CN113240840A

CN113240840A - Alarm method, alarm system, equipment and mobile robot for entrance guard

Info

Publication number: CN113240840A
Application number: CN202110599931.8A
Authority: CN
Inventors: 许哲涛
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-08-10
Anticipated expiration: 2041-05-31
Also published as: CN113240840B

Abstract

The embodiment of the disclosure discloses an alarm method, an alarm system, equipment and a mobile robot for entrance guard. One embodiment of the method comprises: sending a remote access control opening instruction to an access control system arranged in a preset area; determining the current position in response to receiving the abnormal event prompt information reported by the access control system; and responding to the fact that the current position does not belong to the preset area, and sending alarm information to the target end. The method and the device realize timely reporting of the access control abnormal conditions, and reduce the false alarm caused by the fact that the mobile robot passes through the preset area.

Description

Alarm method, alarm system, equipment and mobile robot for entrance guard

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to an event reporting method, an alarm system, equipment and a mobile robot for entrance guard.

Background

With the rapid development of internet technology, electronic access control systems are also widely used. Under the computer lab operation and maintenance scene such as data center, when patrolling and examining the robot and carrying out cross module and patrol and examine, need get into another computer lab from a computer lab, often need to patrol and examine the opening and closing of robot remote control entrance guard this moment. When the access control is remotely opened by the inspection robot, the risk that unauthorized people illegally enter the machine room exists.

In the prior art, a mode of installing a monitoring camera at a machine room door is often adopted, and a worker is arranged to continuously check a monitoring video to ensure that no trailing event occurs; or the situation is checked by backtracking the monitoring video after the illegal break-in event occurs. However, due to the fact that workers are arranged to monitor the returned pictures of the cameras in real time, manpower is consumed, and visual fatigue exists in the monitoring workers; if the method of watching the monitoring video after the trailing event occurs is adopted, although the problem tracing can be achieved, the opportunity of stopping the illegal entry event in time is lost, and part of illegal entry is not easy to be perceived and ignored.

Disclosure of Invention

The embodiment of the disclosure provides an event reporting method, an alarm system, equipment and a mobile robot for entrance guard.

In a first aspect, an embodiment of the present disclosure provides an alarm method for entrance guard, where the method includes: sending a remote access control opening instruction to an access control system arranged in a preset area; determining the current position in response to receiving abnormal event prompt information reported by an access control system, wherein the abnormal event prompt information is used for indicating that a target object which is not authorized to enter a preset area exists; and responding to the fact that the current position does not belong to the preset area, and sending alarm information to the target end.

In some embodiments, the method further comprises: adjusting the angle of the target camera according to the relative position of the current position and the preset area; and shooting the event indicated by the alarm information by using the target camera.

In some embodiments, the method further comprises: and in response to determining that the current position belongs to the preset area, discarding the abnormal event prompt message and not responding.

In a second aspect, an embodiment of the present disclosure provides an alarm device for entrance guard, including: the system comprises an instruction sending unit, a remote access control unit and a remote access control unit, wherein the instruction sending unit is configured to send a remote access control opening instruction to an access control system arranged in a preset area; the position determining unit is configured to determine a current position in response to receiving abnormal event prompt information reported by the access control system, wherein the abnormal event prompt information is used for indicating that a target object which is not authorized to enter a preset area exists; and the warning unit is configured to respond to the fact that the current position does not belong to the preset area, and send warning information to the target end.

In some embodiments, the apparatus is further configured to: adjusting the angle of the target camera according to the relative position of the current position and the preset area; and shooting the event indicated by the alarm information by using the target camera.

In some embodiments, the apparatus is further configured to: and in response to determining that the current position belongs to the preset area, discarding the abnormal event prompt message and not responding.

In a third aspect, an embodiment of the present application provides an alarm system for entrance guard, where the system includes: the system comprises an access control terminal, a monitoring terminal and a control terminal, wherein the access control terminal is configured to detect whether a target object entering a preset area provided with an access control system exists; responding to the detected target object, and determining the opening reason of the access control system; reporting abnormal event prompt information to the mobile robot in response to the fact that the starting reason belongs to remote starting of the mobile robot; a mobile robot end configured to perform the method as described in any of the implementations of the first aspect.

In some embodiments, the access control terminal is further configured to: and in response to determining that the opening reason belongs to the preset opening allowing mode, discarding the detection result and not responding.

In some embodiments, the access terminal is further configured to: and determining to detect that a target object entering a preset area provided with the access control system exists in response to the detection of the high level output by the comparator of the access control system, wherein the high level is generated based on the fact that the infrared receiving end does not receive the infrared rays transmitted by the corresponding infrared transmitting end, and the infrared receiving end and the infrared transmitting end are respectively arranged on two sides of an inlet of the preset area.

In some embodiments, the access terminal is further configured to: and determining that the target object entering a preset area provided with the access control system is not detected in response to the detection of the low level output by the comparator of the access control system, wherein the low level is generated based on the fact that the infrared receiving end receives the infrared rays transmitted by the corresponding infrared transmitting end, and the infrared receiving end and the infrared transmitting end are respectively arranged on two sides of an inlet of the preset area.

In a fourth aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described in any implementation of the first aspect.

In a fifth aspect, an embodiment of the present application provides an access control device, where the access control device includes: native electric access control equipment; an interface conversion circuit; a first wireless communication module; a comparator configured to generate a comparison output voltage based on the reference voltage and a voltage of the infrared ray receiving terminal; and the singlechip is configured to be respectively connected with the interface conversion circuit, the first wireless communication module and the output end of the comparator.

In a sixth aspect, an embodiment of the present application provides a mobile robot, including: a second wireless communication module; a camera; a navigation system; a power system; a data storage module; and the controller is configured to be respectively connected with the second wireless communication module, the camera, the navigation system, the power system and the data storage module.

In a seventh aspect, the present application provides a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method described in any implementation manner of the first aspect.

According to the event reporting method, the alarm system, the equipment and the mobile robot for the entrance guard, after the mobile robot end receives the abnormal event prompt information reported by the entrance guard system, whether the alarm is carried out or not is determined according to the comparison between the current position and the preset area, so that the abnormal entrance guard condition is reported in time, the false alarm caused by the fact that the mobile robot passes through the preset area is reduced, whether a target object exists in the preset area provided with the entrance guard is detected firstly by means of the entrance guard end, the abnormal event prompt information is sent on the premise that the reason that the entrance guard system is opened belongs to the remote opening of the mobile robot, the abnormal entrance guard condition is reported in time, the false alarm caused by the fact that authorized personnel pass through the preset area is reduced, and the accuracy of the system alarm is improved.

Drawings

Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is an exemplary system architecture diagram in which one embodiment of the present disclosure may be applied;

FIG. 2 is a flow diagram of one embodiment of an alert method for access control according to the present disclosure;

fig. 3a, 3b, and 3c are schematic diagrams of an application scenario of an alarm method for entrance guard according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of yet another embodiment of an alert method for access control according to the present disclosure;

FIG. 5 is a schematic diagram of an embodiment of an alerting device for access control according to the present disclosure;

FIG. 6 is a timing diagram illustrating interactions among various devices in an embodiment of an alert system for access control according to the present disclosure;

FIG. 7 is a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure;

FIG. 8 is a schematic structural diagram of a door access device suitable for use in implementing embodiments of the present disclosure;

FIG. 9 is a schematic diagram of a mobile robot suitable for use in implementing embodiments of the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 shows an exemplary architecture 100 to which the event reporting method, the alarm system, the device and the mobile robot for entrance guard of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include a mobile robot 101,

networks

102, 103, a gate 104, and a backend server 105. The

networks

102, 103 are used to provide a medium for communication links between the mobile robot 101 and the door access terminal 104, and between the mobile robot 101 and the backend server 105, respectively.

Networks

102, 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The mobile robot 101 and the door access terminal 104, and the mobile robot 101 and the backend server 105 can interact through the

networks

102 and 103 to receive or send messages and the like.

The mobile robot 101 may be hardware or software. When the mobile robot 101 is hardware, it may be various electronic devices having a camera and supporting human-machine interaction, including but not limited to a wheeled robot, an inspection robot, and the like. When the mobile robot 101 is software, it can be installed in the electronic devices listed above. It may be implemented as multiple pieces of software or software modules (e.g., software or software modules used to provide distributed services) or as a single piece of software or software module. And is not particularly limited herein.

The door lock 104 may generally receive a remote opening command of the mobile robot 101 to open the door lock, and close the door lock after a preset time period or after the mobile robot passes through the door lock. The access control terminal 104 may report a message to the mobile robot 101 when detecting that there is a target object entering the access control area.

The backend server 105 may be a server for providing various services, for example, a server that can receive warning information sent by the mobile robot 101 to instruct an unauthorized person or the mobile robot to enter an entrance area with following.

Note that, the mobile robot 101 may directly transmit the warning information to a designated terminal (for example, a terminal used by a worker), and in this case, the backend server 105 and the network 103 may not be present.

The server may be hardware or software. When the server is hardware, it may be implemented as a distributed server cluster formed by multiple servers, or may be implemented as a single server. When the server is software, it may be implemented as multiple pieces of software or software modules (e.g., software or software modules used to provide distributed services), or as a single piece of software or software module. And is not particularly limited herein.

It should be noted that the method for reporting an event for entrance guard provided in the embodiment of the present disclosure is generally executed by the entrance guard 104, and accordingly, the event reporting device for entrance guard is generally disposed in the entrance guard 104. The alarm method for entrance guard provided by the embodiment of the present disclosure is generally executed by the mobile robot 101, and accordingly, an alarm device for entrance guard is generally disposed in the mobile robot 101.

It should be understood that the numbers of mobile robots, networks, gate terminals and backend servers in fig. 1 are merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Continuing to refer to fig. 2, a flow 200 of one embodiment of an alert method for access control according to the present disclosure is shown. The alarm method for entrance guard comprises the following steps:

step 201, sending a remote access control opening instruction to an access control system arranged in a preset area.

In this embodiment, an execution subject (for example, the mobile robot 101 shown in fig. 1) of the alarm method for entrance guard may send a remote entrance guard opening instruction to an entrance guard system disposed in a preset area through a wireless communication module. Wherein the predetermined area is generally associated with a position of a power door of the door access system. As an example, the preset area may be a doorway area of a power door to a data center room. The target object can be any object or person which is specified in advance according to the actual application requirement. The target object may be an object or a person according to a rule, for example, an object or a person located in the preset area when the power door of the access control system is in an open state.

It should be noted that, when a mobile robot such as an inspection robot passes through a door, a remote instruction is usually first sent to open the door. The access control system usually performs authentication operation after receiving the access control opening instruction, and opens the access control after the authentication is passed so that the mobile robot can pass the access control.

Step 202, responding to the received abnormal event prompt information reported by the access control system, and determining the current position.

In this embodiment, in response to receiving the abnormal event notification information reported by the access control system, the execution subject may determine the current position in various manners. As an example, the execution main body may acquire its current position by its own positioning device. The abnormal event prompt message can be used for indicating that a target object which is unauthorized to enter a preset area provided with an access control system exists.

Step 203, in response to determining that the current position does not belong to the preset area, sending alarm information to the target terminal.

In this embodiment, the executing entity may first determine whether the current position determined in step 202 belongs to the preset area. In response to determining that the current location does not belong to the preset region, the execution subject may send an alert message to the target. The target end can be flexibly set according to the actual application scene. As an example, the target may be a backend server of the access control system. As yet another example, the target terminal may be a terminal used by a person responsible for gate work.

In some optional implementation manners of this embodiment, the execution main body may further discard the abnormal event notification message without responding in response to determining that the current position belongs to the preset area.

Based on the optional implementation mode, the scheme can avoid the false alarm caused by the fact that the mobile robot passes through the preset area.

With continuing reference to fig. 3 a-3 c, fig. 3 a-3 c are schematic diagrams of application scenarios of an alarm method for entrance guard according to an embodiment of the present disclosure. In the application scenarios of fig. 3a, 3b and 3c, the mobile robot 302 may send a remote door opening command to the door control system located at the door of the machine room to be entered. During the opening of the electric door 303 of the access control system, there may be situations where a person 301 passes through the electric door 303 (as shown in fig. 3 a) before the mobile robot 302 reaches the doorway of the machine room, where the person 301 passes through the electric door 303 (as shown in fig. 3 b) after the mobile robot 302 enters the machine room, and where the mobile robot 302 itself passes through the electric door 303 (as shown in fig. 3 c), and the access control system may report an abnormal event notification message to the mobile robot 302 when detecting that there is an object entering the area near the doorway of the machine room. In response to receiving the abnormal event notification information reported by the access control system, mobile robot 302 may determine the current location. Then, in response to determining that the current location does not belong to the doorway of the machine room (as shown in fig. 3a and 3 b), the mobile robot 302 may send an alarm message to the target end

At present, one of the prior art generally adopts a mode of installing a monitoring camera at a machine room door, and ensures that no trailing event occurs by continuously checking a monitoring video manually; or the situation is checked by backtracking the monitoring video after the illegal break-in event occurs, so that the manpower is consumed and the situation that unauthorized people enter the entrance guard area cannot be found in time. In the method provided by the embodiment of the disclosure, after the remote access control opening instruction is sent, in response to receiving the abnormal event prompt information which is reported by the access control system and used for indicating that the target object which is not authorized to enter the preset area exists, the current position is determined, and the alarm information is sent to the target end on the premise that the current position does not belong to the preset area, so that the scheme described in the embodiment can determine whether to alarm or not according to the comparison between the current position and the preset area after the abnormal event prompt information reported by the access control system is received, thereby realizing the timely reporting of the abnormal access control condition, and only giving an alarm when the current position belongs to the preset area, reducing the false alarm caused by the fact that the current position passes through the preset area, and further improving the alarm accuracy of the system.

With further reference to fig. 4, a flow 400 of yet another embodiment of an alert method for access control is shown. The process 400 of the warning method for entrance guard includes the following steps:

step 401, sending a remote access control opening instruction to an access control system arranged in a preset area.

And 402, responding to the received abnormal event prompt information reported by the access control system, and determining the current position.

And step 403, in response to determining that the current position does not belong to the preset area, sending alarm information to the target terminal.

The

steps

401, 402, and 402 may respectively correspond to the

steps

201, 202, and 203 and their optional implementations in the foregoing embodiments, and the above description on the

steps

201, 202, and 203 and their optional implementations also applies to the

steps

401, 402, and 403, which is not described herein again.

And step 404, adjusting the angle of the target camera according to the relative position of the current position and the preset area.

In this embodiment, an executing entity (for example, the mobile robot 101 shown in fig. 1) of the alarm method for entrance guard may adjust an angle of the target camera according to the relative position between the current position determined in the step 202 and the preset area, so that the camera can shoot for the preset area. The target camera may be generally disposed on the execution body. Optionally, the target camera may also be disposed in the preset area and may communicate with the execution main body.

As an example, when the execution subject determines that the execution subject does not reach the electric door controlled by the access control system according to the current position, the target camera may be adjusted forward. As still another example, when the execution body determines that it has passed through the power door controlled by the access control system according to the current position, the target camera may be adjusted backward.

And step 405, shooting an event indicated by the alarm information by using the target camera.

In this embodiment, the execution main body may use the angle-adjusted target camera to capture an event indicated by the warning information, for example, an unauthorized person may use a gap where the inspection robot opens the door remotely to pass through the access control system.

As can be seen from fig. 4, the process 400 of the warning method for entrance guard in this embodiment embodies a step of adjusting an angle of the target camera according to a relative position between the current position and the preset area, and a step of shooting an event indicated by the warning information by using the target camera. Therefore, the scheme described in the embodiment can utilize the angle-adjustable camera to shoot the abnormal event, so that the abnormal event can be alarmed in time and the related image evidence can be acquired.

With further reference to fig. 5, as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of an alarm device for entrance guard, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 2 or fig. 4, and the device may be specifically applied to various electronic devices.

As shown in fig. 5, the warning device 500 for entrance guard provided in this embodiment includes an instruction sending unit 501, a position determining unit 502, and a warning unit 503. The instruction sending unit 501 is configured to send a remote access control opening instruction to an access control system arranged in a preset area; a position determining unit 502, configured to determine a current position in response to receiving an abnormal event notification message reported by an access control system, where the abnormal event notification message is used to indicate that there is a target object unauthorized to enter a preset area; and an alarm unit 503 configured to send alarm information to the target end in response to determining that the current location does not belong to the preset area.

In the present embodiment, in the warning device 500 for entrance guard: the specific processing of the instruction sending unit 501, the position determining unit 502, and the warning unit 503 and the technical effects thereof may refer to the related descriptions of step 201, step 202, and step 203 in the corresponding embodiment of fig. 2, which are not described herein again.

In some optional implementations of the present embodiment, the above-mentioned warning apparatus 500 for entrance guard may be further configured to: adjusting the angle of the target camera according to the relative position of the current position and the preset area; and shooting the event indicated by the alarm information by using the target camera.

In some optional implementations of the present embodiment, the above-mentioned warning apparatus 500 for entrance guard may be further configured to: and in response to determining that the current position belongs to the preset area, discarding the abnormal event prompt message and not responding.

According to the device provided by the embodiment of the disclosure, whether to alarm or not is determined by the alarm unit 503 according to the comparison between the current position determined by the position determination unit 502 after receiving the abnormal event prompt information reported by the access control system and the preset area, so that the access control abnormal condition is reported in time, and the alarm is only given when the current position belongs to the preset area, so that the false alarm caused by the fact that the alarm passes through the preset area per se is reduced, and the accuracy of system alarm is further improved.

With further reference to FIG. 6, a timing sequence 600 of interactions between various devices in one embodiment of an alert system for access control is shown. This an alarm system for entrance guard can include: a gate terminal (e.g., gate terminal 104 shown in fig. 1), and a mobile robot terminal (e.g., mobile robot 101 shown in fig. 1). Wherein, above-mentioned entrance guard's end can be configured into: detecting whether a target object entering a preset area provided with an access control system exists or not; responding to the detected target object, and determining the opening reason of the access control system; and reporting abnormal event prompt information to the mobile robot in response to the fact that the starting reason belongs to remote starting of the mobile robot. The mobile robot terminal may be configured to implement the alarm method for entrance guard as described in the foregoing embodiments.

As shown in fig. 6, in step 601, the mobile robot sends a remote access control command to an access control system disposed in a preset area.

In step 602, the access control terminal detects whether there is an object entering a preset area where the access control system is installed.

In this embodiment, the access control terminal may detect whether there is a target object entering a preset area where the access control system is installed in various manners. The description of the preset area and the access control system may refer to the related description in the foregoing embodiments, and will not be repeated herein.

In this embodiment, as an example, the access terminal may detect whether there is a target object entering a preset area where the access control system is installed through a camera shooting the preset area.

In some optional implementation manners of this embodiment, in response to detecting that the comparator of the access control system outputs a high level, the access control terminal may determine that there is a target object entering a preset area where the access control system is located.

In these implementations, in response to detecting that the comparator outputs a high level, the access point may determine that there is a detected presence of an object entering a preset area in which the access system is installed. The high level may be generated based on the fact that the infrared receiving end does not receive the infrared rays emitted from the corresponding infrared emitting end. The infrared receiving terminal and the infrared emitting terminal may be respectively disposed at both sides of an entrance of the preset region. Generally, the infrared ray receiving end and the infrared ray emitting end have the same height. As an example, the infrared emitting end may be disposed at the left side of the electric door located in the preset area, and the infrared receiving end may be disposed at the same height at the right side of the electric door, and may be opposite to each other. Therefore, when a person passes through the electric door, the infrared ray emitted by the infrared emitting end can be shielded by the human body, the infrared receiving end cannot receive the infrared ray, and the comparator can output a high level under the condition through circuit setting.

In some optional implementation manners of this embodiment, in response to detecting that the comparator of the access control system outputs a low level, the access control terminal may determine that the presence of the target object entering the preset area where the access control system is located is not detected. The low level may be generated based on the infrared receiving end receiving the infrared emitted from the corresponding infrared emitting end. The infrared receiving end and the infrared emitting end may be respectively disposed at two sides of an entrance of the preset area, which is described in detail in the foregoing description. Therefore, when no person or object passes through the electric door, the infrared ray emitted by the infrared emitting end can be directly received by the infrared receiving end, and the comparator can output low level under the condition through circuit arrangement.

Based on the optional implementation mode, whether the target object entering the preset area provided with the access control system is detected or not can be determined according to the level output by the comparator of the access control system, so that the detection mode of the target object is enriched.

In step 603, in response to detecting the target object, the access control end determines an opening reason of the access control system.

In this embodiment, in response to determining that the target object is detected in step 201, the access point may determine the opening reason of the access system in various ways. The above opening reason can be generally used to indicate the opening reason of the power door of the access control system. Wherein, the above-mentioned opening reason may include but is not limited to at least one of the following: the input password is correct, the fingerprint verification is passed, the entrance guard card identification is passed, the central control system sends an instruction remotely, and the inspection robot with the authority sends the instruction remotely. In step 604, in response to determining that the opening reason belongs to remote opening of the mobile robot, the access control end reports an abnormal event prompt message to the mobile robot.

In this embodiment, in response to determining that the opening reason determined in step 202 belongs to remote opening of the mobile robot, the entrance guard may report an abnormal event prompt message to the mobile robot that opens the entrance guard.

It should be noted that, the description of the above-mentioned abnormal event notification information may refer to the related description of step 202 in the foregoing embodiment, and is not described herein again.

In some optional implementation manners of this embodiment, in response to determining that the opening reason belongs to a preset allowable opening manner, the access control terminal may further discard the detection result of step 602 and leave it without responding.

In these implementations, the preset allowable opening mode may be flexibly set according to actual needs. Based on the optional implementation mode, the scheme can avoid false alarm caused by the fact that authorized personnel normally enter the preset area.

Optionally, based on the optional implementation manner, the preset permission opening manner may include an authorization credential opening manner. The authorization credential opening manner may include, but is not limited to, at least one of the following: the input password is correct, the fingerprint verification is passed, the entrance guard card identification is passed, and the face identification is passed.

Based on the optional implementation mode, the scheme can be compatible with the common verification mode of authorized personnel, more technical transformation is not needed, and the system transformation cost is saved.

In step 605, in response to receiving the abnormal event notification information reported by the access control system, the mobile robot determines the current position.

In step 606, in response to determining that the current location does not belong to the preset area, the mobile robot sends a warning message to the target.

The steps 601, 605 and 606 may be respectively consistent with the

steps

201, 202 and 203 and the optional implementation manner thereof in the foregoing embodiment, and the above description for the

steps

201, 202 and 203 and the optional implementation manner thereof also applies to the steps 601, 605 and 606, which is not described herein again.

The alarm system for entrance guard provided by the above embodiment of the present application, whether there is a target object in the preset area provided with the entrance guard is detected through the entrance guard end at first, and send the abnormal event prompt information on the premise that the reason for opening the entrance guard system belongs to the remote opening of the mobile robot, and after the mobile robot end receives the abnormal event prompt information reported by the entrance guard system, determine whether to alarm or not according to the comparison of the current position and the preset area, thereby realizing the timely reporting of the abnormal conditions of the entrance guard, and through the mutual cooperation of the entrance guard end and the mobile robot end confirmation logic, reducing the misinformation caused by authorized personnel or the mobile robot self through the preset area, and further improving the accuracy of the system alarm.

Referring now to fig. 7, a schematic diagram of an electronic device (e.g., mobile robot 101 or gate 104 of fig. 1) 700 suitable for use in implementing embodiments of the present application is shown. The server shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 7, the electronic device 700 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 701 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage means 707 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Generally, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touch pad, keyboard, etc.; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 illustrates an electronic device 700 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 7 may represent one device or may represent multiple devices as desired.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 709, or may be installed from the storage means 708, or may be installed from the ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of the embodiments of the present application.

With continued reference to fig. 8, fig. 8 is a schematic structural diagram of an access control device suitable for use in implementing embodiments of the present disclosure. Above-mentioned entrance guard's equipment can include: native electric access control devices 801; an interface conversion circuit 802; a first wireless communication module 803; a comparator 804 configured to generate a comparison output voltage based on the reference voltage and the voltage of the infrared ray receiving terminal; the single chip 805 may be configured to be connected to the output terminals of the interface conversion circuit 802, the first wireless communication module 803, and the comparator 804. The native electric access control device 801 may include an electric door control system 8011 and an electric door communication interface 8012. The electrically operated door control system 8011 may be communicatively coupled to the electrically operated door communication interface 8012.

In this embodiment, the native electric access control device 801 and the single chip 805 may be connected through the interface conversion circuit 802 to receive or transmit a message. As an example, after receiving the door access opening instruction through the first wireless communication module 803, the single chip 805 at the door access end may send the door access opening instruction to the native electric door access device 801 through the interface conversion circuit 802. Thus, the native electric door access device 801 may send an electric door opening command to the electric door control system 8011 through the electric door communication interface 8012, thereby controlling the opening of the electric door. The closing action of the electric entrance guard can refer to the opening of the electric entrance guard, and the details are not repeated here. The infrared receiving end and the corresponding infrared light emitting end can be respectively and correspondingly arranged on two sides of the electric door. When there is no target object entering the preset area where the access control system is provided, the infrared receiving terminal may receive the infrared rays emitted from the infrared emitting terminal, thereby outputting a voltage V2. If V2 is less than V1, the comparator 804 can output a low level. Thus, the one-chip microcomputer 805 can determine that there is no target object (for example, no person passes through the electric door) entering the preset area where the access control system is provided. When the target object (for example, a person passes through the electric door) entering the preset area provided with the access control system exists, the light of the infrared transmitting end can be shielded, and the infrared receiving end cannot receive infrared light at the moment, so that high level is output. If V2 is greater than V1, the comparator 802 outputs a high level. Thus, the one-chip microcomputer 805 can determine that there is an object (e.g., a person passing through a power door) entering a preset area where the access control system is provided. Further, the access control terminal may report to the mobile robot through the first wireless communication module 803.

With continued reference to fig. 9, fig. 9 is a schematic structural diagram of a mobile robot suitable for use in implementing embodiments of the present disclosure. The mobile robot may include: a second wireless communication module 901; a camera 902; a navigation system 903; a power system 904; a data storage module 905; a controller 906 configured to be connected to the second wireless communication module 901, the camera 902, the navigation system 903, the power system 904, and the data storage module 905, respectively.

In this embodiment, the mobile robot may send an instruction to the door lock end through the second wireless communication module 901 to control the opening and/or closing of the door lock. The mobile robot can use the camera 902 to capture images from multiple angles. The navigation system 903 may be used for positioning the mobile robot and acquiring a global map. The power system 904 enables the mobile robot to move freely. The data storage module 905 may be used to store operational data. The controller 906 may be used to implement the alarm method for entrance guard as described in the previous embodiments.

It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: sending a remote access control opening instruction to an access control system arranged in a preset area; determining the current position in response to receiving abnormal event prompt information reported by an access control system; and responding to the fact that the current position does not belong to the preset area, and sending alarm information to the target end.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as "C", Python, or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor comprises an instruction sending unit, a position determining unit and an alarming unit. The names of the units do not limit the units themselves in some cases, and for example, the command transmitting unit may be further described as a "unit transmitting a remote access control command to an access control system provided in a preset area".

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. An alarm method for entrance guard comprises the following steps:

sending a remote access control opening instruction to an access control system arranged in a preset area;

responding to received abnormal event prompt information reported by the access control system, and determining the current position, wherein the abnormal event prompt information is used for indicating that a target object which is not authorized to enter the preset area exists;

and responding to the fact that the current position does not belong to the preset area, and sending alarm information to a target end.

2. The method of claim 1, wherein the method further comprises:

adjusting the angle of a target camera according to the relative position of the current position and the preset area;

and shooting the event indicated by the alarm information by using the target camera.

3. The method according to claim 1 or 2, wherein the method further comprises:

and in response to determining that the current position belongs to the preset area, discarding the abnormal event prompt message without responding.

4. An alarm device for access control comprising:

the system comprises an instruction sending unit, a remote access control unit and a remote access control unit, wherein the instruction sending unit is configured to send a remote access control opening instruction to an access control system arranged in a preset area;

the position determining unit is configured to determine a current position in response to receiving abnormal event prompt information reported by the access control system, wherein the abnormal event prompt information is used for indicating that a target object which is not authorized to enter the preset area exists;

and the warning unit is configured to respond to the fact that the current position does not belong to the preset area, and send warning information to the target end.

5. An alarm system for access control comprising:

the system comprises an access control terminal, a monitoring terminal and a control terminal, wherein the access control terminal is configured to detect whether a target object entering a preset area provided with an access control system exists; responding to the detection of the target object, and determining an opening reason of the access control system; reporting abnormal event prompt information to the mobile robot in response to the fact that the starting reason belongs to remote starting of the mobile robot;

a mobile robot end configured to perform implementing the method of any of claims 6-8.

6. The alert system of claim 5, wherein the gate inhibition terminal is further configured to:

and in response to determining that the opening reason belongs to a preset opening allowing mode, discarding the detection result and not responding.

7. The warning system of claim 5 or 6 wherein the access terminal is further configured to:

and responding to the detection that the comparator of the access control system outputs a high level, and determining that a target object entering a preset area provided with the access control system exists, wherein the high level is generated based on the fact that an infrared receiving end does not receive infrared rays emitted by a corresponding infrared emitting end, and the infrared receiving end and the infrared emitting end are respectively arranged on two sides of an inlet of the preset area.

8. The warning system of claim 5 or 6 wherein the access terminal is further configured to:

the method comprises the steps of responding to and detecting a low level output by a comparator of the access control system, determining that the target object entering a preset area provided with the access control system is not detected, wherein the low level is generated based on the fact that an infrared receiving end receives infrared rays emitted by a corresponding infrared emitting end, and the infrared receiving end and the infrared emitting end are respectively arranged on two sides of an inlet of the preset area.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-3.

10. An access control device comprising:

native electric access control equipment;

an interface conversion circuit;

a first wireless communication module;

a comparator configured to generate a comparison output voltage based on the reference voltage and a voltage of the infrared ray receiving terminal;

and the single chip microcomputer is configured to be respectively connected with the interface conversion circuit, the first wireless communication module and the output end of the comparator.

11. A mobile robot, comprising:

a second wireless communication module;

a camera;

a navigation system;

a power system;

a data storage module;

a controller configured to connect with the second wireless communication module, the camera, the navigation system, the power system, and the data storage module, respectively.

12. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-3.