CN113319852A - Device and method for managing authority of inspection robot - Google Patents
Device and method for managing authority of inspection robot Download PDFInfo
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- CN113319852A CN113319852A CN202110637558.0A CN202110637558A CN113319852A CN 113319852 A CN113319852 A CN 113319852A CN 202110637558 A CN202110637558 A CN 202110637558A CN 113319852 A CN113319852 A CN 113319852A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The invention provides a device and a method for managing the authority of a patrol robot. Wherein, aforementioned device includes: the system comprises a wake-up device, a power management system, a main controller, a camera and an inspection robot body for assembling related components; the awakening device is used for detecting personnel entering the target area, sending a control instruction to the power management system based on the obtained detection result and sending the detection result to the main controller; the power management system is used for supplying power to the awakening device, the main controller and the camera based on the received control instruction; and the main controller is used for adjusting the camera based on the detection result, controlling the camera to identify the personnel and carrying out authority management based on the obtained identification result. The inspection robot authority management device provided by the invention can effectively avoid the situation that personnel entering a target area do not register, or the situation that the inspection robot cannot identify the personnel entering the target area due to charging or standby state, thereby improving the universality.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a device and a method for managing the authority of a patrol robot.
Background
The inspection robot is used for assisting or replacing manpower to execute operation and maintenance tasks in a data machine room; the inspection robot is applied to the data machine room, so that the automation degree of the data machine room is improved.
Generally, the data room has high confidentiality, and the personnel entering the data room need to be registered and managed. At present, the method for registering and managing the personnel entering the data machine room by using the inspection robot comprises the steps that when personnel enter the data machine room, the entering personnel need to find the inspection robot located at a door, the inspection robot utilizes a card swiping module or a face recognition system of the inspection robot to enable the entering personnel to swipe a card or recognize faces, and then the entering personnel can obtain corresponding permission.
The method for registering and managing the personnel entering the data machine room by using the inspection robot has the defects that the personnel entering the data machine room are not registered actively, or the personnel entering the data machine room cannot be identified when the inspection robot is in a standby dormant state, and in summary, the method has the problem of poor universality.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a device and a method for managing the authority of a patrol robot.
The invention provides a patrol robot authority management device, which comprises: the system comprises a wake-up device, a power management system, a main controller, a camera and a patrol robot body;
the awakening device, the power management system, the main controller and the camera are assembled on the inspection robot body;
the awakening device is connected with the power management system and the main controller and used for detecting personnel entering a target area, sending a control instruction to the power management system based on an obtained detection result and sending the detection result to the main controller;
the power management system is respectively connected with the awakening device, the main controller and the camera through power supply links and used for supplying power to the awakening device, the main controller and the camera based on the received control instruction;
the main controller is connected with the camera and used for adjusting the camera based on the detection result, controlling the camera to identify the personnel and carrying out authority management based on the obtained identification result.
According to the authority management device of the inspection robot provided by the invention, the authority management device of the inspection robot further comprises: the system comprises a display interaction system, a card swiping device, a voice system, a power system, a navigation system and an environment monitoring device;
the display interaction system, the card swiping device, the voice system, the power system, the navigation system and the environment monitoring device are respectively connected with the main controller through the communication bus;
the display interaction system is used for providing the personnel with a face recognition service for entering the target area;
the card swiping device is used for providing card swiping service for the personnel to enter the target area;
the voice system is used for carrying out voice recognition or voice playing;
the power system is used for providing power for the inspection robot body and assisting the inspection robot body to move freely;
the navigation system is used for providing map and positioning service for the inspection robot body;
and the environment monitoring device is used for monitoring the environmental parameters of the target area.
According to the authority management device for the inspection robot provided by the invention, the awakening device comprises: a single chip microcomputer and a pyroelectric sensor;
the pyroelectric sensor is used for detecting the personnel entering the target area to obtain the detection result;
and the single chip microcomputer is used for sending the control instruction to the power management system through the communication bus and sending the detection result to the main controller under the condition that the detection result is that the personnel enters.
According to the authority management device for the inspection robot provided by the invention, the main controller is specifically used for:
receiving a detection result sent by the single chip microcomputer, and determining the direction of the personnel in the detection result;
adjusting the angle of the camera based on the direction, and controlling the camera to identify the personnel based on a preset identification model to obtain a first quantity;
acquiring a second number of the persons registered in the display interaction system and/or the card swiping device;
and matching the first quantity with the second quantity, and performing authority management based on the obtained matching result.
According to the authority management device for the inspection robot provided by the invention, the main controller is further used for:
judging whether the first quantity is matched with the second quantity;
if the first quantity is matched with the second quantity, controlling the voice system, sending a registered prompt to the personnel, and granting the personnel the authority to enter the target area;
if the first quantity is not matched with the second quantity, the voice system is controlled to send out unregistered prompts to personnel, voice alarm is carried out, the power system is controlled to drive the inspection robot body to follow the personnel, and the camera is controlled to shoot the personnel.
According to the authority management device for the inspection robot provided by the invention, the navigation system is specifically used for:
the power system drives the inspection robot body to follow the personnel, and the inspection robot body is provided with map and positioning service.
The invention also provides a method for managing the authority of the inspection robot, which is used for the apparatus for managing the authority of the inspection robot, and the method comprises the following steps:
detecting personnel entering a target area to obtain a detection result, sending a control instruction to a power management system based on the detection result, and sending the detection result to a main controller;
the power management system supplies power to the wake-up device, the main controller and the camera based on the received control instruction;
and the main controller adjusts the camera based on the detection result, controls the camera to identify the personnel, and performs authority management based on the obtained identification result.
According to the authority management method for the inspection robot provided by the invention, the main controller adjusts the camera based on the detection result, controls the camera to identify the personnel, and performs authority management based on the obtained identification result, and the method comprises the following steps:
receiving the detection result, and determining the direction of the person in the detection result;
adjusting the angle of the camera based on the direction, and controlling the camera to recognize the personnel based on a preset recognition model to obtain a first quantity;
acquiring a second number of the persons registered in the display interaction system and/or the card swiping device;
and matching the first quantity with the second quantity, and performing authority management based on the obtained matching result.
According to the method for managing the authority of the inspection robot, the first number and the second number are matched, and the authority management is performed based on the obtained matching result, and the method comprises the following steps:
judging whether the first quantity is matched with the second quantity;
if the first quantity is matched with the second quantity, controlling the voice system, sending a registered prompt to the personnel, and granting the personnel the authority to enter the target area;
and if the first quantity is not matched with the second quantity, controlling the voice system, sending out an unregistered prompt to the personnel, and carrying out voice alarm.
According to the authority management method for the inspection robot provided by the invention, after the voice alarm is carried out, the method further comprises the following steps:
the navigation system is controlled to provide map and positioning service for the inspection robot body;
and controlling the power system to drive the inspection robot body to follow the personnel and controlling the camera to shoot the personnel.
The invention provides a device and a method for managing the authority of a patrol robot, which are characterized in that a wakeup device is utilized to detect personnel entering a target area, a control instruction is sent to a power management system based on the obtained detection result, and the detection result is sent to a main controller; the power management system supplies power to the wake-up device, the main controller and the camera based on the received control instruction; and the main controller adjusts the camera based on the detection result, controls the camera to identify the personnel, and performs authority management based on the obtained identification result. The inspection robot authority management device provided by the invention can effectively avoid the situation that personnel entering a target area do not register, or the situation that the inspection robot cannot identify the personnel entering the target area due to charging or standby state, thereby improving the universality.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic core structure diagram of an inspection robot authority management device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a complete structure of an inspection robot authority management device according to an embodiment of the invention;
fig. 3 is a schematic cross-sectional view of the inspection robot right management device in the horizontal direction according to the embodiment of the invention;
fig. 4 is a schematic view of a working scene of the inspection robot authority management device according to the embodiment of the invention;
fig. 5 is a schematic workflow diagram of an inspection robot right management device according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a method for managing the authority of the inspection robot according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The figures are purely diagrammatic and not drawn to scale. As used herein, the term "preferred," and similar terms, are used as table approximations and not as table degrees, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art. It should be noted that in the present description, the expressions "first", "second", "third", etc. are used only to distinguish one feature from another, and do not represent any limitation on the features, and do not particularly represent any order of precedence.
It will be further understood that terms such as "comprising," "including," and/or "containing," when used in this specification, are open-ended and not closed-ended, and specify the presence of stated features, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.
Unless otherwise defined, all terms (including engineering and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In order to solve the problems in the prior art, embodiments of the present invention provide an apparatus and a method for managing the authority of a patrol robot.
Fig. 1 is a schematic core structure diagram of an inspection robot authority management device according to an embodiment of the present invention. Fig. 1 shows a wake-up device 100, a power management system 110, a main controller 120, a camera 130, and an inspection robot body 140.
The wake-up device 100, the power management system 110, the main controller 120, and the camera 130 are mounted to the inspection robot body 140. The wake-up apparatus 100 is connected to the power management system 110 and the main controller 120, and specifically, as shown in fig. 1, the wake-up apparatus 100 is connected to the power management system 110 and the main controller 120 through a data bus. The wake-up device 100 is configured to detect a person entering the target area, send a control instruction to the power management system 110 based on the obtained detection result, and send the detection result to the main controller 120.
And the power management system 110 is connected with the wake-up device 100, the main controller 120 and the camera 130 through power supply links, and is used for supplying power to the wake-up device 100, the main controller 120 and the camera 130 based on the received control instruction.
The main controller 120 is connected to the camera 130, and the main controller 120 is configured to adjust the camera 130 based on the detection result, control the camera 130 to identify the person, and perform rights management based on the obtained identification result. Note that the camera 130 of the patrol robot authority management device is a rotatable camera.
In addition, the inspection robot authority management device further includes: the system comprises a display interaction system, a card swiping device, a voice system, a power system, a navigation system and an environment monitoring device.
Fig. 2 is a schematic diagram of a complete structure of an inspection robot right management device according to an embodiment of the present invention. Fig. 2 shows a wake-up device 200, a power management system 210, a main controller 220, a camera 230, a display interaction system 240, a card swiping device 250, a voice system 260, a power system 270, a navigation system 280, an environment monitoring device 290 and an inspection robot body 299. Wherein, the wake-up apparatus 200 comprises: pyroelectric sensor 201 and single-chip microcomputer 202.
Specifically, the display interaction system 240, the card swiping device 250, the voice system 260, the power system 270, the navigation system 280 and the environment monitoring device 290 are respectively connected with the main controller 220 through communication buses.
It should be noted that the display interaction system 240, the card swiping device 250, the voice system 260, the power system 270, the navigation system 280 and the environment monitoring device 290 are all assembled on the inspection robot body 299.
The power management system 210 is further connected to the display interaction system 240, the card swiping device 250, the voice system 260, the power system 270, the navigation system 280 and the environment monitoring device 290 through power supply links; the power management system 210, while supplying power to the wake-up device 200, the main controller 220, and the camera 230, also supplies power to the display interaction system 240, the card swiping device 250, the voice system 260, the power system 270, the navigation system 280, and the environment monitoring device 290.
Specifically, an interactive system 240 is shown for providing a person with face recognition services into a target area.
And the card swiping device 250 is used for providing card swiping services for entering the target area for the personnel.
And the voice system 260 is used for performing voice recognition or voice playing.
And the power system 270 is used for providing power for the inspection robot body 299 and assisting the inspection robot body to move freely.
And the navigation system 280 is used for providing map and positioning services for the inspection robot body 299.
And an environment monitoring device 290 for monitoring the environmental parameters of the target area.
Further, the wake-up device 200 includes a pyroelectric sensor 201 and a single chip 202; and the pyroelectric sensor 201 is used for detecting personnel entering the target area to obtain a detection result. And the single chip microcomputer 202 is used for sending a control instruction to the power management system 210 through the communication bus and sending the detection result to the main controller 220 under the condition that the detection result is determined to be that a person enters.
Further, the main controller 220 is specifically configured to: receiving the detection result sent by the single chip microcomputer 202, and determining the direction of the personnel in the detection result; adjusting the angle of the camera 230 based on the orientation, and controlling the camera 230 to identify the person based on a preset identification model to obtain a first quantity; obtaining a second number of people registered in the display interaction system 240 and/or the card swipe device 250; and matching the first quantity with the second quantity, and performing authority management based on the obtained matching result. It should be noted that the preset recognition model may include a YOLO recognition model (target detection recognition model).
A master controller 220, further configured to: judging whether the first quantity is matched with the second quantity; if the first quantity is matched with the second quantity, controlling the voice system 260 to send a registered prompt to the personnel and grant the personnel the authority to enter the target area; if the first quantity is not matched with the second quantity, the voice system 260 is controlled to send out an unregistered prompt to the personnel, a voice alarm is given, the power system 270 is controlled to drive the inspection robot body 299 to follow the personnel, and the camera 230 is controlled to shoot the personnel.
In addition, the navigation system 280 is specifically configured to: under the condition that the power system 270 drives the inspection robot body 299 to follow the personnel, the map and positioning service is provided for the inspection robot body 299.
Meanwhile, the environment monitoring device 290 is specifically configured to: and in the working state of the patrol robot body 299, environmental parameters of a target area are monitored.
Fig. 3 is a horizontal sectional view schematically illustrating an inspection robot right management device according to another embodiment of the present invention. Fig. 3 shows an inspection robot body 300, a pyroelectric sensor a310, a pyroelectric sensor B320, a pyroelectric sensor C330, and a pyroelectric sensor D340.
Specifically, as shown in fig. 3, the position relationship between the pyroelectric sensor a310, the pyroelectric sensor B320, the pyroelectric sensor C330, the pyroelectric sensor D340 and the inspection robot body 300 is presented; the pyroelectric sensor A310, the pyroelectric sensor B320, the pyroelectric sensor C330 and the pyroelectric sensor D340 are all positioned on the top surface of the inspection robot body 300. The pyroelectric sensor a310, the pyroelectric sensor B320, the pyroelectric sensor C330 and the pyroelectric sensor D340 can all sense people entering the target area.
Correspondingly, the robot body 300 of patrolling and examining can carry out the operation and maintenance work in the target area, and the stake of charging that patrols and examines robot body 300 is located the gate in target area, when patrolling and examining robot body 300 and being in non-operating conditions such as charged state or standby state, can get back to and fill the electric pile position. When a person enters from the doorway of the target area, any one of the pyroelectric sensor a310, the pyroelectric sensor B320, the pyroelectric sensor C330 or the pyroelectric sensor D340 of the top surface of the inspection robot body 300 is triggered.
Meanwhile, the main controller inside the inspection robot body 300 can judge the direction of a person entering a target area according to the triggered position of the pyroelectric sensor.
Preferably, a target area to which the inspection robot authority management device is applied may be selected as a machine room, and based on the above embodiment, a working scene of the inspection robot authority management device is described.
Based on the above embodiments, fig. 4 is a schematic view of a working scene of an inspection robot right management device according to still another embodiment of the present invention. Fig. 4 shows a patrol robot authority management device 400, a person 410, a machine room door 420 of a machine room a, and a machine room door 430 of a machine room B.
The inspection robot right management device 400 is used to perform operation and maintenance work on the data room a. The charging pile of the inspection robot authority management device 400 is located on one side of the machine room door 420 of the machine room a, and when the inspection robot authority management device 400 is in a charging state or a standby state or other non-working states, the position of the charging pile can be returned. When a person 410 enters from the machine room door 420 of the machine room a, the pyroelectric sensor on the top surface of the robot authority management device 400 is triggered, and the pyroelectric sensor detects the person 410 entering the machine room a and obtains a detection result. The single chip of the robot right management device 400 determines the direction of the person 410 entering the machine room a according to the position of the triggered pyroelectric sensor.
Specifically, when other components of the inspection robot right management device 400 are in a standby state or a sleep state, the wake-up device of the inspection robot right management device 400 is in a working state, and when a person 410 enters the machine room a, the inspection robot right management device 400 is located on the machine room door 420 side of the machine room a, and meanwhile, the pyroelectric sensor of the wake-up device in the inspection robot right management device 400 is triggered by the person 410 entering the machine room a.
When the pyroelectric sensor of the wake-up device in the inspection robot authority management device 400 detects that a person 410 enters the machine room a, the single chip of the wake-up device sends a control instruction to the power management system through the communication bus, and sends a detection result obtained by detecting the person 410 entering the machine room a to the main controller. The power management system supplies power to the awakening device, the main controller, the camera, the display interaction system, the card swiping device, the voice system, the power system, the navigation system and the environment monitoring device which are connected with the power management system through the power supply link. Further, the inspection robot authority management device 400 enters an operation state.
The main controller of the inspection robot right management device 400 determines the orientation of the person 410 entering the machine room a according to the detection result sent by the singlechip in the wake-up device, and adjusts the angle of the rotatable camera connected with the main controller according to the orientation. The control camera photographs the persons 410 entering the room a to identify the number of the persons 410 entering the room a. The camera of the inspection robot right management device 400 may use a YOLO recognition model (target detection recognition model) to recognize the number of the persons 410 entering the machine room a.
While the camera of the inspection robot authority management device 400 identifies the number of the persons 410 entering the machine room a, the voice system of the inspection robot authority management device 400 also performs voice prompt on the persons 410 entering the machine room a, and prompts the persons 410 entering the machine room a to register through card swiping or face recognition. Further, the person 410 entering the machine room a may perform a card swiping registration through a card swiping device and/or a face recognition registration through a display interaction system. Meanwhile, when the person 410 entering the machine room a registers, the voice system of the patrol robot authority management device 400 also broadcasts the result of the registration of the person 410 in real time.
After the registration of the personnel 410 entering the machine room a is finished, the main controller of the inspection robot authority management device 400 matches the number of the identified personnel 410 entering the machine room a with the total number of the personnel 410 entering the machine room a registered in the display interaction system and/or the card swiping device of the inspection robot authority management device 400.
If the number of the identified personnel 410 entering the machine room A is matched with the total number of the personnel 410 entering the machine room A registered in the display interaction system and/or the card swiping device; and controlling a voice system to send a registered prompt, namely a prompt that the registration is completed, to the personnel 410 entering the machine room A, and granting the personnel 410 the authority to enter the machine room A. Meanwhile, the voice system is controlled, and the personnel 410 entering the machine room A can normally enter the machine room A through voice prompt.
If the number of the identified personnel 410 entering the machine room A is not matched with the total number of the personnel 410 entering the machine room A registered in the display interaction system and/or the card swiping device; and controlling the voice system, sending out a prompt that the personnel 410 entering the machine room A are not registered, namely the registration is not completed, and carrying out voice alarm through the voice system. Meanwhile, the power system is controlled to drive the inspection robot authority management device to move freely, and the navigation system provides map and positioning service for the inspection robot authority management device which moves freely; further, the patrol robot authority management device may follow the person 410 entering the machine room a, and control the camera to capture an image of the person 410 entering the machine room a.
It should be noted that, when the inspection robot right management apparatus 400 is used to perform operation and maintenance work on the data machine room a, the environment monitoring apparatus of the inspection robot right management apparatus 400 is used to monitor the environment parameters of the machine room a when the inspection robot right management apparatus 400 is in an operating state.
Preferably, when a person 410 enters the machine room door 430 of the machine room B, the patrol robot authority management device 400 performs the same operation as described above.
Based on any one of the above embodiments, fig. 5 is a schematic workflow diagram of an inspection robot right management device according to still another embodiment of the present invention. Fig. 5 shows a patrol robot authority management device 500, a target area gate 510, and a person 520.
Specifically, when the person 520 enters the target area door 510, the patrol robot authority management device 500 located at one side of the target area door 510 detects the person 520 entering the target area door 510 through the wakeup device thereof, sends a control instruction to the power management system based on the obtained detection result, and sends the detection result to the main controller.
Correspondingly, the wake-up device comprises: a single chip microcomputer and a pyroelectric sensor; the pyroelectric sensor is used for detecting a person 520 entering the target area door 510 to obtain a detection result; and the single chip microcomputer is used for sending a control instruction to the power management system through the communication bus and sending the detection result to the main controller under the condition that the detection result is that the person 520 enters the single chip microcomputer.
Further, the power management system supplies power to the wake-up device, the main controller, the camera, the display interaction system, the card swiping device, the voice system, the power system, the navigation system and the environment monitoring device of the inspection robot permission management device 500 based on the received control instruction, so that the inspection robot permission management device 500 is switched to a working state.
The main controller of the inspection robot authority management device 500 receives the detection result sent by the single chip microcomputer of the awakening device, and determines the direction of the person 520 entering the target area door 510 in the detection result; the angle of the camera is adjusted based on the orientation of the person 520 entering the target area door 510, and the camera is controlled to recognize the person 520 entering the target area door 510 based on a preset recognition model, so as to obtain a first number, i.e., the number of recognized persons 520 entering the target area door 510.
In addition, while recognizing the person 520 who enters the target area door 510, the voice system of the inspection robot right management apparatus 500 also prompts the person 520 who enters the target area door 510 by voice, prompting the person 520 who enters the target area door 510 to register by swiping a card or face recognition. Further, the person 520 who enters the target area door 510 may be registered by swiping a card through a card swiping device and/or by face recognition through a display interaction system. Meanwhile, when the person 520 who enters the target area door 510 registers, the voice system of the patrol robot authority management device 500 also broadcasts the result of the person registration in real time.
Further, the main controller of the patrol robot authority management device 500 may acquire a second number of persons 520 registered in the display interaction system and/or the card swiping device, i.e., the total number of persons 520 entering the target area door 510. And, the first number and the second number are matched, and based on the obtained matching result, the authority management is performed.
Accordingly, the main controller of the inspection robot right management device 500 determines whether the first number and the second number match.
If the first number matches the second number; i.e., the total number of registered persons 520 entering the target area door 510, matches the number of recognized persons 520 entering the target area door 510, controls the voice system to issue a prompt to the persons 520 entering the target area door 510 that the registration is complete, granting the persons 520 the right to enter the target area. Meanwhile, the voice system is controlled, and the person 520 entering the target area door 510 can normally enter through voice prompt.
If the first quantity does not match the second quantity; i.e., the total number of registered persons 520 who enter the target area gate 510, does not match the number of recognized persons 520 who enter the target area gate 510, controls the voice system, issues a notice to the persons 520 who enter the target area gate 510 that they are not registered, i.e., that the registration is not completed, and makes a voice alarm through the voice system. Meanwhile, the power system is controlled to drive the inspection robot authority management device to move freely, and the navigation system provides map and positioning service for the inspection robot authority management device which moves freely; further, the patrol robot authority management device follows the person 520 who enters the target area door 510, and controls the camera to capture an image of the person 520 who enters the target area door 510.
In summary, the privilege management device for the inspection robot provided by the invention can effectively avoid the situation that the personnel entering the target area do not register, or the situation that the inspection robot cannot identify the personnel entering the target area due to the charging or standby state, thereby improving the universality.
Fig. 6 is a flowchart illustrating a method for managing the authority of the inspection robot according to an embodiment of the present invention. The inspection robot authority management method is used for the inspection robot authority management device in any one of the embodiments. As shown in fig. 6, the method includes:
Specifically, step 601 is to detect a person entering a target area when the person enters the target area, and obtain a detection result; based on the detection result, the awakening device sends a control instruction to the power management system, and meanwhile, the detection result is sent to the main controller.
The target area may include various types, for example: data machine room, archive room, computer key room, etc., the invention is not limited thereto.
Correspondingly, the detection of the person entering the target area means that when the person enters the target area, the person triggers the pyroelectric sensor on the top surface of the authority management of the inspection robot, and the pyroelectric sensor detects the person entering the target area and obtains a detection result. Furthermore, the singlechip of the robot right management device can judge the direction of the person entering the target area according to the position of the triggered pyroelectric sensor. The single chip of the awakening device sends a control instruction to the power management system through the data bus and sends a detection result obtained by detecting personnel entering the target area to the main controller.
In step 602, the power management system supplies power to the wake-up unit, the host controller, and the camera based on the received control command.
Specifically, step 602 is that the power management system supplies power to the wake-up device, the main controller, and the camera through the power supply link according to the received control command.
The power supply link may include various forms, and the present invention is not particularly limited thereto.
Accordingly, step 602 is executed to wake up the inspection robot right management device in a non-operating state such as a charging state or a standby state to shift to an operating state.
And 603, adjusting the camera by the main controller based on the detection result, controlling the camera to identify the personnel, and managing the authority based on the obtained identification result.
Wherein, in the invention, the camera is optionally a rotatable camera; the adjustment means adjusting the angle of the camera; identifying refers to identifying the number of people entering the target area. The authority management means management of whether or not the aforementioned person can normally enter the target area.
Correspondingly, step 603 includes:
step 6031, receiving the detection result and determining the direction of the person in the detection result.
Specifically, step 6031 is that the main controller of the patrol robot authority management device receives the detection result sent by the single chip microcomputer of the wake-up device, and determines the direction of the person entering the target area in the detection result.
In the invention, the direction of a person entering the target area in the detection result is determined by analyzing the received detection result.
And 6032, adjusting the angle of the camera based on the direction, and controlling the camera to identify the personnel based on a preset identification model to obtain a first quantity.
Specifically, step 6032 is to adjust an angle of the camera based on the direction of the person entering the target area, and control the camera to identify the person entering the target area based on a preset identification model to obtain the first number.
Wherein the first number is the number of identified persons entering the target area.
It should be noted that the preset recognition model may include a plurality of types, and a YOLO recognition model (target detection recognition model) is preferred in the present invention.
In addition, when the inspection robot authority management device identifies the personnel entering the target area, the voice system of the inspection robot authority management device also carries out voice prompt on the personnel entering the target area, and prompts that the personnel entering the target area are registered through card swiping or face identification. Furthermore, the person entering the target area can be subjected to card swiping registration through the card swiping device and/or face recognition registration through the display interaction system. Meanwhile, when the personnel entering the target area are registered, the voice system of the patrol robot authority management device can also carry out real-time voice broadcast on the registered result of the personnel.
Step 6033, a second number of people registered in the display interaction system and/or the swipe device is obtained.
Wherein the second number refers to the total number of people entering the target area.
And 6034, matching the first quantity with the second quantity, and managing the authority based on the obtained matching result.
Specifically, step 6034 includes:
in step S61, it is determined whether the first number matches the second number.
And step S62, if the first quantity is matched with the second quantity, controlling a voice system to send out a registered prompt to the personnel and grant the personnel the authority to enter the target area.
Specifically, step S62 is executed if the first number matches the second number; i.e. the total number of registered persons entering the target area, is matched with the number of identified persons entering the target area, the voice system is controlled to give a prompt to the persons entering the target area that the registration is completed, and the persons are granted the right to enter the target area. Meanwhile, the voice system is controlled, and people entering the target area can normally enter the target area through voice prompt.
The permission of entering the target area refers to whether a person can normally enter the target area.
And step S63, if the first quantity is not matched with the second quantity, controlling a voice system to send out an unregistered prompt to the personnel and carry out voice alarm.
Specifically, step S63 is executed if the first number does not match the second number; i.e. the total number of registered persons entering the target area, does not match the number of identified persons entering the target area, controls the voice system, sends out a prompt to the persons entering the target area that the persons are not registered, i.e. the registration is not completed, and gives a voice alarm through the voice system.
Meanwhile, after voice alarm is carried out, the method also comprises the following steps: the navigation system is controlled to provide map and positioning service for the inspection robot body; the power control system drives the inspection robot body to follow personnel and controls the camera to shoot the personnel.
Specifically, after voice alarm is carried out, the power system is controlled to drive the inspection robot authority management device to move freely, and the navigation system provides map and positioning service for the freely moving inspection robot authority management device; furthermore, the inspection robot authority management device can follow the personnel entering the target area and control the camera to shoot the image of the personnel entering the target area.
In summary, the method for managing the authority of the inspection robot provided by the invention can effectively avoid the situation that the personnel entering the target area do not register, or the situation that the inspection robot cannot identify the personnel entering the target area due to the charging or standby state, thereby improving the universality of the inspection robot.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A patrol robot authority management device, comprising: the system comprises a wake-up device, a power management system, a main controller, a camera and a patrol robot body;
the awakening device, the power management system, the main controller and the camera are assembled on the inspection robot body;
the awakening device is connected with the power management system and the main controller and used for detecting personnel entering a target area, sending a control instruction to the power management system based on an obtained detection result and sending the detection result to the main controller;
the power management system is respectively connected with the awakening device, the main controller and the camera through power supply links and used for supplying power to the awakening device, the main controller and the camera based on the received control instruction;
the main controller is connected with the camera and used for adjusting the camera based on the detection result, controlling the camera to identify the personnel and carrying out authority management based on the obtained identification result.
2. The inspection robot right management device according to claim 1, further comprising: the system comprises a display interaction system, a card swiping device, a voice system, a power system, a navigation system and an environment monitoring device;
the display interaction system, the card swiping device, the voice system, the power system, the navigation system and the environment monitoring device are respectively connected with the main controller through the communication bus;
the display interaction system is used for providing the personnel with a face recognition service for entering the target area;
the card swiping device is used for providing card swiping service for the personnel to enter the target area;
the voice system is used for carrying out voice recognition or voice playing;
the power system is used for providing power for the inspection robot body and assisting the inspection robot body to move freely;
the navigation system is used for providing map and positioning service for the inspection robot body;
and the environment monitoring device is used for monitoring the environmental parameters of the target area.
3. The patrol robot authority management device according to claim 1, wherein the wake-up device includes: a single chip microcomputer and a pyroelectric sensor;
the pyroelectric sensor is used for detecting the personnel entering the target area to obtain the detection result;
and the single chip microcomputer is used for sending the control instruction to the power management system through the communication bus and sending the detection result to the main controller under the condition that the detection result is that the personnel enters.
4. The patrol robot authority management device according to claim 3, wherein the main controller is specifically configured to:
receiving a detection result sent by the single chip microcomputer, and determining the direction of the personnel in the detection result;
adjusting the angle of the camera based on the direction, and controlling the camera to identify the personnel based on a preset identification model to obtain a first quantity;
acquiring a second number of the persons registered in the display interaction system and/or the card swiping device;
and matching the first quantity with the second quantity, and performing authority management based on the obtained matching result.
5. The patrol robot authority management device according to claim 4, wherein the main controller is further configured to:
judging whether the first quantity is matched with the second quantity;
if the first quantity is matched with the second quantity, controlling the voice system, sending a registered prompt to the personnel, and granting the personnel the authority to enter the target area;
if the first quantity is not matched with the second quantity, the voice system is controlled to send out unregistered prompts to personnel, voice alarm is carried out, the power system is controlled to drive the inspection robot body to follow the personnel, and the camera is controlled to shoot the personnel.
6. The patrol robot authority management device according to claim 2, wherein the navigation system is specifically configured to:
the power system drives the inspection robot body to follow the personnel, and the inspection robot body is provided with map and positioning service.
7. A patrol robot authority management method for use in a patrol robot authority management apparatus according to any one of claims 1 to 6, the method comprising:
detecting personnel entering a target area to obtain a detection result, sending a control instruction to a power management system based on the detection result, and sending the detection result to a main controller;
the power management system supplies power to the wake-up device, the main controller and the camera based on the received control instruction;
and the main controller adjusts the camera based on the detection result, controls the camera to identify the personnel, and performs authority management based on the obtained identification result.
8. The inspection robot right management method according to claim 7, wherein the main controller adjusts the camera based on the detection result, controls the camera to recognize the person, and performs right management based on the obtained recognition result, including:
receiving the detection result, and determining the direction of the person in the detection result;
adjusting the angle of the camera based on the direction, and controlling the camera to recognize the personnel based on a preset recognition model to obtain a first quantity;
acquiring a second number of the persons registered in the display interaction system and/or the card swiping device;
and matching the first quantity with the second quantity, and performing authority management based on the obtained matching result.
9. The patrol robot authority management method according to claim 8, wherein the matching the first number and the second number, and the authority management based on the obtained matching result, includes:
judging whether the first quantity is matched with the second quantity;
if the first quantity is matched with the second quantity, controlling the voice system, sending a registered prompt to the personnel, and granting the personnel the authority to enter the target area;
and if the first quantity is not matched with the second quantity, controlling the voice system, sending out an unregistered prompt to the personnel, and carrying out voice alarm.
10. The inspection robot right management method according to claim 9, wherein after the voice alarm is given, the method further includes:
the navigation system is controlled to provide map and positioning service for the inspection robot body;
and controlling the power system to drive the inspection robot body to follow the personnel and controlling the camera to shoot the personnel.
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