CN111324131B - Tracking monitoring method of track type inspection robot based on human body radar - Google Patents
Tracking monitoring method of track type inspection robot based on human body radar Download PDFInfo
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- CN111324131B CN111324131B CN202010243566.2A CN202010243566A CN111324131B CN 111324131 B CN111324131 B CN 111324131B CN 202010243566 A CN202010243566 A CN 202010243566A CN 111324131 B CN111324131 B CN 111324131B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 48
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- 238000004590 computer program Methods 0.000 claims description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The application discloses a following monitoring method of a track type inspection robot based on a human body radar, which comprises the following steps: receiving radar information sent by human body radar after a person enters an induction range of the human body radar; determining a target moving position of the track type inspection robot according to the radar information; and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel. The following monitoring method can carry out whole and comprehensive following record on the travel route and operation actions of the personnel in the workplace. The application also discloses a following monitoring system of the track type inspection robot based on the human body radar and a computer readable storage medium, which have the technical effects.
Description
Technical Field
The application relates to the technical field of robots, in particular to a following monitoring method of a track type inspection robot based on a human body radar; the following monitoring system of the track type inspection robot based on the human body radar and the computer readable storage medium are also related.
Background
At present, various industries including a communication operation machine room, a data center machine room, a transformer substation, a power plant, a municipal pipe gallery and the like are built with a centralized control center, and with the development of robot technology, various inspection robots are applied to the scenes to replace manual inspection. However, the inspection robot in the prior art, particularly the track-type inspection robot, has the advantages of being safer and not affecting the production facility equipment in the place than the face wheel type robot in terms of replacing manual inspection, but is limited by the working mode of moving on a preset fixed track, so that the whole process of working when people enter the place is difficult to effectively follow and record.
In view of this, how to make the track-type inspection robot perform full-course and comprehensive follow-up records on the travel route and operation actions of the personnel in the workplace has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a tracking monitoring method of a track type inspection robot based on a human body radar, which can carry out whole-course and comprehensive tracking record on a travel route and operation actions of a person in a workplace. Another object of the present application is to provide a following monitoring system of a track type inspection robot based on a human radar and a computer readable storage medium, which have the above technical effects.
In order to solve the technical problems, the application provides a following monitoring method of a track type inspection robot based on a human body radar, which comprises the following steps:
receiving radar information sent by human body radar after a person enters an induction range of the human body radar;
determining a target moving position of the track type inspection robot according to the radar information;
and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel.
Optionally, the determining the target moving position of the track-type inspection robot according to the radar information includes:
the device for determining the position of the track type inspection robot positioning self on the track corresponding to the human body radar according to the radar information;
and taking the position of the track type inspection robot adjacent to the device for positioning the track type inspection robot on the track corresponding to the human body radar, where the device for positioning the track type inspection robot on the track is positioned, as the target moving position of the track type inspection robot.
Optionally, the track-type inspection robot photographs the person, including:
the track type inspection robot shoots the personnel and keeps the personnel at the center of a shooting picture.
Optionally, the track-type inspection robot moves to the target moving position and photographs the person, including:
when the track type inspection robot receives the position information of a plurality of different target moving positions at the same time, the inspection robot moves to each target moving position successively and shoots the personnel for a preset time length at each target moving position.
Optionally, the manner in which the track-type inspection robot keeps the person at the center of the shot image includes:
the track type inspection robot extracts a current frame image shot by a shooting lens and determines the position of the person in the current frame image;
the track type inspection robot judges the position relation between the personnel and the reference area in the current frame image; the reference area is a central area of the shooting lens;
and if the person in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
Optionally, if the person in the current frame image is located outside the reference area, the adjusting the position of the photographing lens by the track inspection robot includes:
when the person is partially positioned outside the reference area, the track type inspection robot adjusts the shooting angle of the shooting lens and adjusts the shooting position of the shooting lens when the angle adjustment is larger than a preset angle adjustment range;
and when the personnel is completely located outside the reference area, adjusting the shooting position of the shooting lens.
In order to solve the technical problems, the application also provides a following monitoring system of the track type inspection robot based on the human body radar, which comprises the following components:
the human body radar is used for sending radar information to the monitoring background after a person enters the sensing range of the human body radar;
the monitoring background is used for receiving radar information sent by the human body radar after a person enters the sensing range of the human body radar, determining the target moving position of the track type inspection robot according to the radar information, and sending the position information of the target moving position to the track type inspection robot;
the track type inspection robot is used for moving to the target moving position according to the position information and shooting the personnel.
Optionally, the monitoring background is specifically configured to determine, according to the radar information, a position of the track-type inspection robot corresponding to the human radar on a track; and taking the position of the track type inspection robot adjacent to the device for positioning the track type inspection robot on the track corresponding to the human body radar, where the device for positioning the track type inspection robot on the track is positioned, as the target moving position of the track type inspection robot.
Optionally, the track-type inspection robot is specifically configured to photograph the person and keep the person in the center of the photographed image.
In order to solve the technical problem, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the following monitoring method of the track type inspection robot is realized when the computer program is processed by a processor.
The application provides a following monitoring method of a track type inspection robot based on a human body radar, which comprises the following steps: receiving radar information sent by human body radar after a person enters an induction range of the human body radar; determining a target moving position of the track type inspection robot according to the radar information; and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel.
According to the following monitoring method provided by the application, the target moving position of the track type inspection robot is determined according to the radar information sent by the human body radar through the position of the human body radar positioning personnel, so that the track type inspection robot is controlled to move to the target moving position to shoot the personnel, and the whole and comprehensive following record of the travelling route and the operation action of the personnel in a workplace is realized.
The following monitoring system of the track type inspection robot based on the human body radar and the computer readable storage medium provided by the application have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a following monitoring method of a track type inspection robot based on a human body radar according to an embodiment of the present application;
fig. 2 is a schematic diagram of a following monitoring scene of a track type inspection robot based on a human body radar according to an embodiment of the present application;
fig. 3 is a schematic diagram of a following monitoring system of a track type inspection robot based on a human body radar according to an embodiment of the present application.
Detailed Description
The application provides a tracking monitoring method of a track type inspection robot based on a human body radar, which can carry out whole-course and comprehensive tracking record on a travel route and operation actions of a person in a workplace. The application further provides a following monitoring system of the track type inspection robot based on the human body radar and a computer readable storage medium, which have the technical effects.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic diagram of a following monitoring method of a track type inspection robot based on a human body radar according to an embodiment of the present application, and referring to fig. 1, the method includes:
s101: receiving radar information sent by human body radar after personnel enter the sensing range of the human body radar;
specifically, a device of the track type inspection robot for positioning the track type inspection robot on the track is arranged on the track, the device can be an RFID tag and the like, the device of the track type inspection robot for positioning the track type inspection robot on the track type inspection robot is an RFID tag, the positioning principle of the track type inspection robot is that the RFID tag adds displacement offset, and each positioning point on the track can be expressed as n+x. Where n is the tag number of the RFID tag and x is the displacement offset. In order to locate the position of a person in a workplace, the human body radar is arranged on the track at the position which is closely attached to each RFID tag, and the number of the human body radar is the same as that of the adjacent RFID tag. The signals of all the human body radars cover the whole workplace, and the induction ranges of all the human body radars are not crossed. Referring to fig. 2 (the circular hatching in fig. 2 indicates the sensing range of the human body radar), when a person moves in a workplace, as the person moves, only one human body radar is triggered each time, the triggered human body radar uploads its own radar information to the monitoring background, and then the monitoring background can obtain the position of the person, for example, after the person enters the sensing range of the 69 # human body radar, the 69 # human body radar senses the person and is triggered, and then the 69 # human body radar sends its own radar information such as its own number to the monitoring background, so that the monitoring background can learn that the current position of the person is within the sensing range of the 69 # human body radar.
S102: determining a target moving position of the track type inspection robot according to the radar information;
specifically, after the monitoring background receives radar information sent by the human body radar, the target moving position of the track type inspection robot is further determined according to the radar information, namely, the position where the track type inspection robot moves next is determined, so that the tracking personnel can shoot the personnel.
In a specific embodiment, determining the target movement position of the track-type inspection robot according to the radar information includes: a device for determining the position of the track type inspection robot positioning self on the track corresponding to the human body radar according to the radar information; and taking the position of the device of the track type inspection robot, which is adjacent to the device of the track type inspection robot, which corresponds to the human body radar, for positioning the position of the track type inspection robot on the track as the target moving position of the track type inspection robot.
Specifically, the shooting angle of the camera configured by the track-based inspection robot is limited too close to the track-based inspection robot, so in order to obtain a good shooting angle, in this embodiment, after determining the device of the track-based inspection robot corresponding to the human body radar, which locates itself on the track, according to the radar information, the positions of other devices adjacent to the device are selected as the target moving positions of the track-based inspection robot. For the case that the device for positioning the track type inspection robot on the track is an RFID tag, namely, the RFID tag corresponding to the human body radar is determined according to radar information; and taking the position of the RFID label adjacent to the RFID label corresponding to the human radar as the target moving position of the track type inspection robot. For example, referring to fig. 2, the corresponding RFID tag is determined to be the 69 # RFID tag according to the radar information sent by the 69 # human radar, and then the position of the adjacent RFID tag of the 69 # RFID tag, that is, the 68 # RFID tag or the 70 # RFID tag is used as the target moving position of the track inspection robot.
Further, in order to facilitate positioning of the camera of the track type inspection robot and avoid loss of personnel from pictures shot by the camera, after determining the corresponding RFID tag according to radar information, a previous tag of the RFID tag is taken as a target moving position of the inspection robot, for example, the corresponding RFID tag is determined to be the 69 # RFID tag according to the radar information, and then the position where the 68 # RFID tag is located is taken as the target moving position of the track type inspection robot. It can be understood that the track on which the track-type inspection robot runs is usually a closed-loop track, so when the corresponding RFID tag is determined to be the number 1 RFID tag according to the radar information, the position of the RFID tag with the largest number adjacent to the number 1 RFID tag is taken as the target moving position of the track-type inspection robot. For example, 92 RFID tags are the largest number 92, and the number 2 RFID tag and the number 92 RFID tag are adjacent to the number 1 RFID tag, so when the corresponding RFID tag is determined to be the number 1 RFID tag according to the radar information, the position where the number 92 RFID tag is located is taken as the target moving position of the track inspection robot.
S103: and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel.
Specifically, after the target moving position of the track-type inspection robot is determined, the monitoring background further sends the position information of the target moving position to the track-type inspection robot, and then the track-type inspection robot moves to the target moving position according to the position information and shoots the activities of personnel and the like at the target moving position. Further, the monitoring background can also receive pictures shot by the track type inspection robot and display the pictures in real time.
The movement of the personnel in the workplace can trigger different human body radars, the target movement position of the track type robot is continuously determined by the monitoring background, and a corresponding instruction is sent to the track type inspection robot, so that the track type inspection robot can go to a new target movement position again to shoot the personnel, and the purpose of carrying out whole and comprehensive follow-up record on the travel route and operation actions of the personnel in the workplace is achieved.
In a specific embodiment, the track-type inspection robot moves to a target moving position and photographs a person, and the track-type inspection robot comprises: when the track type inspection robot receives the position information of a plurality of different target moving positions at the same time, the track type inspection robot moves to each target moving position successively and shoots the personnel for a preset time period at each target moving position.
Specifically, when a plurality of people are at different positions in a workplace, a plurality of human body radars are triggered at the moment, a monitoring background determines a plurality of different target moving positions according to radar information sent by the human body radars, and correspondingly, the track type inspection robot receives the position information of the plurality of different target moving positions at the same time. For example, after photographing a person for up to 5 minutes at the current target movement position, the orbital inspection robot moves to the next target movement position and photographs the person for another 5 minutes at the next target movement position.
Of course, the specific value of the preset duration is not limited, and can be set differently according to actual needs. In addition, when a plurality of track-type inspection robots exist on the same track, the position information of different target moving positions can be sent to different track-type inspection robots, so that each track-type inspection robot can respectively shoot different people at different target moving positions.
Further, in a specific embodiment, the track-type inspection robot moves to a target moving position and photographs a person, including: the track type inspection robot shoots the personnel and keeps the personnel located in the center of the shot picture.
Specifically, in order to further ensure the shooting effect, in this embodiment, the track type inspection robot keeps a person located in the center of a shooting picture to shoot the person. Specifically, when a person moves in a small range in a shooting picture of the track type inspection robot, the track type inspection robot tracks the person by using a human body detection function of a camera on the track type inspection robot, so that the person is kept at the center of the shooting picture.
The method for keeping the personnel in the center of the shot picture by the track type inspection robot comprises the following steps:
the track type inspection robot extracts a current frame image shot by a shooting lens and determines the position of a person in the current frame image; the track type inspection robot judges the position relation between the personnel in the current frame image and the reference area; the reference area is the central area of the shooting lens; and if the personnel in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
In addition, if the person is located outside the reference area in the current frame image, the track type inspection robot adjusts the position of the photographing lens, including: when a part of personnel is positioned outside the reference area, the track type inspection robot adjusts the shooting angle of the shooting lens, and when the angle adjustment is larger than a preset angle adjustment range, the shooting position of the shooting lens is adjusted; when the person is completely outside the reference area, the photographing position of the photographing lens is adjusted.
Specifically, the current frame image of the person is extracted, and the current shot video image can be obtained by intercepting the current frame image according to the condition that the camera of the track type inspection robot shoots the person. Then, a reference area of the current frame image is determined according to a preset rule, wherein the preset rule is that a certain position on a shooting lens is selected in the shooting process, and the position is determined as the reference area. For example, the upper left of the photographing lens is selected as the reference area, and the reference area is located at the upper left of each extracted frame image. The application takes the middle position of the shooting lens as a reference area.
And determining the position of the person in the current frame image, and judging the position relationship between the person in the current frame image and the reference area. The method comprises the steps of extracting features of a current frame image through an image feature detection algorithm, determining features of personnel in the image, comparing the features of the personnel with a reference area, and judging the position relationship between the personnel and the reference area. The manner of determining the positional relationship between the person and the reference area may be: the reference area is set as a reference coordinate point, then the left side of the reference area is set as the negative coordinate of the X axis in the horizontal direction, the right side of the reference area is set as the positive coordinate of the X axis, the upper side of the reference area is set as the positive coordinate of the Y axis in the vertical direction, and the lower side of the reference area is set as the negative coordinate of the Y axis. And judging the position of the person relative to the reference area by judging the position of the person on the coordinate axis.
The camera is adjusted so that the person is located within the reference area. The method for adjusting the camera to enable the person to be located in the reference area comprises the following steps: when a person is located in the reference area, the track type inspection robot keeps the shooting position of the current lens and the shooting angle of the lens; when the person is located outside the reference area, the track type inspection robot moves the shooting position of the lens and/or adjusts the shooting angle of the lens. The lens of the track type inspection robot is a 360-degree rotatable lens, so that the lens only needs to be rotated when the shooting angle is adjusted. And when the shooting position is adjusted, the position of the track type inspection robot on the track needs to be adjusted.
When a part of personnel is positioned outside the reference area, the shooting angle of the camera of the track type inspection robot can be adjusted preferentially, and when the angle adjustment is larger than a preset angle adjustment range, the shooting position is adjusted. When the personnel is completely located outside the reference area, the shooting position of the camera of the track type inspection robot is preferentially adjusted at the moment; when the person is completely located in the reference area, that is, when the person is located in the center of the screen, the track type inspection robot does not perform adjustment actions.
In summary, the following monitoring method of the track type inspection robot based on the human body radar provided by the application comprises the following steps: receiving radar information sent by human body radar after a person enters an induction range of the human body radar; determining a target moving position of the track type inspection robot according to the radar information; and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel. According to the method, the position of a person is located through the human body radar, the target moving position of the track type inspection robot is determined according to radar information sent by the human body radar, and then the track type inspection robot moves to the target moving position to shoot the person, so that the whole-course and comprehensive following record of the travelling route and operation actions of the person in a workplace is realized.
The application also provides a following control system of the track type inspection robot based on the human body radar, and the system can be correspondingly referred to the method. Referring to fig. 3, the system includes:
the human body radar 10 is used for sending radar information to the monitoring background 20 after a person enters the sensing range of the human body radar 10;
the monitoring background 20 is configured to receive radar information sent by the human body radar 10 after a person enters the sensing range of the human body radar 10, determine a target moving position of the track type inspection robot 30 according to the radar information, and send position information of the target moving position to the track type inspection robot 30;
the track-type inspection robot 30 is used for moving to a target moving position according to the position information and shooting personnel.
Based on the above embodiment, as a specific implementation manner, the monitoring background 20 is specifically configured to determine, according to radar information, a device for positioning the track-type inspection robot 30 corresponding to the human body radar 10 on the track; the position of the track-type inspection robot 30 adjacent to the device for positioning the track-type inspection robot 30 corresponding to the human radar 10 on the track is used as the target moving position of the track-type inspection robot 30.
On the basis of the above-described embodiment, as a specific embodiment, the track inspection robot 30 is specifically used to photograph a person and keep the person in the center of the photographed image.
On the basis of the above embodiment, as a specific implementation manner, the track-type inspection robot 30 is specifically configured to, when the track-type inspection robot 30 receives the position information of a plurality of different target moving positions at the same time, move the track-type inspection robot 30 to each target moving position sequentially and take a photograph of a person at each target moving position for a preset period of time.
For the description of the system provided by the present application, please refer to the above method embodiment, and the description of the present application is omitted here.
The present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving radar information sent by human body radar after a person enters an induction range of the human body radar; determining a target moving position of the track type inspection robot according to the radar information; and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel.
The computer readable storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
For the description of the computer-readable storage medium provided by the present application, refer to the above method embodiments, and the disclosure is not repeated here.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the apparatus, device and computer readable storage medium of the embodiment disclosure, since it corresponds to the method of the embodiment disclosure, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The following monitoring method, the following monitoring system and the computer readable storage medium of the track type inspection robot based on the human body radar provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the principles of the application, which are also intended to fall within the scope of the appended claims.
Claims (7)
1. The following monitoring method of the track type inspection robot based on the human body radar is characterized by comprising the following steps of:
receiving radar information sent by human body radar after a person enters an induction range of the human body radar;
determining a target moving position of the track type inspection robot according to the radar information;
transmitting the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel;
the track type inspection robot comprises a track, wherein the track is provided with a device for positioning the track type inspection robot on the track, the human body radars are arranged on the track and cling to the device, signals of all the human body radars cover the whole workplace, and the induction range of each human body radar is not crossed;
the determining the target moving position of the track type inspection robot according to the radar information comprises the following steps:
the device for determining the position of the track type inspection robot positioning self on the track corresponding to the human body radar according to the radar information;
taking the position of the track type inspection robot adjacent to the device for positioning the track type inspection robot on the track corresponding to the human radar as the target moving position of the track type inspection robot;
the track-type inspection robot moves to the target moving position and shoots the person, and the track-type inspection robot comprises:
when the track type inspection robot receives the position information of a plurality of different target moving positions at the same time, the track type inspection robot moves to each target moving position successively and shoots the personnel for a preset time period at each target moving position.
2. The following monitoring method according to claim 1, wherein the track inspection robot photographs the person, comprising:
the track type inspection robot shoots the personnel and keeps the personnel at the center of a shooting picture.
3. The following monitoring method according to claim 2, wherein the manner in which the track-type inspection robot keeps the person at the center of the photographed picture includes:
the track type inspection robot extracts a current frame image shot by a shooting lens and determines the position of the person in the current frame image;
the track type inspection robot judges the position relation between the personnel and the reference area in the current frame image; the reference area is a central area of the shooting lens;
and if the person in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
4. The following monitoring method according to claim 3, wherein the track inspection robot adjusts the position of the photographing lens if the person is located outside the reference area in the current frame image, comprising:
when the person is partially positioned outside the reference area, the track type inspection robot adjusts the shooting angle of the shooting lens and adjusts the shooting position of the shooting lens when the angle adjustment is larger than a preset angle adjustment range;
and when the personnel is completely located outside the reference area, adjusting the shooting position of the shooting lens.
5. Track formula inspection robot's follow monitored control system based on human radar, its characterized in that includes:
the human body radar is used for sending radar information to the monitoring background after a person enters the sensing range of the human body radar;
the monitoring background is used for receiving radar information sent by the human body radar after a person enters the sensing range of the human body radar, determining the target moving position of the track type inspection robot according to the radar information, and sending the position information of the target moving position to the track type inspection robot;
the track type inspection robot is used for moving to the target moving position according to the position information and shooting the personnel;
the track type inspection robot comprises a track, wherein the track is provided with a device for positioning the track type inspection robot on the track, the human body radars are arranged on the track and cling to the device, signals of all the human body radars cover the whole workplace, and the induction range of each human body radar is not crossed;
the monitoring background is specifically used for determining the position of the track type inspection robot positioning self on the track corresponding to the human body radar according to the radar information; taking the position of the track type inspection robot adjacent to the device for positioning the track type inspection robot on the track corresponding to the human radar as the target moving position of the track type inspection robot;
the track type inspection robot is particularly used for moving to each target moving position in sequence and shooting the personnel for a preset time length at each target moving position when the track type inspection robot receives the position information of a plurality of different target moving positions at the same time.
6. The follow-up monitoring system of claim 5, wherein the orbital inspection robot is specifically configured to photograph the person and keep the person centered on the photographed image.
7. A computer-readable storage medium storing a computer program which, when processed by a processor, implements the steps of the following monitoring method of a track inspection robot according to any one of claims 1 to 4.
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