CN111010543A - Robot remote-viewing video monitoring method and device, electronic equipment and storage medium - Google Patents
Robot remote-viewing video monitoring method and device, electronic equipment and storage medium Download PDFInfo
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- CN111010543A CN111010543A CN201911307621.3A CN201911307621A CN111010543A CN 111010543 A CN111010543 A CN 111010543A CN 201911307621 A CN201911307621 A CN 201911307621A CN 111010543 A CN111010543 A CN 111010543A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000012806 monitoring device Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 11
- 238000000411 transmission spectrum Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention provides a robot remote-viewing video monitoring method, wherein a panoramic camera and a binocular head are arranged on a robot, and the method comprises the following steps: the method comprises the steps of controlling, wherein the robot is remotely operated to walk and the binocular head rotates; a panoramic video step of receiving panoramic video data of the robot shot by the panoramic camera; a binocular video step, wherein video data shot by the binocular pan-tilt is received; a temperature detecting step, namely receiving field temperature data detected by the binocular head; and image processing, namely marking the field temperature data on the video data to form video data with marks. The invention also provides a robot remote-viewing video monitoring device, electronic equipment and a storage medium. The method is more suitable for the remote control of the robot in the fire fighting field, and is convenient for remotely viewing and operating the action route of the robot in the fire scene.
Description
Technical Field
The invention relates to the field of intelligent fire fighting, in particular to a robot remote-viewing video monitoring method and device, electronic equipment and a storage medium.
Background
The robot that has disclosed an intelligence row explodes is provided with panorama camera and binocular camera on the fuselage and is used for long-range control to the robot that explodes of row to can search for fast safely, distinguish the explosive, realize the accurate positioning and snatch to the explosive, arrange and explode efficiently. The shoulder joint system of the explosive-handling robot is movably connected with a panoramic camera system, the mechanical arm system is further provided with a binocular vision system, the panoramic camera system and the binocular vision system collect surrounding environment information, and the control system sends information and receives instructions in real time to realize the function of controlling the operation system to realize grabbing. However, such a monitoring system is not completely suitable for the robot in the fire fighting field, and a video monitoring method developed for the robot in the fire fighting field is also lacking in the prior art.
Disclosure of Invention
The invention aims to solve the technical problems and provides a robot remote-vision video monitoring method, a device, electronic equipment and a storage medium, which are more suitable for robot remote control in the field of fire fighting and are convenient for remote vision and operation of a movement route of a robot in a fire scene.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a robot remote-vision video monitoring method is provided, wherein a panoramic camera and a binocular head are arranged on a robot, and the method comprises the following steps:
the method comprises the steps of controlling, wherein the robot is remotely operated to walk and the binocular head rotates;
a panoramic video step of receiving panoramic video data of the robot shot by the panoramic camera;
a binocular video step, wherein video data shot by the binocular pan-tilt is received;
a temperature detecting step, namely receiving field temperature data detected by the binocular head;
and image processing, namely marking the field temperature data on the video data to form video data with marks.
According to the robot remote-viewing video monitoring method, the panoramic camera and the binocular head are arranged on the robot, the robot is remotely controlled to walk, and the binocular head is controlled to rotate, so that the robot can shoot videos towards different directions of the robot; the panoramic camera is used for shooting panoramic video data, an operator observes the environment around the robot through the panoramic video, so as to reasonably select a robot walking route, the binocular head comprises an optical camera, the optical camera can rotate along with the binocular head, so as to select a reasonable angle to shoot the video of the robot site, the binocular head further comprises a thermal imager, the thermal imager also moves along with the binocular head, the temperature data of the site can be detected, the temperature data is displayed in the video shot by the optical camera, the operator is guided to rapidly analyze the position closer to a fire source through observing the temperature change of the site, and the operation robot can move to the fire scene.
Further, the panoramic video step specifically includes:
the panoramic camera shooting robot comprises a first display area for displaying panoramic video, and panoramic video data of the panoramic camera shooting robot is received and displayed in the first display area.
Still further, the binocular video specifically comprises the following steps:
the binocular tripod head display device comprises a second display area for displaying videos shot by the binocular tripod head, receives video data shot by the binocular tripod head and displays the video data in the second display area.
Still further, the image processing step specifically comprises:
and marking the field temperature data on the video data to form video data with marks, and displaying the video data with the marks on the second display area.
Still further, the binocular video specifically comprises the following steps:
when the optical filter is an infrared cut-off optical filter, receiving first video data shot by the binocular head; and when the optical filter is a full-transmission spectrum optical filter, receiving second video data shot by the binocular head.
Still further, the binocular video step further includes:
and the optical filter is manually or automatically controlled and switched according to the change of the surrounding environment of the robot.
Still further, the method further comprises:
and an alarming step, wherein a temperature alarming threshold value is set, and when the monitored field temperature data exceeds the temperature alarming threshold value, an alarming signal is sent out.
The utility model provides a remote vision video monitoring device of robot, be provided with panorama camera and two mesh cloud platforms on the robot, include:
the control module is used for remotely operating the robot to walk and the binocular head to rotate;
the panoramic video module is used for receiving panoramic video data of the panoramic camera shooting robot;
the binocular video module is used for receiving video data shot by the binocular pan-tilt;
the analysis module is used for receiving the field temperature data detected by the binocular head;
and the image processing module is used for marking the field temperature data on the video data to form video data with marks.
An electronic device comprises a processor, a storage medium and a computer program, wherein the computer program is stored in the storage medium, and when the computer program is executed by the processor, the robot remote-vision video monitoring method is realized.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the above-mentioned robot remote-vision video surveillance method.
Drawings
Fig. 1 is a flowchart of a robot remote-vision video monitoring method of the present invention.
Detailed Description
The robot remote-vision video monitoring method, device, electronic equipment and storage medium of the invention are described in detail with reference to the accompanying drawings to explain and explain the protection scope of the invention.
Example one
A robot remote-vision video monitoring method is provided, wherein a panoramic camera and a binocular head are arranged on a robot, and the method comprises the following steps:
the method comprises the steps of controlling, wherein the robot is remotely operated to walk and the binocular head rotates;
the robot remote-vision video monitoring device is in wireless connection with the robot, and as video transmission is required between the robot remote-vision video monitoring device and the robot, a broadband wireless communication technology, such as 4G communication and other broadband wireless communication technologies, is preferably adopted to ensure that the video transmission and the control instruction transmission between the robot remote-vision video monitoring device and the robot can be kept stable.
The robot remote-vision video monitoring device remotely controls the robot to walk and the rotation of the holder through a remote rod or a virtual key on a touch screen.
A panoramic video step of receiving panoramic video data of the robot shot by the panoramic camera;
the robot remote-viewing video monitoring device is provided with a first display area for displaying panoramic video, receives panoramic video data of the robot shot by the panoramic camera and displays the panoramic video data in the first display area.
Panoramic video data that panoramic camera shot lets the operator observe the environment of robot side that can be convenient, plans out suitable direction of travel to avoid the robot can protect the robot in the complex environment of executive task, avoid the robot to lose the working ability.
A binocular video step, wherein video data shot by the binocular pan-tilt is received;
the binocular video specifically comprises the following steps:
the robot remote-vision video monitoring device is provided with a second display area for displaying videos shot by the binocular head, receives video data shot by the binocular head and displays the video data in the second display area.
The binocular camera comprises an optical camera with a filter and a thermal imager, and generally, the optical camera adopts a CMOS optical sensor chip.
The optical camera is an optical camera with an I RCUT (dual filter switcher) technology, and may specifically perform the following operations:
the binocular video specifically comprises the following steps:
when the optical filter is an infrared cut-off optical filter, receiving first video data shot by the binocular head; when the optical filter is a full-transmission spectrum optical filter, receiving second video data shot by the binocular head; and the optical filter is manually or automatically controlled and switched according to the change of the surrounding environment of the robot. When light in the shooting direction of the binocular tripod head is sufficient, the optical filter can be adjusted to the infrared cut-off optical filter, infrared light can be filtered out from first video data shot at the moment, the imaging effect of the video is prevented from being interfered by the infrared light, the video effect is clearer, and the method is particularly suitable for a robot for fire rescue; when the ambient light that the robot was located is relatively weak, can adopt full transmission spectrum light filter, increase the light projector volume, promote the video shooting quality of camera in the dark surrounds.
The existing double-filter switcher can automatically switch the filters according to the change of the field environment generally, but the complex light condition of an ignition point in a dim room can exist due to the complex condition in a fire scene, and a sensor for detecting light does not necessarily react to the complex light condition, so a manual switching key is also arranged for an operator to manually switch the filters according to the field condition.
The thermal imager can detect field temperature changes, can be used for searching for trapped people in a fire scene, and can specifically execute the following operations in the method:
a temperature detecting step, namely receiving field temperature data detected by the binocular head; and the thermal imager transmits the detected field temperature to the robot remote-viewing video monitoring device.
And image processing, namely marking the field temperature data on the video data to form video data with marks.
The image processing steps are specifically as follows:
and marking the field temperature data on the video data to form video data with marks, and displaying the video data with the marks on the second display area.
When an operator operates the remote-vision video monitoring device for the robot, the change of the field temperature can be visually observed from the second display area, and because the thermal imager judges the temperature of the problem according to the quantity of infrared rays received by the environment, the temperature of the place closer to a fire source is higher, and the reflected infrared rays are more, the position of a fire point is judged according to the change of the temperature, so that the robot can rapidly advance to the fire point.
According to the robot remote-viewing video monitoring method, the panoramic camera and the binocular head are arranged on the robot, the robot is remotely controlled to walk, and the binocular head is controlled to rotate, so that the robot can shoot videos towards different directions of the robot; the panoramic camera is used for shooting panoramic video data, an operator observes the environment around the robot through the panoramic video, so as to reasonably select a robot walking route, the binocular head comprises an optical camera, the optical camera can rotate along with the binocular head, so as to select a reasonable angle to shoot the video of the robot site, the binocular head further comprises a thermal imager, the thermal imager also moves along with the binocular head, the temperature data of the site can be detected, the temperature data is displayed in the video shot by the optical camera, the operator is guided to rapidly analyze the position closer to a fire source through observing the temperature change of the site, and the operation robot can move to the fire scene.
The thermal imager is also capable of providing an alarm signal, the method further comprising:
and an alarming step, wherein a temperature alarming threshold value is set, and when the monitored field temperature data exceeds the temperature alarming threshold value, an alarming signal is sent out. Wherein, the alarm signal is used for reminding the operator to stop advancing, such as 'the temperature in front is too high, the robot can be damaged when the robot advances'.
Example two
The utility model provides a remote vision video monitoring device of robot, be provided with panorama camera and two mesh cloud platforms on the robot, include:
the control module is used for remotely operating the robot to walk and the binocular head to rotate;
the panoramic video module is used for receiving panoramic video data of the panoramic camera shooting robot;
the binocular video module is used for receiving video data shot by the binocular pan-tilt;
the analysis module is used for receiving the field temperature data detected by the binocular head;
and the image processing module is used for marking the field temperature data on the video data to form video data with marks.
EXAMPLE III
An electronic device comprises a processor, a storage medium and a computer program, wherein the computer program is stored in the storage medium, and when the computer program is executed by the processor, the robot remote-vision video monitoring method is realized. The number of processors in the computer device may be one or more; the processor, memory, input devices, and output devices in the electronic device may be connected by a bus or other means.
Example four
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the above-mentioned robot remote-vision video surveillance method. The method comprises the robot remote-viewing video monitoring method in the first embodiment.
Of course, the storage medium provided by the embodiments of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the robot-based remote-vision video monitoring method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling an electronic device (which may be a mobile phone, a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the robot remote-vision video monitoring apparatus, each unit and each module included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. A robot remote-vision video monitoring method is characterized in that the method comprises the following steps:
the method comprises the steps of controlling, wherein the robot is remotely operated to walk and the binocular head rotates;
a panoramic video step of receiving panoramic video data of the robot shot by the panoramic camera;
a binocular video step, wherein video data shot by the binocular pan-tilt is received;
a temperature detecting step, namely receiving field temperature data detected by the binocular head;
and image processing, namely marking the field temperature data on the video data to form video data with marks.
2. The robot remote-vision video monitoring method according to claim 1, wherein the panoramic video specifically comprises the steps of:
the panoramic camera shooting robot comprises a first display area for displaying panoramic video, and panoramic video data of the panoramic camera shooting robot is received and displayed in the first display area.
3. The robot remote-vision video monitoring method according to claim 1, wherein the binocular video specifically comprises the following steps:
the binocular tripod head display device comprises a second display area for displaying videos shot by the binocular tripod head, receives video data shot by the binocular tripod head and displays the video data in the second display area.
4. The robot remote-vision video monitoring method according to claim 3, characterized in that the image processing steps are specifically:
and marking the field temperature data on the video data to form video data with marks, and displaying the video data with the marks on the second display area.
5. The robot remote-vision video monitoring method according to claim 1, wherein the binocular video specifically comprises the following steps:
when the optical filter is an infrared cut-off optical filter, receiving first video data shot by the binocular head; and when the optical filter is a full-transmission spectrum optical filter, receiving second video data shot by the binocular head.
6. The robot remote-vision video monitoring method of claim 5, wherein the binocular video step further comprises:
and the optical filter is manually or automatically controlled and switched according to the change of the surrounding environment of the robot.
7. The method of robotic remote video surveillance as claimed in claim 1, the method further comprising:
and an alarming step, wherein a temperature alarming threshold value is set, and when the monitored field temperature data exceeds the temperature alarming threshold value, an alarming signal is sent out.
8. The utility model provides a remote vision video monitoring device of robot, its characterized in that, be provided with panoramic camera and two mesh cloud platforms on the robot, include:
the control module is used for remotely operating the robot to walk and the binocular head to rotate;
the panoramic video module is used for receiving panoramic video data of the panoramic camera shooting robot;
the binocular video module is used for receiving video data shot by the binocular pan-tilt;
the analysis module is used for receiving the field temperature data detected by the binocular head;
and the image processing module is used for marking the field temperature data on the video data to form video data with marks.
9. An electronic device comprising a processor, a storage medium, and a computer program stored in the storage medium, wherein the computer program, when executed by the processor, implements the method of remote video surveillance of a robot according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for remote video surveillance of a robot according to any one of claims 1 to 7.
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| CN114040110A (en) * | 2021-11-19 | 2022-02-11 | 北京图菱视频科技有限公司 | Robot photographing method, device, equipment and medium under pose condition limitation |
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