CN113146609A

CN113146609A - Intelligent patrol robot

Info

Publication number: CN113146609A
Application number: CN202011032265.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Hu Kailiang
Current assignee: Hu Kailiang
Priority date: 2018-08-22
Filing date: 2018-08-22
Publication date: 2021-07-23
Also published as: CN109048936A; CN109048936B; CN113103242A

Abstract

The invention discloses an intelligent patrol robot, which comprises a robot body, a walking device, a driving device, a detection sensor, a loudspeaker, a control circuit board unit and a power supply unit, wherein the walking device, the driving device, the detection sensor, the loudspeaker, the control circuit board unit and the power supply unit are arranged on the robot body, the control circuit board unit comprises a communication module, a memory and a processor, the memory is used for storing executable computer programs and data, and the processor is used for calling the computer programs and executing: after the detected target is judged to be a dangerous target, the intelligent patrol robot interacts with a plurality of prestored authorized persons, whether to execute an auxiliary processing action or not is judged according to the received authorized instruction information of the authorized persons, or the alarm operation is executed when the authorized instruction information of the authorized persons is not received, so that the intelligent patrol robot can intervene in time when the dangerous target is detected or an accident occurs, the injury and the danger are reduced, and the technical effect of guaranteeing public safety is achieved.

Description

Intelligent patrol robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to an intelligent patrol robot.

Background

The development of the robot technology is a comprehensive result of the development of science and technology, and is a science and technology which has a great influence on the development of social economy. The development of economy changes the composition of human social structures, the demand of people for safety guarantee is increasingly strong nowadays, and the trend of replacing traditional security personnel by robots is more and more obvious under the wave of intelligent big development.

With the development of social economy, the flow of people in areas such as districts, shopping malls, conference centers, stations, airports and the like is increasing day by day, and the increase of the number of active people easily causes various accidents. Therefore, the traditional fixed camera monitoring mode cannot effectively frighten and prevent crimes, and cannot meet increasingly complex security requirements. Thus, the patrol robot takes place at the same time.

However, although the conventional patrol robot has a monitoring camera and can provide a video recording and storing function, such a simple video recording and storing function is mainly used as a tool for investigation and evidence collection after an accident occurs, and there is no effective means for preventing dangerous behaviors at the scene of the accident.

Disclosure of Invention

The invention mainly aims to provide an intelligent patrol robot, a control method thereof and a storage medium, and aims to solve the technical problems that in the prior art, when a dangerous target is discovered during patrol of the robot, the dangerous target cannot be blocked by adopting various effective means, and the public safety cannot be comprehensively guaranteed.

In order to achieve the above object, the present invention provides a control method of an intelligent patrol robot, the intelligent patrol robot including a robot body, a traveling device, a driving device, a detection sensor, a speaker, a control circuit board unit, and a power supply unit, the traveling device, the driving device, the detection sensor, the speaker, the control circuit board unit, and the power supply unit being provided on the robot body, the control circuit board unit including a communication module, a memory, a processor, and a computer program stored in the memory and operable on the processor, the control method of the intelligent patrol robot including:

acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a pre-stored dangerous target characteristic database, and judging whether the detected target is a dangerous target;

when the detected target is a dangerous target, acquiring information of a plurality of authorizers prestored in the patrol robot, and simultaneously sending a request for executing assistance processing to the authorizers, wherein the request for the assistance processing comprises the acquired characteristic parameter information of the dangerous target and assistance processing action information;

in a first preset time period, obtaining the pre-stored authorization feedback information fed back by the multiple authorizers, and judging whether the number of the authorization feedback information fed back by the multiple authorizers in the first preset time period is larger than a first preset value or not;

when the number of the authorization feedback information fed back by the multiple authorizers is larger than a first preset value in the first preset time period, judging whether all the received authorization feedback information are authorization instructions;

when all the received authorization feedback information are authorization instructions, executing the assistance processing action;

when the authorization feedback information is not all authorization instructions, judging whether the number of the authorization instructions in the received authorization feedback information is more than the number of prohibition instructions and whether the number of the authorization instructions is more than a first threshold value;

when the number of the authorization instructions in the received authorization feedback information is more than that of the prohibition instructions and is more than a first threshold, executing the assistance processing action;

when the number of the authorized instructions in the received authorized feedback information is smaller than or equal to the number of the prohibited instructions, or when the number of the authorized instructions in the received authorized feedback information is greater than the number of the prohibited instructions but the number of the authorized instructions is smaller than or equal to the first threshold value, controlling the loudspeaker to execute an alarm operation.

More preferably, the step of controlling the speaker to perform an alert operation is followed by:

acquiring the quantity of the authorization feedback information fed back by the multiple authorizers within a second preset time period, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers within the second preset time period is greater than a second preset value or not;

when the number of the authorization feedback information fed back by the multiple authorizers is larger than a second preset value in the second preset time period, the step of judging whether all the received authorization feedback information are authorization instructions is carried out;

and when the number of the authorization feedback information fed back by the multiple authorizers is less than or equal to the second preset value in a second preset time period, continuing to execute the alarm operation.

Preferably, after the step of controlling the speaker to perform the alerting operation:

continuously acquiring characteristic parameter information of the dangerous target;

judging whether the dangerous target relieves the danger or not according to the characteristic parameter information of the dangerous target;

and executing a first processing action when the dangerous target relieves the danger.

Preferably, the step of simultaneously sending a request to perform assistance processing to the plurality of authorized persons includes:

calling a preset social platform;

simultaneously sending, by at least one social software, a request to the plurality of authorized persons to perform the assistance process.

Preferably, the step of sending a request for performing the assistance process to the plurality of authorized persons simultaneously through at least one social software comprises:

establishing a social group containing the plurality of authorized persons in the social software;

simultaneously sending a request to perform the assistance process to the plurality of authorized persons in the social group.

Preferably, when the authorization feedback information is not all authorization instructions, the step of determining whether the number of authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions and whether the number of authorization instructions is greater than a first threshold includes:

when the authorization feedback information is not all authorization instructions, judging whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction;

when the priority of the authorizer corresponding to the prohibition instruction is higher than the priority of the authorizer corresponding to the authorization instruction, executing the prohibition instruction;

when the priority of the authorizer corresponding to the prohibition instruction is not greater than the priority of the authorizer corresponding to the authorization instruction, judging whether the number of the authorization instructions in the received authorization feedback information is greater than the number of the prohibition instructions, and judging whether the number of the authorization instructions is greater than a first threshold value.

Preferably, the step of determining whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction includes:

acquiring the authorization priority of each authorizer in the plurality of authorizers for the dangerous target according to the characteristic parameter information of the dangerous target and a preset priority algorithm;

and judging whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction.

Preferably, the step of obtaining the pre-stored authorization feedback information fed back by the multiple authorizers specifically includes:

verifying the identity information of the authorizer corresponding to the feedback information;

judging whether the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of a preset authorizer;

and when the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of a preset authorizer, acquiring the pre-stored authorization feedback information fed back by the plurality of authorizers.

The invention also provides an intelligent patrol robot, which comprises a robot body, a walking device, a driving device, a detection sensor, a loudspeaker, a control circuit board unit and a power supply unit, wherein the walking device, the driving device, the detection sensor, the loudspeaker, the control circuit board unit and the power supply unit are arranged on the robot body, the control circuit board unit comprises a communication module, a memory and a processor, the memory is used for storing executable computer programs and data, and the processor is used for calling the computer programs and executing the following steps:

acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a dangerous target characteristic database prestored in the memory, and judging whether the detected target is a dangerous target or not;

when the detected target is a dangerous target, acquiring information of a plurality of authorizers prestored in the memory, and controlling the communication module to simultaneously send a request for executing assistance processing to the plurality of authorizers, wherein the request for performing assistance processing comprises the acquired characteristic parameter information of the dangerous target and assistance processing action information;

in a first preset time period, obtaining the pre-stored authorization feedback information fed back by the multiple authorizers, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers in the first preset time period is greater than a first preset value stored in the memory;

when the authorization feedback information is not all authorization instructions, judging whether the number of the authorization instructions in the received authorization feedback information is more than the number of prohibition instructions and whether the number of the authorization instructions is more than a first threshold value stored in the memory;

Preferably, after the processor controls the speaker to perform the warning operation, the processor is further configured to invoke the computer program and perform the following steps:

acquiring the quantity of the authorization feedback information fed back by the multiple authorizers within a second preset time period, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers within the second preset time period is larger than a second preset value stored in the memory;

Preferably, the manner in which the processor controls the communication module to simultaneously send the request for performing the assistance process to the plurality of authorized persons includes:

calling a preset social platform;

controlling the communication module to simultaneously send a request to perform the assistance process to the plurality of authorized persons through at least one social software.

Preferably, the manner in which the processor controls the communication module to simultaneously send the requests for performing the assistance process to the plurality of authorized persons through at least one piece of social software includes:

control the communication module to simultaneously send requests to perform the assistance process to the plurality of authorized persons in the social group.

Preferably, when the authorization feedback information is not all authorization instructions, the processor determines whether the number of authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and the manner of determining whether the number of authorization instructions is greater than the first threshold stored in the memory includes:

when the priority of the authorizer corresponding to the prohibition instruction is not greater than the priority of the authorizer corresponding to the authorization instruction, judging whether the number of the authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and judging whether the number of the authorization instructions is greater than a first threshold value stored in the memory.

Preferably, the manner of determining, by the processor, whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction includes:

Preferably, the manner of acquiring the pre-stored authorization feedback information fed back by the multiple authorizers by the processor includes:

judging whether the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of the preset authorizer stored in the memory;

The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the control method of the intelligent patrol robot described above.

According to the technical scheme, after the detected target is judged to be the dangerous target, the intelligent patrol robot interacts with a plurality of prestored authorized persons, whether to execute the assistant processing action or not is judged according to the received authorized instruction information of the authorized persons, or the alarm operation is executed when the authorized instruction information of the authorized persons is not received, so that the intelligent patrol robot can intervene in time when the dangerous target is detected or an accident occurs, the damage and the danger are reduced, and the technical effect of guaranteeing public safety is achieved.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent patrol robot provided by the invention;

fig. 2 is a flowchart of a control method of an intelligent patrol robot according to a first embodiment of the present invention;

fig. 3 is a flowchart of a control method of an intelligent patrol robot according to a second embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

All the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

As shown in fig. 1, the intelligent patrol robot provided by the present invention comprises a robot body 100, a walking device 10, a driving device 20, a detection sensor 30, a speaker 40, a control circuit board unit 50 and a power supply unit 60, which are arranged on the robot body 100, wherein the control circuit board unit 50 comprises a communication module 501, a memory 502 and a processor 503, the memory 502 is used for storing executable computer programs and data, and the processor 503 is used for calling the computer programs and executing the following steps:

acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a dangerous target characteristic database prestored in the memory 502, and judging whether the detected target is a dangerous target;

when the detected target is a dangerous target, acquiring information of a plurality of authorizers pre-stored in the memory 502, and controlling the communication module 501 to simultaneously send a request for performing assistance processing to the plurality of authorizers, where the request for performing assistance processing may include the acquired characteristic parameter information of the dangerous target and the information of the assistance processing action;

in a first preset time period, obtaining pre-stored authorization feedback information fed back by a plurality of authorizers, and judging whether the number of the authorization feedback information fed back by the authorizers in the first preset time period is larger than a first preset value stored in the memory 502;

when the number of the authorization feedback information fed back by the multiple authorizers is larger than a first preset value in a first preset time period, judging whether all the received authorization feedback information are authorization instructions;

when all the received authorization feedback information are authorization instructions, executing an assistance processing action;

when the authorization feedback information is not all authorization instructions, judging whether the number of the authorization instructions in the received authorization feedback information is more than the number of the prohibition instructions and whether the number of the authorization instructions is more than a first threshold value stored in the memory 502;

when the number of the authorization instructions in the received authorization feedback information is more than that of the prohibition instructions and is more than a first threshold value, executing an assistance processing action;

when the number of authorized instructions in the received authorization feedback information is less than or equal to the number of prohibited instructions, or when the number of authorized instructions in the received authorization feedback information is greater than the number of prohibited instructions but the number of authorized instructions is less than or equal to the first threshold, the speaker 40 is controlled to perform an alarm operation.

Optionally, after the processor 503 controls the speaker 40 to perform the warning operation, the processor is further configured to call the computer program and perform the following steps:

acquiring the quantity of the authorization feedback information fed back by the multiple authorizers within a second preset time period, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers within the second preset time period is greater than a second preset value stored in the memory 502;

when the number of the authorization feedback information fed back by the multiple authorizers is larger than a second preset value in a second preset time period, the step of judging whether all the received authorization feedback information are authorization instructions is carried out;

and when the number of the authorization feedback information fed back by the multiple authorizers is less than or equal to a second preset value in a second preset time period, continuing to execute the alarm operation.

when the dangerous object relieves the danger, a first processing action is executed.

Optionally, the manner in which the processor 503 controls the communication module 501 to simultaneously send the request for performing the assistance processing to the multiple authorized persons may include:

calling a preset social platform;

the control communication module 501 simultaneously transmits a request for performing assistance processing to the plurality of authorized persons through at least one social software.

Optionally, the manner in which the processor 503 controls the communication module 501 to simultaneously send the request for performing the assistance processing to the multiple authorized persons through at least one piece of social software may include:

establishing a social group containing the plurality of authorized persons in social software;

the control communication module 501 simultaneously transmits a request for performing assistance processing to the above-mentioned plural authorized persons in the social group.

Optionally, when the authorization feedback information is not all authorization instructions, the determining, by the processor 503, whether the number of authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and the determining whether the number of authorization instructions is greater than the first threshold stored in the memory 502 may include:

when the priority of the authorizer corresponding to the prohibition instruction is not greater than the priority of the authorizer corresponding to the prohibition instruction, whether the number of the authorization instructions in the received authorization feedback information is greater than the number of the prohibition instructions is judged, and whether the number of the authorization instructions is greater than a first threshold value stored in the memory 502 is judged.

Optionally, the manner that the processor 503 determines whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction may include:

and judging whether the priority of the authorizer corresponding to the received forbidding instruction is greater than the priority of the authorizer corresponding to the received authorizing instruction.

Optionally, the manner of acquiring the pre-stored authorization feedback information fed back by the multiple authorizers by the processor 503 may include:

judging whether the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of the preset authorizer stored in the memory 502;

and acquiring prestored authorization feedback information fed back by a plurality of authorizers when the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of the preset authorizer.

Further, a robot arm (not shown) may be disposed on the robot body 100, and the robot arm may perform an assisting process under the control of the control circuit unit 50.

The driving device 20 may be configured to drive the intelligent patrol robot to move in a patrol area, and also may be configured to drive a swing arm of the robot arm to block an action of a dangerous target, the robot arm may transmit a marker according to an instruction of the control circuit board unit 50, the detection sensor 30 is configured to detect a target in the patrol area, the processor 503 is configured to identify the detected target, compare characteristic parameter information of the detected target with a pre-stored dangerous target characteristic database, determine whether the detected target is a dangerous target, send a request for performing an assistance processing action to a plurality of authorized persons when the detected target is a dangerous target, and perform the assistance processing action according to received authorization feedback information. Specifically, the object detection sensor 30 may include, but is not limited to, a camera, an infrared detector, an infrared body temperature sensor, a microphone sensor, a voiceprint sensor, an eye mask sensor, and the like. In this embodiment, the patrol robot may be networked with the system, and after the characteristic parameter information of the target is detected by the sensor, the characteristic parameter information of the detected target is compared with a pre-stored dangerous target characteristic database to determine whether the detected target is dangerous, or the processor 503 may identify a target object such as a person or an prohibited article in the image data by using an image identification algorithm, for example, a deep convolutional neural network algorithm that is trained offline. Wherein, people or target objects can become dangerous targets, for example, prohibited articles, people holding prohibited articles can be regarded as dangerous targets. In addition, the processor 503 may further set an alert level of the identified object in combination with the current time period and surrounding crowd information, and when the alert level is greater than the set level, the identified object is considered as a dangerous target.

Specifically, the power unit 60 is configured to provide power for each electrical appliance unit of the intelligent patrol robot, the communication module 501 is configured to perform real-time communication with each sensor and the intelligent terminal of a plurality of authorized persons, the processor 503 is further configured to control actions of the patrol robot, and control the intelligent patrol robot to perform various actions through interaction with the intelligent terminal, for example, performing accurate video recording, controlling the speaker 40 to emit an audible and visual alarm, controlling the robot arm to spray water with odor, and the like, the control circuit board may be a PC circuit board, and the communication module 501 may include the bluetooth communication module 501 or the wifi communication module 501.

According to the intelligent patrol robot, after the detected target is judged to be the dangerous target, the intelligent patrol robot interacts with a plurality of prestored authorizers, whether to execute an assistant processing action or not is judged according to the received authorized instruction information of the authorizers, or the alarm operation is executed when the authorized instruction information of the authorizers is not received, so that the intelligent patrol robot can intervene in time when the dangerous target is detected or an accident occurs, the damage and the danger are reduced, and the technical effect of guaranteeing public safety is achieved.

First embodiment

As shown in fig. 2, a first embodiment of the present invention provides a control method of an intelligent patrol robot. The control method of the intelligent patrol robot can be applied to the intelligent patrol robot in the foregoing embodiments. The control method of the intelligent patrol robot comprises the following steps:

step S101, acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a pre-stored dangerous target characteristic database, and judging whether the detected target is a dangerous target.

It is understood that the detected target can be a human or other animal. Specifically, the feature parameter information of the detected target may be obtained through a detection sensor, for example, in an embodiment, when the detected target is a person, facial image information of the detected target may be obtained through a camera, and whether the detected target is a dangerous target notified by the system is determined according to comparison between the obtained facial image information and database information of the system or comparison between the obtained facial image information and a pre-stored dangerous target feature database. In another real-time example, a target object such as a person or an illegal object in the image data may be recognized through an offline-trained perfect deep convolutional neural network algorithm, for example, when it is recognized that a person carries an illegal object, the person is determined to be a dangerous object, and in other embodiments, whether the detected target is a dangerous object may be determined by determining whether the posture or expression state of the detected target object is within a preset posture range.

And step S102, when the detected target is a dangerous target, acquiring information of a plurality of authorizers prestored in the patrol robot, and simultaneously sending a request for executing assistance processing to the plurality of authorizers, wherein the request for performing assistance processing comprises the acquired characteristic parameter information of the dangerous target and information of an assistance processing action.

The auxiliary treatment action can be driving the dangerous target, or spraying a preset marker to the dangerous target, wherein the marker can be a liquid or a gas with smell, or can be water. The request for assisting processing may include, in addition to the acquired characteristic parameter information of the dangerous target and the information of the assisting processing action, current time information of current position information of the intelligent robot and photo information of a current situation. It will be appreciated that the assistance processing action requires authorization by a predetermined authorizer to be performed.

Specifically, the pre-stored multiple authorizers may include community workers, station workers, and the like, and after the detected target is judged to be a dangerous target and the information of the multiple authorizers pre-stored in the intelligent patrol robot is acquired, the characteristic parameter information including the dangerous target and the assistant processing action information are sent to the pre-stored multiple authorizers, so that the authorizers can make a corresponding processing mode according to the current dangerous target.

Step S103, obtaining the pre-stored authorization feedback information fed back by the multiple authorizers in a first preset time period, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers in the first preset time period is larger than a first preset value.

It is to be understood that the first preset time period may be set according to actual conditions, for example, 30 seconds, 60 seconds, 100 seconds, and the like, and is not particularly limited herein, and specifically, the pre-stored authorization feedback information fed back by the plurality of authorizers may be obtained through the communication module of the intelligent patrol robot. Further, the number of the authorization feedback information fed back by the multiple authorizers can be counted by the processor of the patrol robot, and whether the number of the authorization feedback information fed back by the multiple authorizers is larger than a first preset value or not is analyzed. It can be understood that the first preset value may be preset according to an actual situation, that is, when at least a part of the plurality of authorizers perform authorization feedback, it is determined whether to perform the assisting process according to information fed back by the part of authorizers. And after the authorization of people at least more than the first preset value, executing an assistance processing action, so that the right judgment is facilitated, and the intelligent patrol robot can make a more prepared action.

Step S104, when the number of the authorization feedback information fed back by the multiple authorizers is larger than a first preset value in the first preset time period, judging whether all the received authorization feedback information are authorization instructions.

Specifically, since the authorization feedback information fed back by the multiple authorizers may include an authorization instruction and a prohibition instruction, when the number of the authorization feedback information fed back by the multiple authorizers is greater than a first preset value in the first preset time period, it is further determined whether all the received authorization feedback information are authorization instructions.

Step S105, when all the received authorization feedback information are authorization instructions, executing the assistance processing action.

As can be appreciated, when the intelligent patrol robot receives the authorization command fed back by the multiple authorizers, the intelligent patrol robot executes an assistance processing action according to the authorization command.

Step S106, when the authorization feedback information is not all authorization instructions, determining whether the number of authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and determining whether the number of authorization instructions is greater than a first threshold.

Specifically, when the intelligent patrol robot receives both the authorization instructions and the prohibition instructions, the number of the received authorization instructions and the number of the prohibition instructions may be counted by a processor of the intelligent patrol robot, and whether to perform the assistance processing action may be determined by determining whether the number of the received authorization instructions is more than the number of the prohibition instructions and whether the number of the authorization instructions is more than a first threshold.

Step S107, when the number of authorized instructions in the received authorization feedback information is greater than the number of prohibited instructions and the number of authorized instructions is greater than a first threshold, executing the assistance processing action.

It is understood that the authorization instruction and the prohibition instruction may be replaced by a code such as a number or a letter, for example, 1 may be used to represent the authorization instruction, 0 may be used to represent the prohibition instruction, and also authority may be used to represent the authorization instruction, and forbidden may be used to represent the prohibition instruction. In this embodiment, the assisting process action may be performed only when the number of authorized instructions is greater than 3 and the number of authorized instructions is greater than the number of prohibited instructions. It is to be understood that the first threshold may be set according to practical situations, and is not particularly limited herein.

Step S108, when the number of the authorized instructions in the received authorized feedback information is less than or equal to the number of the prohibited instructions, or when the number of the authorized instructions in the received authorized feedback information is greater than the number of the prohibited instructions but the number of the authorized instructions is less than or equal to the first threshold, controlling the speaker to perform an alarm operation.

It will be appreciated that the alert operation may be the playing of an alert sound, or the playing of an alert sound and light, or may be a voice prompt, such as a high frequency sound wave for repelling animals, wherein the alert operation may be performed without authorization. Specifically, when the number of the authorization instructions in the received authorization feedback information is less than or equal to the number of the prohibition instructions, an alarm operation is executed; and when the number of the authorization instructions in the received authorization feedback information is more than that of the prohibition instructions but is less than or equal to the first threshold, executing an alarm operation. It can be understood that when the plurality of people do not feed back or the intelligent patrol robot judges that the received feedback information is not an authorized instruction, an alarm operation is executed, and the alarm operation can suspend the harm caused by the dangerous target.

The control method of the intelligent patrol robot is described below by taking the example that the intelligent patrol robot patrols in a cell and detects that people carry prohibited articles.

The intelligent patrol robot patrols in a cell through a walking device, characteristic parameters of a target object detected by each detection sensor arranged on the intelligent patrol robot body are judged, according to the detected characteristic parameters of the target object and an image recognition algorithm, a person carries prohibited articles, at the moment, a processor judges that the target formation is a dangerous target, and then a plurality of authorizer information prestored in the patrol robot are obtained, wherein the authorizers comprise a first administrator of a community, a second administrator of the community and a third administrator of the community, the characteristic parameter information carrying the dangerous target and assistant processing action information are simultaneously sent to the authorizers, the characteristic parameter information can comprise the sex, the height, the length of the prohibited articles and the like of the dangerous target, and the assistant processing action information can be water spraying to the dangerous target, specifically, within 30 seconds, obtaining authorization feedback information fed back by the multiple authorizers through a communication module, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers received within 30 seconds is greater than a first preset value through a processor, and executing the action of spraying water to a dangerous target when the quantity of the authorization feedback information fed back by the multiple authorizers received within the first preset time period is greater than the first preset value and whether all the received authorization feedback information is an authorization instruction; when the authorization feedback information is not all authorization instructions, judging whether the number of the authorization instructions in the authorization feedback information is more than the number of prohibition instructions and whether the number of the authorization instructions is more than a first threshold value; performing the action of spraying water to the dangerous target; and when the number of authorized instructions in the authorization feedback information is less than or equal to the number of prohibited instructions, or when the number of authorized instructions in the authorization feedback information is more than the number of prohibited instructions but less than or equal to the first threshold value, executing an action of generating a deterrent of audible and visual alarm.

Further, after the step of controlling the speaker to perform an alert operation;

it can be understood that the duration of the second preset time period is greater than the duration of the first preset time period, where the second preset time period may be set according to an actual situation, and herein, the present invention is not limited. Specifically, the timing starting point of the second preset time period may be that the timing is started when the timing is started in the first preset time period, or the timing is started after the first preset time period is ended, that is, the number of the authorization feedback information fed back by the multiple authorizers received in the second preset time period may include the number of the authorization feedback information fed back by the multiple authorizers received in the first preset time period, or the number of the authorization feedback information fed back by the multiple authorizers received in the time period from the end of the first preset time period to the end of the second preset time period.

it can be understood that the second preset value may be set according to an actual situation, and when the number of the authorization feedback information fed back by the multiple authorizers within the second preset time period is greater than the second preset value, the step of determining whether all the received authorization feedback information are authorization instructions in step s104 is performed;

By setting the authorization feedback information received in the second time period, the intelligent patrol robot can be prevented from timely intervening when an authorized person misses the first feedback information, and injuries and dangers are reduced.

Further, after the step of controlling the speaker to perform the alerting operation;

It is to be understood that the first processing action may be to stop the alert operation or to reduce the volume of the playback. Specifically, the characteristic parameter information of the dangerous target may be an action parameter of the dangerous target, such as dropping contraband in the hand, or an expression information of the dangerous target, such as changing from anger to calm. After the danger target relieves the danger, the first processing action is executed, so that the atmosphere can be effectively relieved, and the intelligent control of the intelligent patrol robot is improved.

Further, a preset social platform can be called through the communication module, and a request for executing the assistance processing is sent to the multiple authorized persons through at least one piece of social software.

It can be understood that the social platform may be a communication tool of social software, such as WeChat, microblog or qq social software, or a real-time communication tool or a web page social platform, in this embodiment, a request for performing the assistance process may be sent to the multiple authorized persons through at least one social software, or a social group including the multiple authorized persons may be established in the social software; simultaneously sending a request to perform the assistance process to the plurality of authorized persons in the social group. The authorization request information is sent to the preset multiple authorizers through social software, so that the efficiency of real-time feedback is improved, and the multiple authorizers can be helped to mutually know the ideas of other people and communicate in real time through social group sending information.

Furthermore, a pre-stored address book can be called through a communication module, and short message messages of a first nursing request for executing the first nursing action are sent to the multiple authorized persons at the same time.

In a second embodiment of the present invention, the first embodiment,

as shown in fig. 3, a control method of a patrol robot according to a second embodiment of the present invention is provided. The control method of the intelligent patrol robot can be applied to the intelligent patrol robot in the foregoing embodiments. The control method of the intelligent patrol robot can comprise the following steps

Step S201, acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a pre-stored dangerous target characteristic database, and judging whether the detected target is a dangerous target;

step S202, when the detected target is a dangerous target, acquiring information of a plurality of authorizers prestored in the patrol robot, and simultaneously sending a request for executing assistance processing to the plurality of authorizers, wherein the request for performing assistance processing comprises the acquired characteristic parameter information of the dangerous target and the information of the assistance processing action;

step S203, obtaining the pre-stored authorization feedback information fed back by the multiple authorizers in a first preset time period, and judging whether the quantity of the authorization feedback information fed back by the multiple authorizers in the first preset time period is larger than a first preset value or not;

step S204, when the number of the authorization feedback information fed back by the multiple authorizers is larger than a first preset value in the first preset time period, judging whether all the received authorization feedback information are authorization instructions;

step S205, when all the received authorization feedback information are authorization instructions, executing the assistance processing action;

step S206a, when the authorization feedback information is not all authorization instructions, determining whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction;

the method includes the steps that a plurality of preset authorized persons can be set with different priorities, for example, a first worker in a community can be set as a first priority, a second worker in the community and a third worker in the community can be set as a second priority, if the feedback information sent by the second worker in the community and the feedback information sent by the third worker in the community are authorization instructions, and when the feedback information of the first worker in the community is a prohibition instruction, whether assistance processing actions are executed or not is judged by judging the priorities of the authorized persons.

Step S206b, when the priority of the authorizer corresponding to the forbidding instruction is higher than the priority of the authorizer corresponding to the authorizing instruction, the forbidding instruction is executed;

for example, when the priority of the first worker in the community is higher than the priorities of the second worker and the third worker in the community, the action of the first worker in the community corresponding to the prohibition instruction is executed.

Step S206c, when the priority of the authorizer corresponding to the prohibition instruction is not greater than the priority of the authorizer corresponding to the authorization instruction, determining whether the number of the authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and determining whether the number of the authorization instructions is greater than a first threshold.

It can be understood that, when different authorization feedback information is received and the priorities of the authorizers of the different authorization feedback information are the same, whether to execute the first watch action may be determined by determining whether the number of authorization instructions in the received authorization feedback information is greater than the number of prohibited instructions and determining whether the number of authorization instructions is greater than the first threshold.

Step S207, when the number of authorized instructions in the received authorization feedback information is greater than the number of prohibited instructions and the number of authorized instructions is greater than a first threshold, executing the assistance processing action;

step S208, when the number of authorized instructions in the received authorized feedback information is less than or equal to the number of prohibited instructions, or when the number of authorized instructions in the received authorized feedback information is greater than the number of prohibited instructions but the number of authorized instructions is less than or equal to the first threshold, controlling the speaker to perform an alarm operation.

According to the technical scheme, the different priorities of the preset multiple authorizers are further set, and when the authorizer with the high priority considers that the assisting action is not executed, the intelligent patrol robot does not execute the assisting action, so that the intelligent patrol robot is prevented from carrying out improper treatment when facing a dangerous target, and the more accurate nursing effect of the intelligent patrol robot is improved.

Further, the step of determining whether the priority of the authorizer corresponding to the received prohibition instruction is greater than the priority of the authorizer corresponding to the received authorization instruction includes;

and judging whether the priority of the authorizer corresponding to the received prohibition instruction is higher than the priority of the authorizer corresponding to the received authorization instruction.

It can be understood that the risk coefficients of the risk target may be divided into a plurality of levels, and when the risk target is a risk target with a high risk coefficient, general community staff does not have related experience and may not necessarily make a correct decision, and at this time, a professional may be required to determine whether to perform an assistance processing action. Specifically, the authorization priority of each authorizer of the multiple authorizers for the dangerous target may be set according to the danger coefficient of the dangerous target and the danger coefficient of the dangerous target.

Further, obtaining a plurality of authorizer information prestored in the intelligent patrol robot, wherein the authorizer information comprises a preset available time period within which the authorizer can receive an authorization request instruction; acquiring current time, and judging whether the current time is matched with the preset available time period in the authorizer information; and extracting a plurality of target authorizer information of the intelligent patrol robot at the current time according to the matching relationship between the current time and the preset available time period in the authorizer information.

It is to be understood that, when a plurality of authorizers are preset, the preset available time periods during which the authorizer can receive the authorization request instruction may be respectively set, and the preset available time periods may be sent to different target authorizers according to the time period to which the current time point belongs, for example, in the time period from six am to six pm, the target authorizer may be a community worker in an early shift, and in other time periods, the target authorizer may be a worker in a late shift. Different authorizers are set at different time points, so that the workload of the authorizers is saved, and convenience is brought to the study and life of the authorizers.

Further, the step of obtaining the pre-stored authorization feedback information fed back by the multiple authorizers includes;

judging whether the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of a preset authorizer; and when the identity information of the authorizer corresponding to the authorization feedback information is consistent with the identity information of a preset authorizer, acquiring the pre-stored authorization feedback information fed back by the plurality of authorizers.

The identity information of the authorizer corresponding to the authorization feedback information is verified again, so that the intelligent patrol robot is prevented from acting according to the authorization information of other people after the information of the authorizer is stolen.

It should be noted that, the steps generated by the control method of the intelligent patrol robot described above are implemented when the computer program of the computer-readable storage medium is executed by the processor. All embodiments of the method described above are therefore suitable for use with the computer-readable storage medium and achieve the same or similar advantages.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An intelligent patrol robot, which is characterized by comprising a robot body, a walking device, a driving device, a detection sensor, a loudspeaker, a control circuit board unit and a power supply unit, wherein the walking device, the driving device, the detection sensor, the loudspeaker, the control circuit board unit and the power supply unit are arranged on the robot body, the control circuit board unit comprises a communication module, a memory and a processor, the memory is used for storing executable computer programs and data, and the processor is used for calling the computer programs and executing the following steps:

acquiring characteristic parameter information of a detected target, comparing the characteristic parameter information of the detected target with a dangerous target characteristic database prestored in the memory, and judging whether the detected target is a dangerous target;

when the detected target is a dangerous target, acquiring information of a plurality of authorizers prestored in the memory, and controlling the communication module to simultaneously send a request for executing assistance processing to the plurality of authorizers, wherein the request for assisting processing comprises the acquired characteristic parameter information of the dangerous target and the information of assisting processing actions;

when the number of the authorized instructions in the received authorized feedback information is smaller than or equal to the number of the prohibited instructions, or when the number of the authorized instructions in the received authorized feedback information is greater than the number of the prohibited instructions but the number of the authorized instructions is smaller than or equal to the first threshold value, controlling the loudspeaker to execute an alarm operation;

when the authorization feedback information is not all authorization instructions, the processor determines whether the number of the authorization instructions in the received authorization feedback information is greater than the number of prohibition instructions, and the manner of determining whether the number of the authorization instructions is greater than the first threshold stored in the memory includes:

when the priority of the authorizer corresponding to the forbidding instruction is not greater than the priority of the authorizer corresponding to the authorizing instruction, judging whether the number of the authorizing instructions in the received authorization feedback information is more than the number of the forbidding instructions and whether the number of the authorizing instructions is more than a first threshold value stored in the memory;

the mode of the processor acquiring the pre-stored authorization feedback information fed back by the multiple authorizers includes:

2. An intelligent patrol robot as claimed in claim 1, wherein the processor, after controlling the speaker to perform an alarm operation, is further configured to invoke the computer program and perform the following steps:

3. An intelligent patrol robot as claimed in claim 2, wherein the processor, after controlling the speaker to perform an alarm operation, is further configured to invoke the computer program and perform the following steps:

4. An intelligent patrol robot as claimed in claim 3, wherein the means for the processor to control the communication module to simultaneously send requests to perform assistance to the plurality of authorised persons comprises:

calling a preset social platform;

5. An intelligent patrol robot as claimed in claim 4, wherein the means for the processor to control the communication module to send the requests for performing the assistance process to the plurality of authorised persons simultaneously via at least one social software comprises: