of the public facilities according to the inspection operation, and uploads the result to the property management terminal.
And the property management terminal is used for issuing the inspection task information, generating an inspection maintenance record table according to the public facility state result, issuing a warning command to the networking warning mark, and issuing cancellation to the networking warning mark after receiving the current state of the public facility after maintenance sent by the maintainer terminal. The patrol maintenance record table can reflect the conditions of each public facility in the community, and for the public facility in a damaged condition, the property management terminal can inform maintenance personnel to maintain on one hand and issue a warning command to the warning mark on the other hand so as to prevent the user from continuously using the public facility to cause body injury, environmental pollution and the like; the property management terminal can also record and cancel the warning command after receiving the current state of the public facility after maintenance sent by the maintenance side terminal, so that the user can continue to use the public facility conveniently, the life of the user is facilitated, and the community safety is guaranteed.
And the networking warning sign is used for giving an alarm according to the warning command. The networking warning sign can give different forms of alarm according to the warning command issued by the property management terminal.
And the maintenance side terminal is used for uploading the current state of the maintained public facilities to the property management terminal. The maintenance side terminal can be a smart phone carried by a maintenance person, and the maintenance side terminal can shoot the current state of the maintained public facility and upload the current state to the property management terminal after the maintenance person performs maintenance processing on the public facility.
Wherein, the patrol task information comprises: the type, number and location coordinates of the utility; and the inspection robot is used for planning an inspection route according to the position coordinates so as to inspect the plurality of public facilities. The types of the public facilities can be fitness equipment, a dustbin, a fire extinguisher, a bench, an express cabinet and the like; the number of the public facility can be the number of each fitness equipment, the number of each dustbin, the number of each bench, the number of each express cabinet and the like, and the position coordinate of the public facility can be the position coordinate of each fitness equipment, the position coordinate of each dustbin, the position coordinate of each bench, the position coordinate of each express cabinet and the like. The mobile inspection robot can reach the position coordinates of each public facility by utilizing the self-positioning and autonomous moving functions to detect the public facilities. More specifically, the property management terminal determines the previous polling maintenance time of each public facility in the community space by inquiring a polling maintenance record table, and determines a current public facility list to be polled and maintained by combining the polling maintenance period requirements of different types of public facilities; the property management terminal can divide the public facilities into a plurality of groups according to the position and the proximity principle according to the position coordinates of each public facility to be patrolled and maintained, each group forms a patrolling task and then distributes the patrolling task to a mobile patrolling robot, and the type, the number and the position coordinates of the public facilities in the group are extracted and integrated into patrolling task information.
Wherein, as shown in fig. 2, the mobile inspection robot comprises: the system comprises a positioning and autonomous movement planning module, a navigation component, a camera, a public facility picture library and an image comparison module.
As described above, the positioning and autonomous movement planning module accurately obtains its own position coordinates through a positioning technique; in addition, an electronic map of a community public space is stored in the positioning and autonomous mobile planning module, wherein the electronic map comprises a road path existing in the community public space; and the positioning and autonomous movement planning module autonomously plans a movement path of the robot to the position coordinate of the destination according to the position coordinate of the robot and the position coordinate of the destination in the mobile inspection robot and by combining a road path in an electronic map of a community public space.
The robot is provided with a traveling mechanical structure such as a driving wheel, the navigation component controls the traveling mechanical structure to autonomously travel to a destination position along a planned moving path according to the planned moving path, and the navigation component realizes obstacle avoidance and collision avoidance functions based on a vision and point cloud ranging principle in the moving process.
The camera is used for shooting the video image of the public facility. The mobile inspection robot is provided with the camera which is arranged on the pan-tilt head, and the camera can shoot video images of public facilities such as inspected body-building equipment, a dustbin, a fire extinguisher, a bench, an express cabinet and the like at a plurality of angles.
The public facility picture library is used for storing a normal condition reference picture and a damaged condition reference picture of the public facility. In a public facility picture library built in the mobile inspection robot, normal condition reference pictures and various typical damage condition reference pictures of various types of public facilities are stored. The reference picture of the damage condition can be a reference picture of the damage condition type of public facilities, such as reference pictures of the loss of the structure of the fitness equipment, the deformation of the structure, the breakage of the structure, the falling of paint and the like, reference pictures of the loss of the cover of the dustbin, the damage of the wall of the dustbin, the fuzzy writing of garbage classification and the like, reference pictures of the empty case (the fire extinguisher does not exist in the case of the fire extinguisher) of the fire extinguisher, reference pictures of the dumping and the like.
The image comparison module is used for comparing the video image of the public facility with the normal condition reference picture and/or the damaged condition reference picture so as to confirm the current state of the public facility. The current state of the utility may be a normal condition or a damaged condition and a type of damaged condition (structural loss, structural deformation or structural breakage, etc.).
In the image comparison module, the video image of the public facility is visually compared with a normal condition reference picture and/or a damaged condition reference picture, and the specific process comprises the following steps: firstly, an image comparison module respectively executes enhancement processing on a video picture of a public facility shot by a camera and the normal condition reference picture and/or the damaged condition reference picture; further, HOG feature detection is carried out, and HOG feature vectors of public facility video pictures, normal condition reference pictures and damaged condition reference pictures are determined; then, taking the HOG characteristic vector of the normal condition reference picture as a positive vector, taking the HOG characteristic vector of the damaged condition reference picture as a negative vector, substituting the HOG characteristic vector into an SVM classification vector machine to execute training, and determining an SVM classification decision function; and finally, substituting the HOG characteristic vector of the video picture of the public facility into the trained SVM classification vector machine, and judging whether the video picture of the public facility belongs to a normal condition or a damaged condition and a damaged type under the damaged condition according to a classification output result.
The image comparison module firstly carries out graying and Gamma enhancement processing on a video picture of public facilities shot by a camera and the normal condition reference picture and/or the damaged condition reference picture; for the gradation image after the gradation, the Gamma enhancement process corrects the gradation of the image in which it is too bright or too dark, enhances the contrast of the gradation image, and realizes the suppression of noise.
And the image comparison module further performs HOG feature detection on the public facility video picture after the enhancement processing and each normal condition reference picture and/or the damaged condition reference picture image in the library, and determines the HOG feature vectors of the public facility video picture, the normal condition reference picture and the damaged condition reference picture. Specifically, a HOG feature detection template is set, the detection template is slid by a fixed pixel length, for example, 10 pixels, in the picture every time, and the HOG features in the detection template are extracted once every time the detection template is slid, so that a HOG feature vector of the picture is obtained. The HOG feature is that the magnitude and direction of a gradient vector of a pixel point in a template are solved, and the magnitude and direction of the gradient vector can be calculated by using a Robert operator, a Sobel operator and the like; then combining a plurality of pixels in the template into a pixel cell, carrying out histogram statistics on the pixel gradient of the pixel cell according to the pixel direction of the pixel cell, and taking the obtained histogram distribution as the HOG characteristic vector of the pixel cell; and then the HOG feature vectors of the pixel cells are combined to form the HOG feature vector of the whole picture.
Then, the image comparison module takes the HOG feature vector of the normal condition reference picture as a positive vector and takes the HOG feature vector of each damaged condition reference picture as a negative vector, and the HOG feature vector is substituted into an SVM classification vector machine to execute training to determine an SVM classification decision function, so that the trained SVM classification vector machine can realize the identification of the normal condition public facilities and each damaged public facility. For example, the respective HOG feature vectors of the reference picture of the fitness equipment in the normal state and the reference picture of the fitness equipment in the structure missing abnormal state are respectively used as positive and negative vectors to train the SVM classification vector machine, so that the trained SVM classification vector machine can identify the fitness equipment in the normal state and the fitness equipment in the structure missing state. Similarly, other trained SVM classification vector machines can identify other fitness equipment in abnormal states such as structural deformation, structural fracture, paint falling and the like.
And the image comparison module substitutes the HOG characteristic vector of the video picture of the public facility into the trained SVM classification vector machine, and judges whether the video picture of the public facility belongs to a normal condition or a damaged condition and a damaged type under the damaged condition according to a classification output result. Specifically, according to the type of the inspected public facility recorded in the inspection task information, the HOG feature vector of the public facility video picture shot by the camera is substituted into one or more SVM classification vector machines corresponding to the type of the public facility, for example, a plurality of SVM classification vector machines capable of respectively identifying the normal state body-building equipment and the state body-building equipment with structure loss, structure deformation, structure fracture, paint falling and the like are substituted into the body-building equipment, and whether the video picture of the public facility belongs to a normal state or a damaged state and the damaged type under the damaged state are identified and judged according to the classification result. A utility status result may be generated based on the current status of the plurality of utilities as determined by the image comparison module.
Wherein, the property management end includes: a display screen for displaying a utility damage report of the utility in the damaged condition. The utility damage report may include: type, number, location, and type of damage status of the utility. The damage state type of the public facilities can be displayed through characters (such as structural loss, structural deformation and the like); the type of the damage state of the public facilities can be displayed through video images; the damage state type of the public facilities can be displayed by characters and video images at the same time; and the maintenance personnel can check the public facility damage report through the display screen and arrive at the corresponding public facility to perform maintenance treatment on the public facility.
Wherein, the arrangement mode of networking warning sign includes: a mobile arrangement and/or a stationary arrangement; the mobile arrangement comprises: pushing the networking warning mark out of a storage bin inside the mobile inspection robot to the public facility under the damage condition; the fixed arrangement comprises: and fixedly installing the networking warning sign beside the public facilities. The mobile arrangement can be that a storage bin is arranged in the mobile inspection robot to store the networking warning mark, and the networking warning mark can be pushed out from the storage bin and placed beside the public facility to warn a user when the public facility is found to be in a damaged state in the inspection process of the mobile inspection robot; the fixed arrangement may be such that a networked warning sign is installed alongside each public facility.
The networking warning sign is as shown in fig. 3 and comprises a networking indication receiving module, a prompt setting module and a multi-color indicator lamp. The networking indicates receiving module to accept the warning order of placing from the property management end, wherein, warning order includes: a type of a damaging condition of the utility. The networking warning sign can give different types of alarms according to the damage condition types of the public facilities. And the prompt setting module determines the warning mode of the networking indicator lamp according to the type of the warning command.
Wherein, the polychrome pilot lamp of networking warning sign includes: red warning lights and/or orange warning lights. If the fitness equipment has the problem of paint falling, the continuous use is not influenced, and the orange warning lamp is lightened; if the body-building apparatus has the structure loss, the structure is deformed and/or the structure is broken, the red warning lamp is lightened so as to remind the user of paying attention and avoid the body injury phenomenon caused by continuously using the body-building apparatus. Similarly, if the cover of the garbage can is missing and/or the garbage classification writing is fuzzy, the orange warning lamp is lightened; if the dustbin has the damaged phenomenon of tank wall, red warning light lights.
And the property management terminal confirms the public facilities with damage conditions and the damage types thereof according to the routing inspection maintenance record table and sends a maintenance notice for recording the serial numbers, the positions and the damage types of the public facilities to the maintenance side terminal. And the maintenance side terminal is held by maintenance personnel, and uploads the current state of the maintained public facilities to the property management terminal. The maintenance side terminal can be a smart phone carried by a maintenance person, and the maintenance side terminal can shoot the current state of the maintained public facility and upload the shot public facility to the property management terminal after the maintenance person performs maintenance processing on the public facility, and feed back the current state of the public facility to the property management terminal.
The mobile inspection robot, the property management terminal and the maintenance side terminal communicate through the Internet of things. The wireless internet of things protocol for realizing communication among the mobile inspection robot, the property management terminal and the maintainer terminal can be at least one of wide-area internet of things protocols such as NB-IOT, 4G, 5G, LORA, WLAN and the like.
The invention carries out patrol operation on a plurality of public facilities by the mobile patrol robot according to patrol task information sent by the property management terminal, and uploads the detected public facility state result to the property management terminal; the property management terminal generates a routing inspection maintenance record table and issues a warning command to the networking warning mark, so that warning is performed through the networking warning mark; after the maintenance side terminal uploads the current state of the maintained public facilities to the property management terminal, the property management terminal issues a warning cancelling command to the networking warning sign. The state monitoring and maintaining Internet of things system for the community public facilities can visually monitor the current state of the public facilities in the community, find the problems of damage, loss and the like of the public facilities in time and facilitate maintenance personnel to perform maintenance treatment in time; the necessary warnings can be applied to the damaged public facilities to remind people to pay attention; the community safety is guaranteed, and the life of people is facilitated.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A condition monitoring and maintaining Internet of things system for community public facilities, which is characterized by comprising:
the mobile inspection robot is used for receiving inspection task information sent by the property management end so as to perform inspection operation on a plurality of public facilities, confirming the state result of the public facilities according to the inspection task information, and uploading the inspection task information to the property management end;
the patrol task information comprises: the type, number and location coordinates of the utility;
the mobile inspection robot receives the inspection task information records from the property management terminal, and determines the types of the public facilities, the public facility numbers and the position coordinates of each public facility which are distributed to the robot to perform inspection; the robot takes the position coordinates of each public facility as the destination position coordinates; since most public facilities of the community are located beside the community road, the position point which is closest to the public facilities on the road path is taken as the destination position; planning a moving path of the routing inspection route, and sequentially moving the routing inspection route to a position close to each public facility; the mobile inspection robot carries out inspection operation on the public facilities at the position, confirms the state result of the public facilities according to the inspection operation, and uploads the result to the property management end;
the property management terminal is used for issuing the inspection task information, generating an inspection maintenance record table according to the public facility state result, issuing a warning command to the networking warning mark, and issuing a warning canceling command to the networking warning mark after receiving the current state of the maintained public facility sent by the maintainer terminal; the inspection maintenance record table reflects the conditions of each public facility in the community;
the networking warning sign is used for giving an alarm according to the warning command; the arrangement mode of the networking warning sign comprises the following steps: a mobile arrangement and/or a stationary arrangement; the mobile arrangement comprises: pushing the networking warning mark out of a storage bin inside the mobile inspection robot to the side of the public facility under the damaged condition; the fixed arrangement comprises: fixedly installing the networking warning mark beside the public facility;
the maintenance side terminal is used for uploading the current state of the maintained public facilities to the property management terminal; the maintenance side terminal comprises a smart phone carried by a maintenance person;
wherein, it patrols and examines robot to remove includes: the system comprises a camera, a public facility picture library and an image comparison module; the camera is used for shooting video images of the public facilities; the public facility picture library is used for storing a normal condition reference picture and a damaged condition reference picture of the public facility; the damage condition reference picture is a reference picture of the damage condition type of public facilities, and comprises reference pictures of structure loss, structure deformation, structure breakage and paint falling of fitness equipment, reference pictures of case cover loss, case wall damage and fuzzy rubbish classification handwriting of a dustbin, reference pictures of empty boxes and dumping of fire extinguishers; the image comparison module is used for comparing the video image of the public facility with the normal condition reference picture and/or the damaged condition reference picture so as to confirm the current state of the public facility; the current state of the public facility comprises a normal condition or a damaged condition and a damaged condition type;
firstly, an image comparison module respectively executes enhancement processing on a video picture of a public facility shot by a camera and the normal condition reference picture and/or the damaged condition reference picture; further, HOG feature detection is carried out, and HOG feature vectors of public facility video pictures, normal condition reference pictures and damaged condition reference pictures are determined; then, taking the HOG characteristic vector of the normal condition reference picture as a positive vector, taking the HOG characteristic vector of the damaged condition reference picture as a negative vector, substituting the HOG characteristic vector into an SVM classification vector machine to execute training, and determining an SVM classification decision function; finally, substituting the HOG characteristic vector of the video picture of the public facility into the trained SVM classification vector machine, and judging whether the video picture of the public facility belongs to a normal condition or a damaged condition and a damaged type under the damaged condition according to a classification output result;
the image comparison module firstly carries out graying and Gamma enhancement processing on a video picture of public facilities shot by a camera and the normal condition reference picture and/or the damaged condition reference picture; for the gray image after graying, Gamma enhancement processing corrects the gray of the image which is too bright or too dark, enhances the contrast of the gray image and realizes the suppression of noise;
the image comparison module further performs HOG feature detection on the public facility video picture after enhancement processing and each normal condition reference picture and/or damaged condition reference picture image in the library to determine HOG feature vectors of the public facility video picture, the normal condition reference picture and the damaged condition reference picture; specifically, an HOG feature detection template is set, the HOG feature in the detection template is extracted once every time the detection template slides in the picture for a fixed pixel length, and thus, an HOG feature vector of the picture is obtained; the HOG characteristic is that the magnitude and the direction of a gradient vector of a pixel point in a template are solved, and the magnitude and the direction of the gradient vector are calculated by using a Robert operator or a Sobel operator; then combining a plurality of pixels in the template into a pixel cell, carrying out histogram statistics on the pixel gradient of the pixel cell according to the pixel direction of the pixel cell, and taking the obtained histogram distribution as the HOG characteristic vector of the pixel cell; further, the HOG feature vectors of the pixel cells are combined to form the HOG feature vector of the whole picture;
then, the image comparison module takes the HOG characteristic vector of the normal condition reference picture as a positive vector and takes the HOG characteristic vector of each damaged condition reference picture as a negative vector, and the HOG characteristic vectors are substituted into an SVM classification vector machine to execute training to determine an SVM classification decision function, so that the trained SVM classification vector machine realizes the identification of the normal condition public facilities and each damaged public facility; training the SVM classification vector machine by respectively taking respective HOG characteristic vectors of a reference picture of the fitness equipment in a normal state and a reference picture of the fitness equipment in a structure missing abnormal state as positive and negative vectors, so that the trained SVM classification vector machine can identify the fitness equipment in the normal state and the fitness equipment in the structure missing state; similarly, other trained SVM classification vector machines identify other abnormal state fitness equipment including structural deformation, structural fracture and paint shedding;
the image comparison module substitutes the HOG characteristic vector of the public facility video picture into the trained SVM classification vector machine, and judges whether the public facility video picture belongs to a normal condition or a damaged condition and a damaged type under the damaged condition according to a classification output result; specifically, according to the type of the inspected public facility recorded in the inspection task information, the HOG feature vector of the public facility video picture shot by the camera is substituted into one or more SVM classification vector machines corresponding to the type of the public facility, and a plurality of SVM classification vector machines capable of respectively identifying the body-building equipment in a normal state and the body-building equipment comprising a structure missing state, a structure deformation state, a structure fracture state and a paint dropping state are substituted into the body-building equipment; and generating a public facility state result according to the current states of the public facilities confirmed by the image comparison module.
2. The internet of things system of claim 1, wherein the inspection robot is used for planning an inspection route according to the position coordinates so as to inspect the plurality of public facilities; the types of the public facilities comprise fitness equipment, a dustbin, a fire extinguisher, a bench and an express cabinet; the serial number of the public facility comprises the serial number of each fitness equipment, the serial number of each dustbin, the serial number of each bench and the serial number of each express cabinet; the position coordinates of the public facilities comprise the position coordinates of each fitness equipment, the position coordinates of each dustbin, the position coordinates of each bench and the position coordinates of each express cabinet; the mobile inspection robot reaches the position coordinates of each public facility by utilizing the self-positioning and autonomous moving functions to detect the public facilities; the property management terminal determines the previous polling maintenance time of each public facility in the community space by inquiring the polling maintenance record table, and determines a current public facility list to be polled and maintained by combining the polling maintenance cycle requirements of different types of public facilities; the property management terminal divides the public facilities into a plurality of groups according to the position coordinates of the public facilities to be inspected and maintained and the principle of position proximity, each group forms an inspection task and then distributes the inspection task to a mobile inspection robot, and the types, the numbers and the position coordinates of the public facilities in the group are extracted and integrated into inspection task information.
3. The internet of things system of claim 2, wherein the mobile inspection robot comprises: a positioning and autonomous movement planning module and a navigation component; the positioning and autonomous movement planning module accurately obtains the position coordinates of the positioning and autonomous movement planning module through a positioning technology; in addition, an electronic map of a community public space is stored in the positioning and autonomous mobile planning module, wherein the electronic map comprises a road path existing in the community public space; the positioning and autonomous movement planning module autonomously plans a movement path of the robot to the position coordinate of the destination by combining a road path in an electronic map of a community public space according to the position coordinate of the mobile inspection robot and the position coordinate of the destination; the navigation component controls the traveling mechanical structure to autonomously travel to a destination position along the planned moving path according to the planned moving path, and the navigation component realizes obstacle avoidance and collision avoidance functions based on the vision and point cloud ranging principle in the moving process.
4. The internet of things system of claim 1, wherein the property management terminal comprises: a display screen for displaying a utility damage report for the utility in the damaged condition; the utility damage report includes: type, number, location, and type of damage status of the utility; the damage state type of the public facilities is displayed through characters; the damage state type of the public facilities is displayed through video images; the damage state type of the public facilities is also displayed by characters and video images simultaneously; and the maintenance personnel check the public facility damage report through the display screen and arrive at the corresponding public facility to perform maintenance treatment on the public facility.
5. The internet of things system of claim 1, wherein the networking warning sign comprises a networking indication receiving module, a prompt setting module and a multi-color indicator light; the networking indicates receiving module to accept the warning order of placing from the property management end, wherein, warning order includes: a type of a damaging condition of the utility; the networking warning sign gives different forms of alarm according to the damage condition type of the public facilities; and the prompt setting module determines the warning mode of the networking indicator lamp according to the type of the warning command.
6. The internet of things system of claim 1, wherein the networking alert flag comprises: red warning lights and/or orange warning lights.
7. The internet of things system of claim 1, wherein the mobile inspection robot, the property management terminal and the maintainer terminal communicate via the internet of things.
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| CN111932055A (en) * | 2020-06-17 | 2020-11-13 | 北京国基伟业物业管理有限公司 | Property facility management system based on TnPM |
| CN111932409A (en) * | 2020-06-17 | 2020-11-13 | 北京国基伟业物业管理有限公司 | Property equipment management system |
| CN112777169B (en) * | 2020-12-24 | 2022-03-08 | 中标慧安信息技术股份有限公司 | Internet of things monitoring method and system applied to garbage classification putting points |
| CN113192227B (en) * | 2021-04-30 | 2022-09-30 | 重庆天智慧启科技有限公司 | Community patrol service platform based on Internet of things |
| CN113386150A (en) * | 2021-06-11 | 2021-09-14 | 山东新一代信息产业技术研究院有限公司 | Intelligent patrol service robot system for community |
| CN114494849B (en) * | 2021-12-21 | 2024-04-09 | 重庆特斯联智慧科技股份有限公司 | Road surface state identification method and system for wheeled robot |
| CN117391408A (en) * | 2023-12-12 | 2024-01-12 | 深圳市抱朴物业服务有限公司 | Task management method and system for property management |
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| CN106712797A (en) * | 2016-12-28 | 2017-05-24 | 浙江大学 | Roadside self-service device and system with polling, speed measurement and visible alarm functions |
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| CN207841342U (en) * | 2017-12-29 | 2018-09-11 | 重庆西电普华智能机器人技术有限公司 | A kind of wisdom cell crusing robot |
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