CN111405250A - Video stream data processing method, device, robot and storage medium - Google Patents
Video stream data processing method, device, robot and storage medium Download PDFInfo
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- CN111405250A CN111405250A CN202010215177.9A CN202010215177A CN111405250A CN 111405250 A CN111405250 A CN 111405250A CN 202010215177 A CN202010215177 A CN 202010215177A CN 111405250 A CN111405250 A CN 111405250A
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
Abstract
The embodiment of the invention relates to a video stream data processing method, a video stream data processing device, a robot and a storage medium, wherein the method comprises the following steps: determining a target video capture device from a plurality of video capture devices provided to the robot; calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal; calling other video acquisition equipment to acquire second video stream data; storing the second video stream data and the first video stream data to the local; and under the condition of receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
Description
Technical Field
The embodiment of the invention relates to the technical field of video stream data processing, in particular to a video stream data processing method, a video stream data processing device, a robot and a storage medium.
Background
An intelligent outdoor security inspection robot is a robot which executes inspection tasks in a remote control or autonomous mode and assists security and inspection personnel to carry out all-weather security work. The intelligent outdoor security inspection robot can work in a single-machine independent or multi-machine cooperative mode, reports inspection conditions to control background related personnel in real time, and can also work with the fixed camera in a cooperative mode, so that monitoring blind areas are effectively made up, the safety accident rate is greatly reduced, manpower and material resources are liberated to a certain degree, and the safety problem of dense places (such as airports, markets, factories and the like) of people in cities is promoted to be solved.
In the related art, the intelligent outdoor security inspection robot is generally provided with a plurality of cameras so as to increase the monitoring visual angle of the intelligent outdoor security inspection robot, and monitoring videos collected by the cameras are transmitted back to the control terminal in a wireless communication mode. However, due to the influence of wireless communication transmission bandwidth, generally, only the monitoring video collected by a certain camera in the intelligent outdoor security inspection robot can be selected for returning, and the cameras can be switched.
When the intelligent outdoor security inspection robot is subjected to illegal violent damage and other events, the illegal violent damage event can possibly occur in the monitoring view angles of other cameras due to the fact that only the monitoring video collected by one camera is transmitted back, and the illegal violent damage event cannot be restored and traced.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems, embodiments of the present invention provide a video stream data processing method, apparatus, robot, and storage medium.
In a first aspect, an embodiment of the present invention provides a method for processing video stream data, where the method includes:
determining a target video capture device from a plurality of video capture devices provided to the robot;
calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal;
calling other video acquisition equipment to acquire second video stream data;
storing the second video stream data and the first video stream data to the local;
and under the condition of receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
In an optional embodiment, the target processor triggers and sends the event notification when detecting a preset event, including:
the target processor acquires a robot inclination angle detected by the inclination angle sensor;
the target processor judges whether the inclination angle is within a preset angle interval or not;
if the inclination angle is not within a preset angle interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In an optional embodiment, the transmitting the second video stream data and the first video stream data back to the control terminal includes:
acquiring the detection moment of the inclination angle of the robot detected by the inclination angle sensor from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
In an optional embodiment, the target processor triggers and sends the event notification when detecting a preset event, including:
the target processor acquires robot acceleration detected by an acceleration sensor;
the target processor judges whether the acceleration is within a preset acceleration interval or not;
if the acceleration is not within a preset acceleration interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In an optional embodiment, the transmitting the second video stream data and the first video stream data back to the control terminal includes:
acquiring the detection moment of the acceleration sensor for detecting the acceleration of the robot from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
In an optional embodiment, the target processor triggers and sends the event notification when detecting a preset event, including:
the target processor receives an event signal generated by the trigger of the micro switch;
the target processor detects the occurrence of a preset event according to the event signal;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In an optional embodiment, the transmitting the second video stream data and the first video stream data back to the control terminal includes:
acquiring the generation time of the event signal from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the generation time and before the generation time back to the control terminal.
In a second aspect, an embodiment of the present invention provides a video stream data processing apparatus, where the apparatus includes:
the device determining module is used for determining target video acquisition equipment from a plurality of video acquisition equipment provided by the robot;
the first acquisition module is used for calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal;
the second acquisition module is used for calling other video acquisition equipment to acquire second video stream data;
the data storage module is used for storing the second video stream data and the first video stream data to the local;
and the data returning module is used for returning the second video stream data and the first video stream data to the control terminal under the condition of receiving an event notification sent by a target processor, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
In a third aspect, an embodiment of the present invention provides a robot, including: at least one processor, and at least one memory, bus connected with the processor; the processor and the memory complete mutual communication through the bus; the processor is configured to call program instructions in the memory to execute the video stream data processing method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a storage medium, where one or more programs are stored, and the one or more programs are executable by one or more processors to implement the video stream data processing method according to any one of the first aspects.
According to the technical scheme provided by the embodiment of the invention, the target video acquisition equipment is determined from the plurality of video acquisition equipment of the robot, the target video acquisition equipment is called to acquire the first video stream data and transmit the first video stream data back to the control terminal, the other video acquisition equipment is called to acquire the second video stream data, the second video stream data and the first video stream data are stored locally, and the second video stream data and the first video stream data are transmitted back to the control terminal under the condition of receiving the event notification transmitted by the target processor, wherein the target processor triggers and transmits the event notification under the condition of detecting the occurrence of the preset event. Therefore, the first video stream data collected by the target video collecting device and the second video stream data collected by the other video collecting devices are stored, so that the first video stream data collected by the target video collecting device and the second video stream data collected by the other video collecting devices are transmitted back to the control terminal under the condition that the preset event is detected, and the preset event is restored and traced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of an internal structure of an intelligent outdoor security inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic flowchart illustrating an implementation of a video stream data processing method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating an implementation of a preset event detection method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an inclination angle interval according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating another implementation of a video stream data processing method according to an embodiment of the present invention;
fig. 6 is a schematic flow chart illustrating an implementation of another preset event detection method according to an embodiment of the present invention;
fig. 7 is a schematic flowchart illustrating another implementation of a video stream data processing method according to an embodiment of the present invention;
fig. 8 is a schematic flow chart illustrating an implementation of another preset event detection method according to an embodiment of the present invention;
FIG. 9 is a schematic view of a microswitch installed according to an embodiment of the present invention;
fig. 10 is a schematic flow chart illustrating another implementation of a video stream data processing method according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a video stream data processing apparatus according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the embodiment of the invention, in order to facilitate recovery and tracing of illegal violent damage events, a target video acquisition device is determined from a plurality of video acquisition devices of a robot, the target video acquisition device is called to acquire first video stream data and is transmitted back to a control terminal, the other video acquisition devices are called to acquire second video stream data, the second video stream data and the first video stream data are stored locally, and the second video stream data and the first video stream data are transmitted back to the control terminal under the condition of receiving an event notification sent by a target processor, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
As shown in fig. 1, an internal structure schematic diagram of an intelligent outdoor security inspection robot provided in an embodiment of the present invention is shown, where the intelligent outdoor security inspection robot may include: the system comprises a tilt sensor, a microswitch, an acceleration sensor, a single chip microcomputer, a storage device, a robot processor, a wireless transmission device, a monitoring camera and a standby power supply system, wherein the connection relation of all the components is shown in figure 1.
Based on the intelligent outdoor security inspection robot shown in fig. 1, as shown in fig. 2, an implementation flow diagram of a video stream data processing method provided by the embodiment of the present invention is applied to a processor in the intelligent outdoor security inspection robot, and specifically includes the following steps:
s201, determining target video acquisition equipment from a plurality of video acquisition equipment of the robot;
in the embodiment of the invention, the intelligent outdoor security inspection robot is generally provided with a plurality of video acquisition devices, for example, the intelligent outdoor security inspection robot shown in fig. 1 is provided with 4 monitoring cameras.
For a plurality of video acquisition devices of the intelligent outdoor security inspection tour robot, the target video acquisition device is determined from the plurality of video acquisition devices in the embodiment of the invention, and the target video acquisition device can be determined in the following way:
1. according to preset configuration information of the video acquisition equipment, target video acquisition equipment is determined from a plurality of video acquisition equipment of the intelligent outdoor security inspection robot.
The configuration information of the video acquisition equipment can comprise the identification of the video acquisition equipment, and the video acquisition equipment corresponding to the identification can be determined to be the target video acquisition equipment from a plurality of video acquisition equipment which are provided by the intelligent outdoor security inspection robot.
For example, the configuration information of the video collecting device may include an identifier a of the video collecting device, and the video collecting device a may be determined to be a target video collecting device from the video collecting device a, the video collecting device B, the video collecting device C, and the video collecting device D that the intelligent outdoor security inspection robot has.
2. And receiving a video acquisition equipment switching instruction sent by the control terminal, and determining target video acquisition equipment from a plurality of video acquisition equipment of the intelligent outdoor security inspection robot according to the video acquisition equipment switching instruction.
To video acquisition equipment switching instruction, wherein can carry video acquisition equipment's sign, can confirm the video acquisition equipment that this sign corresponds as target video acquisition equipment in the outdoor security protection of follow intelligence patrols and examines a plurality of video acquisition equipment that robot possesses.
For example, a video acquisition device switching instruction sent by the control terminal is received, the identifier B of the video acquisition device carried in the video acquisition device switching instruction is analyzed, and the video acquisition device B can be determined to be a target video acquisition device from the video acquisition device a, the video acquisition device B, the video acquisition device C and the video acquisition device D of the intelligent outdoor security inspection robot.
It should be noted that, the video capture device may be, for example, a monitoring camera, and may also be a video camera, which is not limited in this embodiment of the present invention.
S202, calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to a control terminal;
for the target video capture device determined in the above step, the embodiment of the present invention invokes the target video capture device to capture the first video stream data.
For example, for the video acquisition device B determined in the above step, the processor in the intelligent outdoor security inspection robot according to the embodiment of the present invention calls the video acquisition device B to acquire the first video stream data.
For the first video stream data acquired by the target video acquisition device, the embodiment of the invention transmits the first video stream data back to the control terminal, so that a monitoring person can check the things happening in the corresponding monitoring view angle of the target video acquisition device. Specifically, the embodiment of the present invention may wirelessly transmit the first video stream data back to the control terminal.
The method and the device are limited by the influence of wireless communication transmission bandwidth, generally only video stream data collected by a certain video collecting device in the intelligent outdoor security inspection robot can be selected for returning, and all the video collecting devices can be switched, so that under normal conditions, the first video stream data collected by the target video collecting device is selected to be returned to the control terminal.
For the wireless mode, for example, the wireless mode may be 4G, 5G, bluetooth, wifi, and the like, which is not limited in the embodiment of the present invention.
S203, calling the other video acquisition equipment to acquire second video stream data;
for a plurality of video acquisition devices of the intelligent outdoor security inspection robot, the target video acquisition device is determined, the target video acquisition device is called to acquire first video stream data, the first video stream data acquired by the target video acquisition device is transmitted back to the control terminal, and for the rest video acquisition devices, the target video acquisition device is called to acquire second video stream data, so that each video acquisition device can acquire video stream data in the own monitoring view angle.
For example, for a video collecting device B, a processor in the intelligent outdoor security inspection robot according to the embodiment of the present invention calls the video collecting device B to collect first video stream data and transmits the first video stream data back to the control terminal, and for the remaining video collecting devices: the intelligent outdoor security inspection robot comprises a video acquisition device A, a video acquisition device C and a video acquisition device D, wherein a processor in the intelligent outdoor security inspection robot calls the video acquisition device A, the video acquisition device C and the video acquisition device D respectively to acquire second video stream data.
S204, storing the second video stream data and the first video stream data to the local;
for the second video stream data and the first video stream data collected, in addition to the first video stream data being transmitted back to the control terminal, the second video stream data and the first video stream data collected can be stored locally in the intelligent outdoor security inspection robot, so that the first video stream data collected by the target video collecting device and the second video stream data collected by the rest video collecting devices can be transmitted back to the control terminal when a preset event (such as an illegal violence damage event) is detected, and the preset event can be restored and traced back.
For example, for a first video stream data collected by the video collecting device B and a second video stream data collected by the video collecting device a, the video collecting device C, and the video collecting device D, the processor in the intelligent outdoor security inspection robot according to the embodiment of the present invention may store the first video stream data and the second video stream data into the storage device shown in fig. 1.
Wherein, in the process of storing the second video stream data and the first video stream data, the second video stream data and the first video stream data can be stored in a rolling coverage mode based on a time axis.
In addition, due to the fact that storage resources in the intelligent outdoor security inspection robot are limited, the intelligent outdoor security inspection robot can be cleaned regularly, and it is guaranteed that second video stream data and first video stream data in a certain recent time period are stored successfully.
S205, when receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, where the target processor triggers and sends the event notification when detecting that a preset event occurs.
In the embodiment of the invention, the target processor detects whether a preset event occurs, triggers an event notification when the preset event is detected, and sends the event notification to the processor in the intelligent outdoor security inspection robot.
The processor in the intelligent outdoor security inspection robot can receive the event notification sent by the target processor, and under the condition of receiving the event notification sent by the target processor, the second video stream data and the first video stream data are transmitted back to the control terminal, so that the preset event can be restored and traced conveniently.
Specifically, the embodiment of the present invention may wirelessly transmit the second video stream data and the first video stream data back to the control terminal.
The preset event may be an illegal violent destruction event, and may also be other types of events, which is not limited in the embodiment of the present invention.
The target processor may be a single chip microcomputer as shown in fig. 1, and is also located inside the intelligent outdoor security inspection robot, and of course, other types of processors may be used.
In addition, due to the occurrence of a preset event, a fault of a main power supply system in the intelligent outdoor security inspection robot may be caused, and at this time, the transmission of the second video stream data and the first video stream data back to the control terminal is not completed.
Through the above description of the technical solution provided by the embodiment of the present invention, a target video capture device is determined from a plurality of video capture devices provided in a robot, the target video capture device is called to capture first video stream data and transmit the first video stream data back to a control terminal, the remaining video capture devices are called to capture second video stream data, the second video stream data and the first video stream data are stored locally, and the second video stream data and the first video stream data are transmitted back to the control terminal when an event notification sent by a target processor is received, wherein the target processor triggers and sends the event notification when detecting that a preset event occurs. Therefore, the first video stream data collected by the target video collecting device and the second video stream data collected by the other video collecting devices are stored, so that the first video stream data collected by the target video collecting device and the second video stream data collected by the other video collecting devices are transmitted back to the control terminal under the condition that the preset event is detected, and the preset event is restored and traced.
As shown in fig. 3, an implementation flow diagram of a preset event detection method provided in an embodiment of the present invention is shown, where the method specifically includes the following steps:
s301, the target processor acquires a robot inclination angle detected by an inclination angle sensor;
in the embodiment of the invention, the intelligent outdoor security inspection robot is provided with the inclination angle sensor for detecting the inclination angle of the intelligent outdoor security inspection robot.
The inclination angle of the intelligent outdoor security inspection robot detected by the inclination angle sensor can be reported to the target processor, and the target processor can acquire the inclination angle of the intelligent outdoor security inspection robot detected by the inclination angle sensor.
For example, as shown in fig. 1, the inclination angle sensor can report the detected inclination angle of the intelligent outdoor security inspection robot to the single chip microcomputer, and the single chip microcomputer can acquire the inclination angle of the intelligent outdoor security inspection robot detected by the inclination angle sensor.
S302, the target processor judges whether the inclination angle is within a preset angle interval;
in the embodiment of the invention, an angle interval, for example, an inclination angle interval shown in fig. 4, is preset, and whether the inclination angle of the intelligent outdoor security inspection robot detected by the inclination angle sensor acquired by the target processor is within the preset angle interval is judged.
For example, for the inclination angle of the intelligent outdoor security inspection robot, the single chip microcomputer judges whether the inclination angle is within an inclination angle interval (0 to 5 degrees) as shown in fig. 4.
S303, if the inclination angle is not within a preset angle interval, the target processor detects that a preset event occurs;
for the inclination angle of the intelligent outdoor security inspection robot, if the inclination angle is within the preset angle interval, the target processor can determine that the posture of the intelligent outdoor security inspection robot is basically normal.
For the inclination angle of the intelligent outdoor security inspection robot, if the inclination angle is not within the preset angle interval, the target processor can determine that the posture of the intelligent outdoor security inspection robot is abnormal, and can detect the occurrence of a preset event.
For example, for the inclination angle of the intelligent outdoor security inspection robot is 2 degrees, the single chip microcomputer can determine that the posture of the intelligent outdoor security inspection robot is basically normal within a preset angle interval.
For another example, for the inclination angle of the intelligent outdoor security inspection robot being 145 degrees and not within the preset angle interval, the single chip microcomputer can determine that the posture of the intelligent outdoor security inspection robot is abnormal, and can detect that a preset event occurs.
S304, the target processor triggers and sends the event notification when detecting the occurrence of the preset event.
For the target processor, if the preset event is detected to occur, an event notification can be triggered and sent to the intelligent outdoor security inspection robot processor, so that the second video stream data and the first video stream data are transmitted back to the control terminal, and the preset event is restored and traced.
As shown in fig. 5, an implementation flow diagram of another video stream data processing method provided in the embodiment of the present invention is applied to a processor in an intelligent outdoor security inspection robot, and specifically includes the following steps:
s501, determining target video acquisition equipment from a plurality of video acquisition equipment of the robot;
in the embodiment of the present invention, this step is similar to the step S201 described above, and details of the embodiment of the present invention are not repeated herein.
S502, calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to a control terminal;
in the embodiment of the present invention, this step is similar to the step S202, and the details of the embodiment of the present invention are not repeated herein.
S503, calling the other video acquisition equipment to acquire second video stream data;
in the embodiment of the present invention, this step is similar to the step S203 described above, and the embodiment of the present invention is not described herein again.
S504, storing the second video stream data and the first video stream data to the local;
in the embodiment of the present invention, this step is similar to the step S204, and the details of the embodiment of the present invention are not repeated herein.
S505, under the condition that an event notification sent by a target processor is received, acquiring the detection time of the inclination angle of the robot detected by the inclination angle sensor from the target processor, wherein the target processor triggers and sends the event notification under the condition that a preset event is detected;
in the embodiment of the invention, in order to improve the utilization rate of wireless transmission bandwidth, reduce data transmission time and improve transmission efficiency, under the condition of receiving an event notification sent by a target processor, the detection time of the inclination angle sensor for detecting the inclination angle of the robot is acquired from the target processor.
For the target processor, the detection time of the inclination angle sensor for detecting the inclination angle of the intelligent outdoor security inspection robot can be recorded, and the processor in the intelligent outdoor security inspection robot can conveniently acquire the detection time of the inclination angle sensor for detecting the inclination angle of the robot from the target processor under the condition that the processor receives the event notification sent by the target processor.
For example, the processor in the intelligent outdoor security inspection robot can acquire the detection time of the inclination angle sensor for detecting the inclination angle of the robot from the single chip microcomputer at 10:00 under the condition that the processor receives the event notification sent by the single chip microcomputer.
S506, the second video stream data and the first video stream data occurring at and before the detection time are transmitted back to the control terminal.
The embodiment of the invention can transmit the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal, thereby reducing the transmission of unnecessary data, improving the utilization rate of wireless transmission bandwidth, reducing the data transmission time and improving the transmission efficiency.
For example, the processor in the intelligent outdoor security inspection robot can transmit the second video stream data and the first video stream data which occur before 10:00 and 10:00 back to the control terminal.
As shown in fig. 6, an implementation flow diagram of another preset event detection method provided in the embodiment of the present invention is specifically shown, where the method specifically includes the following steps:
s601, the target processor acquires robot acceleration detected by an acceleration sensor;
in the embodiment of the invention, the intelligent outdoor security inspection robot is provided with the acceleration sensor for detecting the acceleration of the intelligent outdoor security inspection robot.
The acceleration sensor can report the detected acceleration of the intelligent outdoor security inspection robot to the target processor, and the target processor can acquire the acceleration of the robot detected by the acceleration sensor.
For example, as shown in fig. 1, the acceleration sensor can report the detected acceleration of the intelligent outdoor security inspection robot to the single chip microcomputer, and the single chip microcomputer can acquire the acceleration of the robot detected by the acceleration sensor.
S602, the target processor judges whether the acceleration is within a preset acceleration interval;
in the embodiment of the invention, an acceleration interval is preset, and whether the acceleration of the intelligent outdoor security inspection robot detected by the acceleration sensor acquired by the target processor is within the preset acceleration interval is judged.
For example, for the acceleration a of the intelligent outdoor security inspection robot, the single chip microcomputer judges whether the acceleration a is within a preset acceleration interval.
S603, if the acceleration is not within a preset acceleration interval, the target processor detects that a preset event occurs;
for the acceleration of the intelligent outdoor security inspection robot, if the acceleration is within a preset acceleration interval, the target processor can determine that the speed of the intelligent outdoor security inspection robot is basically normal.
For the acceleration of the intelligent outdoor security inspection robot, if the acceleration is not within the preset acceleration interval, the target processor can determine that the intelligent outdoor security inspection robot is abnormal in speed and is impacted, and a preset event can be detected.
For example, for the acceleration a of the intelligent outdoor security inspection robot, within a preset acceleration interval, the single chip microcomputer can determine that the speed of the intelligent outdoor security inspection robot is basically normal.
For another example, for the acceleration a of the intelligent outdoor security inspection robot, which is not within the preset acceleration interval, the single chip microcomputer can determine that the intelligent outdoor security inspection robot is abnormal in speed and is impacted, and can detect that a preset event occurs.
S604, the target processor triggers and sends the event notification when detecting the occurrence of the preset event.
For the target processor, if the preset event is detected to occur, an event notification can be triggered and sent to the intelligent outdoor security inspection robot processor, so that the second video stream data and the first video stream data are transmitted back to the control terminal, and the preset event is restored and traced.
As shown in fig. 7, an implementation flow diagram of another video stream data processing method provided in the embodiment of the present invention is applied to a processor in an intelligent outdoor security inspection robot, and specifically includes the following steps:
s701, determining target video acquisition equipment from a plurality of video acquisition equipment of the robot;
in the embodiment of the present invention, this step is similar to the step S201 described above, and details of the embodiment of the present invention are not repeated herein.
S702, calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to a control terminal;
in the embodiment of the present invention, this step is similar to the step S202, and the details of the embodiment of the present invention are not repeated herein.
S703, calling the other video acquisition equipment to acquire second video stream data;
in the embodiment of the present invention, this step is similar to the step S203 described above, and the embodiment of the present invention is not described herein again.
S704, storing the second video stream data and the first video stream data to the local;
in the embodiment of the present invention, this step is similar to the step S204, and the details of the embodiment of the present invention are not repeated herein.
S705, under the condition that an event notification sent by a target processor is received, acquiring the detection time of the acceleration sensor for detecting the acceleration of the robot from the target processor, wherein the target processor triggers and sends the event notification under the condition that a preset event is detected;
in the embodiment of the invention, in order to improve the utilization rate of the wireless transmission bandwidth, reduce the data transmission time and improve the transmission efficiency, the detection time when the acceleration sensor detects the acceleration of the robot is acquired from the target processor under the condition of receiving the event notification sent by the target processor.
For the target processor, the detection time when the acceleration sensor detects the acceleration of the intelligent outdoor security inspection robot can be recorded, and the processor in the intelligent outdoor security inspection robot can conveniently acquire the detection time when the acceleration sensor detects the acceleration of the robot from the target processor under the condition that the processor receives the event notification sent by the target processor.
For example, the processor in the intelligent outdoor security inspection robot can acquire the detection time of the acceleration sensor to detect the acceleration of the robot at 11:00 from the single chip microcomputer under the condition that the processor receives the event notification sent by the single chip microcomputer.
S706, transmitting the second video stream data and the first video stream data occurring at and before the detection time back to the control terminal.
The embodiment of the invention can transmit the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal, thereby reducing the transmission of unnecessary data, improving the utilization rate of wireless transmission bandwidth, reducing the data transmission time and improving the transmission efficiency.
For example, the processor in the intelligent outdoor security inspection robot can transmit the second video stream data and the first video stream data occurring before 11:00 and 11:00 back to the control terminal.
As shown in fig. 8, an implementation flow diagram of another preset event detection method provided in the embodiment of the present invention is specifically shown, where the method specifically includes the following steps:
s801, receiving an event signal generated by the trigger of a microswitch by the target processor;
in the embodiment of the invention, as for the intelligent outdoor security inspection robot, a micro switch is installed at a place where the interior of the robot contacts the shell (or a place where the robot clings to the shell), as shown in fig. 9. The micro-switches are used to measure the deformation of the object and convert the deformation of the object into an electrical signal (i.e., an event signal).
When the intelligent outdoor security inspection robot is hit or the shell is damaged, the micro switch is triggered, the micro switch converts the deformation of the shell into an electrical signal and reports the electrical signal to the target processor, and the target processor can receive the electrical signal (namely an event signal) generated by triggering of the micro switch.
For example, as shown in fig. 1, when the intelligent outdoor security inspection robot is hit or the housing is damaged, the micro switch is triggered, the micro switch converts the deformation of the housing into an electrical signal and reports the electrical signal to the single chip microcomputer, and the single chip microcomputer can receive the electrical signal generated by triggering of the micro switch.
S802, the target processor detects the occurrence of a preset event according to the event signal;
after the target processor receives the event signal, a preset event can be detected according to the event signal, and the situation that the shell of the intelligent outdoor security inspection robot is damaged is shown.
And S803, the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
For the target processor, if the preset event is detected to occur, an event notification can be triggered and sent to the intelligent outdoor security inspection robot processor, so that the second video stream data and the first video stream data are transmitted back to the control terminal, and the preset event is restored and traced.
As shown in fig. 10, an implementation flow diagram of another video stream data processing method provided in the embodiment of the present invention is applied to a processor in an intelligent outdoor security inspection robot, and specifically includes the following steps:
s1001, determining target video acquisition equipment from a plurality of video acquisition equipment of the robot;
in the embodiment of the present invention, this step is similar to the step S201 described above, and details of the embodiment of the present invention are not repeated herein.
S1002, calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to a control terminal;
in the embodiment of the present invention, this step is similar to the step S202, and the details of the embodiment of the present invention are not repeated herein.
S1003, calling the other video acquisition equipment to acquire second video stream data;
in the embodiment of the present invention, this step is similar to the step S203 described above, and the embodiment of the present invention is not described herein again.
S1004, storing the second video stream data and the first video stream data to the local;
in the embodiment of the present invention, this step is similar to the step S204, and the details of the embodiment of the present invention are not repeated herein.
S1005, under the condition of receiving an event notification sent by a target processor, acquiring the generation time of the event signal from the target processor, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event;
in the embodiment of the invention, in order to improve the utilization rate of the wireless transmission bandwidth, reduce the data transmission time and improve the transmission efficiency, the generation time of the event signal is acquired from the target processor under the condition of receiving the event notification sent by the target processor.
For the target processor, the generation time of the event signal can be recorded, and the processor in the intelligent outdoor security inspection robot is convenient to acquire the generation time of the event signal from the target processor under the condition that the processor receives the event notification sent by the target processor.
For example, the processor in the intelligent outdoor security inspection robot can acquire the generation time of the event signal from the single chip microcomputer at 12:00 when receiving the event notification sent by the single chip microcomputer.
And S1006, transmitting the second video stream data and the first video stream data occurring at the generation time and before the generation time back to the control terminal.
The embodiment of the invention can transmit the second video stream data and the first video stream data which occur at the generation time and before the generation time back to the control terminal, thereby reducing the transmission of unnecessary data, improving the utilization rate of wireless transmission bandwidth, reducing the data transmission time and improving the transmission efficiency.
For example, the processor in the intelligent outdoor security inspection robot may transmit the second video stream data occurring before 12:00 and the first video stream data back to the control terminal.
Corresponding to the foregoing method embodiment, an embodiment of the present invention further provides a video stream data processing apparatus, as shown in fig. 11, where the apparatus may specifically include the following modules: the device comprises a device determination module 1100, a first acquisition module 1110, a second acquisition module 1120, a data storage module 1130, and a data return module 1140.
A device determining module 1100 configured to determine a target video capture device from a plurality of video capture devices provided in the robot;
the first acquisition module 1110 is configured to invoke the target video acquisition device to acquire first video stream data and transmit the first video stream data back to the control terminal;
the second collecting module 1120 is configured to invoke the other video collecting devices to collect second video stream data;
a data storage module 1130, configured to store the second video stream data and the first video stream data to a local location;
a data returning module 1140, configured to return the second video stream data and the first video stream data to the control terminal when receiving an event notification sent by a target processor, where the target processor triggers and sends the event notification when detecting that a preset event occurs.
In a specific implementation manner of the embodiment of the present invention, the triggering and sending the event notification by the target processor when detecting that a preset event occurs includes:
the target processor acquires a robot inclination angle detected by the inclination angle sensor;
the target processor judges whether the inclination angle is within a preset angle interval or not;
if the inclination angle is not within a preset angle interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In a specific implementation manner of the embodiment of the present invention, the data returning module 1140 is specifically configured to:
acquiring the detection moment of the inclination angle of the robot detected by the inclination angle sensor from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
In a specific implementation manner of the embodiment of the present invention, the triggering and sending the event notification by the target processor when detecting that a preset event occurs includes:
the target processor acquires robot acceleration detected by an acceleration sensor;
the target processor judges whether the acceleration is within a preset acceleration interval or not;
if the acceleration is not within a preset acceleration interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In a specific implementation manner of the embodiment of the present invention, the data returning module 1140 is specifically configured to:
acquiring the detection moment of the acceleration sensor for detecting the acceleration of the robot from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
In a specific implementation manner of the embodiment of the present invention, the triggering and sending the event notification by the target processor when detecting that a preset event occurs includes:
the target processor receives an event signal generated by the trigger of the micro switch;
the target processor detects the occurrence of a preset event according to the event signal;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
In a specific implementation manner of the embodiment of the present invention, the data returning module 1140 is specifically configured to:
acquiring the generation time of the event signal from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the generation time and before the generation time back to the control terminal.
The video stream data processing apparatus includes a processor and a memory, the device determination module 1100, the first acquisition module 1110, the second acquisition module 1120, the data storage module 1130, the data return module 1140, and the like are all stored in the memory as program modules, and the processor executes the program modules stored in the memory to implement corresponding functions.
As shown in fig. 12, which is a schematic structural diagram of a robot according to an embodiment of the present invention, the robot shown in fig. 12 includes: a processor 121, a communication interface 122, a memory 123 and a communication bus 124, wherein the processor 121, the communication interface 122 and the memory 123 are communicated with each other through the communication bus 124,
a memory 123 for storing a computer program;
the processor 121, when executing the program stored in the memory 123, implements the following steps:
determining a target video capture device from a plurality of video capture devices provided to the robot; calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal; calling other video acquisition equipment to acquire second video stream data; storing the second video stream data and the first video stream data to the local; and under the condition of receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
The communication bus mentioned in the robot may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the robot and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The embodiment of the invention also provides a storage medium (computer readable storage medium). The storage medium herein stores one or more programs. Among others, the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, a hard disk, or a solid state disk; the memory may also comprise a combination of memories of the kind described above.
When one or more programs in the storage medium are executable by one or more processors to implement the above-described video stream data processing method executed on the video stream data processing apparatus side.
The processor is configured to execute the video stream data processing program stored in the memory to realize the following steps of the video stream data processing method executed on the video stream data processing apparatus side:
determining a target video capture device from a plurality of video capture devices provided to the robot; calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal; calling other video acquisition equipment to acquire second video stream data; storing the second video stream data and the first video stream data to the local; and under the condition of receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A method for processing video stream data, the method comprising:
determining a target video capture device from a plurality of video capture devices provided to the robot;
calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal;
calling other video acquisition equipment to acquire second video stream data;
storing the second video stream data and the first video stream data to the local;
and under the condition of receiving an event notification sent by a target processor, returning the second video stream data and the first video stream data to the control terminal, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
2. The method of claim 1, wherein the target processor triggers and sends the event notification when detecting a preset event, comprising:
the target processor acquires a robot inclination angle detected by the inclination angle sensor;
the target processor judges whether the inclination angle is within a preset angle interval or not;
if the inclination angle is not within a preset angle interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
3. The method of claim 2, wherein the transmitting the second video stream data and the first video stream data back to the control terminal comprises:
acquiring the detection moment of the inclination angle of the robot detected by the inclination angle sensor from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
4. The method of claim 1, wherein the target processor triggers and sends the event notification when detecting a preset event, comprising:
the target processor acquires robot acceleration detected by an acceleration sensor;
the target processor judges whether the acceleration is within a preset acceleration interval or not;
if the acceleration is not within a preset acceleration interval, the target processor detects that a preset event occurs;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
5. The method of claim 4, wherein the transmitting the second video stream data and the first video stream data back to the control terminal comprises:
acquiring the detection moment of the acceleration sensor for detecting the acceleration of the robot from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the detection time and before the detection time back to the control terminal.
6. The method of claim 1, wherein the target processor triggers and sends the event notification when detecting a preset event, comprising:
the target processor receives an event signal generated by the trigger of the micro switch;
the target processor detects the occurrence of a preset event according to the event signal;
and the target processor triggers and sends the event notification when detecting the occurrence of a preset event.
7. The method of claim 6, wherein the transmitting the second video stream data and the first video stream data back to the control terminal comprises:
acquiring the generation time of the event signal from the target processor;
and transmitting the second video stream data and the first video stream data occurring at the generation time and before the generation time back to the control terminal.
8. A video stream data processing apparatus, characterized in that the apparatus comprises:
the device determining module is used for determining target video acquisition equipment from a plurality of video acquisition equipment provided by the robot;
the first acquisition module is used for calling the target video acquisition equipment to acquire first video stream data and transmitting the first video stream data back to the control terminal;
the second acquisition module is used for calling other video acquisition equipment to acquire second video stream data;
the data storage module is used for storing the second video stream data and the first video stream data to the local;
and the data returning module is used for returning the second video stream data and the first video stream data to the control terminal under the condition of receiving an event notification sent by a target processor, wherein the target processor triggers and sends the event notification under the condition of detecting the occurrence of a preset event.
9. A robot, comprising: at least one processor, and at least one memory, bus connected with the processor; the processor and the memory complete mutual communication through the bus; the processor is used for calling the program instructions in the memory to execute the method of any one of claims 1-7.
10. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the method of any one of claims 1-7.
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